CN114516388A - Underwater cleaning robot for outer wall of ship - Google Patents
Underwater cleaning robot for outer wall of ship Download PDFInfo
- Publication number
- CN114516388A CN114516388A CN202210207509.8A CN202210207509A CN114516388A CN 114516388 A CN114516388 A CN 114516388A CN 202210207509 A CN202210207509 A CN 202210207509A CN 114516388 A CN114516388 A CN 114516388A
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- Prior art keywords
- main body
- wall
- robot
- ship
- cavitation
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- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000005507 spraying Methods 0.000 claims abstract description 37
- 239000011248 coating agent Substances 0.000 claims abstract description 19
- 238000000576 coating method Methods 0.000 claims abstract description 19
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000005273 aeration Methods 0.000 claims description 2
- 239000013535 sea water Substances 0.000 abstract description 6
- 210000003934 vacuole Anatomy 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 239000000843 powder Substances 0.000 description 8
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 6
- 239000007921 spray Substances 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 229910052759 nickel Inorganic materials 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 150000002500 ions Chemical class 0.000 description 2
- 230000037452 priming Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000007750 plasma spraying Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000003870 refractory metal Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 229910021332 silicide Inorganic materials 0.000 description 1
- FVBUAEGBCNSCDD-UHFFFAOYSA-N silicide(4-) Chemical compound [Si-4] FVBUAEGBCNSCDD-UHFFFAOYSA-N 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/04—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases
- B05D3/0406—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases the gas being air
- B05D3/0413—Heating with air
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an underwater cleaning robot for the outer wall of a ship, which comprises: a robot main body; the cleaning brush assembly is arranged at the front end of the robot main body through a mechanical arm; the camera is used for shooting the cleaning range of the cleaning brush assembly; the cavitation device is arranged in the robot main body and emits high-pressure cavitation to the cleaning range through a propelling nozzle arranged at the front end of the robot main body; the spraying assembly is used for spraying the cleaned area when the coating on the outer wall of the ship is damaged after the cleaning is finished; and the four permanent magnet universal wheel assemblies are respectively arranged on two sides of the bottom of the robot main body and are used for being adsorbed on the outer wall of the ship and driving the robot main body to move. The robot firstly adopts the cleaning brush, adopts the vacuole device clearance again, can reduce the loss of boats and ships outer wall coating. The spraying assembly can be used for timely repairing and spraying after the coating is lost, so that the damaged part of the coating is prevented from being corroded by seawater.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater cleaning robot for an outer wall of a ship.
Background
With the arrival of the ocean economy era, ships are used as indispensable tools for marine navigation, the problem of ship protection is gradually valued by people, the surfaces of the ships are soaked in ocean all year round, the seawater is rich in mineral substances and salt and has strong corrosivity, and the attachment capacity of organisms in the ocean is strong, so that a large amount of marine organisms and dirt are adhered to the ships running below the sea level all year round, the ship resistance is greatly increased, extra oil consumption is increased, the navigation period is seriously delayed, the operation cost is increased, and the service life of the ships is shortened.
Because the attachments on the surface of the ship body are hard and thick, a high-pressure water jet device is mostly adopted for cleaning, and the surface antirust materials are easy to remove; thirdly, the cleaning mode of the attachments on the outer wall of the ship body is mainly manual operation, and as the impact force of high-pressure water jet is large, the water outlet pressure is about 75-100 MPa, certain threat is caused to the safety of divers. In order to improve the working efficiency of underwater cleaning operation, a set of professional underwater cleaning device is developed, and the underwater cleaning device is necessary to replace manual underwater operation.
Disclosure of Invention
The invention aims to provide an underwater cleaning robot for the outer wall of a ship, which carries a cleaning brush assembly as a primary cleaning means through a robot platform and carries a cavitation device as a secondary cleaning means after the primary cleaning is invalid so as to clean the outer surface of the ship.
