CN115027636A - High-pressure water jet cleaning equipment based on unmanned ship platform - Google Patents
High-pressure water jet cleaning equipment based on unmanned ship platform Download PDFInfo
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- CN115027636A CN115027636A CN202210863690.8A CN202210863690A CN115027636A CN 115027636 A CN115027636 A CN 115027636A CN 202210863690 A CN202210863690 A CN 202210863690A CN 115027636 A CN115027636 A CN 115027636A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 62
- 238000004140 cleaning Methods 0.000 title claims abstract description 37
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000237502 Ostreidae Species 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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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
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses high-pressure water jet cleaning equipment based on an unmanned ship platform, which comprises the unmanned ship, a Stewart six-degree-of-freedom motion platform arranged on the unmanned ship and a high-pressure water jet mechanism arranged on the Stewart six-degree-of-freedom motion platform, wherein the high-pressure water jet mechanism comprises a base, a platform and two water jet gun heads, a first driving device is fixedly arranged on the base, and the base is fixedly connected with the Stewart six-degree-of-freedom motion platform; the platform is in rotating fit with the base, and the first driving device can drive the platform to rotate relative to the base; the platform is provided with a rotating rod and a second driving device, the rotating rod is fixedly provided with two mounting plates, and the second driving device can drive the rotating rod to rotate around the axis of the rotating rod; the axis of the platform rotating relative to the base is vertical to the axis of the rotating rod; one water jet gun head is mounted on one mounting plate, and the other water jet gun head is mounted on the other mounting plate. The invention improves the cleaning operation efficiency.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to high-pressure water jet cleaning equipment based on an unmanned boat platform.
Background
In the environments of large ships, seaside buildings, ports, nuclear power station cooling water circulation tunnels and the like on the sea surface, a large amount of marine organisms grow, equipment safety is damaged, and the marine organisms need to be cleaned regularly. The marine life mainly comprises barnacles, oyster and the like, the adsorption is firm, the environment for cleaning the marine life is severe due to special occasions, the working efficiency of the conventional common manual cleaning method is low, the environmental constraint is high, and particularly in a tunnel of a nuclear power station, due to deep tunnel, oxygen in the air is thin, and manual operation is easy to cause accidents. As for the high-pressure cleaning robot adopted in a few occasions, the intelligent degree is not high, the mechanism is complex and redundant, and the work is limited by the environment.
Disclosure of Invention
The invention aims to provide high-pressure water jet cleaning equipment based on an unmanned boat platform, which is used for solving the problems in the prior art and improving the cleaning operation efficiency.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides high-pressure water jet cleaning equipment based on an unmanned ship platform, which comprises the unmanned ship, a Stewart six-degree-of-freedom motion platform arranged on the unmanned ship and a high-pressure water jet mechanism arranged on the Stewart six-degree-of-freedom motion platform, wherein the high-pressure water jet mechanism comprises a base, a platform and two water jet gun heads, a first driving device is fixedly arranged on the base, and the base is fixedly connected with the Stewart six-degree-of-freedom motion platform; the platform is in rotating fit with the base, and the first driving device can drive the platform to rotate relative to the base; the platform is provided with a rotating rod and a second driving device, the rotating rod is fixedly provided with two mounting plates, and the second driving device can drive the rotating rod to rotate around the axis of the rotating rod; the axis of the platform rotating relative to the base is vertical to the axis of the rotating rod; one of the water jet gun heads is mounted on one of the mounting plates, and the other of the water jet gun heads is mounted on the other of the mounting plates.
Preferably, the unmanned ship platform further comprises an intelligent navigation system, wherein the intelligent navigation system comprises an antenna, a GPS (global positioning system), an inertial navigation system and a laser radar, and provides positioning, navigation and obstacle detection for intelligent control of the unmanned ship platform, and provides support for automatic navigation, path planning and obstacle avoidance of equipment.
Preferably, the system further comprises an environment sensing system, wherein the environment sensing system is used for sensing and detecting the growth position information of the marine life; the environmental awareness system includes a photovoltaic turret having degrees of freedom in both pitch and azimuth directions.
Preferably, the system also comprises a control unit, wherein the control unit adopts an industrial personal computer; the intelligent navigation system, the driving system of the unmanned ship, the driving system of the Stewart six-freedom-degree motion platform, the first driving device, the second driving device and the environment sensing system are respectively in signal connection with the control unit; after receiving the signal of the intelligent navigation system, the control unit can analyze the change of the boat posture of the unmanned boat, drive the photoelectric turret to pitch and/or rotate in azimuth according to the change of the boat posture, and drive the Stewart six-degree-of-freedom motion platform to rotate so as to adjust the posture of the high-pressure water jet mechanism, so that the photoelectric turret and the high-pressure water jet mechanism counteract the complex disturbance of the sea surface on the unmanned boat.
