CN116424510A - Marine attachment cleaning device for marine tool - Google Patents
Marine attachment cleaning device for marine tool Download PDFInfo
- Publication number
- CN116424510A CN116424510A CN202310515385.4A CN202310515385A CN116424510A CN 116424510 A CN116424510 A CN 116424510A CN 202310515385 A CN202310515385 A CN 202310515385A CN 116424510 A CN116424510 A CN 116424510A
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- head
- cleaning
- marine
- supporting
- rectangular
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- 238000004140 cleaning Methods 0.000 title claims abstract description 89
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 238000001179 sorption measurement Methods 0.000 claims abstract description 14
- 238000005498 polishing Methods 0.000 claims description 29
- 238000009434 installation Methods 0.000 claims 2
- 239000000654 additive Substances 0.000 claims 1
- 230000000996 additive effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 244000045947 parasite Species 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- 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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a marine attachment cleaning device for a marine tool, which comprises: the walking mechanism and the cleaning mechanism; the cleaning mechanism is arranged on the traveling mechanism, and the traveling mechanism drives the cleaning mechanism to travel; the cleaning mechanism comprises: a cross-shaped support frame, a cleaning head support rod and a cleaning head assembly; the four cleaning head supporting rods are respectively arranged at the four top ends of the cross-shaped supporting frame, one end of each cleaning head supporting rod is fixedly connected with the cross-shaped supporting frame, and the other end of each cleaning head supporting rod is connected with the cleaning head assembly; the running gear includes: mechanical claw, adsorption head and supporting groove; the two supporting grooves are symmetrically arranged below the cross-shaped supporting frame in parallel, and the extending direction of the supporting grooves is the walking direction; the two mechanical claws are arranged on one supporting groove, the claw heads of the mechanical claws face the ship body, and the connecting ends of the mechanical claws move on the supporting groove; the adsorption head is arranged at the claw head of the mechanical claw. The invention can clean attachments while moving by matching with the travelling mechanism and the cleaning mechanism, and improves the efficiency of cleaning attachments.
Description
Technical Field
The invention relates to the technical field of ship cleaning, in particular to a marine attachment cleaning device for a ship sea tool.
Background
Since a ship is sailed and moored at sea throughout the year, various marine organisms such as algae, barnacles, etc. are attached to the underwater portion of the hull. On the one hand, the attachments can continuously erode paint in the forming process to destroy the surface coating of the ship body, so that the corrosion of the surface of the ship body is increased; on the other hand, the attachments can increase the weight of the ship body, influence the sailing speed and increase the fuel consumption.
For small ships, the small ships can be towed into the dock for cleaning, and for large ships, towing into the dock is a difficult mode and increasing the navigation cost, so that most cleaning modes are used for cleaning most of ships manually, workers are required to submerge in the water for working, the requirements for the workers are high, the life danger of the workers is caused, and the conditions of high cost and low efficiency exist.
Devices for cleaning the surface of ships have appeared on the market, and the publication number CN112027012a provides a ship bottom cleaning underwater robot, which comprises a shell, an electromagnet, a universal wheel, a first motor, a millstone and a high-pressure cleaning machine, wherein the robot cleans parasites together in a high-pressure cleaning mode and a millstone cleaning mode, and is attached to the surface of a ship body in an electromagnetic adsorption mode. The utility model discloses a magnetic adsorption hull clearance robot, including casing, structure of crawling, clearance structure, controlling means, this equipment is adsorbed on the ship surface through magnetic force when using, clears up the hull, because the ship surface is not smooth or comparatively regular surface, when adsorbing on the hull surface, adsorption capacity is weak, drops easily, influences normal clearance work.
Disclosure of Invention
The invention provides a marine attachment cleaning device for a marine tool, which aims to solve the problems of high cost, low efficiency, weak adsorption capacity and easy falling off in the prior art.