The technical scheme of the invention is that an underwater cleaning robot for the outer wall of a ship is provided, which comprises:
a robot main body;
the cleaning brush assembly is arranged at the front end of the robot main body through a mechanical arm;
the camera is used for shooting the cleaning range of the cleaning brush component;
a cavitation device which is arranged inside the robot main body and emits high-pressure cavitation to the cleaning range through a propelling nozzle arranged at the front end of the robot main body;
the spraying assembly is used for spraying the cleaned area when the coating on the outer wall of the ship is damaged after the cleaning is finished;
and the four permanent magnet universal wheel assemblies are respectively arranged on two sides of the bottom of the robot main body and are used for being adsorbed on the outer wall of a ship and driving the robot main body to move.
A further improvement of the invention is that the rear end of the robot body is provided with a propeller.
The invention is further improved in that the permanent magnet universal wheel component adopts a spherical wheel, and a permanent magnet is embedded in the surface of the spherical wheel.
A further improvement of the invention is that the cleaning brush assembly includes a brush head base having a drive motor and two disk brush heads.
The invention has the further improvement that the cavitation device comprises a cavitation generator, a cavitation inflation bottle and a water pressure device which are connected in sequence; the cavitation generator is used for generating cavitation bubbles, the cavitation bubble inflation bottle is used for collecting and storing the cavitation bubbles, and the water pressure device is used for pressurizing cavitation bubble water flow mixed with water so as to enable the cavitation bubble water flow to be sprayed out of the propelling nozzle.
The invention has the further improvement that the spraying assembly comprises a rotary driving mechanism, telescopic arms arranged along the front and back directions of the robot main body, a connecting block, an electric push rod and a spraying box body; wherein:
the rotary driving mechanism is fixed on the robot main body, and an output shaft of the rotary driving mechanism rotates with the first end of the telescopic arm to drive the telescopic arm to rotate along the axis direction of the telescopic arm;
the second end of the telescopic arm and the first end of the electric push rod are fixedly connected with the connecting block; the electric push rod is vertical to the axis of the telescopic arm;
the spraying box body is fixedly arranged at the bottom end of the electric push rod; the inside of the device is provided with a nozzle.
The invention has the beneficial effects that: the permanent magnet universal wheel assembly of the robot adopts spherical wheels embedded with permanent magnets, has omnidirectional movement capability and can adapt to the surfaces of ships with different curvature radiuses. The robot adopts the cleaning brush at first, adopts the vacuole device again, can reduce the loss of boats and ships outer wall coating. The spraying assembly can be used for timely repairing and spraying after the coating is lost, so that the damaged part of the coating is prevented from being corroded by seawater.
Drawings
FIG. 1 is a perspective view of an underwater cleaning robot for the outer wall of a ship according to the present invention;
FIG. 2 is a schematic view of a cavitation device;
FIG. 3 is a flow chart of the operation of the underwater cleaning robot for the outer wall of the ship according to the present invention;
FIG. 4 is a schematic view of the nozzle structure on the spray booth.
Detailed Description
The embodiment is as follows: as shown in fig. 1, the present embodiment provides a robot for underwater cleaning an outer wall of a ship, which includes: robot main part 33, washing brush subassembly, camera 2, vacuole device, spraying components and permanent magnetism universal wheel subassembly. The robot main body 33 is attached to the outer wall of the ship by a permanent magnet universal wheel assembly and travels on the outer wall.
The support base 1 is provided on the top of the front end of the robot main body 33. The supporting base 1 is provided with a mechanical arm 3, and the cleaning brush assembly is arranged at the tail end of the mechanical arm 3. The cleaning brush subassembly is used for the boats and ships outer wall to clean.
In one embodiment, the cleaning brush assembly includes a brush head base 5 having a drive motor and two disk brush heads 6. The driving motor is used for driving the two disc brush heads 6 to rotate so as to clean the outer wall of the ship.
The camera 2 is installed on the supporting base 1, and the camera 2 is used for shooting the cleaning range of the cleaning brush assembly and judging whether the cleaning range of the surface of the ship body is cleaned and whether the coating of the cleaning area is damaged. The camera is also used for monitoring the environment condition of the outer wall of the ship body in real time in the process of advancing the robot main body 33.
