CN212580108U

CN212580108U - Oscillating underwater ship bottom cleaning device

Info

Publication number: CN212580108U
Application number: CN202021418800.2U
Authority: CN
Inventors: 金龙
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-17
Filing date: 2020-07-17
Publication date: 2021-02-23
Anticipated expiration: 2030-07-17

Abstract

The utility model relates to the field of ship bottom cleaning, in particular to a swing type underwater ship bottom cleaning device, which comprises a driving device, a swing rod, a bearing base, a cutter head and a remote controller; the remote controller is connected with the driving device and is used for controlling the work of the driving device; the driving device comprises a driving vehicle body, a crawler belt, a swinging mechanism and a propeller, wherein the crawler belt is arranged on both sides of the driving vehicle body, and the driving vehicle body is in transmission connection with the crawler belt; a plurality of propellers are uniformly arranged on the driving vehicle body; the driving vehicle body is provided with a swinging mechanism, the swinging end of the swinging mechanism is fixedly connected with one end of a swinging rod, and the other end of the swinging rod is hinged with one side edge of the bearing base; a cutter head is fixedly arranged on the bearing base; and an anti-collision piece is arranged on one side of the bearing base, which is far away from the driving device, and the anti-collision piece is connected with the swinging mechanism. The device can realize quick cleaning of the ship bottom and has lower cost; and the anti-collision piece is arranged, so that collision accidents in the underwater operation process are reduced.

Description

Oscillating underwater ship bottom cleaning device

Technical Field

The utility model relates to a hull bottom cleaning equipment field, concretely relates to oscillating is hull bottom cleaning device's under water structure technical field.

Background

Boats and ships in normal use, have a large amount of aquatic life to adhere to in the hull bottom surface to along with the accumulation of time, the setting is on the hull bottom surface, and is very firm, and hardly washs, can cause boats and ships self weight to increase, increases the navigation resistance. Resulting in an increase in power consumption.

Most of existing ship bottom cleaning methods adopt manual underwater cleaning or ship transportation to land for centralized cleaning, and are time-consuming and labor-consuming, and cleaning cost is increased.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an oscillating is ship bottom cleaning device under water, provides one kind and is convenient for carry out the device of clearing up to the ship bottom solid aquatic creature, and operating personnel is located and can accomplish the cleaning work to the ship bottom on the boats and ships, and convenient and fast, and the clearance is with low costs.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the swing type underwater ship bottom cleaning device comprises a driving device, a swing rod, a bearing base, a cutter head and a remote controller; the remote controller is connected with the driving device and is used for controlling the work of the driving device; the driving device comprises a driving vehicle body, a crawler belt, a swinging mechanism and a propeller, wherein the crawler belt is arranged on both sides of the driving vehicle body, and the driving vehicle body is in transmission connection with the crawler belt; a plurality of propellers are uniformly arranged on the driving vehicle body; the driving vehicle body is provided with a swinging mechanism, the swinging end of the swinging mechanism is fixedly connected with one end of a swinging rod, and the other end of the swinging rod is hinged with one side edge of the bearing base; a cutter head is fixedly arranged on the bearing base; and an anti-collision piece is arranged on one side of the bearing base, which is far away from the driving device, and the anti-collision piece is connected with the swinging mechanism.

Furthermore, the anti-collision piece comprises fifth connecting rods, extension springs and sensors, the extension springs are respectively arranged on two sides of one end, far away from the driving device, of the bearing base, one end of each extension spring is fixedly connected with the bearing base, the other end of each extension spring is hinged with one end of each fifth connecting rod, one end, close to each extension spring, of each fifth connecting rod is hinged with the bearing base, and the other ends of the two fifth connecting rods extend out of the bearing base and are far away from each other; the sensor is fixedly arranged on the bearing base and outside the extension spring respectively, and the detection end of the sensor is close to and points to the extension spring.

Furthermore, the anti-collision piece comprises fifth connecting rods and torsion springs, the fifth connecting rods are respectively arranged on two sides of one end, far away from the driving device, of the bearing base, one end of each fifth connecting rod is hinged with the bearing base, and the other ends of the two fifth connecting rods extend out of the bearing base and are far away from each other; one end of the fifth connecting rod and the bearing base hinge is fixedly connected with the transmission end of the torsion spring, and the fixed end of the torsion spring is fixedly connected with the bearing base.