Preferably, the first driving device includes a first servo motor, a first hooke joint, a first worm and a first worm gear rod, the first servo motor is fixedly connected to the base through the first motor mounting plate, an output shaft of the first servo motor is fixedly connected to one end of the first worm through the first hooke joint, the first worm is rotatably matched to the base through a bearing, one end of the first worm gear rod is fixedly connected to the platform, and the first worm is engaged with a first worm gear on the first worm gear rod.
Preferably, the second driving device comprises a second servo motor, a second hooke joint and a second worm, the rotating rod is a worm gear rod, the second servo motor passes through the second motor mounting plate and is fixedly connected with the platform, an output shaft of the second servo motor passes through the second hooke joint and is fixedly connected with one end of the second worm, the second worm passes through a bearing and is in running fit with the platform, and the second worm is meshed with a second worm gear on the rotating rod.
Preferably, a guide wheel groove plate is fixedly arranged on the platform corresponding to each mounting plate, an arc-shaped sliding groove is formed in each guide wheel groove plate, a gun head guide wheel is fixedly arranged on the side portion of each mounting plate, and the gun head guide wheel is in sliding fit with the corresponding sliding groove in each guide wheel groove plate.
Preferably, the rotating rod is in running fit with the platform through a bearing.
Preferably, the platform is located above the base, and a thrust ball bearing is arranged on the base and used for supporting the platform.
Preferably, still be provided with curved spacing groove on the platform, the gag lever post has set firmly on the base, the gag lever post with spacing groove sliding fit.
Compared with the prior art, the invention has the following technical effects:
the high-pressure water jet cleaning equipment based on the unmanned ship platform improves the cleaning operation efficiency. The invention widens the application range of the high-pressure water jet cleaning equipment of the unmanned ship platform in cleaning marine organisms on the surfaces of large ships, offshore drilling platforms, nuclear power station tunnels and the like. The invention comprises an intelligent navigation system mainly comprising an antenna, a laser radar and a GPS + inertial navigation system, an environment sensing system for sensing the surrounding environment through a photoelectric turret and a two-degree-of-freedom high-pressure water jet mechanism, thereby improving the intelligent degree and the working efficiency of the equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a view angle of a high-pressure water jet mechanism in the high-pressure water jet cleaning equipment based on the unmanned boat platform;
FIG. 2 is a schematic structural diagram of another view angle of a high-pressure water jet mechanism in the high-pressure water jet cleaning equipment based on the unmanned boat platform;
FIG. 3 is a schematic structural diagram of the high-pressure water jet cleaning equipment based on the unmanned boat platform;
wherein: 100. a high-pressure water jet mechanism; 200. an unmanned boat; 300. a Stewart six-freedom-degree motion platform; 400. an antenna; 500. a laser radar; 600. a GPS and inertial navigation system; 700. a photoelectric turret; 1. a base; 2. a platform; 3. a first servo motor; 4. a first motor mounting plate; 5. a second servo motor; 6. a second hook joint; 7. a second worm; 8. a second worm gear; 9. rotating the rod; 10. mounting a plate; 11. a water jet gun head; 12. a guide wheel slot plate; 13. a gun head guide wheel; 14. a limiting groove; 15. a first hook joint; 16. a first worm; 17. a first worm gear; 18. a first worm gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide high-pressure water jet cleaning equipment based on an unmanned boat platform, which is used for solving the problems in the prior art and improving the cleaning operation efficiency.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 3: the embodiment provides high-pressure water jet cleaning equipment based on an unmanned ship platform, which comprises the unmanned ship 200, an intelligent navigation system, an environment sensing system, a control unit, a Stewart six-degree-of-freedom motion platform 300 installed on the unmanned ship 200 and a high-pressure water jet mechanism 100 arranged on the Stewart six-degree-of-freedom motion platform 300. The Stewart six-degree-of-freedom motion platform 300 is adopted to drive the high-pressure water jet mechanism 100, so that the disturbance of the unmanned ship 200 on the sea surface is balanced, and the high-pressure water jet is efficiently cleaned.
The unmanned ship 200 is used as a main motion platform, an intelligent navigation system, an environment sensing system and a high-pressure water jet mechanism 100 are carried on the unmanned ship, and the functions of advancing, retreating, intelligent navigation, environment sensing and the like are mainly realized;
the intelligent navigation system comprises an antenna 400, a GPS and inertial navigation system 600 and a laser radar 500, and provides positioning, navigation and obstacle detection for intelligent control of the unmanned ship 200 platform, and provides support for automatic navigation and path planning of equipment and obstacle avoidance.