The cavitation device is provided inside the robot main body 33 to emit high pressure cavitation to the washing range through the propelling nozzle 20 installed at the front end of the robot main body 33 so as to clean up the contaminants not cleaned up by the washing brush assembly. As shown in fig. 2, in one embodiment, the cavitation device comprises a cavitation generator 23, a cavitation aeration bottle 22 and a water pressure device 21 which are connected in sequence; the cavitation generator 23 is used to generate cavitation bubbles, the cavitation inflation bottle 22 is used to collect and store the cavitation bubbles, and the hydraulic device 21 is used to pressurize the cavitation water stream of the mixture of cavitation bubbles and water so that it is ejected from the propulsion nozzle 20 to clean the outer wall of the ship.
The rear end of the robot main body 1 is provided with a propeller 19 by which the robot main body 33 can move in the water. Or to generate a thrust force to counteract a reaction force during the washing process. Four permanent magnet universal wheel assemblies are respectively arranged on two sides of the bottom of the robot main body 33 and used for being adsorbed on the outer wall of a ship and driving the robot main body 33 to move.
Each permanent magnet universal wheel component adopts a spherical wheel 9, and a permanent magnet is embedded in the surface of the spherical wheel 9. The body of the spherical wheel 9 is accommodated in the wheel base 8. At least three motorized rollers are provided in the wheel base 8 to urge the spherical wheel 9 to rotate in any desired direction.
The spraying assembly is used for spraying the cleaned area when the coating on the outer wall of the ship is damaged after the cleaning is finished; the spraying component comprises a rotary driving mechanism, a telescopic arm 14 arranged along the front-back direction of the robot main body 33, a connecting block 13, an electric push rod 12 and a spraying box body 11; wherein: the rotary driving mechanism is fixed on the robot main body 33, and an output shaft of the rotary driving mechanism rotates with the first end of the telescopic arm 14 to drive the telescopic arm 14 to rotate along the axis direction of the telescopic arm; the second end of the telescopic arm 14 and the first end of the electric push rod 12 are both fixedly connected with the connecting block 13; the electric push rod 12 is perpendicular to the axis of the telescopic arm 14; the spraying box body 11 is fixedly arranged at the bottom end of the electric push rod 12; inside which a downward nozzle 10 is arranged.
During the spraying process, the rotary driving mechanism drives the telescopic arm 14 to rotate, so as to drive the electric push rod 12 to swing. In the process, the bottom surface of the spraying box body 11 is attached to the surface of the ship by matching with the telescopic process of the electric push rod 12 so as to spray the coating on the surface of the ship body. The electric push rod 12 can leave a strip-shaped linear spraying area on the surface of the ship body when the spraying box body 11 is sprayed in one swing process. After the electric push rod 12 finishes one-time swinging, the telescopic arm 14 is controlled to perform stepping telescopic movement, the electric push rod 12 is controlled to swing, and the spraying box body 11 is driven to form a next linear spraying area. The electric push rod 12 swings for multiple times and is matched with the stepping and stretching process of the telescopic arm 14, and the spraying box body 11 can spray and cover a specific target area.
In the embodiment, the spraying box body 11 is sprayed by adopting a wet underwater plasma spraying principle. The cross section of the nozzle of the spray box 11 is shown in fig. 4, the nozzle 40 is in a horn shape, and hot ion flow can be sprayed inside the nozzle 40 to discharge water flow inside the nozzle 40, so as to form a local dry gas phase area. Several notches are provided at the edge of the nozzle 40 contacting the hull 41 for water and air discharge. The nozzle 40 is provided with a powder feeding port 42 in a lateral direction for supplying a spraying powder to the inside of the nozzle 40, the spraying powder including: the aluminum-coated nickel composite powder used as the priming coating (added with refractory metal silicide to enhance the bonding strength of the coating and improve deep oxidation resistance) and the ceramic-based anticorrosive coating. The aluminum-clad nickel composite powder has the advantages that aluminum and nickel can generate strong exothermic reaction to generate intermetallic oxides, and the bonding strength with the surface of a ship body is improved.
