CN117302446A

CN117302446A - Hull cleaning system

Info

Publication number: CN117302446A
Application number: CN202310362215.7A
Authority: CN
Inventors: 岳明
Original assignee: Zibo Blue Valley Trading Co ltd
Current assignee: Zibo Blue Valley Trading Co ltd
Priority date: 2023-04-03
Filing date: 2023-04-03
Publication date: 2023-12-29

Abstract

The invention discloses a ship body cleaning system, which comprises a cleaning robot, a cleaning object recycling device and a control device, wherein the control device controls the cleaning robot to clean the outer wall of a ship body and controls the cleaning object recycling device to recycle cleaning objects; the cleaning object recycling device comprises a recycling hopper, a negative pressure absorber and the like and a cleaning object processing device, wherein the recycling hopper is arranged below the cleaning robot, and the negative pressure absorber is at least arranged at the bottom of the recycling hopper and is used for conveying cleaning objects into the cleaning object processing device. The cleaning operation is completed rapidly during the berthing of the ship, so that the requirement of timely cleaning and timely sailing of the ship is met, cleaning object recovery is carried out during the cleaning operation, and cleaning object garbage is prevented from being generated in berthing.

Description

Hull cleaning system

Technical Field

The present invention relates to the field of automated equipment, and more particularly to a hull cleaning system.

Background

The underwater ship body of the large ship is attached by marine organisms, the sailing oil consumption can be increased by 15% -20% by slight attachment, and the heavy attachment oil consumption can be increased by 2-3 times, so that the cleaning operation of the ship body attachments belongs to necessary routine maintenance of the ship.

Marine attachments on the wall surface of the ship body are mainly shellfish, particularly barnacles and the like, and have the characteristics of strong adhesive force, hard adhesive layer, complex adhesive shape and the like. Traditional cleaning is mostly manual mechanical holding cleaning or remote control robot operation, and a common cleaning mode is contact type or jet type, wherein the contact type is as follows: the robot is provided with a rotary brush head for cleaning attachments. The main expression is as follows: a. the wall coating is easy to damage in the cleaning process; b. the mode is single, and the cleaning effect and efficiency are difficult to ensure aiming at the condition of complex attachments, and especially for some hard shellfish, the cleaning effect is poor. Jet type: the jet type is classified into water jet and sand blasting (shot). a, water jet is a widely used cleaning mode: the cleaning device has small damage to the wall surface and good cleaning effect on the fine surface, and is a cleaning mode widely applied at present. However, due to the complex attachment condition of the wall surface, the attachment layer has the functions of diversion and decompression on jet flow, and particularly, the device is used underwater, the decompression is obvious, and the cleaning effect and the operation efficiency are low.

Therefore, a novel hull cleaning robot is needed to solve the above problems.

Disclosure of Invention

An object of the invention is to provide a new technical solution for hull cleaning.

According to a first aspect of the present invention, there is provided a hull cleaning system including a cleaning robot, a cleaning object recovery device, and a control device that controls the cleaning robot to clean an outer wall of a hull and controls the cleaning object recovery device to recover a cleaning object, the cleaning robot including a robot body and a cleaning mechanism mounted to the robot body, the cleaning mechanism including at least a shearing mechanism, an ultrasonic cleaning mechanism, and a jet mechanism from front to back;

the cleaning object recycling device comprises a recycling hopper, a negative pressure absorber and a cleaning object processing device, wherein the recycling hopper is arranged below the cleaning robot, and the negative pressure absorber is at least arranged at the bottom of the recycling hopper and is used for conveying cleaning objects to the cleaning object processing device.

According to the scheme, the cleaning robot can travel on the surface of the ship body, the shearing mechanism is driven to shear and clean thicker attachments in a mechanical mode, the attachments are thinned, the ultrasonic cleaning mechanism is used for ultrasonically cleaning the thinned algae attached to the surface of the ship body, the jet mechanism is used for flushing the cleaned residues, so that the cleaning effect is further improved, the complicated attachments are cleaned into standardized wall surfaces in steps, and the attachments are cleaned in steps;

the cleaning object recovery device can recover and process the cleaning objects cleaned by the cleaning robot, so that the cleaning objects are prevented from polluting the surrounding environment, and the cleaning effect is improved.

Preferably, the robot body comprises a mounting frame and a travelling mechanism, the travelling mechanism is of a double-track structure, a plurality of adsorption plates are arranged on tracks in the double-track structure, the adsorption plates can be attached to and adsorbed on the surface of a ship body, adsorption materials are embedded in the adsorption plates, the adsorption plates are symmetrically arranged on the tracks through hinge structures, and elastomer materials are wrapped outside the adsorption plates.

Through the scheme, the adsorption plate can adsorb the cleaning robot to the surface of the ship body, so that the cleaning robot can clean the bottom surface of the ship body without hoisting by using tools such as lifting ropes, and the cleaning robot can be ensured to be tightly attached to the surface of the ship body for cleaning, and the cleaning effect is improved; the adsorption plate hinge structure can be attached to the surface of the ship body and is adsorbed through the adsorption material, so that the adsorption plate hinge structure is suitable for adsorption of flat surfaces and curved surfaces, is favorable for adapting to complex wall surfaces of the crawler belts, balances the adsorption strength of the double crawler belts, and reduces running errors and steering difficulty.

