CN205891183U - Clean hull robot of cavitation jet - Google Patents
Clean hull robot of cavitation jet Download PDFInfo
- Publication number
- CN205891183U CN205891183U CN201620498766.1U CN201620498766U CN205891183U CN 205891183 U CN205891183 U CN 205891183U CN 201620498766 U CN201620498766 U CN 201620498766U CN 205891183 U CN205891183 U CN 205891183U
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- China
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- crawler belt
- main
- cavitation jet
- obstacle detouring
- track
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Abstract
The utility model provides a clean hull robot of cavitation jet belongs to hull protection robotechnology field. Clean hull robot of cavitation jet includes main body frame, left side servo motor and right side servo motor, and its characterized in that is provided with the main track in left side and left side in main body frame left side and hinders the track more, is provided with right side owner's track on the main body frame right side and hinders the track more with the right side, and main track moves on the left of the drive of left side servo motor, the owner's track motion of right side servo motor drive right side. The utility model provides an its stability of clean hull robot of cavitation jet and reliability are high, hinder more and prevent toppling the ability dynamic height.
Description
Technical field
The utility model is related to a kind of cavitation jet cleaning hull robot, belongs to hull protection and Robotics neck
Domain.
Background technology
Sea-freight is the important mode of transportation of one of international trade, has carrying cargo amount greatly, the low advantage of freight,
But aquatic organism species is various in ocean, ship navigates by water in water throughout the year, and a large amount of marine growths can be attached on hull.Ship is come
Say, halobiontic attachment can produce a lot of detrimental effects: 1) it increases the degree of roughness of hull surface, increased ship
The resistance of navigation in water.Through measuring, when the speed of a ship or plane saves for 2-9, hull aufwuch can make the ship resistance of ship
Increase by 3 times；2) marine organisms adhere on screw makes the effective output of screw be reduced to original 80%；3) hull
Aufwuch prolongation over time, its quality can constantly increase, and so that the invalid load of Shipping is increased；4)
Hull aufwuch and iron bacteria, SRB present faintly acid by synergy in briny environment, can be right
The overcoat of hull surface produces very strong electrochemical corrosion effect, may finally lead to the strong corrosion of hull plate.
In order to extend the service life of ship it is ensured that the safe navigation of ship, ship must termly carry out dock inspection.
But, dock lazy weight, cleaning repair time long the problems such as, when virtually increased the cost loss of ship and non-operation
Between.So exploitation automatic machinery people's equipment carries out waterborne/under-water body cleaning operation, using Novel clean equipment, improve ship
The gentle hull that reduces of the Automated water of body cleaning celebrates that operation has very important actual meaning to the secondary pollution of marine environment
Justice and commercial value.For overcoming the problems referred to above, disclose a kind of hairbrush equipment that carries in prior art and be used for the machine that hull cleans
Device people, in the form of crawler haulage, permanent magnetic suck, including two crawler belts in left and right, is integrally driven by motor, this driving respectively
The robot stabilization of mode and poor reliability, obstacle detouring and overturn-preventing ability.
Content of the invention
For overcoming shortcoming present in prior art, goal of the invention of the present utility model is to provide a kind of cavitation jet cleaning
Hull robot, its Stability and dependability is high, and obstacle detouring is strong with overturn-preventing ability, and cleaning efficiency is high and to ocean secondary pollution journey
Degree is low.
For realizing described utility model purpose, the utility model provides a kind of cavitation jet to clean hull robot, its bag
Include servomotor on the left of main body frame, left side servomotor and right side it is characterised in that being provided with left side on the left of main body frame
Main crawler belt and left side obstacle detouring crawler belt, are provided with the main crawler belt in right side and right side obstacle detouring crawler belt, left side servo electricity on the right side of main body frame
Machine drives the main caterpillar drive in left side；Right side servomotor drives the main caterpillar drive in right side.
Preferably, the main crawler belt in left side and left side obstacle detouring crawler belt pass through chain-drive mechanism between left track and connect；The main shoe in right side
Band and right side obstacle detouring crawler belt pass through chain-drive mechanism between right side track and connect.
