JPH04504703A - Ultrasonic hull cleaning and spray robot equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] <Technical field of invention> TECHNICAL FIELD The present invention relates to a ship hull cleaning device, and more particularly, to a ship hull cleaning device using ultrasonic means for cleaning a ship hull. This invention relates to a robot device.

<Description of conventional technology> According to current U.S. Navy decisions in effect, non-fouling drugs based on the toxic tributyrin compound The use of dyed hull paint is expected to save hundreds of dollars in fuel per year. some rice According to the National Navy's test examples, this paint meets current military specifications based on cuprous oxide. It has been demonstrated that they generally perform better than paints. Cleaning the hull underwater Additional savings can be made by dry docking and cleaning instead of dry docking. Waited. Current ship cleaning methods used at eight U.S. Navy shipyards The method uses 45,000 tons of abrasives, which are used in organic paints. If so, the toxicity must be removed. Also, by this method you can The amount of water used is 180,000,000 gallons, and this huge amount of water is consumed every year. must be processed.

Organotin/tributyrin paints will protect the hull from stone for 5-7 years without underwater cleaning. It can be kept uncontaminated by gray bone. This paint is used on general ships. Improve the work efficiency of not only ships but also U.S. Navy vessels. This paint is also calcareous The absence of bone contamination increases the vessel's maximum speed and range for longer periods of time. This can improve the speed of work.

Paint is applied, the spent paint in the dry dock is removed before repainting, and the current In removing the toxicity of the grid and other waste generated during the abrasive blasting method of There is a need to develop satisfactory methods for treating organic waste.

There are three types of cleaning methods currently used for cleaning ship hulls:

1. Use chemical paint remover, which is required for non-destructive testing and access cutting. Remove the small patch above the hole. This method is used to clean the entire hull of the ship. is inappropriate.

2. Adopt abrasive grid blasting (sandblasting) to clean the entire hull. use According to this, every time toxicity must be removed by some method, With a grid capacity of 54,000 tons per year and eight U.S. Navy ship yards, With over 180,000,000 gallons of water to be treated Which generates large amounts of toxic waste. As a method to treat organic paint waste Solid grid waste treatment methods currently undergoing evaluation include landfilling and incineration. It is something to do.

3 10,000-15,000 psi (approximately 703-1, High pressure cavitation water using a pressure of 054.5kg/cm2) jet system (CWJS) has been developed. According to the prototype, Used on a 5 ft x 6 ft (approximately 150 cm x 180 cm) patch. A 500% improvement in efficiency was observed over chemical removers. To clean the entire hull For this purpose, attempts are being made in the US to scale up this system and make it into a robot. It is carried out by the National Navy.

A survey of the prior art also discloses the ultrasonic robot device for cleaning ship hulls of the present invention. No prior art could be found. Open ultrasonic decontamination robot U.S. Patent No. 4,595.419, issued in 1986, was discovered to show that Ta. Although this patent relates to an ultrasonic decontamination robot, the disclosed device The location is on the inner surface of the inlet and outlet headers, separator plates, and tubes of the atomic couplant steam generator. Ultrasonic induced cavitation in the tube seat and fluid from the lower part of the tube. It is designed to generate radioactive contamination, thereby eliminating radioactive contamination. Therefore , the device of this patent is unsuitable for cleaning ship hulls.

<Summary and purpose of the invention> Due to the limitations of application and drawbacks of the prior art devices mentioned above, as well as other disadvantages not specifically mentioned. In view of this, the main object of the present invention is to treat ship paints containing toxic tributyrin compounds. automatically using ultrasound to avoid contaminating the surrounding area with the desorbing fluid. The purpose is to provide a means that can suppress this.

More particularly, it is an object of the present invention to provide a method for installing a remote control system located on a ship's hull in a dry deck from a remote location. The controls allow you to move around the ship, which allows you to move around large areas of the ship. An object of the present invention is to provide a ship hull cleaning device that can clean a ship using ultrasonic waves.

Another object of the present invention is to provide a hull cleaning system using ultrasonic cavitation to provide a cleaning effect. The objective is to provide cleaning equipment.