Preferably, the shearing mechanism comprises a shearing device and a shearing driving device, wherein the shearing device is arranged on a shearing mounting frame, the shearing device comprises a fixed knife and a movable knife which are matched with each other, the fixed knife is fixed on the shearing mounting frame, and the movable knife is transversely connected to the shearing mounting frame in a sliding manner and is driven by the shearing driving device to move left and right; the blade parts of the movable blade and the fixed blade are of zigzag structures.

Through this scheme, utilize the cutter to press close to the hull surface, shear the clearance to the attachment from the root side, compare in the clearance that the steel brush extrudeed to the hull surface, not only can protect hull surface coating, do not receive the kind influence of hull surface attachment moreover.

Preferably, the bottom of the shearing installation frame is provided with a roller, the roller is connected with the shearing installation plate through a fine adjustment mechanism, and the fine adjustment mechanism is used for adjusting the height of the roller.

Through this scheme, fine setting mechanism is used for adjusting the clearance of shearing blade and wall, can be adjustable in 3-10 millimeter within range, ensures that the blade does not fish tail the wall, and the adhesion layer thickness after the shearing is even unanimous, makes track adsorption affinity even, provides the standard for robot operation and follow-up equipment. The thin layer after shearing has isolation effect between the crawler belt and the wall surface, the wall surface is protected, the problems of adsorption resistance and steering difficulty of the crawler belt are relieved, and meanwhile, the crawler belt operates to roll and strip the thin layer attachments, so that the follow-up cleaning is more convenient.

Preferably, the ultrasonic cleaning mechanism is mounted on the mounting frame through an ultrasonic adjusting frame, the ultrasonic adjusting frame is rotationally connected with the mounting frame, and the ultrasonic adjusting frame is used for driving the ultrasonic cleaning mechanism to reach a working position or a non-working position.

Through this scheme, ultrasonic cleaning mechanism can rotate to cleaning robot's top as required to make things convenient for cleaning robot's obstacle surmounting removal, perhaps adjust (like shearing clearance or sandblast clearance) according to actual clearance demand.

Preferably, the jet mechanism comprises a high-pressure flushing gun and a jet protection cover, wherein the jet protection cover is arranged around the high-pressure flushing gun, and the jet protection cover is communicated with the negative pressure absorber through a negative pressure recovery pipe.

Through this scheme, the efflux safety cover is used for guaranteeing efflux regional safety and reduces the efflux waters and influences the efflux pressure, forms drainage bundling effect to the efflux region simultaneously, does benefit to the concentrated recovery of clearance thing.

Preferably, the recycling hopper comprises a hopper, a crushing device and a collecting tank, wherein the hopper is connected to the collecting tank through the crushing device, at least a plurality of magnetic wheels are arranged on the hopper, and the hopper is adsorbed to a ship body below the cleaning robot through the magnetic wheels.

According to the scheme, the hopper can collect the residue which falls after being cleaned by the cleaning robot, and the residue is crushed into small particles by the crushing device and then conveyed into the collecting tank for recycling; the magnetic wheels can be adsorbed to the ship body, and the randomizer moves to keep a better collecting position.

Preferably, the crushing device is a crusher arranged at the bottom of the hopper, the crusher is connected to the collecting tank through a screw feeder, the collecting tank is connected with the negative pressure absorber through a flexible connector, and the negative pressure absorber is connected with a cleaning object recovery tank on the working ship.

According to the scheme, the spiral conveyor is used for rigidly connecting the collecting tank and the hopper, so that the integrity of the recycling hopper is improved, the recycling hopper can synchronously move along with the cleaning robot, and the recycling effect is improved; the negative pressure absorber is communicated with the hopper through the collecting tank, a negative pressure area is formed at the position of the hopper, residues of cleaning objects are collected conveniently, and the residues in the collecting tank can be transmitted to the working ship under the action of the negative pressure absorber to be subjected to concentrated recovery treatment.

Preferably, the cleaning object treatment device comprises a cleaning object recovery tank, a water storage tank, a high-pressure water pump and a water suction pump which are mounted on a working ship, wherein one end of the water suction pump extends to the lower side of the working ship through a filter, and the other end of the water suction pump is communicated with the water storage tank; one end of the high-pressure water pump is communicated with the water storage tank, and the other end of the high-pressure water pump is communicated with the jet mechanism.

According to the scheme, the high-pressure water pump can provide high-pressure water for the jet mechanism so as to perform flushing treatment; the water pump can directly absorb the seawater below the working ship to supply water for the water storage tank, and the uninterrupted jet flushing operation is kept.

According to a second aspect of the present invention, there is provided a hull cleaning method, using the hull cleaning system described above, comprising the steps of:

the cleaning robot is operated to a position to be cleaned on the surface of the ship body, and shearing cleaning, ultrasonic cleaning and jet flushing are sequentially carried out;

the cleaning object is conveyed to the cleaning object recovery device through the recovery hopper and the negative pressure absorber to treat the cleaning object.

According to one embodiment of the present disclosure, the cleaning robot in the present system is utilized to implement shear cleaning, ultrasonic cleaning, and jet flushing, forming a three-step combined cleaning mode. The three cleaning modes are combined in an optimized mode, the advantages are complementary, hardness and softness are good, most attachments can be cleaned, and favorable conditions can be provided for the stable operation of the robot. Similarly, the steady operation of robot also provides the guarantee for the clearance operation.