The invention provides a marine attachment cleaning device for a marine tool, which comprises: the walking mechanism and the cleaning mechanism;
the cleaning mechanism is arranged on the traveling mechanism, and the traveling mechanism drives the cleaning mechanism to travel;
the cleaning mechanism comprises: a cross-shaped support frame, a cleaning head support rod and a cleaning head assembly; the four cleaning head supporting rods are respectively arranged at the four top ends of the cross-shaped supporting frame, one end of each cleaning head supporting rod is fixedly connected with the cross-shaped supporting frame, and the other end of each cleaning head supporting rod is connected with the cleaning head assembly;
the running gear includes: mechanical claw, adsorption head and supporting groove; the two supporting grooves are symmetrically arranged below the cross-shaped supporting frame in parallel, and the extending direction of the supporting grooves is the walking direction; the two mechanical claws are arranged on one supporting groove, the claw heads of the mechanical claws face the ship body, and the connecting ends of the mechanical claws move on the supporting groove; the adsorption head is arranged at the claw head of the mechanical claw.
Further, the cleaning head assembly includes: the grinding device comprises a rectangular shell, a grinding head component, a driving motor and a connecting chain; the center of the rectangular shell is connected with the cleaning head supporting rod, the four rectangular shells enclose a city and are rectangular, and the four mechanical claws walk and move in the rectangular area of the city; a plurality of polishing head components and a plurality of polishing head components are distributed on one surface of the rectangular shell facing the ship body; one end of the polishing head part is a polishing head, the other end of the polishing head part is a gear, and the gear end of the polishing head part penetrates through the rectangular shell and stretches into the rectangular shell; one end of the grinding head part is a grinding head, the other end of the grinding head part is a gear, and the gear end of the grinding head part penetrates through the rectangular shell and stretches into the rectangular shell; the connecting chain is arranged in the rectangular shell and is meshed and connected with the gear of the polishing head and the gear of the polishing head; the driving motor is arranged in the rectangular shell and drives the connecting chain to move so as to drive all gears to rotate.
Further, the rectangular housing is inclined inward, and the outer side of the rectangular housing is higher than the inner side of the rectangular housing.
Further, the height difference between the outer side of the rectangular shell and the inner side of the rectangular shell is larger than the height of the marine attachment of the ship body.
Further, the polishing head parts and the grinding head parts are distributed in an array mode, and are arranged at intervals.
Further, the polishing head pieces and the grinding head pieces are distributed at intervals in rows.
Further, the cleaning head supporting rod is a telescopic supporting rod, the fixed end is fixedly connected with the cross-shaped supporting frame, and the moving end is connected with the cleaning head assembly.
Further, the four directions of the cross-shaped support frame are all telescopic.
Further, the support groove includes: the device comprises a groove body, a rack, a driving motor and a sliding bracket; the rack is arranged on the frame of the inner wall of the groove body; the driving motor is arranged on the sliding bracket, and an output gear of the driving motor is meshed with the rack on one side at any time; the sliding support is erected on the groove body and moves on the groove body along with the rotation of the driving motor; the connecting end of the mechanical claw is connected with the sliding bracket.
Further, the gripper includes: the device comprises a rotating motor, a connecting plate, a limiting block, a pi-shaped connecting rod, a bearing and a claw head; the body of the rotary motor is fixed at one end of the sliding bracket which is not contacted with the groove body; one end of each connecting plate clamps the output end of the rotating motor, and the connecting plates rotate along the direction perpendicular to the walking direction along with the rotation of the rotating motor; the cross rod of the pi-shaped connecting rod penetrates through the two connecting plates to be connected with the connecting plate shaft; the vertical rod of the pi-shaped connecting rod is fixedly connected with the inner ring of the bearing; the limiting block is arranged on the connecting plate and limits the rotation angle of the pi-shaped connecting rod; the fixed ends of the plurality of claw heads are uniformly distributed on the outer ring of the bearing.