In the spraying process, Ar gas is firstly fed into the nozzle 40, and then spraying powder is fed through the powder feeding port 42, so that seawater is prevented from entering the powder feeding channel; then arc striking is carried out, the seawater in the protective cover is quickly gasified by utilizing high-temperature ion airflow, the seawater is emptied instantly to form a local dry gas phase area, and a spraying point is always in the local dry gas phase area along with the movement of the nozzle. And in the spraying process, the priming coating is sprayed firstly, and then the ceramic-based anticorrosive coating is sprayed.
In the present embodiment, the rotation drive mechanism includes a disc gear base 15, a bearing base 16, a gear train 17, and a motor 18. A gear train 17 is mounted between the carousel gear mount 15 and the bearing mount 16 for transmission between the motor 18 and the telescopic arm 14.
As shown in fig. 1 and 3, the specific working process of the underwater cleaning robot for the outer wall of the ship provided by the invention is as follows: the control system is initialized, the upper computer sends a signal, the camera 2 is started, the control system judges whether the current position needs to be cleaned, when the cleaning is not needed, the camera starts to detect whether the coating is needed, otherwise, the control system starts to control the cleaning brush assembly to work, the two disk brush heads start to rotate and clean the attachments on the outer wall of the ship body within the working range, after one working cycle is finished, the disk brush heads stop rotating, the camera starts to detect whether the outer wall of the ship body is cleaned, when the outer wall of the ship body is not cleaned, the cavitation device starts to work, the cavitation generator generates cavitation bubbles, the cavitation bubbles flow to the cavitation bubble inflation bottle to be collected and stored, after the cavitation bubbles are stored sufficiently, the water pressure device pressurizes the cavitation water flow, the propelling nozzle emits high-pressure cavitation bubbles to a target point, and after one working cycle is finished, the camera starts to detect whether the outer side of the ship body is cleaned, when the testing result is the clean up, the camera begins to detect whether hull outer wall need recoat, and when the result was yes, spraying assembly began working, and the motor is started, drives gear revolve, and the gear drives flexible arm, and flexible arm passes through the connecting block and drives electric putter, and electric putter passes through the box, drives the nozzle and carries out the coating and spray, and after a duty cycle, driving motor shut down, and cleaning robot continued to move forward.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. An underwater cleaning robot for an outer wall of a ship, comprising:
a robot main body (33);
a cleaning brush assembly mounted at the front end of the robot body (33) through a robot arm (3);
the camera (2) is used for shooting the cleaning range of the cleaning brush assembly;
a cavitation device which is arranged inside the robot main body (33) and emits high-pressure cavitation to the cleaning range through a propulsion nozzle (20) arranged at the front end of the robot main body (33);
the spraying assembly is used for spraying the cleaned area when the coating on the outer wall of the ship is damaged after the cleaning is finished;
the four permanent magnet universal wheel assemblies are respectively arranged on two sides of the bottom of the robot main body (33) and used for being adsorbed on the outer wall of a ship and driving the robot main body (33) to move.
2. The marine vessel outer wall underwater cleaning robot as claimed in claim 1, wherein a propeller (19) is provided at a rear end of the robot main body (33).
3. The underwater cleaning robot for the outer wall of the ship as claimed in claim 1, wherein the permanent magnet universal wheel assembly is a spherical wheel (9), and a permanent magnet is embedded in the surface of the spherical wheel.
4. Marine vessel outer wall underwater cleaning robot according to claim 1, characterised in that the cleaning brush assembly comprises a brush head base (5) with a drive motor and two disc brush heads (6).
5. The underwater cleaning robot for the outer wall of the ship as claimed in claim 1, wherein the cavitation device comprises a cavitation generator (23), a cavitation aeration bottle (22) and a water pressure device (21) which are connected in sequence; the cavitation generator (23) is used for generating cavitation bubbles, the cavitation bubble inflation bottle (22) is used for collecting and storing the cavitation bubbles, and the water pressure device (21) is used for pressurizing cavitation bubble water flow mixed with water so that the cavitation bubble water flow is sprayed out of the propelling nozzle (20).