The three-step method is combined with the cleaning mode, the thickness and the components of the attachments are not detected and calculated in the cleaning process, the wall surface is not damaged in the operation, the detection equipment is simplified, and the practicability is high. The combined cleaning mode shows the advantage that the robot can simultaneously carry a plurality of carrier type equipment for implementing operation.

The three-step method has the advantages that: the robot is used as a carrier to clean complex attachments into standardized wall surfaces in steps according to the operation conditions, and the attachments are cleaned in steps.

The system not only can complete the cleaning and recovery treatment of the marine organism attached on the surface of the ship body; after the sand blasting gun and the spraying gun are arranged on the jet mechanism, the rust on the surface of the ship body can be treated, or the re-spraying operation is carried out on the surface of the ship body, so that the application range of the system is greatly improved.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic structural view of a hull cleaning system in an embodiment of the present invention.

FIG. 2 is a schematic diagram of a front view of an underwater wall climbing cleaning robot in accordance with an embodiment of the present invention;

FIG. 3 is a schematic top view of the underwater wall climbing cleaning robot of FIG. 2;

FIG. 4 is a schematic view of the underwater wall climbing cleaning robot of FIG. 2 in an inactive state;

FIG. 5 is a schematic view of a travel mechanism of the underwater wall climbing cleaning robot of FIG. 2;

FIG. 6 is a schematic illustration of a link structure between the track bodies of FIG. 5;

FIG. 7 is a schematic view of the track of FIG. 6 in a front view;

FIG. 8 is a schematic side elevational view of the crawler of FIG. 7;

FIG. 9 is a schematic top view of the crawler of FIG. 7;

FIG. 10 is a schematic view of the shear mechanism of FIG. 2;

FIG. 11 is a schematic view of the structure of the shears of FIG. 10;

FIG. 12 is a schematic view of the shear driver of FIG. 11;

FIG. 13 is a schematic view of the fine adjustment mechanism of FIG. 11;

FIG. 14 is a schematic view of the movable blade and stationary blade of FIG. 11;

FIG. 15 is a schematic view of the jet mechanism of FIG. 2;

FIG. 16 is a schematic diagram illustrating the operation of land cleaning of hull surfaces in accordance with an embodiment of the present invention;

FIG. 17 is a schematic view showing the operation of removing rust from the hull surface according to an embodiment of the present invention;

fig. 18 is a schematic view showing the operation of hull surface painting in an embodiment of the present invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

As shown in fig. 1 and 2, the hull cleaning system in this embodiment includes a cleaning robot 1, a cleaning object recovery device, and a control device that controls the cleaning robot 1 to clean the outer wall of the hull 0 and controls the cleaning object recovery device to recover the cleaning object, the cleaning robot 1 includes a robot body 10 and a cleaning mechanism that is provided on the robot body 10, the cleaning mechanism includes a shearing mechanism 21, an ultrasonic cleaning mechanism 22, and a jet mechanism 23, wherein,

the shearing mechanism 21 is arranged at the front end of the robot body 10 and is used for primarily cleaning attachments on the outer wall of the ship body;

the ultrasonic cleaning mechanism 22 is arranged at the rear end of the robot body 10 and is used for loosening and stripping the residual attachments;

the jet mechanism 23 is mounted on the robot body 10 through a swing bracket 24 and is used for flushing the outer wall of the ship body and thoroughly cleaning attachments.

The cleaning object recycling device comprises a recycling hopper 3, a negative pressure absorber 41 and a cleaning object processing device, wherein the recycling hopper 3 is arranged below the cleaning robot 1, and the negative pressure absorber 41 is at least arranged at the bottom of the recycling hopper 3 and is used for conveying cleaning objects to the cleaning object processing device.

Through this embodiment, the robot body 10 can advance on the hull surface, utilize adsorption equipment (such as vacuum adsorption, electromagnetic adsorption etc.), drive shearing mechanism 21 and utilize the great thicker attachment of mechanical type shearing clearance, attenuate it, ultrasonic cleaning mechanism 22 carries out the ultrasonic cleaning to the algae that attenuate and attach to the hull surface, jet mechanism 23 washs the residue after the clearance, with further improvement cleaning effect, clean complicated attachment step by step into standardized wall, the attachment is cleared away in step, this mode not only can realize once only, high efficiency completion cleaning operation, moreover for realizing automated operation and the concentrated recovery of clearance thing creates the advantage.

The cleaning object recovery device can recover and process the cleaning objects cleaned by the cleaning robot 1, so that the cleaning objects are prevented from polluting the surrounding environment, and the cleaning effect is improved.

The swing bracket in the embodiment is driven by a rotary cylinder or a swing driving motor, and can swing behind the robot body 10, and the lateral distance of swing sweep is larger than the width of the robot body 10, so that a large-range flushing cleaning can be performed.

In this embodiment, the robot body 10 includes a mounting frame 11 and a traveling mechanism 12, the traveling mechanism 12 is a dual-track structure 110, a plurality of adsorption plates 1130 are disposed on tracks in the dual-track structure 110, the adsorption plates 1130 can be attached to and adsorbed on the surface of a ship body, and adsorption materials are embedded in the adsorption plates 1130. The adsorption plate 1130 can adsorb the robot body 10 to the hull surface to can clear up in the hull bottom surface, need not to adopt instrument such as lifting rope to hoist and mount, can guarantee moreover that the robot body 10 can hug closely the hull surface and clear up, improve the cleaning effect.