Furthermore, the anti-collision piece further comprises a roller, the roller is arranged at one end, away from the bearing base, of the fifth connecting rod, and the axis of the rotating shaft of the roller is arranged in the vertical direction.

Furthermore, an indication rod is arranged on the driving vehicle body and comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is fixedly connected with the driving vehicle body, the other end of the first connecting rod is connected with one end of the second connecting rod, the other end of the second connecting rod is vertically connected with one end of the third connecting rod, and the other end of the third connecting rod is vertically connected with the fourth connecting rod; the fourth connecting rod sets up along the horizontal direction, and the third connecting rod sets up along vertical direction, and the fourth connecting rod sets up along being on a parallel with driving car body moving direction.

Furthermore, at least two bearing bases are arranged side by side along the axial direction of the swinging rod, and every two adjacent bearing bases are hinged; all cutterheads are positioned on the same side of the bearing base.

Furthermore, a first floating block is fixedly arranged on the other side surface of the bearing base, which is far away from the cutter head.

Further, an air bag is arranged on the driving vehicle body or the bearing base.

Furthermore, all through hinged joint between first connecting rod, the second connecting rod and the third connecting rod, and second connecting rod and third connecting rod all can rotate on vertical direction around the connecting axle of its one end.

Further, a second floating block is arranged on the driving vehicle body.

Furthermore, the anti-collision piece is a sonar, and the transmitting and receiving end of the sonar points to a position far away from the cutter head.

Compared with the prior art, the utility model discloses can reach one of following beneficial effect at least:

1. through this device, can realize the swift clearance to the hull bottom, and the cost is lower.

2. And the anti-collision piece is arranged, so that collision accidents in the underwater operation process are reduced.

3. Set up the pilot lever, the operating personnel of being convenient for observes the moving direction who judges the driving car body.

4. Set up the camera, the operating personnel of being convenient for observes the clearance effect.

5. The first floating block is arranged, so that a large extrusion force can be provided for the cutter head to work, and the cleaning effect of the cutter head is improved.

6. Set up blade brush dish and steel wire brush dish, promoted the clearance effect of this device.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of another view angle of the present invention.

Fig. 3 is a schematic structural view of a portion a in fig. 1.

Fig. 4 is a schematic structural view of a portion B in fig. 2.

Fig. 5 is a schematic structural diagram of another view angle of the present invention.

Fig. 6 is a schematic structural diagram of another viewing angle of the present invention.

Fig. 7 is a schematic structural view of an embodiment of the portion C in fig. 6.

Fig. 8 is a schematic structural view of another embodiment of the portion C in fig. 6.

In the figure: 1-a drive device; 11-driving the vehicle body; 12-a crawler belt; 13-a swing mechanism; 14-a propeller; 2-a swing lever; 3-a load-bearing base; 4-a cutter head; 51-a first float; 52-a second float; 53-third float; 54-an air bag; 6-an indicator stem; 61-first connecting rod; 62-a second connecting rod; 63-a third connecting rod; 64-a fourth connecting rod; 7-a camera; 8-a remote controller; 9-a bumper; 91-a roller; 92-a fifth connecting rod; 93-an extension spring; 94-a sensor; 95-torsion spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1:

as shown in fig. 1-8, the swing type underwater ship bottom cleaning device comprises a driving device 1, a swing rod 2, a bearing base 3, a cutter head 4 and a remote controller 8; the remote controller 8 is connected with the driving device 1 and is used for controlling the work of the driving device 1; the driving device 1 comprises a driving vehicle body 11, a crawler 12 and a swinging mechanism 13, wherein the crawler 12 is arranged on each of two sides of the driving vehicle body 11, the driving vehicle body 11 is in transmission connection with the crawler 12, the driving device 1 comprises a driving vehicle body 11, a crawler 12, a swinging mechanism 13 and a propeller 14, the crawler 12 is arranged on each of two sides of the driving vehicle body 11, and the driving vehicle body 11 is in transmission connection with the crawler 12; a plurality of propellers 14 are uniformly arranged on the driving vehicle body 11; a swing mechanism 13 is arranged on the driving vehicle body 11, the swing end of the swing mechanism 13 is fixedly connected with one end of a swing rod 2, and the other end of the swing rod 2 is hinged with one side edge of the bearing base 3; a cutter head 4 is fixedly arranged on the bearing base 3. A transmission mechanism for driving the track 12 to rotate and the swinging mechanism 13 to swing is arranged in the driving vehicle body 11, and the driving vehicle body is controlled to work by a remote controller 8; meanwhile, the remote controller 8 remotely controls the operation of the propeller 14; preferably, the propeller 14 is a propeller or a water jet propeller, and is fixedly connected with the bearing base 3 through a connecting rod to provide lifting power for the bearing base 3.

