EP0288449A1 - Unterwasserfahrzeug - Google Patents

Unterwasserfahrzeug Download PDF

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Publication number
EP0288449A1
EP0288449A1 EP88870062A EP88870062A EP0288449A1 EP 0288449 A1 EP0288449 A1 EP 0288449A1 EP 88870062 A EP88870062 A EP 88870062A EP 88870062 A EP88870062 A EP 88870062A EP 0288449 A1 EP0288449 A1 EP 0288449A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
suction element
vehicle according
arm
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP88870062A
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English (en)
French (fr)
Inventor
Boud Van Rompay
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0288449A1 publication Critical patent/EP0288449A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface

Definitions

  • This invention relates to a vehicle which is movable on underwater surfaces, such as ship hulls, submarine parts of oil rigs and the like.
  • Said vehicle comprises a frame provided with driving wheels or caterpillars, at least one suction element which is intended to press the vehicle against an underwater surface during the movement of the vehicle on this surface and at least one arm having one end which is hingedly connected to the frame and an opposite end which is connected to the suction element.
  • the vehicle according to this invention can be used either for cleaning or inspecting underwater surfaces, particularly for removing marine growths from said surfaces, for polishing these surfaces or for discovering damages or defects of said surfaces.
  • This underpressure creates a suction force between the vehicle to which the treating elements are attached and the surface to be treated, so that the vehicle is firmly pressed against said surface.
  • the value of the suction force depends on various factors such as the rotation speed of the treating elements, the diameter of these elements which have a circular form, the distance between said elements and the surface to be treated, the structure and the roughness of the treating elements, such as the brush bristles, and the surface to be cleaned.
  • suction means of the vehicle cannot be adjusted as a function of the instant circumstances, such as the type of growth, the rough­ness of the surface to be treated, the type of the paint or protecting layer applied on the surface and the like.
  • said suction force can in fact only be influenced by changing the diameter of the treating elements, the rotation speed of the latter, the roughness of the brushes or scrapers, or the distance between the treating elements (brushes or scrapers) and the surface to be treated.
  • the treated surface becomes smaller and, if the vehicle is provided with several treating elements, a part of the surface remains untreated, since there is no overlap between the treating elements due to the decrease of said diameter.
  • the suction force can also be decreased by diminishing the number of bristles of the brushes, but this affects also detrimentally the efficiency and the life time of the brushes.
  • GB-A-2 155 771 describes an apparatus for treating an underwater surface, which comprises a first treating brush or pad connected to one end of a first bell-crank lever, the other end of which is connected through a rod carrying a piston of a hydraulic cylinder to one end of a second bell-crank lever, the other end of which is connected to a second treating brush.
  • An object of this invention is a vehicle which can be used for treating or inspecting underwater surfaces which may have a high or small radius of curvature.
  • Another object of this invention is a vehicle which allows a stepless adjustment of the suction force of the suction elements without using any tool, such an adjustment being also possible during the operation of the vehicle, said suction force being independent from a variation of the dimensions of the treating elements, such as brushes or scrapers.