Preferably, main crawler belt includes main crawler belt leading truck, main track driving sprocket, main crawler belt driven sprocket and main crawler belt biography
Dynamic chain, wherein, main track driving sprocket and main crawler belt driven sprocket are arranged on main crawler belt leading truck rear end and front end, main crawler belt
Driving chain is used for connecting main track driving sprocket and main crawler belt driven sprocket.
Preferably, main crawler belt leading truck both sides upper and lower side is provided with chain guide, and leading truck locating rod passes through leading truck, and
Leading truck locating rod two ends are arranged on the inside and outside guide plate of main crawler belt, realize being uniformly distributed of magnet block absorption affinity and pass with mechanics
Pass.
Preferably, obstacle detouring crawler belt adopts cantilevered to install, and luffing mechanism passes through its pitching of extra power active control.
Preferably, the bottom in main body frame is provided with n cavitation jet cleaning deskitte, and n is whole more than or equal to 1
Number.
Preferably, m cavitation rifle is additionally provided with main body frame, m is the integer more than or equal to 1.
Preferably, k picture pick-up device is additionally provided with main body frame, k is the integer more than or equal to 1.
Compared with prior art, the cavitation jet cleaning hull robot that the utility model provides has the advantage that double
Side crawler belt is all divided into two sections of obstacle detouring crawler belts of before and after and main crawler belt, passes through articulated gear mechanism driving, enhance machine between crawler belt
The obstacle detouring of device people and overturn-preventing ability；It is provided with leading truck in crawler belt it is ensured that the uniformity of crawler belt stress, enhance robot
Stability and reliability；Carry cavitation cleaning equipment, improve cleaning efficiency, reduce secondary pollution degree.
Brief description
Fig. 1 is the cavitation jet cleaning hull robot block diagram of system that the utility model provides；
Fig. 2 a is the cavitation jet cleaning hull robot structure top view that the utility model provides；
Fig. 2 b is the cavitation jet cleaning hull robot structural side view that the utility model provides；
Fig. 2 c is the cavitation jet cleaning hull robot structural perspective that the utility model provides；
Fig. 3 is the cavitation jet cleaning hull robot left track and attachment structure figure that the utility model provides；
Fig. 4 is the cavitation jet cleaning hull robot left track cut-away view that the utility model provides；
Fig. 5 is the cavitation jet cleaning hull robot obstacle detouring crawler belt pitching machine structure chart that the utility model provides；
Fig. 6 is the cavitation jet cleaning hull robot main frame structure figure that the utility model provides.
Specific embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, this
The every other embodiment that field those of ordinary skill is obtained under the premise of not making creative work, broadly falls into this practicality
Novel protected scope.
In description of the present utility model, it should be noted that term " " center ", " on ", D score, " vertical ", " level ",
The orientation of instruction such as " interior ", " outward " or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the utility model and simplify description, rather than instruction or the hint device of indication or element must have specific orientation, with
Specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Term "front", "rear", "left", "right"
Direction Deng instruction is to arrange the orientation of cleaning rifle as reference with robot, and the direction of setting cleaning rifle is front, opposite to that
Direction be after, left be left side, right be right side.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " setting ", " being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected,
Or be integrally connected；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, can also be two element internals
Connection, for the ordinary skill in the art, can understand tool in the utility model for the above-mentioned term with concrete condition
Body implication.
Fig. 1 is the cavitation jet cleaning hull robot block diagram of system that the utility model provides, as shown in figure 1, this
The cavitation jet cleaning hull robot system that utility model provides includes cavitation jet cleaning machine human body 1 (referred to as: machine
Human body), remote control monitoring terminal 2, cavitation supply equipment 3, connect the confession of robot body and remote control monitoring terminal
Telecommunication cable 4 and the water supply cable 5 connecting robot body and its cavitation supply equipment, wherein, robot body 1 is system core
Heart unit, carries cavitation cleaning equipment execution clean up task；Remote control monitoring terminal 2 executes the task rule to robot body
Draw, motion control, Stateful Inspection etc.；Cavitation supply equipment 3 then provides required for the cavitation cleaning equipment that robot body carries
High pressure cavitation current；Remote control monitoring terminal is communicated with robot body by powered communication cable 4, and for robot originally
Body provides electric energy；Supplied water to robot body by water supply cable 5.