The environment sensing system is used for sensing and detecting the growth position information of marine organisms, providing direction guidance for high-pressure water jet of the cleaning equipment and providing real-time video for facilitating remote monitoring of personnel; the environmental awareness system includes a photovoltaic turret 700, and the photovoltaic turret 700 has two degrees of freedom in pitch and azimuth directions. The photoelectric turret 700 is mainly used for cooperating with lighting equipment on the unmanned boat 200, monitoring the surrounding environment by auxiliary cleaning equipment and guiding the direction of the high-pressure water jet. For the observation of the cleaning equipment, the position of the marine life is observed, the cleaning residue of the marine life is detected, the track of the unmanned ship 200 is planned according to the cleaning condition, and the direction of the high-pressure water jet is controlled. The monitoring of the surrounding environment is mainly to check the sea surface condition, the equipment to be cleaned and the rest of the still and animal bodies around the flight path. The photoelectric turret 700 is provided with a visible light camera, an infrared camera and a laser range finder, has freedom degrees in two directions of pitching and azimuth, and can effectively counteract the complex disturbance of the sea surface on the unmanned ship 200 platform through a stability control algorithm, so that the photoelectric turret 700 can shoot clear and stable video data.
In this embodiment, the control unit is an industrial personal computer; the intelligent navigation system, the driving system of the unmanned ship 200, the driving system of the Stewart six-freedom-degree motion platform 300, the first driving device, the second driving device and the environment sensing system are respectively in signal connection with the control unit.
After receiving the signal of the intelligent navigation system, the control unit can analyze the change of the boat posture of the unmanned boat 200, drive the photoelectric turret 700 to perform pitching and/or azimuth rotation according to the change of the boat posture, and drive the Stewart six-degree-of-freedom motion platform 300 to rotate to adjust the posture of the high-pressure water jet mechanism 100, so that the photoelectric turret 700 and the high-pressure water jet mechanism 100 can counteract the complex disturbance of the sea surface to the unmanned boat 200.
The high-pressure water jet mechanism 100 includes: a base 1, a platform 2 and two water jet gun heads 11.
A first driving device is fixedly arranged on the base 1, the platform 2 is in rotating fit with the base 1, and the first driving device can drive the platform 2 to rotate relative to the base 1; specifically, the first driving device comprises a first servo motor 3, a first hooke joint 15, a first worm 16 and a first worm wheel rod 18, the first servo motor 3 is fixedly connected with the base 1 through a first motor mounting plate 4, an output shaft of the first servo motor 3 is fixedly connected with one end of the first worm 16 through the first hooke joint 15, the first worm 16 is in running fit with the base 1 through a bearing, one end of the first worm wheel rod 18 is in key connection with the platform 2, and the first worm 16 is meshed with a first worm wheel 17 on the first worm wheel rod 18. The platform 2 is also provided with an arc-shaped limiting groove 14, the base 1 is fixedly provided with a limiting rod, and the limiting rod is in sliding fit with the limiting groove 14; the limiting rod and the limiting groove 14 are arranged to limit the angle range of the platform 2 rotating relative to the base 1.
A rotating rod 9 and a second driving device are arranged on the platform 2, and the rotating rod 9 is in rotating fit with the platform 2 through a bearing; two mounting plates 10 are fixedly arranged on the rotating rod 9, one water jet gun head 11 is mounted on one mounting plate 10, and the other water jet gun head 11 is mounted on the other mounting plate 10.
The second driving device can drive the rotating rod 9 to rotate around the axis of the rotating rod 9; and the axis of the platform 2 rotating relative to the base 1 is vertical to the axis of the rotating rod 9; specifically, the second driving device comprises a second servo motor 5, a second hooke joint 6 and a second worm 7, the rotating rod 9 is a second worm gear rod, the second servo motor 5 is fixedly connected with the platform 2 through a second motor mounting plate, an output shaft of the second servo motor 5 is fixedly connected with one end of the second worm 7 through the second hooke joint 6, the second worm 7 is in running fit with the platform 2 through a bearing, and the second worm 7 is meshed with a second worm gear 8 on the rotating rod 9.
A guide wheel groove plate 12 is fixedly arranged on the platform 2 corresponding to each mounting plate 10, an arc-shaped sliding groove is formed in the guide wheel groove plate 12, a gun head guide wheel 13 is fixedly arranged on the side portion of each mounting plate 10, and the gun head guide wheel 13 is in sliding fit with the corresponding sliding groove in the guide wheel groove plate 12.
The platform 2 is positioned above the base 1, and the base 1 is provided with a thrust ball bearing which is used for supporting the platform 2; meanwhile, a lubricating pad is arranged between the platform 2 and the base 1 to support and lubricate the platform 2.