6. The underwater cleaning robot for the outer wall of the ship as claimed in claim 1, wherein the spraying assembly comprises a rotary driving mechanism, a telescopic arm (14) arranged along the front and back directions of the robot main body (33), a connecting block (13), an electric push rod (12) and a spraying box body (11); wherein:
The rotary driving mechanism is fixed on the robot main body (33), and an output shaft of the rotary driving mechanism rotates with the first end of the telescopic arm (14) and is used for driving the telescopic arm (14) to rotate along the axis direction of the telescopic arm;
the second end of the telescopic arm (14) and the first end of the electric push rod (12) are fixedly connected with the connecting block (13); the electric push rod (12) is vertical to the axis of the telescopic arm (14);
the spraying box body (11) is arranged at the bottom end of the electric push rod (12); the inside of the nozzle is provided with a nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207509.8A CN114516388A (en) | 2022-03-03 | 2022-03-03 | Underwater cleaning robot for outer wall of ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207509.8A CN114516388A (en) | 2022-03-03 | 2022-03-03 | Underwater cleaning robot for outer wall of ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114516388A true CN114516388A (en) | 2022-05-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210207509.8A Pending CN114516388A (en) | 2022-03-03 | 2022-03-03 | Underwater cleaning robot for outer wall of ship |
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| Country | Link |
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| CN (1) | CN114516388A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117244830A (en) * | 2023-11-20 | 2023-12-19 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
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|---|---|---|---|---|
| US5890250A (en) * | 1996-02-02 | 1999-04-06 | Sky Robitics, Inc. | Robotic washing apparatus |
| KR20170000874U (en) * | 2015-08-31 | 2017-03-08 | 대우조선해양 주식회사 | Apparatus for hull cleaning |
| CN206125363U (en) * | 2016-08-30 | 2017-04-26 | 武汉大学深圳研究院 | Ocean attachment cleaning device based on pulse jet |
| KR20170070723A (en) * | 2015-12-14 | 2017-06-22 | 이윤경 | A apparatus for cleaning the large substrate |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN107757840A (en) * | 2017-11-12 | 2018-03-06 | 张广 | A kind of ship derusting hand-held climbing robot device based on high-pressure water jet |
| WO2021100910A1 (en) * | 2019-11-21 | 2021-05-27 | 주식회사 네오텍 | Underwater drone for ship management |
| CN214262495U (en) * | 2021-08-02 | 2021-09-24 | 大连鑫惠工业有限公司 | Hull outer wall spraying device |
-
2022
- 2022-03-03 CN CN202210207509.8A patent/CN114516388A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5890250A (en) * | 1996-02-02 | 1999-04-06 | Sky Robitics, Inc. | Robotic washing apparatus |
| KR20170000874U (en) * | 2015-08-31 | 2017-03-08 | 대우조선해양 주식회사 | Apparatus for hull cleaning |
| KR20170070723A (en) * | 2015-12-14 | 2017-06-22 | 이윤경 | A apparatus for cleaning the large substrate |
| CN206125363U (en) * | 2016-08-30 | 2017-04-26 | 武汉大学深圳研究院 | Ocean attachment cleaning device based on pulse jet |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN107757840A (en) * | 2017-11-12 | 2018-03-06 | 张广 | A kind of ship derusting hand-held climbing robot device based on high-pressure water jet |
| WO2021100910A1 (en) * | 2019-11-21 | 2021-05-27 | 주식회사 네오텍 | Underwater drone for ship management |
| CN214262495U (en) * | 2021-08-02 | 2021-09-24 | 大连鑫惠工业有限公司 | Hull outer wall spraying device |
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| CN117244830A (en) * | 2023-11-20 | 2023-12-19 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
| CN117244830B (en) * | 2023-11-20 | 2024-04-23 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
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