Fig. 2 a, 2b, 2c are the top view of cavitation jet robot architecture, side view, vertical that the utility model provides respectively
Body figure, as shown in Fig. 2 a, 2b and 2c, the cavitation jet cleaning hull robot body 1 that the utility model provides includes body frame
Frame 7, is provided with the main crawler belt 8a and left side obstacle detouring crawler belt 9a in left side on the left of main body frame, is provided with right side on the right side of main body frame
Main crawler belt 8b and right side obstacle detouring crawler belt 9b；The main crawler belt 8a and left side obstacle detouring crawler belt 9a in left side passes through transmission mechanism between left track
10a connects, and right side main crawler belt 8b and right side obstacle detouring crawler belt 9b passes through transmission mechanism 10b between right side track and connects.Robot body
Also include left side servomotor 11a and right side servomotor 11b, in order to save horizontal space, left side, right side servomotor and shoe
Band is arranged in parallel；Left side servomotor 11a passes through left side angular wheel mechanism 12a and drives the main crawler belt 8a in left side, right side servo electricity
Machine 11b passes through right side angular wheel mechanism 12b and drives the main crawler belt 8b in right side.Interior-the rear portion of main body frame 7 is provided with electric sealed box
13, it carries robot control system circuit board and other auxiliary circuits, connector etc., completes motion planning and robot control, cleaning
Equipment controls, transducing signal receives and the data transfer with remote control monitoring terminal 2；Electric sealed box 13 is by data electricity
Cable is connected with picture pick-up device, sensor device, power-equipment etc..In main body frame 7-n cavitation jet cleaning deskitte of anterior carrying
(referred to as: cavitation disk, n is the integer more than or equal to 1), preferably 3 cavitation jets cleaning deskitte 14a, 14b, 14c, three skies
Change disk is arranged in " triangular form " and is arranged on the bottom of robot body main body frame, and this layout can maximally utilize cavitation disk
Form while seamless cleaning effect it is ensured that under cavitation disk suction function being uniformly distributed of robot dynamics, promotion system
Mechanical stability；Leading portion two side position of main body frame 7 is provided with m cavitation jet cleaning rifle (referred to as: cavitation rifle), m
Be the integer more than or equal to 1, preferably 2 cavitation jets clean rifle 15a, 15b, by cam-strut mechanism by cavitation rifle with
Actuating unit connects, thus driving the left and right reciprocally swinging of cavitation rifle, realizes robot crawler belt forward region and crawler belt and sky
Change the cleaning of dish gap forward region.It is additionally provided with k picture pick-up device before and after main body frame 7, k is more than or equal to 1
Integer, preferably 4 glare image-picking equipment to obtain the video information around robot, and by data cable transmit to
Control system in electric sealed box 13.
Fig. 3 is the cavitation jet cleaning hull robot left track and attachment structure figure that the utility model provides, such as Fig. 3
Shown, the robot left track that the utility model provides includes the main crawler belt 8a in left side, left side obstacle detouring crawler belt 9a and is used for chain
Connect transmission mechanism between the left track of the main crawler belt 8a and left side obstacle detouring crawler belt 9a in left side；Between left track, drive mechanism includes sprocket wheel
23a, sprocket wheel 23b (in figure 3, being arranged in obstacle detouring track drive shaft coupling piece 16) and be used for linking sprocket wheel 23a and sprocket wheel 23b
Chain 10a, wherein, sprocket wheel 23a is arranged on the main crawler belt driven shaft 21 in left side by Bearning mechanism 18, and sprocket wheel 23b passes through axle
Hold mechanism 19 to be arranged on the obstacle detouring track drive shaft 22 of left side, thus the mechanics realized between main crawler belt 8a and obstacle detouring crawler belt 9a passes
Pass.Between left track, drive mechanism at least also includes the driven shaft coupling piece 15 of the main crawler belt in left side and left side obstacle detouring track drive shaft connects
Fitting 16, they are all welded with main body frame 7.
The main crawler belt 8a in left side includes guide plate 25 in main crawler belt, the outer guide plate 26 of main crawler belt and main crawler belt upper guard board 27, it
Form the housing that only lower end has opening, for accommodating the main Caterpillar transmission mechanism in left side.The main crawler belt 8a in left side also includes a left side
Side main crawler belt active shaft coupling piece 14, the driving shaft 20 of the main crawler belt in left side is arranged in its through hole by bearing 17.