The crawler belt material is made of alloy material meeting the seawater erosion resistance requirement, and meets the operation requirement in long-term seawater. According to different models, corresponding track permanent magnets 1131 are respectively designed. The robot can be properly magnetically adsorbed. Improving the operation difficulty caused by too large or too small adsorption force.

In this or other embodiments, the suction plates 1130 are symmetrically mounted on the dual track structure 110 in a hinge structure. The adsorption plate 1130 hinge structure can be attached to the surface of a ship body and is adsorbed through an adsorption material, so that the chain links are of a butterfly structure, the expansion angle is 90-190 degrees, the adsorption plate is suitable for flat and curved surface adsorption, the adaptation of the crawler to a complex wall surface is facilitated, the adsorption strength of the double crawler is balanced, the running error is reduced, and the common running and steering difficulty problems of double crawler running are solved in structural aspect.

In this or other embodiments, the adsorbent material is a plurality of permanent magnets 1131 embedded within an adsorbent sheet, which is encased with an elastomeric material 1132. The magnetic adsorption characteristic of the permanent magnet 1131 is that energy consumption is not needed, the manufacturing cost is low, the use is convenient, the adsorption is stable, and the permanent magnet 1131 is durable and anti-manufacturing, so that the permanent magnet 1131 is selectively installed in a cleaning robot crawler for use; the elastomeric material 1132 enhances the track running friction, protects the hull coating and the track, and increases the service life. The elastic plastic is adopted for hot forming cladding processing, so that the track has the advantages of corrosion resistance, good wear resistance, firmness, durability, flexible contact with the wall surface, wall surface coating protection and track service life prolongation.

In the above embodiment, the single track in the double track structure 110 includes a plurality of track bodies 1110, the track bodies 1110 are connected by connecting pieces 1120 to form an annular track, the bottom surface of the track body 1110 is provided with tapered tooth holes 1111, and the tapered tooth holes 1111 are used to mesh with the tapered teeth of the driving gear 120;

taper engagement is a mating transmission of the track 1110 and the drive gear 120, which has the advantage of improving transmission accuracy and reducing wear of components. The taper engagement transmission reserves a certain amount of free space for the components of the crawler 1110, which is more beneficial for the crawler 1110 to adapt to the slight change of the wall surface. After the taper engagement is finally engaged, the track 1110 is precisely engaged with the drive gear 120, maintaining a consistent center. The taper engagement transmission has the functions of reducing steering error and improving steering flexibility in the track operation.

The end of the adsorption plate 1130 is rotatably connected to the crawler 1110 by a connecting ring 1112, and two adsorption plates 1130 which are matched with each other are rotatably connected to the crawler 1110. The two adsorption plates 1130 are unfolded at an angle of 90 ° to 190 ° so as to be suitable for hull surface structures of different radians, thereby being suitable for complex wall structures such as an extrados of a hull or an extrados of a spherical container.

The installation frame 11 in this embodiment is externally provided with a body shell, and uses a carbon fiber reinforced resin matrix composite material, so that the installation frame has the advantages of light weight, high strength, corrosion resistance, electromagnetic shielding and the like. The machine body is provided with a plurality of external ports, so that the requirements of external auxiliary equipment are met. The tightness of the machine body meets the operation requirements of underwater 30 meters or high-risk environments. The power is input by cable power: simplifying the structure of the machine body and keeping sufficient power. The reason for not adopting cableless power is that: the problems that the balance weight of a battery (or a hydraulic system) is too high, the power is insufficient, and the environment is easy to leak and pollute are avoided.

The mounting frame 11 is provided with a servo motor (not shown in the figure) and a driving gear 120, and the driving gear 120 is designed to be matched with a tapered tooth hole 1111 at the bottom of a track chain link by a tapered tooth, so that the gear is tightly matched with the track, and the abrasion of a transmission gap and the abrasion during steering are reduced. The design structurally solves the transmission error, so that the steering angle of the crawler belt is more accurate.

The mounting frame 11 is provided with a track tensioning device 121, a track upper supporting wheel 123, a track lower supporting wheel 122, a track shock absorber 124 and the like, so that the track is tensioned, supported and damped, and the stability of the track in the running process is improved. Wherein the track tensioning device 121 can maintain constant tension of the drive gear and the track, reducing link gap errors; the adsorption area of the crawler belt is regulated, so that the crawler belt keeps proper adsorption force; damping is carried out in the running and obstacle crossing process, and the running stability of the robot is enhanced.

In this or other embodiments, the shear mechanism 21 includes a shear 2200 mounted on the shear mount 2100, the shear 2200 being mounted to the bottom of the forward end of the shear mount 2100 and disposed at an acute angle to the hull surface for shearing and cleaning the hull attachment proximate the hull surface, and a shear driving device 2300 for driving the shear 2200 into a shearing motion.

According to the scheme, the device is mounted on a cleaning robot through the shearing mounting frame 2100 or manually pushed to advance on the surface of the ship body, the shearing device 2200 is used for being close to the surface of the ship body to shear and remove attachments from roots, so that the surface coating of the ship body can be protected, the device is not affected by the types and the thickness of attachments on the surface of the ship body, and the device is smooth and consistent after shearing; compared with a jet flow type cleaning mode, the cleaning efficiency is higher, and pollution to the environment is avoided.