One embodiment is: a generator and a hydraulic pump are arranged on a deck of the ship, and are connected with the driving device 1 and the cutter head 4 to provide power for the driving device 1 and the cutter head 4 to work; the driving vehicle body 1 is internally provided with a hydraulic motor in transmission connection with the crawler 12, the swing mechanism 13 is a swing hydraulic cylinder, a hydraulic pump on a deck provides hydraulic swing power, the working power of the cutter head 4 is the hydraulic motor, the hydraulic pump on the deck also provides hydraulic power, and corresponding hydraulic pipes and circuit lines are arranged to be connected with corresponding elements; the swing rod 2 is a steel rod, and one end of the swing rod is fixedly connected with the swing end of the swing hydraulic cylinder; the other end is hinged with the bearing base 3, so that the swinging rod 2 and the bearing base 3 can move relatively in the vertical direction, but cannot move relatively to a large extent in the horizontal direction; the bearing base 3 is a steel block or is provided with a hollow glass microsphere structure, and can provide certain working buoyancy; meanwhile, corresponding sealing waterproof measures and sealed cavity bodies are arranged at corresponding components in the driving vehicle body 1, and certain buoyancy can be provided for the driving vehicle body 1 in water.

When in work, the device is arranged at the tail part of the ship bottom in water, and the propeller 14 is started, so that the whole device can be lifted in water, an operator is on a deck, when the crawler belt 12 in the driving device 1 is firstly contacted with the side wall of the ship bottom through the operation and control of the remote controller 8, that is, the generator and the hydraulic pump are started, and the remote controller 8 is operated to operate the crawler belt 12, so as to drive the vehicle body 1 to move towards the ship bow along the ship body direction, when the crawler belt 12 is completely contacted with the ship bottom (because the propeller 14 provides upward buoyancy for the device, the crawler belt 12 can be in abutting contact with the ship bottom), namely, the swinging mechanism 13 can be controlled by the remote controller 8 to work, the cutter head 4 swings towards the inner side of the ship bottom, and the cutter head 4 is started to work, because the bearing base 3 has certain buoyancy, the brush disc of the cutter disc 4 can be contacted with the bottom of the ship and cleaned; simultaneously because bearing base 3 and swinging arms 2 are articulated for cutterhead 4 can carry out vertical direction's removal for driving car body 1 and swinging arms 2 according to the surface of the hull bottom, can carry out angle and the position of adjusting cutterhead 4 by oneself according to the condition on the surface of the hull bottom, has promoted the clearance effect. The other working mode is as follows: the remote controller 8 controls the driving vehicle body 11 to move the distance of the brush disc of one cutter head 4 to the bow, namely the movement is stopped, and then the swinging mechanism 13 is controlled, so that the cutter head 4 swings at a certain angle by taking the swinging mechanism 13 as the center, and large-area cleaning work is realized; when the cutter head 4 swings from the leftmost side to the rightmost side, the distance for driving the vehicle body 11 to move one cutter head 4 to the bow is controlled, and at the moment, the cutter head 4 swings from the rightmost side to the leftmost side; when the cutter head 4 swings to the leftmost side, the driving vehicle body 11 is controlled to move forward by the distance of one cutter head 4 towards the bow 11, and the operation is repeated in such a way until the cutter head 4 is cleaned from the stern to the bow, so that one cleaning work is completed; convenient and fast, and convenient operation. When the cleaning operation is completed and the crawler 12 needs to be separated from the ship bottom, the crawler 12 is controlled to continuously work only because the inclination of the side wall of the ship is larger, so that the driving vehicle body 11 moves towards the direction far away from the ship bottom, the separation operation of the crawler 12 can be completed through the self weight of the driving vehicle body 11 and the inclination of the ship side, and then the device is recovered to the ship for maintenance.