The invention has the beneficial effects that:
the invention can clean attachments while moving by matching with the travelling mechanism and the cleaning mechanism, and improves the efficiency of cleaning attachments. According to the invention, the rotary motion of the gear is converted into the motion of the rack, so that the travelling mechanism is driven to move, and the rapid movement in a complex path can be realized. The mechanical claw has high degree of freedom, so that the device can be adsorbed on an uneven wall surface, and can adsorb a curved surface at the same time, and the mechanical claw can be better adapted to the curved surface environment of the ship surface. According to the invention, the cleaning head assembly is arranged around the device, so that marine attachments can be cleaned before the travelling mechanism walks, the adsorption head of the travelling mechanism can be adsorbed more firmly, the effect of cleaning while moving is achieved, and the working efficiency of the device is improved. According to the marine attachment cleaning device, the mechanical claw and the adsorption head are matched to adsorb on the surface of a ship, so that the device is stabilized outside the ship body, attachments on the ship body are removed through the polishing head part, residues are ground through the polishing head part, and the marine attachment cleaning function is achieved. The invention can reduce the height adjustment of the cleaning mechanism and improve the cleaning efficiency by inclining the rectangular shell inwards.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a schematic view of the connection of a gripper and a support trough assembly according to an embodiment of the present invention;
FIG. 4 is a schematic view of a support trough assembly according to an embodiment of the invention;
FIG. 5 is a schematic view of a gripper pi-shaped connecting rod in accordance with an embodiment of the present invention;
FIG. 6 is an internal schematic view of a rectangular housing according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a polishing head assembly and a distribution of polishing head assemblies according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a marine attachment cleaning device for a marine tool, which comprises the following components: a walking mechanism 1 and a cleaning mechanism 2;
the cleaning mechanism 2 is arranged on the travelling mechanism 1, and the travelling mechanism 1 drives the cleaning mechanism 2 to travel;
the cleaning mechanism 2 includes: a cross-shaped support frame 21, a cleaning head support bar 22, and a cleaning head assembly 23; the four directions of the cross-shaped supporting frame 21 are all telescopic; the four cleaning head support rods 22 are respectively arranged at the four top ends of the cross-shaped support frame 21, the cleaning head support rods 22 are telescopic support rods, the fixed ends of the telescopic support rods are fixedly connected with the cross-shaped support frame 21, and the moving ends of the telescopic support rods are connected with the cleaning head assembly 23;
the cleaning head assembly 23 includes: a rectangular housing 231, a grinding head part 232, a grinding head part 233, a driving motor 234, a connecting chain 235; the center of the rectangular shell 231 is connected with the cleaning head supporting rod 22, the four rectangular shells 231 enclose a city rectangle, and the four mechanical claws 11 walk and move in the rectangular area range of the city; the rectangular housing 231 is inclined inwards, the outer side of the rectangular housing 231 is higher than the inner side of the rectangular housing 231, and the height difference is larger than the height of marine attachments of the ship body; the rectangular shell 231 is provided with a plurality of polishing head parts 232 and a plurality of grinding head parts 233 on one surface facing the ship body, the polishing head parts 232 and the grinding head parts 233 are distributed in an array, the polishing head parts 232 and the grinding head parts 233 are arranged at intervals, or the polishing head parts 232 and the grinding head parts 233 are distributed at intervals in rows as shown in fig. 7; one end of the polishing head component 232 is a polishing head, the other end is a gear, and the gear end of the polishing head component 232 penetrates through the rectangular shell 231 and stretches into the rectangular shell 231; one end of the grinding bit part 233 is a grinding bit, the other end is a gear, and the gear end of the grinding bit part 233 passes through the rectangular housing 231 and stretches into the rectangular housing 231; the connecting chain 235 is arranged in the rectangular shell 231 and is meshed with the gear of the grinding head and the gear of the grinding head; the driving motor 234 is disposed in the rectangular housing 231, and drives the connecting chain 235 to move to drive all gears to rotate.
