CN217416069U

CN217416069U - Underwater anti-fouling and decontamination robot

Info

Publication number: CN217416069U
Application number: CN202220725848.0U
Authority: CN
Inventors: 王邦建; 王炳程
Original assignee: Central Haihua Xiamen Marine Intelligent Coating Co ltd
Current assignee: Central Haihua Xiamen Marine Intelligent Coating Co ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-09-13
Anticipated expiration: 2032-03-30

Abstract

The utility model discloses an underwater antifouling and decontamination robot, which belongs to the field of robots, and the utility model discloses an underwater antifouling and decontamination robot, which comprises a base and a light guide shell hermetically fixed on the base, wherein the base is provided with a traveling wheel for driving forward, and the base is also provided with a plurality of permanent magnets; the bottom surface of base is provided with the clearance subassembly, light blower inlet casing with form the sealed cavity that provides buoyancy between the base. The light-weight flow guide shell can reduce resistance when the water impacts, and meanwhile buoyancy provided by the sealed cavity can balance partial gravity, so that the robot is more stable and efficient when in operation.

Description

Underwater anti-fouling and decontamination robot

Technical Field

The utility model relates to a robot field especially relates to an antifouling decontamination robot under water.

Background

Along with the vigorous development of marine economy, the nontoxic antifouling application of ships is more and more emphasized. However, since ships are sailing in the ocean for a long time, various small aquatic organisms and plants such as seaweeds, oyster and rattan pots adhere to the surface of the ship body. These attachments can affect the speed of travel of the ship, increasing the resistance to travel and thus increasing energy consumption. The existing ship body antifouling generally adopts antifouling paint, and the mode of coating a large amount of antifouling paint can pollute the marine environment, thereby seriously affecting the marine ecology. The method for cleaning some attachments by adopting a manual diving mode is a common method at present, but the manual cleaning is slow and high in cost. At present, some cleaning robots exist, but the cleaning effect is poor.

The cleaning robot in the prior art is blocked from running underwater, and can not well clean attachments on the underwater part.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to solve the technical problem that an underwater antifouling and decontamination robot is provided can flexibly move underwater, and the fine cleaning is the attachment of the underwater part.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides an underwater antifouling and decontamination robot, which comprises a base and a light guide shell sealed on the base, wherein the base is provided with a traveling wheel for driving the traveling forward, and the base is also provided with a plurality of permanent magnets; the bottom surface of base is provided with the clearance subassembly, light blower inlet casing with form the sealed cavity that provides buoyancy between the base.

The utility model discloses preferred technical scheme lies in, the clearance subassembly includes marine organism inactivator and spiller subassembly, marine organism inactivator is fixed in the one end or the both ends of base bottom surface, the spiller subassembly is located the front end of marine organism inactivator direction of advance.

The utility model discloses preferred technical scheme lies in, marine organism inactivator is any kind in supersonic generator, electromagnetic heater and the laser generator.

The utility model discloses a preferred technical scheme lies in, the spiller subassembly includes reciprocating mechanism and shovel tool bit, reciprocating mechanism is fixed in the sealed cavity, reciprocating mechanism's power take off end with the shovel tool bit is connected, with the drive the downward reciprocal shovel of spiller tool bit slope, both sides all set up around the shovel tool bit tip and shovel off the portion.

The utility model has the preferable technical proposal that the cleaning component comprises a rotary cutter head and a cleaning brush head, the rotary cutter head is rotationally connected with the bottom of the base, and a rotating shaft of the rotary cutter head is vertical to the base; the cleaning brush head is rotationally connected to the bottom of the base and is disc-shaped or long-shaft-shaped.

The utility model discloses preferred technical scheme lies in, the both ends of base are provided with spacing sensor, the base both sides are provided with the extension rod, the tip of extension rod all is provided with spacing sensor.

The utility model discloses preferred technical scheme be in, light blower inlet casing top both ends all are provided with waterproof camera, light blower inlet casing top intermediate position is provided with the power access line.