Preferably, when the width of the ship body is greater than the effective distance of the single swing of the cutter head 4, after the single cleaning from the stern to the bow is finished, the driving vehicle body 11 is moved for a certain distance along the transverse direction of the ship body through the remote controller 8, and then the cleaning steps are repeated to clean the ship bottom until the whole ship bottom is cleaned.

Preferably, when the apparatus is used to clean the bottom of a ship, it is necessary to avoid the propeller, anchor, and the like on the side of the ship.

Preferably, the propeller 14 can provide a certain amount of advancing power in the horizontal direction in addition to the lifting power in the vertical direction, and when the movement is difficult through the crawler 12 alone, a certain amount of moving power can be provided through the propeller 14, so that the using effect of the device is improved.

Example 2:

as shown in fig. 1 to 8, the present embodiment optimizes the number of cutterheads for the above-described embodiment.

In the swing type underwater ship bottom cleaning device, at least two bearing bases 3 are arranged side by side along the axial direction of a swing rod 2, and every two adjacent bearing bases 3 are hinged; all the cutterheads 4 are located on the same side of the load-bearing base 3. The number of the bearing base 3 and the cutter head 4 is increased, on one hand, the effective area of single-time swing cleaning can be increased, and therefore the working efficiency is improved; on the other hand, considering that the bottom surface of the ship is uneven, the cutter heads 4 can be more effectively cleaned in a hinged mode. And meanwhile, corresponding driving power needs to be matched.

Example 3:

as shown in fig. 1 to 8, the present embodiment optimizes the position indication structure for the above-described embodiments.

In the swing type underwater ship bottom cleaning device, the indicating rod 6 is arranged on the driving vehicle body 11, the indicating rod 6 comprises a first connecting rod 61, a second connecting rod 62, a third connecting rod 63 and a fourth connecting rod 64, one end of the first connecting rod 61 is fixedly connected with the driving vehicle body 11, the other end of the first connecting rod 61 is connected with one end of the second connecting rod 62, the other end of the second connecting rod 62 is vertically connected with one end of the third connecting rod 63, and the other end of the third connecting rod 63 is vertically connected with the fourth connecting rod 64; the fourth connecting rod 64 is disposed in the horizontal direction, the third connecting rod 63 is disposed in the vertical direction, and the fourth connecting rod 64 is disposed in the direction parallel to the moving direction of the driving cart body 11. When carrying out the operation of ship bottom clearance under water, fourth connecting rod 64 is located the surface of water more than, and regards as the reference thing in the hull for instruct the shift position and the direction of ship bottom drive car body 11, the operating personnel of being convenient for control convenient and fast.

One embodiment is: first connecting rod 61, second connecting rod 62, third connecting rod 63 and fourth connecting rod 64 are the steel pole, and connect through welding mode, be located under water when driving the car body 11, when the ship bottom, the operating personnel who is located on the deck is not convenient for observe, judge the moving direction of driving the car body 11, consequently, through this embodiment, make fourth connecting rod 64 be located the surface of water top, and parallel with the moving direction of driving the car body 11, consequently, operating personnel can be through observing the direction of fourth connecting rod 64, observe, judge the moving direction of driving the car body 11, the operating personnel's of being convenient for control.

The other implementation mode is as follows: the first connecting rod 61 is fixedly connected with the driving vehicle body 11, the first connecting rod 61 is connected with the second connecting rod 62 in a threaded and screwed mode, and the second connecting rod 62 is connected with the third connecting rod 63 in a threaded and screwed mode; on one hand, the device is convenient to disassemble and collect; on the other hand, the connecting rod with corresponding size can be replaced according to the width and the height of the ship body, and the using effect of the device is improved.