The travelling mechanism 1 includes: a gripper 11, an adsorption head 12 and a support groove 13; the two supporting grooves 13 are symmetrically arranged below the cross-shaped supporting frame 21 in parallel, and the extending direction of the supporting grooves 13 is the walking direction; the two mechanical claws 11 are arranged on one supporting groove 13, the claw heads 116 of the mechanical claws 11 face the ship body, and the connecting ends of the mechanical claws 11 move on the supporting groove 13; the suction head 12 is arranged at a claw head 116 of the mechanical claw 11, and the suction head 12 can be a strong magnet, a vacuum chuck or other components with suction capability;
the support groove 13 includes: a groove body 131, a rack 132, a driving motor 133 and a sliding bracket 134; the rack 132 is arranged on the frame of the inner wall of the groove body 131; the driving motor 133 is arranged on the sliding bracket 134, and an output gear of the driving motor 133 is meshed with the rack 132 on one side at any time; the sliding bracket 134 is erected on the groove body 131, and the sliding bracket 134 moves on the groove body 131 along with the rotation of the driving motor 133; a raised line 135 is arranged on the upper surface of the groove body 131 along the extending direction of the groove body 131, a groove matched with the raised line 135 is formed on the inner wall of the sliding support 134 opposite to the upper surface of the groove body 131 in an upward protruding mode, and the raised line 135 can position the sliding support 134 to avoid the sliding support 134 from being separated from the groove body 131; the connecting end of the gripper 11 is connected to a sliding bracket 134.
The gripper 11 includes: the rotary motor 111, the connecting plate 112, the limiting block 113, the pi-shaped connecting rod 114, the bearing 115 and the claw head 116; the body of the rotating motor 111 is fixed at one end of the sliding bracket 134 which is not contacted with the groove 131, and the rotating motor 111 can be a motor with double-shaft output; one end of each of the two connecting plates 112 is fixedly connected with one output end of the rotating motor 111, and the connecting plates 112 rotate along the direction perpendicular to the walking direction along with the rotation of the rotating motor 111; the cross rod of the pi-shaped connecting rod 114 penetrates through the two connecting plates 112 and is connected with the connecting plates 112 through the shaft; the vertical rod of the pi-shaped connecting rod 114 is fixedly connected with the inner ring of the bearing 115; the limiting block 113 is arranged on the connecting plate 112 and limits the rotation angle of the pi-shaped connecting rod 114; the fixed ends of the plurality of claw heads 116 are uniformly distributed on the outer ring of the bearing 115.
When in use, the device is firstly placed on a ship body, and is adsorbed on the ship body through the adsorption head 12 of the travelling mechanism 1. When the advancing is needed, the advancing is performed by alternately advancing the diagonal grippers 11; when the mechanical claw 11 needs to move laterally, the connecting plate 112 is driven to move in the direction of needing to move by the rotation of the rotating motor 111 so as to realize the lateral movement. When entering the working area, the cleaning head assembly 23 is repeatedly lifted and lowered to polish attachments; if the cleaning head assembly 23 is arranged obliquely, the height of the cleaning head assembly 23 is only required to be adjusted before the operation is started, so that the cleaning head assembly is not in close contact with the ship body. The whole control process can be manually controlled or automatically controlled.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (10)
1. Marine attachment cleaning device of boats and ships sea frock, characterized in that includes: the walking mechanism and the cleaning mechanism;
the cleaning mechanism is arranged on the traveling mechanism, and the traveling mechanism drives the cleaning mechanism to travel;
the cleaning mechanism comprises: a cross-shaped support frame, a cleaning head support rod and a cleaning head assembly; the four cleaning head supporting rods are respectively arranged at the four top ends of the cross-shaped supporting frame, one end of each cleaning head supporting rod is fixedly connected with the cross-shaped supporting frame, and the other end of each cleaning head supporting rod is connected with the cleaning head assembly;
the running gear includes: mechanical claw, adsorption head and supporting groove; the two supporting grooves are symmetrically arranged below the cross-shaped supporting frame in parallel, and the extending direction of the supporting grooves is the walking direction; the two mechanical claws are arranged on one supporting groove, the claw heads of the mechanical claws face the ship body, and the connecting ends of the mechanical claws move on the supporting groove; the adsorption head is arranged at the claw head of the mechanical claw.