The utility model discloses preferred technical scheme in, light blower inlet casing is protruding from both sides toward the centre gradually, light blower inlet casing both ends are provided with toper water conservancy diversion portion.

The utility model has the advantages that:

the utility model provides an underwater antifouling and decontamination robot, which comprises a base and a light guide shell sealed on the base, wherein the base is provided with a traveling wheel for driving the traveling forward, and the base is also provided with a plurality of permanent magnets; the bottom surface of base is provided with the clearance subassembly, light blower inlet casing with form the sealed cavity that provides buoyancy between the base. The light-weight flow guide shell can reduce resistance when the water impacts, and meanwhile buoyancy provided by the sealed cavity can balance partial gravity, so that the robot is more stable and efficient when in operation.

Drawings

Fig. 1 is an overall schematic view of an underwater antifouling and decontamination robot provided in an embodiment of the present invention;

FIG. 2 is a schematic view of a cleaning assembly of example 1 provided in an embodiment of the present invention;

fig. 3 is a schematic view of a cleaning assembly in example 2 according to an embodiment of the present invention.

In the figure:

1. a light guide shell; 2. a travel wheel; 3. a waterproof camera; 4. a limit sensor; 5. cleaning the assembly; 11. an extension rod; 12. a conical flow guide part; 51. rotating the cutter head; 52. cleaning the brush head; 53. a blade assembly; 54. a marine organism deactivator; 531. a reciprocating mechanism; 532. a shovel head; 5321. a relief portion; 6. a base; 7. and permanent magnets.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Example one

As shown in fig. 1-3, the present embodiment provides an underwater antifouling and decontamination robot, including a base 6 and a lightweight pod 1 sealed on the base 6, wherein the base 6 is provided with a traveling wheel 2 for driving to advance, and the base 6 is further provided with a plurality of permanent magnets 7; a number of permanent magnets 7 are distributed on the bottom surface so that the magnetic attraction provided is sufficient for the robot to be attracted to the side. The travelling wheel 2 is arranged on two sides of the base through sealing elements such as a sealing bearing and the like, and is driven to rotate forward and backward through the motor so as to realize the back-and-forth movement in two directions. The bottom surface of base 6 is provided with clearance subassembly 5, light blower inlet casing 1 with form the sealed cavity that provides buoyancy between the base 6. The embodiment takes the cleaning of the underwater part of the ship body as an example, and when the robot is used, the robot is carried to the side surface of the ship body, so that the robot is adsorbed on the side surface of the ship body, the top of the robot is connected with a cable, a power supply is supplied to the robot, and the robot is controlled to move through a connected remote control handle. In order to realize flexible turning, the traveling wheels 2 can be set into a steering wheel, two driving wheels or four wheels; the skilled person can set up the arrangement as desired. After the robot adsorbs at the ship curb plate, it gets into the aquatic through remote controller control advancing, then after adjusting the direction of robot, opens clearance subassembly 5 and clears up, clears up the microorganism and other attachments of the effect through clearance subassembly 5 to the side. The light guide shell 1 protrudes gradually from two sides to the middle, and two ends of the light guide shell 1 are provided with conical guide parts 12. The diversion shell is made of buoyant material with density smaller than that of water, so that certain buoyancy can be provided. Because the buoyancy that the robot provided can offset the influence of partial gravity for the dolly can be firmly adsorbed the hull side under the waterline when advancing, and the design of light blower inlet casing 1 makes rivers can be dispersed, can not produce perpendicular impact force to the robot, can avoid the wave to beat the robot.