Preferably, the third float block 53 is provided on the third link 63, so that the overall buoyancy of the indication rod 6 can be increased, and the influence of the own weight of the indication rod 6 on the balance of the drive vehicle body 11 can be reduced. (the height of the third floating block 53 can be adjusted according to the depth of the bottom of the vessel)

Preferably, the first connecting rod 61, the second connecting rod 62 and the third connecting rod 63 are connected by hinges, and the second connecting rod 62 and the third connecting rod 63 are rotatable in the vertical direction around the connecting shaft at one end thereof. As shown in fig. 4, in an embodiment of the hinge connection, the inclination of the second connecting rod 62 can be adjusted according to the environment of the ship bottom (ship bottom curvature and obstacle) to be cleaned by the cleaning device, so that the third connecting rod 63 is always in the vertical direction, and the use effect of the indicating rod 6 is improved.

Preferably, the hinge connection in the indication rod 6 provides a certain resistance between the connecting rods, when the angle and the position of the corresponding connecting rod need to be adjusted, the adjustment needs to be performed by means of external force, and the connection angle and the position cannot be changed by the self weight of the connecting rod, so that a large error in the indication performance of the indication rod 6 caused by the self weight of the indication rod in the operation process is prevented.

Preferably, the first connecting rod 61 is composed of a plurality of sections of connecting rods hinged in sequence, and two adjacent sections can rotate in the vertical direction, so that the angle and the length of the first connecting rod 61 can be correspondingly adjusted according to actual needs; corresponding second connecting rod 62 and third connecting rod 63 all adopt this kind of setting structure, can promote the use flexibility of instruction pole 6, can adjust length, angle etc. that first connecting rod 61, second connecting rod 62 and third connecting rod 63 used as required according to the use, convenient and fast.

Example 4:

as shown in fig. 1 to 8, the present embodiment optimizes the observation structure for the above-described embodiment.

In the swing type underwater ship bottom cleaning device, the swing rod 2 is fixedly provided with the camera 7. The camera 7 is an underwater camera, and a corresponding display is arranged on the deck for observing a ship bottom picture shot by the camera 7 and judging the cleaning effect of the ship bottom.

Preferably, the camera 7 is positioned close to the bearing base 3 connected with the oscillating rod 2; the effective area of shooting of camera 7 can be increased, has increased observation range.

Example 5:

as shown in fig. 1-8, the present embodiment optimizes the buoyancy structure for the above embodiments.

In the swing type underwater ship bottom cleaning device, the second floating block 52 is arranged on the driving vehicle body 11. The second floating block 52 is a buoyancy tank or a foam block or hollow glass microspheres, which is used for providing larger buoyancy for driving the vehicle body 11, and facilitates the operation of the device in water.

Example 6:

as shown in fig. 1 to 8, the present embodiment optimizes the cutter head structure for the above embodiment.

Two adjacent cutter discs 4 in the swing type underwater ship bottom cleaning device are close to each other. Preferably, the brush disc of the cutter disc 4 is disc-shaped, and the diameter of the brush disc of the cutter disc 4 is larger than the length of the bearing base 3, so that the cutter discs 4 arranged side by side are close to each other and do not influence each other, the single effective cleaning area can be increased, and the repeated cleaning work can be reduced; for example, when two cutter discs 4 are provided, after each time of swing cleaning, the distance of driving the vehicle body 11 to move two cutter discs 4 forward is controlled, and then the next time of swing cleaning work is performed, without worrying about the larger distance between the cutter discs 4, the cleaning work needs to be repeated for two times or more, and the overall cleaning efficiency is improved.

Example 7:

as shown in fig. 1 to 8, the present embodiment optimizes the structure of buoyancy for the above-described embodiment.

In the swing type underwater ship bottom cleaning device, a first floating block 51 is fixedly arranged on the other side surface of the bearing base 3 far away from the cutter head 4. The first floating block 51 is a buoyancy tank or a foam block or a hollow glass microsphere; when the cutter head 4 works, a large directional acting force is generated between the cutter head 4 and the surface of the ship bottom, so that the brush disc of the cutter head 4 is not tightly attached to the surface of the ship bottom, and the cleaning effect is affected; therefore, the first floating block 51 is arranged on the bearing base 3, and when the device works, a larger extrusion force can be provided for the cutter head 4, so that the cleaning effect of the cutter head 4 on the bottom of a ship is improved when the cutter head 4 works.

Example 8:

as shown in fig. 1 to 8, the present embodiment optimizes the structure of the cutter head with respect to the above-described embodiment.