In this embodiment or other embodiments, rollers 2410 are disposed at the bottom of the shear mount 2100, and the rollers 2410 are disposed at two sides of the shear 2200 for supporting and guaranteeing the safe distance between the shearing edge and the wall surface.

In this or other embodiments, the shear mount 2100 includes a horizontally disposed mount 2110 and a vertically disposed movable plate 2120, the movable plate 2120 being coupled to a front end of the mount 2110, the shear 2200 being mounted to a bottom of the movable plate 2120, a blade holder damper 2130 and a pressure sensor (not shown) being mounted between the movable plate 2120 and the mount 2110. Knife block damper 2130 is, for example, a spring damper, which defines the position of movable plate 2120 to maintain a relatively stable angle of cutter 2200 for the shearing action; and vibration transmitted to the rear robot is isolated or reduced in the cleaning process, so that the robot is protected from running stably. The pressure sensor can detect the pressure received by the movable plate 2120, and an alarm is given if the resistance is excessive in the advancing process, so that the cutter 2200 is prevented from being damaged after encountering resistance.

In this or other embodiments, the roller 2410 is mounted to the movable plate 2120 by a fine adjustment mechanism for adjusting the supporting height of the roller 2410. The height of the roller 2410 is adjusted by a fine adjustment mechanism, so that the distance between the cutting edge of the cutter 2200 and the wall surface is adjusted, and the cutting requirements of different adhesive layers are met.

In this embodiment or other embodiments, the fine adjustment mechanism includes a fine adjustment mounting frame 2421, an adjustment slider 2423, an adjustment bolt 2422 and a fixing nut 2424, wherein the fine adjustment mounting frame 2421 is provided with a vertically arranged adjustment hole, the adjustment slider 2423 is slidably connected to the adjustment hole, the adjustment bolt 2422 penetrates the fine adjustment mounting frame 2421 and is in threaded connection with the adjustment slider 2423, and the fixing nut 2424 is in threaded connection with the adjustment bolt 2422 for clamping and fixing the adjustment slider 2423; the roller 2410 is connected to an adjustment slide 2423, the trim mount 2421 is mounted to the shear mount 2100, and the trim mount 2421 is provided with a scale 2425.

The adjusting bolt 2424 and the fixing nut 2422 are adjusted and fixed up and down, namely, the adjusting slide block 2423 is driven to move up and down in the adjusting hole by utilizing the rotation of the adjusting bolt 2422, the adjusting distance is displayed by the scale 2425, after the required height is reached, the adjusting slide block 2423 is locked by utilizing the fixing nut 2424, so that the height of the roller 2410 is adjusted, the distance between the cutting edge of the cutter 2200 and the wall surface is adjusted, and the shearing requirements of different attached layers are met.

In this embodiment or other embodiments, the movable plate 2120 is provided with a fixed blade 2210 and a movable blade 2220, the cutter 2200 includes a fixed blade 2211 and a movable blade 2221 which are matched with each other, the fixed blade 2211 is fixed on a fixed blade clamping groove of the fixed blade 2210, and the movable blade 2221 is connected to the movable blade clamping groove of the movable blade 2220 and is driven by the cutting driving device 2300 to perform transverse reciprocating movement; the blade parts of the fixed blade 2211 and the movable blade 2221 are both in a zigzag structure. During the forward movement of the device, the movable knife 2221 forms shearing with the cutting edge of the fixed knife 2211 when moving transversely, and cuts off the root of the attachment, thus completing cleaning.

In this embodiment or other embodiments, a lateral chute (not shown) is provided on the movable blade 220, and the movable blade 2220 is slidably mounted on a sliding rail 2121 on the movable blade 2120 through the chute. The sliding rail 2121 of the movable plate 2120 not only can guide the movement direction of the movable knife 2221, but also can improve the movement stability of the movable knife 2221; meanwhile, the movable knife plate 2220 is supported, and the damage of the movable knife 2221 caused by the extrusion of the shearing driving device 2300 due to overlarge stress in the advancing process of the device is avoided.

In this embodiment or other embodiments, the movable blade 2221 and the fixed blade 2211 are both upper and lower side blades, and the movable blade 2221 and the fixed blade 2211 are respectively mounted on the movable blade plate 2220 and the fixed blade plate 2210 by bolts. The movable knife 2221 and the fixed knife 2211 can be continuously used only by changing the direction when the abrasion is overlarge, so that the tool replacement cost is greatly reduced. The movable knife 2221 and the fixed knife 2211 are wear parts, are manufactured in a standardized manner, and can be replaced according to operation requirements.

In this embodiment or other embodiments, the shear driving device 2300 includes a servo motor 2310 and a traversing mechanism 2320, the traversing mechanism 2320 includes a traversing roller 2321, a traversing slider 2323 and a traversing rail 2324, the traversing slider 2323 is slidably connected to the traversing rail 2324, an elliptical annular groove 2322 is provided on the traversing roller 2321, and the traversing slider 2323 slides along the annular groove 2322 to traverse left and right, and the traversing slider 2323 is connected to the traversing blade 2220.