Preferably, the cleaning assembly 5 includes a marine organism deactivator 54 and a scraper blade assembly 53, the marine organism deactivator 54 is fixed at one end or both ends of the bottom surface of the base, and the scraper blade assembly 53 is located at the front end of the marine organism deactivator 54 in the advancing direction. Can produce certain effect through biological inactivator 54 of sea to the surface attachment, kill biological such as adnexed oyster to the attachment drops easily, cooperates the effect of spiller subassembly 53 with surface material clean up simultaneously. Preferably, the marine organism deactivator (54) is any one of an ultrasonic generator, an electromagnetic heater, and a laser generator. The embodiment takes an ultrasonic generator as an example, and when cleaning, the scraper knife assembly 53 is opened to clean some attachments firstly, and then the auxiliary objects on the surface of the ship body vibrate, rub and heat through the ultrasonic generator, so that oyster and the like are inactivated and fall off. When the electromagnetic heater is adopted, hot water is generated by the electromagnetic heater to kill marine microorganisms on the surface of the ship shell.

Further, the scraper knife assembly 53 comprises a reciprocating mechanism 531 and a scraper knife head 532, the reciprocating mechanism 531 is fixed in the sealed cavity, a power output end of the reciprocating mechanism 531 is connected with the scraper knife head 532 to drive the scraper knife head 532 to obliquely and downwards shovel, and the front side and the rear side of the end part of the scraper knife head 532 are provided with shoveling parts 5321. The shovel head 532 can produce impact force in the twinkling of an eye and clear up the attachment for some stubborn attachments also clear up easily. The design of rotatory double knives head makes the clearance that all can be fine when two directions remove simultaneously.

Preferably, the both ends of base are provided with spacing sensor 4, the base both sides are provided with extension rod 11, extension rod 11's tip all is provided with spacing sensor 4. The detection action of the limit sensor 4 can stop the movement to the edge position in time. When cleaning, the robot can be operated by the controller to move forward in one direction, when the robot moves to the edge position, the robot can brake in time through the detection of the limit sensor 4, then the robot can move downwards through manual control, and then the robot can move in the opposite direction for cleaning.

Preferably, waterproof cameras 3 are arranged at two ends of the top of the light guide shell 1. The underwater condition can be remotely seen through the camera, and manual operation and control are facilitated. The robot is connected with a cable to the remote control handle, and can be conveniently operated on a ship by personnel. The distribution of the attachments can be seen clearly under the action of the camera, so that the robot can be conveniently and timely controlled and adjusted by a person through the remote control handle. Under normal conditions, the robot moves from one side to the other side along a straight line, automatically cleans dirt, and can be stopped in time when reaching the edge.

Example two

As shown in fig. 1-2 and fig. 3, the present embodiment provides an underwater antifouling and decontamination robot, including a base and a light-weight diversion shell 1 sealed on the base, wherein the base is provided with a traveling wheel 2 for driving to advance, and the base is further provided with a plurality of permanent magnets; the permanent magnets are distributed on the bottom surface, so that the provided magnetic attraction force is enough for the robot to be adsorbed on the side surface of the ship body. The travelling wheel 2 is arranged on two sides of the base through sealing elements such as a sealing bearing and the like, and is driven to rotate forward and backward through the motor so as to realize the back-and-forth movement in two directions. The bottom surface of base is provided with clearance subassembly 5, light blower inlet casing 1 with form the sealed cavity that provides buoyancy between the base. The embodiment takes the cleaning of the underwater part of the ship body as an example, and when the robot is used, the robot is carried to the side surface of the ship body, so that the robot is adsorbed on the side surface of the ship body, the top of the robot is connected with a cable, a power supply is supplied to the robot, and the robot is controlled to move through a connected remote control handle. The driving wheels can be set into one steering wheel and two driving wheels for realizing flexible turning, and the driving wheels can be set by persons skilled in the art at will according to needs. After the robot adsorbs at the ship side board, it goes forward through remote controller control and gets into the aquatic, then opens clearance subassembly 5 after adjusting the direction of robot and clear up, clears up the microorganism and other attachments of side through the effect of clearance subassembly 5. The light guide shell 1 is gradually protruded from two sides to the middle, and two ends of the light guide shell 1 are provided with conical guide parts 12. The diversion shell is made of buoyant material with density smaller than that of water, so that certain buoyancy can be provided. Because the buoyancy that the robot provided can offset the influence of partial gravity for the dolly can be firmly adsorbed on the ship side board when advancing, and the design of light blower inlet casing 1 makes rivers can be dispersed, can not produce perpendicular impact force to the robot, can avoid the wave to beat the robot.