The brush disc of the cutter disc 4 in the swing type underwater ship bottom cleaning device is a blade brush disc or a steel wire brush disc.

Brush dish of blade disc 4 is the disc, set up 8 steel knives at brush dish fixed surface, and the edge of a knife and the brush dish surface of every steel knife are parallel arrangement, when blade brush dish during operation, the rotatory water that will be located in the middle of the blade disc of blade outwards throws away, consequently can produce great suction in the middle of the blade brush dish, thereby make the better laminating hull bottom surface of blade brush dish, can clear up the great attachment of harder degree, the cleaning work has been promoted, can reduce the damage to hull bottom surface finish simultaneously.

The steel wire brush dish is formed for the steel wire that sets up side by side along the defeated dish surface of perpendicular to, can carry out careful polishing to the hull bottom surface, promotes clean quality.

Preferably, after the blade brush disc is firstly used for cleaning once, the blade brush disc is replaced by a steel wire brush disc, the bottom of the ship is cleaned for the second time, and the cleaning effect is improved.

Preferably, in embodiment 2, two cutter discs 4 are arranged side by side along the axial direction of the oscillating rod 2, wherein the brush disc of the cutter disc 4 close to one side of the driving vehicle body 11 is a steel wire brush disc, the brush disc of another cutter disc 4 is a blade brush disc, the effective working areas of the steel wire brush disc and the blade brush disc are the same, and in the process of cleaning the bottom of the ship, the driving vehicle body 11 moves forwards for a single distance which is the distance of the brush disc of one cutter disc 4, so that the cleaning operation can be realized, after the primary cleaning is performed by using the blade brush disc, the secondary cleaning operation is performed by using the steel wire brush disc.

Preferably, the cutter head 4 can be an underwater cavitation jet cleaner, the cleaning operation of the ship bottom is carried out through the cavitation jet principle, the using effect of the device can be realized, and the device is an implementation mode of the cutter head 4.

Example 9:

as shown in fig. 1 to 8, the present embodiment optimizes the indicating structure for the above-described embodiment.

In the swing type underwater ship bottom cleaning device, the outer side wall of the fourth connecting rod 64 is provided with identification color. The identification color can be orange red, so that the marking effect of the fourth connecting rod 64 is improved, and the observation of an operator is facilitated.

Example 10:

as shown in fig. 1 to 8, the present embodiment optimizes the manipulation structure for the above-described embodiment.

In the swing type underwater ship bottom cleaning device, a display screen for receiving and displaying pictures shot by the camera 7 is arranged on the remote controller 8. Set up the display screen on remote controller 8 to a picture for collecting 7 cameras and shoot, the operating personnel of being convenient for observe clearance effect, convenient and fast simultaneously when controlling this device.

Example 11:

In the swing type underwater ship bottom cleaning device, an anti-collision piece 9 is arranged on one side, far away from the driving device 1, of the bearing base 3, and the anti-collision piece 9 is electrically connected with the swing mechanism 13. Considering that the device performs swing type cleaning operation underwater, if the device is damaged when encountering obstacles (a bottom shaft, a guide wing, a stabilizing wing, an anchor and the like) underwater, the anti-collision pieces 9 are arranged on two sides of the front end of the swing front end (the bearing base 3) of the device, and when the anti-collision pieces 9 touch the obstacles in the swing process, the anti-collision pieces 9 work and transmit the work to the remote controller 8 or the controller or directly control the swing mechanism 13 to stop swinging through the controller and swing reversely, so that direct collision is avoided (preferably, the position of the obstacle can be directly calculated according to the traveling position, and the obstacle position is indicated or warned on the remote controller to remind an operator to check and process).