The transverse roller 2321 is rotatably connected to the shear mounting frame 2100, the servo motor 2310 drives the transverse roller 2321 to rotate, a long axis of an elliptical annular groove 2322 on the transverse roller 2321 and the diameter direction of the transverse roller 2321 are arranged at an acute angle, a groove roller slider 2325 is slidably connected in the annular groove 2322, the groove roller slider 2325 is connected with the transverse slider 2323 through a aligning bearing 2326 so as to counteract angle change of the groove roller slider 2325 in the sliding process of the elliptical annular groove 2322, the movement of the groove roller slider 2325 drives the transverse slider 2323 to transversely move left and right on the transverse sliding rail 2324, and the transverse slider 2323 drives the transverse cutter plate 2220 to transversely reciprocate through a connecting rod 2327, so that shearing action with the fixed cutter 2211 is realized; a transverse through waist hole is arranged on the movable plate 2120, and a connecting rod 2327 extends out of the front of the movable plate 2120 through the through waist hole and is connected with the movable blade 2220; the shear driving device 2300 is disposed behind the movable plate 2120, and can protect against collision and damage during shearing. Control of the shear rate of the shears can be achieved by adjusting the speed of the servo motor 2310.

In this or other embodiments, the ultrasonic cleaning mechanism 23 is mounted to the mounting frame 11 by an ultrasonic adjustment frame, which is rotatably connected to the mounting frame 22. The ultrasonic cleaning mechanism can rotate to the top of the robot body 10 according to the requirement, so that the robot body 10 can move conveniently; the shearing installation frame of the shearing mechanism and the swinging frame of the jet mechanism can both rotate upwards, so that the cleaning mechanism is completely separated from the contact of the surface of the ship body, and the transfer of the robot is facilitated.

In this or other embodiments, the jet mechanism 23 includes a high pressure flushing gun 232 and a jet protection cover 231, the jet protection cover 231 is arranged around the high pressure flushing gun 232, and a negative pressure recovery pipe 233 is connected to the jet protection cover 231. The swinging frame 24 is driven by a driving device equipped with a robot, namely, a gun frame and a swinging driving device are arranged on the mounting frame, the operation is controlled by an operating system, the swinging of the horizontal plane of the gun frame within the range of 0-180 degrees can be realized, the large-range scouring cleaning of the surface of a ship body is convenient, and the swinging speed and the swinging angle of the gun frame are adjustable. The vertical wall surface of the spray gun frame is adjustable by 0-180 degrees; gun racks are common to a variety of devices such as: water jet, spraying (sand), laser rust removal, detection equipment and the like.

The jet protection cover 231 special for the jet orifice is designed for guaranteeing the safety of the jet region and reducing the pressure influence of the jet water area on jet flow, and meanwhile, a drainage bundling effect is formed on the jet region, so that the cleaning object is recovered in a concentrated mode.

The mounting frame 11 is provided with a hanging ring 13. The device is used for hanging the safety rope, and safety accidents caused by falling of the device are avoided. The top of mounting bracket 11 still is provided with the protective housing, rings 13 set up on the protective housing to play the guard action, be provided with a plurality of spacing wheels equally on the protective housing, with supplementary track that compresses tightly, stability and the running accuracy when improving the operation.

The robot control system in this embodiment adopts two operating systems of manual remote control and intelligent control. The two control systems are freely switched according to actual needs. Wherein,

remote control operating system: loading and unloading of the robot and initial state adjustment; performing small-area cleaning of the special wall surface; and recovering the robot after the automatic operation failure.

Intelligent control operating system: a. installing a robot operating system as a running path design program platform, and using inertial navigation as a design path direction adjustment basis. The motion detection and feedback information are implemented through sensors, detectors and the like installed on various auxiliary components, and the adjustment is made through a system, so that the robot is ensured to operate correctly according to a design program. And the lighting and imaging equipment is provided, and the site live transmission master controller is returned to the live image, so that the operator can conveniently detect and adjust the site live transmission master controller.

b. Selecting a robot model according to the actual size of the wall surface; parameters such as a set path original point, a matched device, a detector, a sensor and the like are input into a robot operating system to carry out set path programming.

c. The operation flow is as follows: and moving the robot to the original point position designated by the set program by using a remote control system, and parking according to the set running direction. After checking for error, switching the operating system to the intelligent control operating system. The robot is automatically operated.

d. In the running process of the robot, when the angle deviation occurs between the actual running path and the set path direction, the navigator feeds back signals to an operating system, the operating system commands to adjust the corresponding motor rotation speed, and the running gesture adjustment of the robot is realized through the speed difference of the double tracks, so that the robot always keeps the set track running of the system.

e. The laser detector equipped with the robot guarantees the operation safety distance, meets obstacle feedback information, and the system will recalculate the local obstacle avoidance path to carry out operation posture adjustment. And after obstacle avoidance, the original set path operation is restored.

f. The intelligent robot operating system has a remote control function, and can perform remote operation and robot operation detection through a computer network.

In this or other embodiments, the recovery hopper 3 comprises a hopper 31, a crushing device 33 and a collection tank 35, the hopper 31 is connected to the collection tank 35 through the crushing device 33, at least the hopper 31 is provided with a plurality of magnetic wheels 32, and the hopper 31 is adsorbed to the hull 0 below the cleaning robot 1 through the magnetic wheels 32.