Preferably, in this embodiment, the cleaning assembly 5 includes a rotary cutter head 51 and a cleaning brush head 52, the rotary cutter head 51 is rotatably connected to the bottom of the base, and a rotating shaft of the rotary cutter head 51 is perpendicular to the base; the cleaning brush head 52 is rotatably connected to the bottom of the base, and the rotating shaft of the cleaning brush head 52 is perpendicular to or parallel to the plane of the base. This embodiment adopts two rotatory tool bits 51 to set up side by side, can be with some defilements clean up, and the skilled person in the art can set up quantity as required, and rotatory tool bit 51 also can be replaced as required to wire brush or nylon brush etc.. Meanwhile, the cleaning brush head 52 can adopt a long-shaft roller type, and can also adopt a plane rotating disc type of a rotary cutter head 51, and the cleaning brush head is selected according to actual requirements. The rotary cutter head 51 can also cut and clean some seaweed (such as kelp) and the like, and the seaweed is further cleaned by the cleaning brush head 52 after being cut. The cleaning brush head 52 can also be a wire brush or a nylon brush, and can be freely replaced and combined as required.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.

Claims

1. An underwater antifouling and decontaminating robot is characterized in that:

the device comprises a base (6) and a light guide shell (1) hermetically fixed on the base (6), wherein a traveling wheel (2) for driving the base (6) to advance is arranged on the base, and a plurality of permanent magnets (7) are also arranged on the base (6); the bottom surface of base (6) is provided with clearance subassembly (5), light blower inlet casing (1) with form the sealed cavity that provides buoyancy between base (6).

2. The underwater antifouling and decontaminating robot of claim 1, wherein:

the cleaning assembly (5) comprises a marine organism deactivator (54) and a scraper knife assembly (53), the marine organism deactivator (54) is fixed at one end or two ends of the bottom surface of the base (6), and the scraper knife assembly (53) is located at the front end of the advancing direction of the marine organism deactivator (54).

3. The underwater antifouling and decontaminating robot of claim 2, wherein:

the marine organism inactivator (54) is any one of an ultrasonic generator, an electromagnetic heater and a laser generator.

4. The underwater antifouling and decontaminating robot of claim 2, wherein:

shovel sword subassembly (53) include reciprocating gear (531) and shovel tool bit (532), reciprocating gear (531) are fixed in the sealed cavity, the power take off end of reciprocating gear (531) with shovel tool bit (532) are connected, in order to drive shovel tool bit (532) slope is reciprocal shovel downwards, both sides all set up except that portion (5321) around shovel tool bit (532) tip.

5. The underwater antifouling and decontaminating robot of claim 1, wherein:

the cleaning assembly (5) comprises a rotary cutter head (51) and a cleaning brush head (52), the rotary cutter head (51) is rotatably connected to the bottom of the base (6), and a rotating shaft of the rotary cutter head (51) is perpendicular to the base; the cleaning brush head (52) is rotatably connected to the bottom of the base (6), and the cleaning brush head (52) is disc-shaped or long-shaft-shaped.

6. The underwater antifouling and decontaminating robot of claim 1, wherein:

the two ends of the base (6) are provided with the limiting sensors (4), the two sides of the base (6) are provided with the extension rods (11), and the end portions of the extension rods (11) are provided with the limiting sensors (4).

7. The underwater antifouling and decontaminating robot of claim 1, wherein:

both ends of the top of the light diversion shell (1) are provided with waterproof cameras (3), and a power supply access line is arranged at the middle position of the top of the light diversion shell (1).

8. The underwater antifouling and decontaminating robot of claim 1, wherein:

the light guide shell (1) is gradually raised from two sides to the middle, and conical guide parts (12) are arranged at two ends of the light guide shell (1).