Example 12:

The anti-collision piece 9 in the swing type underwater ship bottom cleaning device comprises a fifth connecting rod 92, an extension spring 93 and a sensor 94, wherein the extension spring 93 is respectively arranged on two sides of one end of the bearing base 3, which is far away from the driving device 1, one end of the extension spring 93 is fixedly connected with the bearing base 3, the other end of the extension spring 93 is hinged with one end of the fifth connecting rod 92, which is close to the extension spring 93, is hinged with the bearing base 3, and the other ends of the two fifth connecting rods 92 extend out of the bearing base 3 and are far away from each other; a sensor 94 is fixedly arranged on the bearing base 3 and outside the extension spring 93, and a detection end of the sensor 94 is close to and points to the extension spring 93. Sensor 94 can be contact position switch, touch the barrier at the swing process when fifth connecting rod 92, fifth connecting rod 92 drives extension spring 93 rather than being connected and rotates, extension spring 93 partly can move to the outside, touch sensor 94, sensor 94 detects the collision signal, and transmit and handle the back for the controller, control swing mechanism 13 stops the swing, and to opposite direction swing, avoid direct collision, and cause the damage to this device, the result of use of this device has been promoted.

Example 13:

The anti-collision piece 9 in the swing type underwater ship bottom cleaning device comprises a fifth connecting rod 92 and a torsion spring 95, wherein the fifth connecting rod 92 is respectively arranged on two sides of one end of the bearing base 3, which is far away from the driving device 1, one end of the fifth connecting rod 92 is hinged with the bearing base 3, and the other ends of the two fifth connecting rods 92 extend out of the bearing base 3 and are far away from each other; one end of the fifth connecting rod 92 hinged with the bearing base 3 is fixedly connected with the transmission end of the torsion spring 95, and the fixed end of the torsion spring 95 is fixedly connected with the bearing base 3; preferably, the torsion spring 95 is provided with a pressure or torsion sensor for detecting the operating pressure of the torsion spring 95, and when the fifth connecting rod 92 collides with an obstacle, the fifth connecting rod 92 rotates to drive the torsion spring 95 to deform, so as to generate a larger mechanical pressure, and the larger mechanical pressure is transmitted to the controller through the sensor to be received and processed, so as to control the operation of the swing mechanism 13.

Example 14:

The anti-collision piece 9 in the swing type underwater ship bottom cleaning device further comprises a roller 91, the roller 91 is arranged at one end, away from the bearing base 3, of the fifth connecting rod 92, and the axis of a rotating shaft of the roller 91 is arranged in the vertical direction. When the anticollision piece 9 collides with an obstacle, the roller 91 can make sliding friction contact with the obstacle, so that the damage of the collision directly to the connecting rod is reduced.

Example 15:

In the swing type underwater ship bottom cleaning device, an air bag 54 is arranged on the driving vehicle body 11 or the bearing base 3. Correspondingly, the air bag 54 is connected with an air charging and discharging pump on the water operation ship, when underwater operation is needed, the air bag 54 is discharged, the buoyancy of the device is reduced, and cleaning operation is carried out after the device sinks to the operation depth; after the operation is finished, the air bag 54 is inflated, so that the buoyancy of the device is increased, the device floats to the water surface, and the device is convenient to recover.

Example 16:

The anti-collision piece 9 in the swing type underwater ship bottom cleaning device is a sonar, and the receiving and transmitting end of the sonar points away from the cutter head 4; through sonar ranging under water to signal transmission after will handling receives the processing for remote controller 8 or controller, and through setting up certain safe distance, when reaching the safe distance extreme value, controls swing mechanism 13 and swings to opposite direction promptly, realizes anticollision effect.

Preferably, sonar (array) is uniformly installed on bearing base 3, realizes the barrier detection operation in the multi-angle range, promotes and detects the precision.

Preferably, when the device is used for cleaning the bottom of a ship, waterproof connection processing and safe operation processing of corresponding parts are well performed; when the operation is required in seawater or fresh water, corresponding parts treatment is carried out on corresponding water areas, such as spraying anti-corrosion paint and the like.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. Oscillating is ship bottom cleaning device under water, its characterized in that: comprises a driving device (1), a swinging rod (2), a bearing base (3), a cutter head (4) and a remote controller (8); the remote controller (8) is connected with the driving device (1) and is used for controlling the work of the driving device (1); the driving device (1) comprises a driving vehicle body (11), a crawler belt (12), a swinging mechanism (13) and a propeller (14), wherein the crawler belt (12) is arranged on both sides of the driving vehicle body (11), and the driving vehicle body (11) is in transmission connection with the crawler belt (12); a plurality of propellers (14) are uniformly arranged on the driving vehicle body (11), and the base of each propeller (14) is fixedly connected with the driving vehicle body (11); a swinging mechanism (13) is arranged on the driving vehicle body (11), the swinging end of the swinging mechanism (13) is fixedly connected with one end of a swinging rod (2), and the other end of the swinging rod (2) is hinged with the bearing base (3); a cutter head (4) is fixedly arranged on the bearing base (3); an anti-collision piece (9) is arranged on one side of the bearing base (3) far away from the driving device (1), and the anti-collision piece (9) is electrically connected with the swinging mechanism (13); a second floating block (52) is arranged on the driving vehicle body (11), and a first floating block (51) is arranged on the bearing base (3); at least two bearing bases (3) are arranged along the axial direction of the swinging rod (2), and every two adjacent bearing bases (3) are hinged; all the cutter heads (4) are positioned on the same side of the bearing base (3).