The hopper 31 can collect the residue which falls after being cleaned by the cleaning robot 1, and the residue is crushed into small particles by the crushing device 33 and then conveyed to the collecting tank 35 for recycling; the magnetic wheel 32 can be attracted to the hull 0 and moved by the movement of the robot, maintaining a preferred collection position. The magnetic wheel 32 is, for example, a tire embedded with permanent magnets, and can be attracted to the hull surface and roll.

In this embodiment or other embodiments, the crushing device 33 is a crusher disposed at the bottom of the hopper 31, the crusher is connected to the collection tank through a screw feeder 34, the collection tank 35 is connected to the negative pressure absorber 41 through a flexible connector, and the negative pressure absorber 41 is connected to a purge recovery tank 42 on a work boat 46.

The screw conveyor 34 rigidly connects the collection tank 35 and the hopper 31, improves the integrity of the recovery hopper 3, can synchronously move along with the cleaning robot 1, and improves the recovery effect; the residue in the collection tank 35 can be transferred to the work boat 46 by the negative pressure absorber 41, thereby facilitating recovery processing. The flexible connector (such as a hose, a bellows, etc.) can compensate for the influence of the shake of the hull 46 on the connecting pipeline, and avoid the influence of bending of the negative pressure pipeline on conveying.

The camera 311 is provided on the hopper 31, so that the crushing condition in the hopper 31 can be observed in real time, and if the condition such as jamming occurs, the crushing condition can be found out in time and processed in time. The bottom of screw conveyer 34 is provided with vibration motor, and vibration motor's vibrations can be for supplementary the transport in the transportation process, guarantees the reliability of operation.

In this embodiment or other embodiments, the cleaning object handling apparatus includes a cleaning object recovery tank 42, a water storage tank 44, a high pressure water pump 43 and a water pump 45 mounted on a work boat 46, one end of the water pump 45 extends to the lower side of the work boat 46 through a filter 451, and the other end of the water pump 45 is communicated with the water storage tank 44; one end of the high-pressure water pump 43 is communicated with the water storage tank 44, and the other end is communicated with the jet mechanism.

The high pressure water pump 44 is capable of supplying high pressure water to the jet mechanism for a flushing process; the water pump 45 can directly absorb the seawater below the working ship 46 to supply water for the water storage tank 44, and the uninterrupted jet flushing operation is kept; wherein the filter 451 is capable of filtering out most of the impurities in the seawater to keep the flushing water clean.

The recovery hopper 3 in this embodiment is connected with a lifting rope, which is connected to the hull 0 together with the lifting rope on the cleaning robot 1, and provides safety for the recovery hopper 3 and the cleaning robot as a safety rope. At the same time, the lifting rope can bear most of the weight of the recovery hopper 3, and the load of the self-driving device of the recovery hopper 3 is reduced.

The cleaning robot 1 is connected with the floating ball 100, so that the position of the robot can be identified, and emergency measures can be timely found and timely made if the robot falls off or the like.

According to the embodiment of the disclosure, the cleaning robot in the system is utilized, three cleaning modes are optimally combined, advantages are complementary, hardness and softness are complementary, most attachments can be cleaned, and favorable conditions can be provided for smooth running of the robot. Similarly, the steady operation of robot also provides the guarantee for the clearance operation.

In other embodiments, as shown in fig. 16, the cleaning object recycling apparatus includes a high-pressure injection apparatus mounted to the cleaning object recycling vehicle 5, a negative pressure absorber 41, and a cleaning object processing apparatus, the high-pressure injection apparatus being connected to the jet mechanism, and an output end of the negative pressure absorber 41 being connected to the cleaning object processing apparatus.

In this or other embodiments, the cleaning object treatment device includes a flocculation device 51 and a filtering device 52, the output end of the negative pressure absorber 41 is connected to the flocculation device 51, the filtering device 52 is connected to the flocculation device 51, the clean water outlet of the filtering device 52 is connected to a clean water tank 54, and the jet mechanism is connected to the clean water tank 54 through a high pressure water pump 53.

The flocculation device 51 and the filtration device 52 can remove impurities and separate solid from liquid in the cleaned recycled materials, so that the influence on the surrounding environment is reduced, and the separated clean water is continuously cleaned through the jet mechanism, so that the utilization efficiency of water resources is improved.

In this or other embodiments, the cleaning object recycling apparatus further includes a high-pressure air station 61, and the jet mechanism is a sand blasting gun or a spray gun, and the high-pressure air station 61 is connected to the jet mechanism.

Different jet mechanisms, such as a high-pressure water gun, a sand blasting gun or a spraying gun, are selected, so that the device can be used in different application environments, such as cleaning attachments, rust removing operation and spraying operation, and the application range of the device is greatly improved.

In other embodiments, as shown in fig. 16, the method for cleaning marine organisms on land using the hull cleaning system described above includes the steps of:

the cleaning robot is operated to a position to be cleaned on the surface of the ship body, and shearing cleaning, ultrasonic cleaning and jet flushing are sequentially carried out; the cleaning robot can adsorb to the hull surface, and for guaranteeing safety, connect the safety rope on the cleaning robot, the safety rope can also assist the handling to connect various cable of cleaning robot, high-pressure water pipe, recovery hopper scheduling device, lighten the load of cleaning robot, guarantees that it can normal operating.

The cleaning object is conveyed to the cleaning object recovery device through the recovery hopper and the negative pressure absorber, the filtering tank is utilized to filter the cleaning object, solid cleaning object residues and liquid cleaning objects are separated, after the liquid cleaning objects are cleaned, clear water is discharged into the clear water tank, and then the clear water is conveyed to the jet mechanism through the high-pressure water pump to carry out jet cleaning operation.