When the high-pressure water jet mechanism 100 works, the platform 2 can be driven by the first driving device to rotate around the Z axis in an azimuth manner (the axis of the first turbine rod is taken as the Z axis), and the two water jet gun heads 11 can be driven by the second driving device to rotate around the X axis in a pitching manner (the axis of the rotating rod 9 is taken as the X axis); the device can meet the requirement of cleaning marine organisms in multiple occasions, and has the advantages of accurate water jet direction aiming, high reaction sensitivity and large holding torque.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a high pressure water jet washs equipment based on unmanned ship platform which characterized in that: the high-pressure water jet mechanism comprises a base, a platform and two water jet gun heads, wherein a first driving device is fixedly mounted on the base, and the base is fixedly connected with the Stewart six-freedom-degree motion platform; the platform is in rotating fit with the base, and the first driving device can drive the platform to rotate relative to the base; the platform is provided with a rotating rod and a second driving device, the rotating rod is fixedly provided with two mounting plates, and the second driving device can drive the rotating rod to rotate around the axis of the rotating rod; the axis of the platform rotating relative to the base is vertical to the axis of the rotating rod; one of the water jet gun heads is mounted on one of the mounting plates, and the other of the water jet gun heads is mounted on the other of the mounting plates.
2. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the unmanned ship platform control system further comprises an intelligent navigation system, wherein the intelligent navigation system comprises an antenna, a GPS (global positioning system), an inertial navigation system and a laser radar, and the intelligent navigation system provides positioning, navigation and obstacle detection for intelligent control of the unmanned ship platform and provides support for automatic navigation and path planning of equipment and obstacle avoidance.
3. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 2, wherein: the system also comprises an environment sensing system, wherein the environment sensing system is used for sensing and detecting the growth position information of the marine life; the environmental awareness system includes a photovoltaic turret having degrees of freedom in both pitch and azimuth directions.
4. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 3, wherein: the system also comprises a control unit, wherein the control unit adopts an industrial personal computer; the intelligent navigation system, the driving system of the unmanned ship, the driving system of the Stewart six-freedom-degree motion platform, the first driving device, the second driving device and the environment sensing system are respectively in signal connection with the control unit; after receiving the signal of the intelligent navigation system, the control unit can analyze the change of the boat posture of the unmanned boat, drive the photoelectric turret to pitch and/or rotate in azimuth according to the change of the boat posture, and drive the Stewart six-degree-of-freedom motion platform to rotate so as to adjust the posture of the high-pressure water jet mechanism, so that the photoelectric turret and the high-pressure water jet mechanism counteract the complex disturbance of the sea surface on the unmanned boat.
5. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the first driving device comprises a first servo motor, a first hooke joint, a first worm and a first worm gear rod, the first servo motor is fixedly connected with the base through the first motor mounting plate, an output shaft of the first servo motor is fixedly connected with one end of the first worm through the first hooke joint, the first worm is in running fit with the base through a bearing, one end of the first worm gear rod is fixedly connected with the platform, and the first worm is meshed with a first worm gear on the first worm gear rod.
6. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the second driving device comprises a second servo motor, a second hooke joint and a second worm, the rotating rod is a worm gear rod, the second servo motor passes through the second motor mounting plate and the platform are fixedly connected, an output shaft of the second servo motor passes through the second hooke joint and one end of the second worm is fixedly connected, the second worm passes through a bearing and is in running fit with the platform, and the second worm is meshed with a second worm gear on the rotating rod.
7. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the platform is fixedly provided with a guide wheel groove plate corresponding to each mounting plate, an arc-shaped sliding groove is formed in each guide wheel groove plate, a gun head guide wheel is fixedly arranged on the side portion of each mounting plate, and the gun head guide wheels are in sliding fit with the corresponding sliding grooves in the guide wheel groove plates.
8. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the dwang pass through the bearing with platform normal running fit.
9. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: the platform is located the top of base, be provided with thrust ball bearing on the base, thrust ball bearing is used for supporting the platform.
10. The unmanned boat platform-based high pressure water jet cleaning apparatus of claim 1, wherein: still be provided with curved spacing groove on the platform, the gag lever post has set firmly on the base, the gag lever post with spacing groove sliding fit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210863690.8A CN115027636A (en) | 2022-07-21 | 2022-07-21 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210863690.8A CN115027636A (en) | 2022-07-21 | 2022-07-21 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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| CN115027636A true CN115027636A (en) | 2022-09-09 |
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| CN202210863690.8A Pending CN115027636A (en) | 2022-07-21 | 2022-07-21 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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