  • Still another object of the invention is a vehicle which is arranged so that the suction force remains constant, whatever be the position of the suction elements and whatever be the form and the unevenesses of the surface to be treated or inspected.
  • This invention relates to a vehicle which is movable on underwater surfaces and comprises a frame provided with driving wheels or caterpillars, at least one suction element which is intended to press the vehicle against an underwater surface during the move­ment of the vehicle on this surface and at least one arm having one end which is hingedly connected to the frame and an opposite end which is connected to the suction element, said vehicle being essentially characterized by the fact that a double-acting hydraulic cylinder is hingedly connected to the frame and to the arm, between the ends of the latter, said cylinder being intended to exert on the suction element a force, so that a constant and adjustable pressure is maintained between the suction element and said surface, whatever be the form or the unevenesses of the surface with which the vehicle is in contact.
  • each suction element is suspended in a cardan system at one end of said arm.
  • the arm comprises two parts which are laterally spaced from each other, which are each hingedly connected at one of their ends to the frame and which are attached, at their other end, to a common ring to which the cardan system is suspended.
  • the two parts of the arm are preferably connected to each other by a transverse beam on which the hydraulic cylinder acts.
  • the suction elements provided in the vehicle according to this invention may be brushes or scrapers, when the vehicle is used for cleaning underwater surfaces.
  • Said suction elements may consist of rotating elements, such as bladed wheels, turbines, propellers or discs, provided with rollers which are intended to roll onto the underwater surfaces, so as to avoid any contact between said rotating elements and said surfa­ces.
  • rotating elements are used when the vehicle, which may carry a camera, is used for inspecting said surfaces.
  • the vehicle according to this invention may be operated and guided by a diver or by remote control means.
  • the vehicle shown in figs.1 to 3 comprises a frame or housing 1, a bottom plate 2, three wheels 3 and three cylindrical rotating brushes 4. Instead of brushes, scrapers or abrasive discs may be used.
  • Each wheel is operated by a hydraulic motor 5.
  • the output of this motor 5 can be adjusted by a regulator 6, such as a valve which is operated by a control device 7.
  • the speed of the movement of the vehicle onto a surface to be cleaned or inspected may be adapted to the requirements.
  • the vehicle comprises one forewheel and two backwheels.
  • the forewheel can be randomly oriented according to the direction of movement of the vehicle onto the surface to be treated or inspected.
  • the number of wheels 3 may of course vary in accordance with the dimensions of the vehicle. These wheels may be replaced by caterpillars.
  • Each disc-like brush 4 is fixed on the shaft or rod 8 of a hydraulic motor 9, the speed of each motor being possibly adjustable by means of an output regulator operated by a control device 10 provided on the housing 1; said control device 10 may be operated by the diver which drives the vehicle.
  • Said control device 10 may of course also be a remote control device mounted on a ship, a platform or a wharf.
  • Each brush 4 and the hydraulic motor 5 thereof are suspended to a cardan system or gimbal 11.
  • This system consists of three coaxial rings 12, 13, 14 which are arranged so that two inner rings 12, 13 can pivot with respect to the outer ring 14 about two axes X-X and Y-Y which are perpendicular to each other.
  • the ring 13 is hingedly connected to the outer ring 14 by means of two opposite pivots 15 (axis X-X), whereas the ring 12 is connected to the ring 13 by means of two opposite pivots 16 (axis Y-Y).
  • Each hydraulic motor 9 which actuates a brush 4 is fixed to the ring 12 of the cardan or gimbal system 11.