Left side obstacle detouring crawler belt 9a includes protecting on guide plate 35 in obstacle detouring crawler belt, the outer guide plate 36 of obstacle detouring crawler belt and obstacle detouring crawler belt
Plate 37, they form the housing only having lower end to have opening, for accommodating left side obstacle detouring Caterpillar transmission mechanism.
The right side track of robot body and its attachment structure and left track and attachment structure that the utility model provides
Composition and structure are identical, and specular.
Fig. 4 is the cavitation jet cleaning hull robot left track cut-away view that the utility model provides, as Fig. 4 institute
Show, on the left of the robot that the utility model provides, main crawler belt 8a at least includes main Caterpillar transmission mechanism, main Caterpillar transmission mechanism bag
Include main track drive shaft 20, main crawler belt driven shaft 21, the main track driving sprocket 28 being arranged on main track drive shaft 20, main shoe
With the main crawler belt driven sprocket 29 on driven shaft 21, main crawler belt leading truck 30 and main crawler haulage chain 32, wherein, main crawler belt drives
Moving axis 20 and main crawler belt driven shaft 21 are separately positioned on rear end and the front end of main crawler belt leading truck 30.Main crawler haulage chain 32 by
More piece chain link forms, for the connection between main crawler belt drive sprocket and main crawler belt driven sprocket and transmission.Main crawler belt leading truck 30
At least include k (k be more than or equal to 3) the axially disposed guide way having through hole of section, every section of guide way is at least provided with passing through
The leading truck locating rod 31 of through hole.Main crawler belt leading truck 30 is circumferentially at least provided with more piece chain link magnet 33.Leading truck positions
Bar 31 two ends are individually fixed in interior guide plate and outer guide plate, realize chain link magnet 33, and being uniformly distributed of absorption affinity is passed with mechanics
Pass；Encapsulation magnet block setting disc, replaces the outer plate of chain side to be connected with chain rivet, realizes servo-actuated and mechanics transmission.
On the left of the robot that the utility model provides, obstacle detouring crawler belt 9a at least includes obstacle detouring Caterpillar transmission mechanism, obstacle detouring crawler belt
Transmission mechanism includes obstacle detouring track drive shaft 22, obstacle detouring crawler belt driven shaft 34, the obstacle detouring being arranged on obstacle detouring track drive shaft 22
Track driving sprocket 41, the driven sprocket 42 being arranged on driven shaft 34, obstacle detouring crawler belt leading truck 44 and obstacle detouring track drive chain
Bar 43, wherein, obstacle detouring track drive shaft 22 and obstacle detouring crawler belt driven shaft 34 are separately positioned on the rear end of obstacle detouring crawler belt leading truck 44
And front end.Obstacle detouring crawler haulage chain 43 is made up of more piece chain link, driven for obstacle detouring crawler belt drive sprocket 41 and obstacle detouring crawler belt
Connection between sprocket wheel 42 and transmission.Obstacle detouring crawler belt leading truck at least include m (m be more than or equal to 3) section axially disposed have logical
The guide way in hole, every section of guide way is at least provided with the leading truck locating rod 47 through through hole.Obstacle detouring crawler belt leading truck is circumferentially
At least provided with more piece chain link magnet.Leading truck locating rod two ends are individually fixed in interior guide plate and outer guide plate, realize chain link
Magnetic, absorption affinity be uniformly distributed and mechanics transmission；Encapsulation magnet block setting disc, replaces the outer plate of chain side with chain rivet even
Connect, realize servo-actuated and mechanics transmission.
Main track driving sprocket 28 passes through gear mechanism 12a by servomotor 11a, main track drive shaft 20 drives, and passes through
Main crawler haulage chain 32 drives main crawler belt driven sprocket, main crawler belt driven shaft, thus driving between crawler belt chain-drive mechanism to drive
Dynamic obstacle detouring track driving sprocket.That is, when the main track driving sprocket of Motor drive rotates, rotated by chain-driving driven sprocket,
Driven sprocket passes through chain-drive mechanism between crawler belt and drives the rotation of obstacle detouring track driving sprocket, and obstacle detouring crawler belt passes through chain-driving obstacle detouring
Crawler belt driven sprocket rotates, thus robot motion.
