EP4375181A1 - Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau - Google Patents

Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau Download PDF

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Publication number
EP4375181A1
EP4375181A1 EP22209766.9A EP22209766A EP4375181A1 EP 4375181 A1 EP4375181 A1 EP 4375181A1 EP 22209766 A EP22209766 A EP 22209766A EP 4375181 A1 EP4375181 A1 EP 4375181A1
Authority
EP
European Patent Office
Prior art keywords
hull
ship
robot
magnetic
magnetic system
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.)
Pending
Application number
EP22209766.9A
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German (de)
English (en)
Inventor
Lukasz Borowik
Marcin Goraus
Piotr Sciegienka
Tomasz Borowik
Tomasz HARTWIG
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.)
Sr Robotics Sp ZOO
Original Assignee
Sr Robotics Sp ZOO
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 Sr Robotics Sp ZOO filed Critical Sr Robotics Sp ZOO
Priority to EP22209766.9A priority Critical patent/EP4375181A1/fr
Publication of EP4375181A1 publication Critical patent/EP4375181A1/fr
Pending 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
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • 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

  • the present invention relates to an in-water, remotely controlled robot exploiting set of permanent neodymium magnets with adjusted adhesion force for lichens removal from ship hulls by using high-pressure water jet.
  • the most common methods of cleaning ships include cleaning the ship in a dry dock, i.e. after the ship is taken out of the water. It is a process that is performed no more frequently than every few years and is very expensive and time-consuming. A ship usually requires cleaning after only 6 months as the cost of increased fuel consumption outweighs the cost of cleaning the hull. For this reason, cleaning should be done on a regular basis and without taking the vessel out of the water - in-water ship hull cleaning. Due to the high costs of ship downtime, it is most desirable to clean the hull in the port during unloading and loading. Most often, the cleaning of ship hulls is carried out by scuba divers.
  • the first group consists of cleaning robots using propellers applied in the underwater ROV for motion and for ensuring adhesion.
  • the propulsion-based solution has several disadvantages, including in particular the inability to work above the water surface.
  • First disadvantage is the loss of adhesion, which is obtained by the constant operation of the propulsors pushing the robot to the cleaned surface in the event of a power failure. With limited visibility in the port, the operator will find a problem returning to the place on the surface of the ship's hull where the work was interrupted.
  • the other group of underwater robots consists of robots achieving adhesion to the ship's hull using magnets or electromagnets.
  • Solutions based on permanent magnets require taking into account several important parameters such as: (a) a rapid decrease in the adhesion force with the increase of the so-called air gap between the magnets and the ferromagnetic surface, which is associated with the installation of very strong and heavy permanent magnets and (b) the coefficient of friction (COF) in the case of moving on inclined or vertical surfaces, which are ship hulls, especially in the zone above the surface of the water, which requires the right choice of mixture, usually rubber, in robot propulsion systems.
  • COF coefficient of friction
  • the in-water ship hull cleaning magnetic robot with adjusted adhesion force according to this invention solves disadvantages of the above-mentioned solutions unprecedentedly and non-obviously.
  • Fig. 1 shows a magnetic robot (1) consisting of a cleaning unit (2), where under the housing there is a rotating cleaning unit with four arms ending with high-pressure nozzles, the rotating nozzle is preferably driven by two watertight motors, on the high-pressure rotor housing there are connections for the extraction of removed impurities and a high-pressure connection.
  • the cleaning unit (2) is connected to the drive unit (3) by means of a joint and allows the cleaning unit to be tilted by 90 degrees for inspection and replacement of high-pressure water nozzles without having to unhook the robot from the ship's hull.
  • the drive unit consists of 2 wheels driven independently by DC motors, built in aluminium waterproof casings, dissipating heat to the environment. The motors transmit power to the drive wheels using planetary and worm gears. In the rear part of the robot there are preferably two trailing wheels, preferably Rotacaster omni-directional. Within the drive unit (3) there are boxes with electronics and power supply.
  • Fig. 2 shows the location of two magnetic systems (4) with adjustable distance between the magnetic systems and the ferromagnetic surface of the ship's hull.
  • Fig.3 shows the location of the magnetic systems in relation to the drive wheels (5) and trailing wheels (6).
  • the subject of the invention in the form of a system for regulating the force of attraction of the magnetic robot (1) to the ferromagnetic surface is shown in Fig.4 .
  • the system for adjusting the distance between the magnets and the surface of the hull is carried out by means of an electric motor with planetary gears located in an aluminium watertight casing (7), which transfers the rotary motion through a toothed gear (8) to the regulating screw module (9).
  • the system of permanent magnets in the housing (12) is stabilized by preferably four sliding guides (10), which are additionally tensioned with springs (11) to prevent skewing of the magnetic module (12) during distance adjustment.
  • Fig. 5 shows the construction of the distance control system in the part converting rotational motion into sliding motion.
  • the adjustment screw module (9) consists of a screw (13) and a nut (14) rigidly connected to the housing of permanent magnets (12).
  • Fig. 5 also shows the sliding elements of the guides (15) made of self-lubricating plastics, due to the difficult environmental conditions of the device's operation, i.e. in the water environment, it is not possible to use lubricants.
  • the system of permanent magnets preferably neodymium (16), is screwed with two stainless screws (17).
  • Fig.6 shows the construction of a magnetic system consisting of five neodymium magnets.
  • the system is made of neodymium magnets of the same dimensions with two different magnetizations.
  • Mounting holes of magnets (18) run from poles N to S, and magnets (19) between poles S-N.
  • the arrows indicate the orientation of the magnet (direction of the magnetic field from N to S).
  • the presented system of combined magnets allows to obtain a magnetic field in the lower part of the system (oriented towards the surface of the ship's hull) with an attractive force 5 times higher over a section of up to 5 mm compared to a single neodymium magnet of the same type, e.g. N52, and of the same weight and dimensions as shown system.
  • the magnetic field of the magnetic system (16) in other directions is several times lower than that of a single neodymium magnet, which is very important due to the presence of electronic, electrical and navigation systems in close proximity to the magnetic systems.
  • Fig.7 shows the principle of operation of the system for adjusting the attraction force in two projections A and B, and shows the direction of shifting the magnetic system (22) in relation to the drive wheel (20).
  • the drive wheel (20) is connected to the worm gear (see A) and bolted to the replaceable rim (21).
  • the attraction force adjustment system (12) allows you to change the so-called air gap depending on the slippage of the wheels of the magnetic robot. It is desirable to have a gap that is as large as possible and wheel slippage does not occur. Then the wheels will not leave marks, e.g. rubber marks during turns when the wheels have different rotational speeds, which is undesirable.
  • the attraction force adjustment system (12) within the scope of its adjustment allows for the replacement of drive wheel rims without the need to detach the magnetic robot from the ship's hull.
  • the magnetic system (12) as shown in Fig.7 (22) below the line of the drive wheels, the drive unit (3) will be lifted.
  • Fig. 8 shows the rim of the drive wheel (21), consisting of an aluminium rim (24) screwed to the drive wheel (20) and a coating increasing the friction coefficient (23), preferably made of a rubber mixture.
  • a coating increasing the friction coefficient preferably made of a rubber mixture.
  • the rims differ in the type of coating that increases the coefficient of friction (23), including in particular the type of rubber, polyurethane, silicone mixture, the hardness of the mixture, e.g. according to the Shore scale (soft rubber will leave larger marks on the surface during turns than e.g. polyurethane coatings).