Yet another object of the invention is to provide a control system located on the hull and controlled from a remote location. can be moved over the ship's hull, thereby spraying paint and other chemicals onto the ship's hull. The objective is to provide a device that can perform

Generally speaking, the above-mentioned object is achieved by the present invention, which has an open surface facing the hull. This is achieved by providing a housing. Impinging a liquid stream onto the hull from an open surface A liquid spray head is provided within the housing for spraying. at least one An ultrasonic transducer is placed inside the housing and transmits ultrasonic waves onto the hull through an open surface. Causes wave energy to collide. A gear-driven electromagnetic track system connects the housing It is installed on the outside of the housing to hold the housing on the hull and to remove the housing from a remote location. moving the rod along the hull. In an additional embodiment of the invention, coating the hull surface Be prepared for spray head power or gusting for spraying chemicals or other chemical products. available.

Other objects of the invention mentioned above and which will become clear from the description below. The detailed description of the invention, together with its advantages and features, includes the following detailed description, claims and The characteristics of the invention will be better understood by reference to some embodiments shown in the accompanying drawings. will be clearly understood.

Brief explanation of the drawings> Figure 1 shows the cleaning device according to the invention located on the hull of a ship in a dry dock. FIG.

FIG. 2 is a side view showing the cleaning device according to the present invention in a hull cleaning position.

FIG. 3 is a bottom view of the cleaning device of the present invention taken along the line ``--'' in FIG. 2.

FIG. 4 is a partial sectional view of the cleaning device of the present invention taken along the line rV-IV in FIG. 3.

FIG. 5 is a sectional view taken along the line V-V in FIG. This is a partial illustration of one of the blocks.

FIG. 6 is a sectional view taken along the line VI-VI in FIG. 7.

Figure 7 shows a current contact strip for powering an electromagnetic track and the current contact strip for powering an electromagnetic track. The cleaning device of the present invention is provided with indicating means for retaining the lip on the cleaning device of the present invention. an electromagnetic device for holding on the hull and moving the cleaning device over the cleaning device; FIG. 3 is a cross-sectional view of one of the air trucks.

FIG. 8 is a bottom view partially showing one of the electromagnetic tracks of the cleaning device of the present invention.

Detailed Description of the Preferred Embodiment With reference to the accompanying drawings, in which identical elements are given the same reference numerals, FIG. An ultrasonic robot device 10 for cleaning a ship hull is shown.

In FIG. 1, this cleaning robot 10 is installed on a ship 14 stationed in a dry dock 16. It is shown as being in a cleaning position on the hull 12. Cleaning robot 1゜ , a housing 18 having a cleaning instrument as detailed below with respect to FIGS. 2-4; Electromagnetic for holding the housing on the hull and moving the housing on the hull air track 20. Regarding the electromagnetic track 2o, see Figures 2 to 8. will be detailed later.

The cleaning robot 10 is further equipped with a control power supply car 22. Control power supply car 22 The wheels 24 are mounted on rails 26 that are secured to the surface of a platform 28 of the drying deck 16. It's on top. Inside the control power supply car 22, there is a device that controls the operation of the cleaning robot 1o. All necessary control equipment and power supply equipment will be located. Control power supply car 22 is provided with an extension 3o for supporting the roller 32 that comes into contact with the hull 1.2 surface. It will be done. The extension 30 and the rollers 32 allow the car 22 to keep track of the rails 26 during cleaning operations. Lateral support is provided for the car 22 when traveling on it. power line 34 is provided between the car 22 and the cleaning robot 10, and connects the electromagnetic track 20 and the electric Power is supplied to a magnetic drive means (described later). The car 22 and the cleaning robot 10 are connected. The other power line 36 connected to the air motor (rear (mentioned)). Fluid supply line 38 and vacuum exhaust line 40 are connected to each other. -22 and the cleaning robot 10, and is provided to extend between the cleaning robot 10 and the fluid is supplied to housing 18 and fluid is discharged from housing 18. power is supplied or due to some other unforeseen circumstances, the electromagnetic truck 20 is no longer a cleaning robot. If the cleaning robot cannot hold the component 10 on the hull 12, In order to prevent 10 from falling to the bottom of the dry dock 16, a lifeline 42 is attached to one end of it. to the housing 18 at one end and to the car 22 or platform 28 at the other end. determined.

The cleaning robot 10 of the present invention will be described in more detail below with reference to FIGS. 2 to 4. do. The cleaning robot 10 has a pair of opposing side surfaces 44, a pair of opposing end surfaces 46, and a top surface. The housing 18 has a generally rectangular shape having a surface 48 . Opposing the top surface 48 The surfaces are generally rectangular open surfaces 50 between a pair of side surfaces 44 and an end surface 46, respectively. exists between.