The robot that the utility model provides at least also includes obstacle detouring crawler belt pitching machine, describes in detail with reference to Fig. 5.
Fig. 5 is the cavitation jet cleaning hull robot obstacle detouring crawler belt luffing mechanism figure that the utility model provides, such as Fig. 3 and
Shown in 5, robot obstacle detouring crawler belt luffing mechanism at least includes obstacle detouring crawler belt connecting rod 39, plays distance between axles positioning and mechanics strengthening is made
There are stringer board and two two being vertically set on stringer board parallel to guide plate in obstacle detouring crawler belt with obstacle detouring crawler belt connecting rod 39
Spreader, two spreaders are fixedly connected by connecting plate.Stringer board front-end and back-end are respectively arranged with pilot hole, the driving shaft of obstacle detouring crawler belt
22 are arranged on front end assembling in the hole, and the driven shaft of obstacle detouring crawler belt is arranged on rear end assembling in the hole.Obstacle detouring crawler belt luffing mechanism is at least
Also include a sleeve, it is coaxially connected with the through hole of rear end on stringer board, the driven shaft of obstacle detouring crawler belt is successively from sleeve and stringer board
The pilot hole of upper rear end passes through.The spring that robot obstacle detouring crawler belt luffing mechanism at least also includes being vertically installed on sleeve is installed
Bar 46 and worm screw connector 45.Robot obstacle detouring crawler belt luffing mechanism at least also includes deceleration turbine mechanism 44, worm screw connector
45 form worm mechanism with the output worm screw of deceleration turbine mechanism 44.Robot obstacle detouring crawler belt luffing mechanism at least also includes driving
Motor, it is arranged in connector 38, and motor output shaft is connected with the input shaft of deceleration turbine mechanism 44 by shaft coupling, slows down
The output worm screw of turbine mechanism 44 is connected with worm screw connector 45.Thus, motor rotation driving deceleration turbine mechanism 44 rotates, and subtracts
Fast turbine mechanism 44 output worm screw rotates and drives worm screw connector 45 to move up and down, thus driving the fortune up and down of obstacle detouring crawler belt axle
Dynamic, i.e. the pitching of obstacle detouring crawler belt；Mechanism's pretension and positioning action is played after turnover pressing plate 46 assembling spring.Robot obstacle detouring is bowed
Face upward the use of mechanism so that obstacle detouring crawler belt has the swing ability of certain angle, when enabling to robot obstacle detouring, obstacle detouring crawler belt
Trend towards adsorbed wall under book moves and controls, enhance the stability during the obstacle climbing ability of robot and obstacle detouring and reliability
Property.
Fig. 6 is the cavitation jet cleaning hull robot body frame structure figure that the utility model provides, as shown in fig. 6,
The utility model provides the body supporting mechanism of robot to adopt frame-type, is symmetrically arranged with main crawler belt driving shaft in the left and right sides
Connector 14, the driven shaft coupling piece of main crawler belt 15, obstacle detouring crawler belt active shaft coupling piece 16, are provided with loading in the middle front part of framework
The connector 48 of cavitation disk, at least can arrange three cavitation disks, be additionally provided with for assembling cavitation rifle, taking the photograph in the front end of framework
Connector/hole as equipment；The middle rear end of framework is provided with the support 49 for installing electric sealed box 13, in support 49
Two ends are respectively arranged with the support installing drive motor.Tower structure is conducive to cleaning stripping in robot cleaner hull operation
The marine growth that falls spreads according to predetermined flow field direction.
Above in association with accompanying drawing, of the present utility model operation principle is described in detail.But those of ordinary skill in the art
It should be understood that specification is only for explaining claims.But protection domain of the present utility model is not limited to specification.
Any those familiar with the art in the technical scope that the utility model discloses, the change that can readily occur in or
Replace, all should cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be wanted with right
The protection domain seeking book is defined.
Claims (8)
1. a kind of cavitation jet cleans hull robot, and it includes servo electricity on the left of main body frame, left side servomotor and right side
Machine, it is characterised in that being provided with the main crawler belt in left side and left side obstacle detouring crawler belt on the left of main body frame, is arranged on the right side of main body frame
There are the main crawler belt in right side and right side obstacle detouring crawler belt, left side servomotor drives the main caterpillar drive in left side；Right side servomotor drives right
The main caterpillar drive in side.