  • the arm comprises two parts 20 which are laterally spaced from each other. At one of their corresponding ends 17, these parts 20 of the arm 18 are fixed to the outer ring 14. At their other end, the parts 20 of the arm can pivot about pins 21, with respect to the bottom plate 2 in the direction of the arrows 22.
  • the parts 20 of the arm 18 are connected by a crosspiece 23 to which the rod 24 of a piston (not shown) of a double-acting hydraulic cylinder or jack 25 is hingedly connected, said cylinder 25 being able to pivot about a pivot 32.
  • Two parallel ears 26 fixed to the crosspieces 23 carry a pin 27 about which the free end 28 of the piston rod 24 may rotate.
  • each cylinder 25 can be adjusted by means of a regulator provided with a control device 29.
  • this arm 18 take a more or less inclined position (see on the right of fig.3).
  • underwater surfaces such as surfaces 30 having different radii of curvature, may be cleaned by the brush bristles 31 which always remain in contact with said surfaces.
  • the variation of pressure in the hydraulic cylinders 25 will modify the pressure of the treating elements, such as the brushes 4, against the surface to be treated 30.
  • the suction force of the treating elements 4 is not modified by variations of the pressure in the hydraulic cylinders 25. These variations will only modify the pressure of the treating elements 4 against the surface 30.
  • the suction force of the treating elements 4 lings the vehicle against this surface 30.
  • a reaction force is transmitted by the surface to the vehicle through the wheels 3 and the treating elements 4.
  • the variations of the oil pressure in the hydraulic cylinders 25 will change the distribution of this reaction force between the wheels 3 and the treating elements with, as a consequence, the possibility to modify the pressure between the surface 30 and the treating elements 4.
  • the brushes 4 may be replaced by other treating elements, such as scrapers or abrasive circular discs.
  • the vehicle according to the invention may comprise three brush-carrying mechanisms, whereby the pivoting axis Z-Z of one arm 18 forms an angle of 90° with the pivoting axis of the two other arms 18.
  • Figs. 5 and 6 show a suction element 33 which replaces the brushes 4 or scrapers, when the vehicle has to be used for inspecting an underwater surface, in order to detect damages or defects on this surface.
  • the suction element shown in figs. 5 and 6 comprises a propeller 34 fixed on the shaft 8 of the motor 9.
  • the propeller 34 is surrounded by a rotating housing 35 which is also fixed by radial arms 36 to said shaft 8.
  • the housing 35 carries fixed pins 37 on which rollers 38 can freely rotate. These rollers 38 may roll on the surface 30 and avoid any contact between the propeller and its housing 35 and said surface 30.
  • Openings 39 are provided in the housing 35, for example in the cylindrical sidewall 40 of the latter, for expelling the water sucked in the housing 35 by the propeller 34.
  • a camera 45 carried, for example, by a bracket 41 fixed to the frame 1 of the vehicle may be used for inspecting the surface 30.
  • This camera may of course be rotatable and may also be mounted within the frame 1. In any case, the lens 44 of the camera must be directed toward the surface to be inspected.
  • the camera 45 is of course connected to a video-screen.
  • Fig. 6 is a view similar to that of fig. 5, wherein the propeller 34 is replaced by a bladed-wheel or turbine 42.
  • the blades 43 of this wheel or turbine 42 are shaped so as to create a suction or aspiration of water.
  • the central part 46 on which the blades 43 of the wheel are fixed carries rollers 38 having the same function as the rollers shown in figs. 4 and 5.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)
EP88870062A 1987-04-17 1988-04-13 Unterwasserfahrzeug Withdrawn EP0288449A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BE8700417A BE1000486A4 (nl) 1987-04-17 1987-04-17 Werkwijze en apparaat voor het behandelen van onderwater liggende oppervlakken.
BE8700417 1987-04-17