2. The marine vessel tool marine attachment cleaning device of claim 1, wherein said cleaning head assembly comprises: the grinding device comprises a rectangular shell, a grinding head component, a driving motor and a connecting chain; the center of the rectangular shell is connected with the cleaning head supporting rod, the four rectangular shells enclose a city and are rectangular, and the four mechanical claws walk and move in the rectangular area of the city; a plurality of polishing head components and a plurality of polishing head components are distributed on one surface of the rectangular shell facing the ship body; one end of the polishing head part is a polishing head, the other end of the polishing head part is a gear, and the gear end of the polishing head part penetrates through the rectangular shell and stretches into the rectangular shell; one end of the grinding head part is a grinding head, the other end of the grinding head part is a gear, and the gear end of the grinding head part penetrates through the rectangular shell and stretches into the rectangular shell; the connecting chain is arranged in the rectangular shell and is meshed and connected with the gear of the polishing head and the gear of the polishing head; the driving motor is arranged in the rectangular shell and drives the connecting chain to move so as to drive all gears to rotate.
3. The marine vessel marine installation marine additive cleaning device of claim 2, wherein said rectangular housing is inclined inwardly, and wherein an outer side of the rectangular housing is higher than an inner side of the rectangular housing.
4. A marine vessel installation marine attachment cleaning device as claimed in claim 3, wherein the difference in height between the outside of the rectangular housing and the inside of the rectangular housing is greater than the height of the marine vessel hull marine attachment.
5. The marine vessel marine tool marine attachment cleaning device of claim 2, wherein said sanding head member and said grinding head member are arranged in an array, with the sanding head member and the grinding head member being spaced apart.
6. The marine vessel marine tool marine attachment cleaning device of claim 2, wherein said sanding head members and said grinding head members are spaced apart in rows.
7. The marine vessel tooling marine attachment cleaning device of claim 1, wherein the cleaning head support rod is a telescopic support rod, the fixed end is fixedly connected with the cross-shaped support frame, and the moving end is connected with the cleaning head assembly.
8. The marine vessel tool marine attachment cleaning device of claim 1, wherein the cross-shaped support frame is telescopic in all four directions.
9. The marine vessel tool marine attachment cleaning device of claim 1, wherein said support trough comprises: the device comprises a groove body, a rack, a driving motor and a sliding bracket; the rack is arranged on the frame of the inner wall of the groove body; the driving motor is arranged on the sliding bracket, and an output gear of the driving motor is meshed with the rack on one side at any time; the sliding support is erected on the groove body and moves on the groove body along with the rotation of the driving motor; the connecting end of the mechanical claw is connected with the sliding bracket.
10. The marine vessel tool marine attachment cleaning device of claim 9, wherein said gripper comprises: the device comprises a rotating motor, a connecting plate, a limiting block, a pi-shaped connecting rod, a bearing and a claw head; the body of the rotary motor is fixed at one end of the sliding bracket which is not contacted with the groove body; one end of each connecting plate clamps the output end of the rotating motor, and the connecting plates rotate along the direction perpendicular to the walking direction along with the rotation of the rotating motor; the cross rod of the pi-shaped connecting rod penetrates through the two connecting plates to be connected with the connecting plate shaft; the vertical rod of the pi-shaped connecting rod is fixedly connected with the inner ring of the bearing; the limiting block is arranged on the connecting plate and limits the rotation angle of the pi-shaped connecting rod; the fixed ends of the plurality of claw heads are uniformly distributed on the outer ring of the bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310515385.4A CN116424510A (en) | 2023-05-09 | 2023-05-09 | Marine attachment cleaning device for marine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310515385.4A CN116424510A (en) | 2023-05-09 | 2023-05-09 | Marine attachment cleaning device for marine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116424510A true CN116424510A (en) | 2023-07-14 |
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ID=87087369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310515385.4A Pending CN116424510A (en) | 2023-05-09 | 2023-05-09 | Marine attachment cleaning device for marine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116424510A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116750151A (en) * | 2023-07-31 | 2023-09-15 | 江苏科技大学 | Underwater cleaning robot for ship bottom |
-
2023
- 2023-05-09 CN CN202310515385.4A patent/CN116424510A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116750151A (en) * | 2023-07-31 | 2023-09-15 | 江苏科技大学 | Underwater cleaning robot for ship bottom |
| CN116750151B (en) * | 2023-07-31 | 2024-03-12 | 江苏科技大学 | Underwater cleaning robot for ship bottom |
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