2. cavitation jet cleaning hull robot according to claim 1 is it is characterised in that the main crawler belt in left side and left side are got over
Barrier crawler belt passes through chain-drive mechanism between left track and connects；The main crawler belt in right side and right side obstacle detouring crawler belt pass through chain between right side track and pass
Motivation structure connects.
3. cavitation jet according to claim 2 cleaning hull robot is it is characterised in that main crawler belt includes main crawler belt leads
To frame, main track driving sprocket, main crawler belt driven sprocket and main crawler haulage chain, wherein, main track driving sprocket and main shoe
Band driven sprocket is arranged on main crawler belt leading truck rear end and front end, main crawler haulage chain be used for connecting main track driving sprocket and
Main crawler belt driven sprocket.
4. cavitation jet according to claim 3 cleaning hull robot is it is characterised in that on main crawler belt leading truck both sides
Lower end is provided with chain guide, and leading truck locating rod passes through leading truck, and to be arranged at main crawler belt inside and outside at leading truck locating rod two ends
On guide plate, realize being uniformly distributed and mechanics transmission of magnet block absorption affinity.
5. cavitation jet cleaning hull robot according to claim 1 is it is characterised in that obstacle detouring crawler belt adopts cantilevered
Install, luffing mechanism passes through its pitching of extra power active control.
6. according to the arbitrary described cavitation jet cleaning hull robot of claim 1-5 it is characterised in that in main body frame
Bottom is provided with n cavitation jet cleaning deskitte, and n is the integer more than or equal to 1.
7. cavitation jet cleaning hull robot according to claim 6 is it is characterised in that also set up on main body frame
There is m cavitation rifle, m is the integer more than or equal to 1.
8. cavitation jet cleaning hull robot according to claim 7 is it is characterised in that also set up on main body frame
There is k picture pick-up device, k is the integer more than or equal to 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620498766.1U CN205891183U (en) | 2016-05-19 | 2016-05-19 | Clean hull robot of cavitation jet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620498766.1U CN205891183U (en) | 2016-05-19 | 2016-05-19 | Clean hull robot of cavitation jet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205891183U true CN205891183U (en) | 2017-01-18 |
Family
ID=57766525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620498766.1U Active CN205891183U (en) | 2016-05-19 | 2016-05-19 | Clean hull robot of cavitation jet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205891183U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428459A (en) * | 2016-05-19 | 2017-02-22 | 西安天和海防智能科技有限公司 | Cavitating jet cleaning robot for hulls |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN108036054A (en) * | 2017-11-28 | 2018-05-15 | 浙江大学 | Clean the obstacle detouring sealing mechanism of disk |
| CN108438168A (en) * | 2018-02-12 | 2018-08-24 | 芜湖众维教研仪器研发有限责任公司 | A kind of hull cleaning vehicle |
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| CN111268051A (en) * | 2020-03-13 | 2020-06-12 | 古香义 | Cavitation jet flow ship cleaning robot |
| CN111391995A (en) * | 2020-03-18 | 2020-07-10 | 上海遨拓深水装备技术开发有限公司 | Robot device for cleaning underwater ship body |
-
2016
- 2016-05-19 CN CN201620498766.1U patent/CN205891183U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428459A (en) * | 2016-05-19 | 2017-02-22 | 西安天和海防智能科技有限公司 | Cavitating jet cleaning robot for hulls |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN108036054A (en) * | 2017-11-28 | 2018-05-15 | 浙江大学 | Clean the obstacle detouring sealing mechanism of disk |
| CN108438168A (en) * | 2018-02-12 | 2018-08-24 | 芜湖众维教研仪器研发有限责任公司 | A kind of hull cleaning vehicle |
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| CN111268051A (en) * | 2020-03-13 | 2020-06-12 | 古香义 | Cavitation jet flow ship cleaning robot |
| CN111391995A (en) * | 2020-03-18 | 2020-07-10 | 上海遨拓深水装备技术开发有限公司 | Robot device for cleaning underwater ship body |
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| C14 | Grant of patent or utility model | ||
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