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)
EP22209766.9A 2022-11-27 2022-11-27 Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau Pending EP4375181A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22209766.9A EP4375181A1 (fr) 2022-11-27 2022-11-27 Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22209766.9A EP4375181A1 (fr) 2022-11-27 2022-11-27 Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau

Publications (1)

Publication Number Publication Date
EP4375181A1 true EP4375181A1 (fr) 2024-05-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22209766.9A Pending EP4375181A1 (fr) 2022-11-27 2022-11-27 Robot magnétique à force d'adhérence ajustée pour le nettoyage des coques de navires dans l'eau

Country Status (1)

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EP (1) EP4375181A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007010265A1 (fr) 2005-07-22 2007-01-25 University Of Newcastle Upon Tyne Appareil permettant de determiner la position d'un appareil mobile sur une surface
US20140230711A1 (en) * 2009-11-23 2014-08-21 Searobotics Corporation Mobile Operations Chassis with Controlled Magnetic Attraction to Ferrous Surfaces
WO2015035095A1 (fr) * 2013-09-04 2015-03-12 Helical Robotics, Llc Robot mobile à trois roues
US20150158565A1 (en) 2012-04-10 2015-06-11 C.P.M De Vet Holding B.V. Cleaning head for cleaning a surface, device comprising such cleaning head, and method of cleaning
WO2018038622A1 (fr) * 2016-08-26 2018-03-01 Bri Norhull As Moyen de maintien destiné à maintenir un appareil contre une surface métallique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007010265A1 (fr) 2005-07-22 2007-01-25 University Of Newcastle Upon Tyne Appareil permettant de determiner la position d'un appareil mobile sur une surface
US20140230711A1 (en) * 2009-11-23 2014-08-21 Searobotics Corporation Mobile Operations Chassis with Controlled Magnetic Attraction to Ferrous Surfaces
US20150158565A1 (en) 2012-04-10 2015-06-11 C.P.M De Vet Holding B.V. Cleaning head for cleaning a surface, device comprising such cleaning head, and method of cleaning
WO2015035095A1 (fr) * 2013-09-04 2015-03-12 Helical Robotics, Llc Robot mobile à trois roues
WO2018038622A1 (fr) * 2016-08-26 2018-03-01 Bri Norhull As Moyen de maintien destiné à maintenir un appareil contre une surface métallique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SYRYKH N V ET AL: "Wall-Climbing Robots with Permanent-Magnet Contact Devices: Design and Control Concept of the Contact Devices", JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, PLEIADES PUBLISHING, MOSCOW, vol. 58, no. 5, 1 September 2019 (2019-09-01), pages 818 - 827, XP036907228, ISSN: 1064-2307, [retrieved on 20191016], DOI: 10.1134/S1064230719050137 *

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