Publications (1)

Publication Number Publication Date
EP0288449A1 true EP0288449A1 (de) 1988-10-26

Family

ID=3882617

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88870062A Withdrawn EP0288449A1 (de) 1987-04-17 1988-04-13 Unterwasserfahrzeug

Country Status (2)

Country Link
EP (1) EP0288449A1 (de)
BE (1) BE1000486A4 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0652151A1 (de) * 1993-05-31 1995-05-10 Honda Giken Kogyo Kabushiki Kaisha Fahrbare vorrichtung
WO2014072556A1 (es) * 2012-11-06 2014-05-15 Universidade Da Coruña Sistema robótico para la limpieza de cascos de barcos y otras superficies sumergidas
CN105947143A (zh) * 2016-05-07 2016-09-21 安徽科技学院 一种用于船壳清洗的爬行机器人
CN106516037A (zh) * 2016-11-11 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人
CN106516038A (zh) * 2016-11-11 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用洗刷装置
CN106516042A (zh) * 2016-11-16 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用传感器安装管
CN106741725A (zh) * 2016-11-11 2017-05-31 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用洗刷头
CN106741726A (zh) * 2016-11-16 2017-05-31 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人液压系统
US10308093B2 (en) * 2014-11-10 2019-06-04 Tas Global Co., Ltd. Load distribution apparatus of magnetic wheel
CN110901848A (zh) * 2019-12-03 2020-03-24 天津海运职业学院 一种潜水式船体清理机器人设备
CN112004742A (zh) * 2018-04-18 2020-11-27 颜宗明 水下船体清洗器、船体清洗系统以及清洗船舶船体的方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1580337A (de) * 1968-06-11 1969-09-05
BE843312A (fr) * 1976-06-23 1976-12-23 Appareil de peinture de surfaces en immersion
FR2369964A1 (fr) * 1976-11-04 1978-06-02 Lundberg Hans Procede et appareil pour le traitement des surfaces immergees de structures fixes ou flottantes
EP0131987A1 (de) * 1983-07-04 1985-01-23 Boud Van Rompay Vorrichtung für den Gebrauch durch Taucher um Wände von unter Wasser liegenden Strukturen abzubürsten oder abzukratzen
GB2155771A (en) * 1984-03-16 1985-10-02 Underwater Maintenance Company Apparatus for treating an underwater surface
FR2569140A1 (fr) * 1984-08-14 1986-02-21 Int Robotic Engineerin Appareil pour l'observation et/ou le traitement d'une surface immergee

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1580337A (de) * 1968-06-11 1969-09-05
BE843312A (fr) * 1976-06-23 1976-12-23 Appareil de peinture de surfaces en immersion
FR2369964A1 (fr) * 1976-11-04 1978-06-02 Lundberg Hans Procede et appareil pour le traitement des surfaces immergees de structures fixes ou flottantes
EP0131987A1 (de) * 1983-07-04 1985-01-23 Boud Van Rompay Vorrichtung für den Gebrauch durch Taucher um Wände von unter Wasser liegenden Strukturen abzubürsten oder abzukratzen
GB2155771A (en) * 1984-03-16 1985-10-02 Underwater Maintenance Company Apparatus for treating an underwater surface
FR2569140A1 (fr) * 1984-08-14 1986-02-21 Int Robotic Engineerin Appareil pour l'observation et/ou le traitement d'une surface immergee

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
NAVY TECHNICAL DISCLOSURE BULLETIN, vol. 5, no. 7, July 1980, pages 49-54; D.J. HACKMAN et al.: "Underwater ship and submarine hull cleaning unit" *

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0652151A4 (de) * 1993-05-31 1996-11-06 Honda Motor Co Ltd Fahrbare vorrichtung.
EP0652151A1 (de) * 1993-05-31 1995-05-10 Honda Giken Kogyo Kabushiki Kaisha Fahrbare vorrichtung
WO2014072556A1 (es) * 2012-11-06 2014-05-15 Universidade Da Coruña Sistema robótico para la limpieza de cascos de barcos y otras superficies sumergidas
US10308093B2 (en) * 2014-11-10 2019-06-04 Tas Global Co., Ltd. Load distribution apparatus of magnetic wheel
CN105947143A (zh) * 2016-05-07 2016-09-21 安徽科技学院 一种用于船壳清洗的爬行机器人
CN106516038A (zh) * 2016-11-11 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用洗刷装置
CN106741725A (zh) * 2016-11-11 2017-05-31 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用洗刷头
CN106516037A (zh) * 2016-11-11 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人
CN106516042A (zh) * 2016-11-16 2017-03-22 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人用传感器安装管
CN106741726A (zh) * 2016-11-16 2017-05-31 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人液压系统
CN112004742A (zh) * 2018-04-18 2020-11-27 颜宗明 水下船体清洗器、船体清洗系统以及清洗船舶船体的方法
CN112004742B (zh) * 2018-04-18 2024-04-09 颜宗明 水下船体清洗器、船体清洗系统以及清洗船舶船体的方法
CN110901848A (zh) * 2019-12-03 2020-03-24 天津海运职业学院 一种潜水式船体清理机器人设备

Also Published As

Publication number Publication date
BE1000486A4 (nl) 1988-12-20

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