2. The oscillating underwater bottom cleaning device according to claim 1, characterized in that: the anti-collision part (9) comprises fifth connecting rods (92), extension springs (93) and sensors (94), the extension springs (93) are respectively arranged on two sides of one end, far away from the driving device (1), of the bearing base (3), one end of each extension spring (93) is fixedly connected with the bearing base (3), the other end of each extension spring is hinged to one end of each fifth connecting rod (92), one end, close to each extension spring (93), of each fifth connecting rod (92) is hinged to the bearing base (3), and the other ends of the two fifth connecting rods (92) extend out of the bearing base (3) and are far away from each other; and sensors (94) are respectively and fixedly arranged on the bearing base (3) and outside the extension spring (93), and the detection ends of the sensors (94) are close to and point to the extension spring (93).

3. The oscillating underwater bottom cleaning device according to claim 1, characterized in that: the anti-collision piece (9) comprises fifth connecting rods (92) and torsion springs (95), the fifth connecting rods (92) are respectively arranged on two sides of one end, far away from the driving device (1), of the bearing base (3), one end of each fifth connecting rod (92) is hinged with the bearing base (3), and the other ends of the two fifth connecting rods (92) extend out of the bearing base (3) and are far away from each other; one end of the fifth connecting rod (92) and the hinge of the bearing base (3) is fixedly connected with the transmission end of the torsion spring (95), and the fixed end of the torsion spring (95) is fixedly connected with the bearing base (3).

4. The oscillating underwater bottom clearing device of claim 2 or 3, characterized in that: the anti-collision piece (9) further comprises a roller (91), the roller (91) is arranged at one end, away from the bearing base (3), of the fifth connecting rod (92), and the axis of a rotating shaft of the roller (91) is arranged in the vertical direction.

5. The oscillating underwater bottom cleaning device according to claim 1, characterized in that: the driving vehicle is characterized in that an indicating rod (6) is arranged on the driving vehicle body (11), the indicating rod (6) comprises a first connecting rod (61), a second connecting rod (62), a third connecting rod (63) and a fourth connecting rod (64), one end of the first connecting rod (61) is fixedly connected with the driving vehicle body (11), the other end of the first connecting rod (61) is connected with one end of the second connecting rod (62), the other end of the second connecting rod (62) is vertically connected with one end of the third connecting rod (63), and the other end of the third connecting rod (63) is vertically connected with the fourth connecting rod (64); the fourth connecting rod (64) is arranged along the horizontal direction, the third connecting rod (63) is arranged along the vertical direction, and the fourth connecting rod (64) is arranged along the moving direction parallel to the driving vehicle body (11).

6. The oscillating underwater bottom cleaning device according to claim 5, characterized in that: and a third floating block (53) is arranged on the third connecting rod (63).

7. The oscillating underwater bottom cleaning device according to claim 1, characterized in that: the anti-collision piece (9) is a sonar, and the transmitting and receiving end of the sonar points to a position far away from the cutter head (4).

8. The oscillating underwater bottom cleaning device according to claim 1, characterized in that: an air bag (54) is arranged on the driving vehicle body (11) or the bearing base (3).

9. The oscillating underwater bottom cleaning device according to claim 5, characterized in that: the first connecting rod (61), the second connecting rod (62) and the third connecting rod (63) are connected through hinges, and the second connecting rod (62) and the third connecting rod (63) can rotate around the connecting shaft at one end of the second connecting rod in the vertical direction.