A plurality of fluid spray heads 52 are provided within the housing 18, particularly shown in the drawings. 4, when the cleaning robot 10 is in the cleaning position, the housing is arranged so as to spray the fluid F toward the hull 12 through the open surface 50 of the gun 18. It will be done. In a preferred embodiment, parallel to the plane of end face 46, as particularly shown in FIG. A plurality of fluid spray heads 52 are arranged in each of three rows extending over a surface. It will be done. Each of the fluid spray heads 52 in each row is connected to a fluid manifold 54. is given. In a preferred embodiment, fluid manifold 54 includes a control power supply. Fluid supply line 3 connected to a fluid tank (not shown) located within car 22 8 (FIG. 1), fluid is supplied. According to the invention, in the housing 18 Any desired number of fluid spray heads 52 may be used in any configuration. It will be understood that it can be provided for. Furthermore, according to the present invention, one or more A fluid tank connected to the upper manifold 54 is arranged inside the housing 18. It will be understood that it may be connected within or outside of it. In the housing 18 Additionally, a vacuum exhaust is connected to the housing 18 by a suitable joint member 56. A line 40 is provided to drain fluid from the housing 18.

Inside the housing 18, a joint with the fluid F ejected from the fluid spray head 52 is provided. A plurality of ultrasound transducers 58 are arranged for operation. ultrasonic transformer Ultrasonic waves emitted from deuser 58 are transmitted from fluid spray head 52 to open surface 50. is propagated to the fluid F supplied to the surface of the hull 12 via. ultrasonic transducer 58 at an appropriate distance from the hull surface to be cleaned depending on the wavelength of the frequency used. cavitation occurs in the fluid at the hull surface to be cleaned. It gives you enough power. Cavitation is caused by ultrasonic waves. The repeated positive and negative pressure caused by It means to grow and destroy. The bubbles are violently and instantly destroyed. As a result, high pressure and high temperature are generated in the center of the bubble, which is 75,000 psi (approximately 52 at a pressure of 72.5 kg/cm2) and a temperature of 13,000°F (about 7,204°C). It can reach up to. Each bubble burst is a very short-lived phenomenon, but for 1 second The number of destructions caused is in the millions, so the cumulative effect is significant. intensive Ultrasonic waves generate an intensity of 43.500 watts/cm”, which is This corresponds to a pressure of 725 atmospheres. According to the invention, the significant increase that occurs during bubble collapse The heat can eliminate toxins contained in the paint on the ship's hull. child With respect to It is noted that it is detoxified in a rotary kiln operated at a temperature of . suitable In one embodiment, four ultrasonic transducers 58 are provided by end face 46. Ultrasonic waves are focused on three points along three lines that are parallel to the plane that can be obtained. It is arranged so that it can be done. However, provided within the housing 18 The number of ultrasonic transducers 58 is arbitrary, and the arrangement pattern thereof is also arbitrary. That is understood. Ultrasonic transducer 58 receives control feed from housing 18. It is energized by electrical wires (not shown) extending to the electrical car 22.

A generally rectangular cylindrical air curtain member 60 is disposed around the open surface 50 and It engages the inner surface of the side surface 44 and end surface 46 of the ring 18. tubular air curtain A slit 62 facing the open surface 50 is formed on the surface of the member 60, and a slit 62 facing the open surface 50 is formed on the surface of the member 60. , the air curtain is blown onto the hull, thus causing the fluid F to flow into the housing 18. to be accommodated. Air is pumped into the cylinder by an air motor 64 located within the housing 18. The air is supplied to the air curtain member 60. The air motor 64 has a An outside air intake duct 66 protruding from the outside is provided to supply air to the air motor. air The motor 64 has a power line running through the housing 18 to the control power supply car 22. Power is supplied through 36 (FIG. 1). By the cylindrical air curtain member 60 A controlled internal pressure is provided within the housing 18 to control the fluid and its associated Toxic waste is contained within the housing 18. These fluids and toxic waste should be vacuum evacuated. discharged through air line 40 (Figure 1) into a container or tank for subsequent disposal. It will be done.

for holding the housing on the hull and moving the housing on the hull. Means are connected to the outside of the housing 18. This means comprises an electromagnetic track 20. It consists of an electromagnetic track system. Each of the electromagnetic tracks 20 is a flexible endless The belt may be made of rubber, for example, and has an outer surface 68 and an inner surface 70. It's good. A plurality of electromagnets 72 are arranged along the entire length of the belt, with each electromagnet Exposed on both the inside and outside of the root. On the inner surface 70 of the belt, there are a plurality of Teeth 74 are formed. Power supply means for electromagnetic track 20 and electromagnet 72 Details regarding this will be described later in connection with FIGS. 5 to 8.

Referring again to FIGS. 2 and 3, a plurality of drive motors 76 are mounted on the outside of the housing 18. That is, it is installed on the housing end face 46 by a bracket 78. drive The motor 76 can be a motor that can rotate in forward and reverse directions, such as a linear step motor. It may be something like that. A drive shaft 80 extends from each drive motor 76. , gears 82 are individually attached to the projecting ends thereof, thus a pair of gears are attached from each side 44. They are provided at positions separated by a predetermined interval. Each gear 82 has an electromagnetic truck 70. Teeth are provided that mesh with teeth 74. Each of the two belts 20 has a pair of gears 8. 2 and driven by one or both of the connected drive motors 76. It will be done. Further, the drive motors 76 are each independently driven to drive the two belts 20 differently. It may be driven at a speed of It can be rotated on the hull, for example, the side 44 can be moved from a vertical position on the hull to a horizontal position. Can be rotated into position. Both trucks 20 have their drive motors 7 6 at the same speed, the housing 18 is driven along a straight trajectory. normal cleaning operations can be carried out. A power distribution box 84 is located on each wall 46. located and driven via power lines 86.88 leading from the power distribution box 84. Motor 76 and electromagnet 72 are each powered. Supply to power distribution box 84 Power is provided via a power line 34 (FIG. 1) derived from the control power supply car 22. .

With reference to FIGS. 5 to 8, a power feeder for the electromagnetic track 20 and the electromagnet 72 Details about the stages will be explained. As mentioned above, each electromagnetic truck 20 comprises a flexible endless belt having an outer surface 68 and an inner surface 70. multiple electromagnets 72 are arranged along the entire length of the belt, and each electromagnet is placed along the entire length of the belt. Exposed on both the inside and outside. The electromagnets 72 are generally arranged in two rows along the length of the belt. It is located. Due to the manufacturing convenience of the electromagnetic track 20, the track is It can be formed from a portion 90 and an upper portion 92. Hole 94 in lower portion 90 An engaging hole 96 is formed in the upper portion 92 at an appropriate position in the upper portion 92 . child The holes 94 and 96 each have a conical shape at the engagement surface between the lower part 90 and the upper part 92. A shaped recess 98 is formed to receive the enlarged portion 100 of the electromagnet 72 . electromagnetic tiger, .

To assemble the frame 20, place the electromagnet 72 in either hole 94,96! death, By engaging upper portion 92 with lower portion 90, enlarged portion 10 of electromagnet 72 0 is sealed in the recess 98. The upper and lower parts are then glued together. Join by appropriate means.

A pair of current contact strips 102 are longitudinally connected to each row of electromagnets 72. aligned and in contact with the surface of the electromagnet exposed on the inner surface 70 of the electromagnetic track 20. established in Furthermore, the current contact strip 102 is one-sided, as seen in FIG. One side of the electromagnetic trunk wrapped around a pair of gears 82, i.e. a cleaning device On the side proximate to the hull 12 when 110 is in the cleaning position, It extends over the length of. Current contact strip 102 includes a pair of contacts. a flange end that locks into a slot 106 formed in each of the housings 108; 104 is provided. A current contact strip 102 is attached to each contact housing 10 8 and the flange end 104 of each of the pair of strips 102. By means of a tension member 110, such as a linear spring, disposed within the rod 106. Thus, it is brought into physical and electrical contact with the electrode 72. Contact housing 108 is attached to a support 112 (FIGS. 2 and 3) that projects from side 44 of housing 18. It is therefore strictly fixed with respect to the housing 18. The current flows through the power line 88 (Fig. 1) is applied to the contact strip 102 to activate the electromagnet 72, (When the cleaning device is placed on the hull for cleaning work, the electromagnet The hull 12 is electromagnetically held on the outer surface 68 of the track 20.

During operation, any material placed on the platform 28 of the drying deck 16 or present on the bottom surface 16 In the cleaning device 10 of the present invention, the fluid supply tank is molten, and the fluid waste storage tank is the network is empty, all controls related to the control power supply car 22 are in an OFF state, and that the lifeline 42 is properly connected to its mooring support and the cleaning device 10. By confirming this, the ship is ready to clean the hull 12. .

Controls within the control feed car 22 are activated to connect the power distribution box via the power line 34. 84 and a power line 88 to operate the electromagnet 72. A current is supplied to the current contact strip 102 via the current contact strip 102. Next, operate the cleaning device 10 , the electromagnet 72 actuated by the strip 102 is brought into engagement with the hull 12. and position it on the hull 12. In this position, the housing 18 has its open It is electromagnetically held on the hull with the surface 50 facing the hull. Next, control supply Controls within electric car 22 are activated to provide power to air motor 64 via power line 36. is given and driven. The air motor 64 is connected to the slit 6 of the air curtain member 60. 2 between the open surface 50 of the housing 18 and the hull 12. Form an air curtain. Controls within the control feeder car are then actuated to supply fluid. The fluid F in the tank is pumped through the fluid supply line 38 to the spray head. 52 through the open surface 50 of the housing 18 to wet the hull 12 surface. Ru.

At the same time, a vacuum is created in the vacuum exhaust line 40 by the control operation within the control power supply car 22. the fluid circulating within the housing 18 is discharged. Next, control power supply car Control actuation within 22 activates ultrasonic transducer 58 to transmit ultrasonic energy. The Lugy flow impinges on the wetted surface of the hull 12 from the open surface 50. At this point, as already mentioned A cleaning operation using the cavitation effect is started on the 12 surfaces of the hull.

Control actuation within the control feed car 22 then connects the drive motor 7 via line 86. 6. Initially, drive motor 76 rotates at the same speed to drive gear 82 in both directions. Drive at the same speed with respect to the electromagnetic track 20. Thus, the cleaning device It is driven to run straight in the horizontal or vertical direction depending on the upward direction. cleaning equipment The hull 12 under the ultrasonic cleaning effect while the vessel 10 travels horizontally or vertically in a straight line. Cleaning will be carried out continuously. While the ultrasonic cleaning is being performed, the air curtain member 60 Fluid and residual paint are removed from the housing 18 by an air curtain formed through the housing 18. and removed via vacuum line 40.

When the cleaning device 10 completes vertical or horizontal travel, the control operation in the control power supply car 22 is activated. The movement causes one of the pair of drive motors 76 provided near one of the side surfaces 44. is decelerated or stopped, and one electromagnetic trunk 20 is decelerated or stopped. the other The pair of drive motors 76 continue to drive at full speed. (Then the cleaning device 10 The device 10 rotates around the side of the truck that is at rest or slows down and is related to the hull 12. change the direction of By appropriately adjusting the speed of the drive motor 76, The cleaning device 10 can be moved along any travel path. of the cleaning device 10 The travel path is selected to provide the most efficient cleaning pattern. Cleaning device 10 When the control power supply car 22 moves horizontally along the hull, the control power supply car 22 moves along the rail 26. can be moved to follow the horizontal position of the cleaning device 10.

In the illustrated preferred embodiment, a controlled power supply car 22 is shown running on rails. controlled power supply means or other wheeled controlled power cart that remains stationary Note that the use of is also within the scope of the present invention.

When the cleaning work is completed, the controls in the control power supply cart 22 are turned off and all Terminate all working systems. The cleaning device 10 is then removed from the hull.

In additional embodiments, spray head 52 sprays paint or other chemicals onto the hull. Can be used to spray on top. In this case, the cleaning device 10 includes an ultrasonic transducer. It is not necessary to provide the damper 58. In addition, in this embodiment, the air car The tensile member 60 can be omitted.

Although the preferred embodiment has been illustrated and described, the present invention resides in the light of the foregoing teachings and claims. Within the limited scope and without departing from the spirit and intended scope of the invention. It will be understood that it can take on a variety of forms.

FJG, ヱ international search report

Claims (18)

[Claims] 1. a housing having an open surface to face the hull and directing the liquid flow from said open surface; means provided within said housing for impacting a ship in a dock; Ultrasonic energy is applied from the open surface to the liquid stream impinging on the hull in the dock. - ultrasonic means provided within said housing for impinging the airflow; and a dry dock. holding the housing on the hull within a tank and holding the housing on the hull; means coupled to the outside of the housing for moving the housing. Features: Ultrasonic cleaning robot device for cleaning ship hulls in dry docks. 2. for containing the liquid impinged from the open surface in the housing; An ultrasonic cleaner as claimed in claim 1, wherein means for Sweeping robot device. 3. The liquid containing means is provided around the periphery of the open surface of the housing. The tube has an air curtain surrounding the periphery of the open surface. Claim 2, wherein a slit is formed for spraying the liquid toward the hull. The ultrasonic cleaning robot device described in . 4. The liquid storage means further includes a manifold connected to the tube, and a manifold connected to the tube. and an air motor connected to the manifold to generate the air curtain. An ultrasonic cleaning robot device according to claim 3, which comprises: 5. The claim is that the liquid flow impingement means comprises at least one liquid spray head. The ultrasonic cleaning robot device according to claim 1. 6. The liquid flow impingement means comprises a plurality of spray heads arranged in a plurality of rows. , a line defined by each row is provided parallel to the open surface of the housing. The ultrasonic cleaning robot device according to claim 5. 7. to each of the spray heads in the row; The ultrasonic cleaning machine according to claim 6, wherein the ultrasonic cleaning machine is provided with a liquid manifold that Bot device. 8. Each of the liquid manifolds includes a liquid supply located outside the housing. The ultrasonic cleaning robot device according to claim 7, which is connected to a power source. 9. Claimed in that said ultrasonic means comprises at least one ultrasonic transducer. The ultrasonic cleaning robot device according to claim 1. 10. The ultrasonic means comprises a plurality of ultrasonic transducers, each of which , disposed in a plane parallel to the open surface of the housing, as set forth in claim 9. Ultrasonic cleaning robot device. 11. In the case where the housing has a pair of opposing side surfaces, the housing The holding and moving means includes a flexible endless belt having an inner surface and an outer surface, and the entire length of the belt. a plurality of electromagnetic elements arranged across the belt, each exposed on both the inner and outer surfaces of the belt; a stone, a plurality of teeth formed on the inner surface thereof along the entire length of the belt, and the electromagnetic A power supply is provided on the side surface of the housing in contact with the stone and supplies power to the electromagnet. a flow contact strip and a pair of flow contact strips for running the belt and contacting the teeth of the belt; a front gear for rotating the gear and driving the belt between the gears; and means provided on the housing. Sonic cleaning robot device. 12. A pair of gears are respectively disposed on both opposite sides of the housing, and A belt is wound around each pair of gears, and a current contact string is provided on each of said sides. a lip is provided in contact with the electromagnet on each of the belts, and a lip is provided in contact with the electromagnet on each of the belts; Means for rotating each of the gears are provided on both sides of the housing. each of the belts around each pair of gears around which the belts are wound; The ultrasonic cleaning robot device according to claim 11, which drives the ultrasonic cleaning robot device. 13. each of the means for rotating each of said gear pairs is operable independently of each other; , each of the belts can be driven independently around each pair of gears around which it is wound. The ultrasonic cleaning robot device according to claim 12, which is capable of 14. A vacuum line is connected to the housing, and the housing collides with the hull. 2. A method of discharging said liquid flow away from said housing. The ultrasonic cleaning robot device according to item 1 above. 15. A housing with an open surface that should face the hull, and paint and other chemical products. provided within the housing for continuously spraying the hull from the open surface; a spraying means for dispensing the sprayed paint or other chemical product within said housing; air curtain means provided within said housing for accommodating said paint; Keep the housing on the hull while continuously spraying other chemicals onto the hull. coupled to the outside of said housing for holding and moving on the hull; and a means for spraying the sprayed paint or other chemical product in a continuous manner. said housing for a period of time; A device for continuously spraying paint or other chemical products onto a ship's hull while moving. 16. The housing holding and moving means is a flexible endless belt having an inner surface and an outer surface. and are arranged along the entire length of the belt, each exposed on both the inner and outer surfaces of the belt. a plurality of electromagnets provided and formed on the inner surface of the belt along its entire length; a plurality of teeth provided on the side of the housing in contact with the electromagnet; a current contact strip for energizing a recording magnet and a current contact strip for running said belt; a pair of gears in contact with the teeth; and rotating the gears to move the belt between the gears. means provided on said housing for driving said housing. Apparatus according to scope 15. 17. A pair of gears are disposed on one side of the housing, and a pair of gears are disposed on one side of the housing. A pair of gears are also arranged on opposite sides of the is wrapped around each side of the belt, and a current contact strip is provided on each side of the belt. the electromagnets in each of the housings; Means are provided for rotating each of the gears so that each of the gears around which the belt is wound is Claim 16, wherein each of the belts is driven around the pair of gears. Equipment described in Section. 18. each of the means for rotating each of said gear pairs is operable independently of each other; , each of the belts can be driven independently around each pair of gears around which it is wound. 18. The apparatus of claim 17, wherein the apparatus is capable of