In other embodiments, as shown in fig. 17, the hull derusting method using the hull cleaning system described above includes the following steps:

replacing a shearing cleaning mechanism and an ultrasonic cleaning mechanism on the cleaning robot, replacing a high-pressure water gun with a proper derusting device such as a sand blasting gun or a shot blasting gun on the jet mechanism, running the cleaning robot to a position to be cleaned on the surface of the ship body, and carrying out derusting operation on high-pressure gas of the sand blasting gun or the shot blasting gun through a high-pressure gas station 61; wherein cleaning robot 1 can adsorb to hull 0 surface, for guaranteeing safety, connects the safety rope on cleaning robot 1, and the safety rope can also assist the handling to connect devices such as cleaning robot's various cables, high-pressure pipe, recovery hopper, lighten cleaning robot's load, guarantees that it can normal operating.

The cleaning matters, the ejected iron sand, the ejected iron pellets and the like are conveyed to a cleaning matter recovery device through a recovery hopper 3 and a negative pressure absorber, the cleaning matters are filtered by a filtering tank through flocculation, sedimentation, separation and other steps, solid cleaning matter residues are separated out for recovery treatment, and clear water after separation and treatment are qualified is directly discharged for treatment.

In other embodiments, as shown in fig. 18, the hull spraying method using the hull cleaning system described above includes the following steps:

changing a shearing cleaning mechanism and an ultrasonic cleaning mechanism on the cleaning robot 1, changing a high-pressure water gun into a spraying gun on a jet mechanism, running the cleaning robot 1 to a position to be sprayed on the surface of the ship body 0, and spraying high-pressure gas through a high-pressure gas station 61; the cleaning robot 1 can be adsorbed on the surface of the ship body, and for ensuring safety, a safety rope is connected to the cleaning robot 1, and can assist in lifting and connecting various cables and high-pressure air pipes of the cleaning robot, so that the load of the cleaning robot is reduced, and the cleaning robot can be ensured to run normally.

The paint and gas comprehensive treatment equipment can be arranged on the cleaning object recycling vehicle, and the waste gas and waste paint absorbed by the negative pressure pipe are discharged into the paint and gas comprehensive treatment equipment to be recycled, so that the influence on the surrounding environment caused by dispersion in the surrounding environment is avoided.

While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. The hull cleaning system comprises a cleaning robot, a cleaning object recycling device and a control device, wherein the control device controls the cleaning robot to clean the outer wall of a hull and controls the cleaning object recycling device to recycle cleaning objects;

2. The hull cleaning system according to claim 1, wherein the robot body comprises a mounting frame and a traveling mechanism, the traveling mechanism is of a double-track structure, a plurality of adsorption plates are arranged on tracks in the double-track structure, the adsorption plates can be attached and adsorbed to the surface of the hull, adsorption materials are embedded in the adsorption plates, the adsorption plates are symmetrically arranged on the tracks in a hinge structure, and elastomer materials are wrapped outside the adsorption plates.

3. The hull cleaning system according to claim 2, wherein the shear mechanism includes a shear mounted on a shear mount and a shear drive, the shear including cooperating stationary knives secured to the shear mount and movable knives slidingly coupled laterally to the shear mount and driven by the shear drive to move side-to-side; the blade parts of the movable blade and the fixed blade are of zigzag structures.

4. A hull cleaning system according to claim 3 in which the bottom of the shear mount is provided with rollers connected to the shear mount plate by a fine adjustment mechanism for adjusting the height of the rollers.

5. The hull cleaning system according to claim 1, wherein the ultrasonic cleaning mechanism is mounted to the mounting bracket via an ultrasonic adjustment bracket, the ultrasonic adjustment bracket being rotatably connected to the mounting bracket, the ultrasonic adjustment bracket being adapted to drive the ultrasonic cleaning mechanism to a working or non-working position.

6. The hull cleaning system according to claim 1, wherein the jet mechanism includes a high pressure flushing gun and a jet protection cover disposed around the high pressure flushing gun, the jet protection cover being in communication with the negative pressure absorber through a negative pressure recovery tube.

7. The hull cleaning system according to claim 1, wherein the recovery hopper comprises a hopper, a crushing device and a collection tank, the hopper being connected to the collection tank by the crushing device, at least the hopper being provided with a number of magnetic wheels by which the hopper is attracted to the hull below the cleaning robot.

8. The hull cleaning system according to claim 7, wherein the crushing device is a crusher provided at the bottom of the hopper, the crusher being connected to the collection tank by a screw feeder, the collection tank being connected to the negative pressure absorber by a flexible connector, the negative pressure absorber being connected to a cleaning recovery tank on a work vessel.

9. The hull cleaning system according to claim 1, wherein the cleaning object handling device includes a cleaning object recovery tank, a water storage tank, a high pressure water pump, and a water pump mounted to a work boat, one end of the water pump extends to a lower side of the work boat through a filter, and the other end of the water pump is communicated to the water storage tank; one end of the high-pressure water pump is communicated with the water storage tank, and the other end of the high-pressure water pump is communicated with the jet mechanism.

10. A hull cleaning method, characterized in that the hull cleaning system according to any of claims 1 to 8 is used, comprising the steps of: