KR102364366B1 - Movable cleaning system adopted in integrated plant for cleaning ship hull surface - Google Patents

Abstract

The present invention relates to a movable cleaning system adopted to an integrated plant for cleaning the bottom of a ship, which includes a floating structure which has a predetermined width and length, is floated on the sea, has at least one of longitudinal front and rear parts formed to be opened and closed so that a ship can enter and exit, and has a bottom portion and both side portions watertightly connected to each other so that a cleaning space is formed thereinside. The movable cleaning system comprises: a movable body part located below of the ship in the floating structure to move in the longitudinal direction of the floating structure; and a plurality of cleaning parts having one end connected to the movable body part, and the other end equipped with a cleaning means to clean the outer surface of the ship in the cleaning space, and formed as a multi-joint robot arm. Therefore, damage to the hull and due to antifouling paint can be minimized.

Description

{MOVABLE CLEANING SYSTEM ADOPTED IN INTEGRATED PLANT FOR CLEANING SHIP HULL SURFACE}

The present invention relates to a mobile cleaning system employed in an integrated ship-bottom cleaning plant, and specifically, to a ship-bottom cleaning integrated plant that can prevent human accidents in advance, enable rapid cleaning, and clean even the crevice of the hull. It relates to a mobile cleaning system employed.

In general, since a ship is operated in a state that the lower part of the hull is submerged in seawater, foreign substances such as various contaminants or various aquatic organisms such as water moss and barnacles may be attached to the bottom or side surface located in the water.

As such, various foreign substances and aquatic organisms attached to the hull not only damage the appearance of the ship, but also act as a resistance when the ship is operating and become a factor that lowers the speed of the ship, thus greatly increasing the fuel consumption of the ship. It is very important to periodically clean various foreign substances and aquatic organisms attached to the surface.

In the prior art, the cleaning of the hull exterior was carried out by a diver directly to clean the foreign substances and aquatic organisms attached to the exterior surface of the hull. There is a problem that it is impossible to clean in severe places.

In particular, in the case of large ships, as the amount of cleaning work increases, the time spent in the water becomes longer, which poses a lot of risk to the diver, and by performing the cleaning work depending on the view of the diver, the cleaning quality of the deep bottom of the ship is significantly lowered.

In addition, there are cases where a ship is lifted offshore and cleaned, but it is impossible for a large ship to be lifted onshore. There is a problem that occurs.

In addition, recently, a bottom cleaning robot that runs while attached to the outer surface of the hull and performs a cleaning operation with a brush or the like has been used.

However, it takes a lot of time to clean every nook and cranny of the hull using a small-scale bottom cleaning robot, and it is impossible to clean an area formed in a complex shape including the stern of the hull provided with a propeller and a rudder.

Therefore, as described above, since a diver still has to directly perform a cleaning operation for an area formed in a complex shape, there is a problem that a lot of time and difficulty follow.

In addition, when cleaning the hull using the bottom cleaning robot, it must be attached to the ship by magnetic force or adhered to the ship by fluid force in order to obtain the support power of the bottom cleaning robot. At this time, the antifouling paint ( Antifouling paint) is damaged, so the adhesion of ship-bottomed organisms on the damaged paint film is accelerated, and there is a problem in that secondary environmental pollution occurs due to the peeled paint.

KR 10-2217839 B1

The present invention has been devised to solve the various problems of the prior art as described above, and it is possible to prevent human accidents in advance, it is possible to quickly clean, and it is adopted in an integrated plant bottom cleaning that can clean even the crevice of the hull. An object of the present invention is to provide a portable cleaning system that is

In order to achieve the above objects, the present invention is made of a predetermined width and length to float on the sea, at least one of the longitudinal direction front and rear is made to be opened and closed so that the ship can enter and exit, and a cleaning space inside As a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure in which the bottom and both side surfaces are watertightly connected to be formed, the floating structure is located at the lower part of the vessel in the floating structure, the longitudinal direction of the floating structure a movable body part moving along; And one end is connected to the movable body portion, the other end is equipped with a cleaning means to clean the outer surface of the ship in the cleaning space, the cleaning unit comprising a multi-joint robot arm; A mobile cleaning system employed in an integrated cleaning plant is provided.

At this time, the movable body portion, a pair of side portions disposed to be spaced apart from each other on the left and right sides of the ship; and a bottom part connecting the lower ends of the pair of side parts.

In addition, the movable body portion may further include an inclined portion for obliquely connecting the lower inner surface of the pair of side parts and the upper surfaces of both sides of the bottom to correspond to the shape of the ship for cleaning the bottom of the ship.

In addition, rollers or rails may be respectively formed on the pair of side portions to be coupled to the rails or rollers formed on both inner side surfaces of the floating structure.

In addition, a roller or rail may be formed on the bottom so as to be coupled to a rail or roller formed on the inner bottom surface of the floating structure.

It is preferable that a dynamic position control device (DP) having a dynamic position control function capable of correcting and controlling a speed difference between both sides while moving the movable main body is provided on both sides of the bottom portion, respectively.

In addition, it is preferable that the pair of side parts, the inclined part and the bottom part are provided with a cleaning unit composed of an articulated robot arm.

In addition, one end of the cleaning unit may be connected to a gap adjusting mechanism installed in the movable body unit.

The space control mechanism includes: a space control member comprising a cylinder fixed to the movable body part and a piston reciprocating linearly within the cylinder; and a multi-link member having one end connected to the piston and the other end connected to the cleaning unit, and foldable according to the linear motion of the piston.

In addition, it is preferable that the gap control member is configured to operate by receiving a signal according to the distance between the cleaning unit and the outer surface of the vessel sensed by the sensor installed in the cleaning unit.

In another configuration, the present invention is made of a predetermined width and length and is floated on the sea, and at least one of the longitudinal direction front and rear is opened and closed so that a ship can enter and exit, and a bottom part and a cleaning space are formed inside. A mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure in which both side surfaces are watertightly connected, the mobile body located at the lower part of the ship in the floating structure and moving along the longitudinal direction of the floating structure wealth; and a cleaning unit which is installed in a plurality of the movable body portion so as to be able to adjust the distance from the movable body portion to the outer surface of the ship, and is made of a roll-shaped brush having a predetermined length to clean the outer surface of the ship in the cleaning space. It provides a mobile cleaning system employed in the integrated ship-bottom cleaning plant, characterized in that.

Both ends of the brush may be rotatably coupled to a predetermined support member, and a lower end of the support member may be connected to a spacing adjusting mechanism installed in the movable body portion.

In this case, the gap adjusting mechanism may include: a gap control member comprising a cylinder fixed to the movable body part and a piston reciprocating linearly within the cylinder; and a multi-link member having one end connected to the piston and the other end connected to the support member, and foldable according to the linear motion of the piston.

In this way, it is preferable that a plurality of cleaning units in the form of a roll are disposed to be spaced apart from each other in the movable body portion to face the outer surface of the vessel.

In another configuration, the present invention is made of a predetermined width and length and is floated on the sea, and at least one of the longitudinal direction front and rear is opened and closed so that the vessel can enter and exit, and the bottom part is formed so that a cleaning space is formed inside. A mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure that is watertightly connected to a floating structure with both side surfaces, the mobile cleaning system being located at the lower part of the ship in the floating structure and moving along the longitudinal direction of the floating structure body part; and a cleaning unit installed in a plurality of the movable body portion so as to be able to adjust the distance from the movable body portion to the outer surface of the ship, and made in the form of a water jet to clean the outer surface of the ship in the cleaning space; characterized in that it comprises, It provides a mobile cleaning system employed in a bottom cleaning integrated plant.

It is preferable that the cleaning unit of the waterjet type is provided with a plurality of cleaning units including a support plate and a plurality of waterjet nozzles installed on the support plate and disposed in the movable body so that the waterjet nozzles face the outer surface of the ship.

In addition, the support plate of the cleaning unit may be connected to the interval adjusting mechanism installed in the movable body portion.

The space control mechanism includes: a space control member comprising a cylinder fixed to the movable body part and a piston reciprocating linearly within the cylinder; and a multi-link member having one end connected to the piston and the other end connected to the support plate, and foldable according to the linear motion of the piston.

Specific details of other embodiments are included in "Details for carrying out the invention" and the accompanying "drawings".

Advantages and/or features of the present invention, and methods of achieving them, will become apparent with reference to the various embodiments described below in detail in conjunction with the accompanying drawings.

However, the present invention is not limited to the configuration of each embodiment disclosed below, but may also be implemented in a variety of different forms, and each embodiment disclosed in this specification only makes the disclosure of the present invention complete, It is provided to fully inform those of ordinary skill in the art to which the invention pertains to the scope of the present invention, and it should be understood that the present invention is only defined by the scope of each claim.

According to the means for solving the above problems, the present invention has the following effects.

The present invention provides a movable cleaning system that reciprocates along the longitudinal direction of a floating structure to clean the hull, thereby minimizing damage to the hull and antifouling paint, and has the effect of cleaning up to the crevice area of the hull.

In addition, the present invention has the effect of reducing the fuel cost of the ship and preventing the ecosystem from being disturbed by removing various foreign substances and aquatic organisms attached to the hull in the cleaning space of the floating structure.

In addition, the present invention can prevent human accidents in advance by providing a multi-joint robot arm, a roll-shaped brush, and a cleaning unit in the form of a water jet, and can clean every nook and cranny of the hull, even in the crevice area of the hull. This has the effect of significantly reducing time and cost.

1 is a view showing a state in which a ship is located in a ship bottom cleaning integrated plant employing a mobile cleaning system according to the present invention.
2 is a view showing a state in which the mobile cleaning system according to the present invention is located in the lower part of the ship.
3 is a view showing a state in which the mobile cleaning system according to the present invention is located inside the floating structure.
FIG. 4 is an enlarged view of part a of FIG. 3 .
5 is a view showing a mobile cleaning system according to the present invention.
FIG. 6 is an enlarged view of a portion indicated by a circle in FIG. 5 .
7 is a view showing a first example of the cleaning unit as showing a state in which the mobile cleaning system according to the present invention is located inside the floating structure.
FIG. 8 is a view showing the mobile cleaning system of FIG. 7 .
9 is an enlarged view of a portion indicated by a circle in FIG. 7 .
10 is a view showing a second example of the cleaning unit as showing a state in which the mobile cleaning system according to the present invention is located inside the floating structure.
11 is a view showing the mobile cleaning system of FIG.
12 is an enlarged view of a portion indicated by a circle in FIG. 10 .
13 is a view showing a state in which the mobile cleaning system according to the present invention is located in the lower part of the ship, and is a view showing a third example of a cleaning unit employed in the mobile cleaning system.
14 is a view showing the mobile cleaning system of FIG. 13 .

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention in detail, the terms or words used in this specification should not be construed as being unconditionally limited to their ordinary or dictionary meanings, and in order for the inventor of the present invention to explain his invention in the best way It should be understood that the concepts of various terms can be appropriately defined and used, and furthermore, these terms or words should be interpreted as meanings and concepts consistent with the technical idea of the present invention.

That is, the terms used herein are only used to describe preferred embodiments of the present invention, and are not used for the purpose of specifically limiting the content of the present invention, and these terms represent various possibilities of the present invention. It should be understood that the term has been defined taking into account.

In addition, in the present specification, it should be noted that, unless the context clearly indicates otherwise, the expression in the singular may include a plurality of expressions, and even if it is similarly expressed in plural, it may include the meaning of the singular. do.

When it is stated throughout this specification that a component "includes" another component, it does not exclude any other component, but further includes any other component unless otherwise stated. It could mean that you can.

Furthermore, when it is described that a component is "exists in or connected to" of another component, this component may be directly connected to or installed in contact with another component, and a certain It may be installed spaced apart by a distance, and in the case of being installed spaced apart by a certain distance, a third component or means for fixing or connecting the component to another component may exist, and now It should be noted that the description of the components or means of 3 may be omitted.

On the other hand, when it is described that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the third element or means does not exist.

Likewise, other expressions describing the relationship between components, such as "between" and "immediately between", or "adjacent to" and "directly adjacent to", have the same meaning. should be interpreted as

In addition, in this specification, terms such as "one side", "other side", "one side", "other side", "first", "second", etc., if used, for one component, this single component It is used to be clearly distinguished from other components, and it should be understood that the meaning of the component is not limitedly used by such terms.

In addition, in the present specification, terms related to positions such as "upper", "lower", "left", and "right", if used, should be understood as indicating a relative position in the drawing with respect to the corresponding component, Unless an absolute position is specified with respect to their position, these position-related terms should not be construed as referring to an absolute position.

Moreover, in the specification of the present invention, terms such as “…unit”, “…group”, “module”, “device”, etc., if used, mean a unit capable of processing one or more functions or operations, which means hardware Alternatively, it should be understood that it may be implemented in software, or a combination of hardware and software.

In addition, in this specification, in specifying the reference numerals for each component in each drawing, the same component has the same reference number even if the component is indicated in different drawings, that is, the same reference throughout the specification. Symbols indicate identical components.

In the drawings attached to this specification, the size, position, coupling relationship, etc. of each component constituting the present invention are partially exaggerated, reduced, or omitted in order to convey the spirit of the present invention sufficiently clearly or for convenience of explanation. may be described, and therefore the proportion or scale may not be exact.

In addition, in the following, in describing the present invention, a detailed description of a configuration determined to unnecessarily obscure the gist of the present invention, for example, a detailed description of a known technology including the prior art may be omitted.

1 is a view showing a state in which a ship is located in a ship bottom cleaning integrated plant to which a mobile cleaning system according to the present invention is employed, and FIG. 2 is a view showing a state in which a mobile cleaning system according to the present invention is located in the lower part of the ship.

The mobile cleaning system 20 employed in the ship-bottom cleaning integrated plant according to the present invention is located in the lower portion of the vessel S in the floating structure 10 and reciprocates along the longitudinal direction of the floating structure 10 while reciprocating the vessel ( S) is to clean the outer surface.

The floating structure 10 is floated in the sea, and at least one of the front and rear in the longitudinal direction is provided to be openable and openable so that the vessel (S) can enter and exit the inside.

Such a floating structure 10 may be formed of concrete, steel or composite material, and the bottom part and the side part are watertightly connected to form a cleaning space on the inside, and the vessel (S) that enters the cleaning space on the inside The cross-section may be formed in a “∪” shape to surround the side and bottom of the hull.

In addition, a ballast part (not shown) capable of adjusting the degree to which the floating structure 10 is submerged in the sea level may be provided inside the floating structure 10, whereby the bottom of the floating structure 10 is at sea level to a predetermined depth. It is arranged to be submerged so that the vessel (S) can enter above the floor in the cleaning space.

The mobile cleaning system 20 is installed in the floating structure 10 to reciprocate linearly along the longitudinal direction of the floating structure 10, and serves to clean the side and bottom surfaces of the vessel (S).

In addition, since floating matter generated after cleaning is concentrated in the vicinity of the movable cleaning system 20 that moves and performs cleaning while moving within the floating structure 10, an air bubble or water jet is generated so that it can be recovered by confining it as much as possible. may be installed in the front and rear of the movable cleaning system 20 in the longitudinal direction.

Unexplained symbol E is a seawater inlet, and G is a seawater outlet.

In addition, the ship fixing system may be formed in the form of a wire (F1) so that the ship (S) does not swing inside the floating structure (10).

In this way, by removing various foreign substances and aquatic organisms attached to the hull in the cleaning space of the floating structure 10, it is possible to reduce the fuel cost of the ship and prevent the ecosystem from being disturbed.

3 is a view showing a state in which the movable cleaning system according to the present invention is located inside the floating structure, and FIG. 4 is an enlarged view of part a of FIG. 3 .

At least one of the front and rear of the floating structure 10 may be provided with an opening and closing door, and in the present specification, an example installed in the front and rear will be described.

The first opening and closing doors D1 and the second opening and closing doors D2 having a waterproof function are respectively installed in the front and rear of the floating structure 10 so that seawater inside the cleaning space does not leak out of the floating structure 10 during ship bottom cleaning. do.

At this time, the first opening/closing door (D1) and the second opening/closing door (D2) may be configured in a hinged or sliding type. accept and it works.

That is, when the first opening/closing door D1 and the second opening/closing door D2 are configured in a hinged type, the first opening/closing door D1 and the second opening/closing door D2 are made of a pair, respectively, to the front and rear of the floating structure 10 . are located in each.

Taking the first opening and closing door D1 as an example, one end of the pair of first opening and closing doors D1 is coupled to both ends of the front end of the floating structure 10 by a hinge, respectively, when the pair of first opening and closing doors D1 are closed. The other end of the pair of the first opening and closing door (D1) is in contact with each other.

In this case, the first opening/closing door D1 and the floating structure 10 are connected by a piston-cylinder type first opening/closing device DT1, and as the piston of the first opening/closing device DT1 linearly moves with respect to the cylinder, The first opening/closing door (D1) may be configured to perform an opening/closing operation.

At this time, it is preferable that the other end abutting the pair of first opening and closing doors (D1) is waterproofed so as to be watertight.

The second opening and closing door D2 may also be configured similarly to the first opening and closing door D1, wherein the second opening and closing door D2 and the floating structure 10 are connected by a piston-cylinder type second opening and closing device DT2, As the piston of the second opening/closing device DT2 linearly moves with respect to the cylinder, the second opening/closing door D2 may be configured to open and close.

That is, the sensor installed in the first opening and closing door D1 and the second opening and closing door D2 senses the distance to the ship and transmits the detection signal to the first opening and closing device DT1 and the second opening and closing device DT2, so that the first The opening/closing device DT1 and the second opening/closing device DT2 may be operated.

On the other hand, the first rails R1 are respectively formed on the inner side surfaces 12 of the floating structure 10 , and a pair of first rollers respectively formed on the pair of side portions 22a of the mobile cleaning system 20 . (K1) is coupled to the first rail (R1).

In addition, the second rail (R2) is formed on the inner bottom surface 14 of the floating structure 10, the second roller (K2) formed on the bottom portion 22b of the mobile cleaning system 20 is the second rail ( It is made to bind to R2).

Of course, the first roller and the second roller are respectively formed on both side surfaces 12 and the bottom surface 14 of the floating structure 10, and on both side portions 22a and the bottom portion 22b of the mobile cleaning system 20 The first rail and the second rail may be respectively formed.

Accordingly, the movable cleaning system 20 along the longitudinal direction of the floating structure 10 cleans the side and bottom surfaces of the vessel S while linearly reciprocating.

In addition to the combined configuration of the rail and the roller, as long as the movable cleaning system 20 can reciprocate in a straight line in the longitudinal direction of the floating structure 10, it does not matter what configuration it is made of.

In addition, a plurality of fixing bars F2 may be formed as a ship fixing system along the longitudinal direction on both inner side surfaces 12 of the floating structure 10, and these fixing bars F2 are preferably made of a rubber material.

In addition, by allowing the fixing bar F2 to come into contact with a part of a ship above sea level where there is no antifouling paint, it is possible to minimize environmental pollution caused by peeling of the antifouling paint.

Such a plurality of fixing bars F2 are normally located inside both sides 12 of the floating structure 10 , but when the vessel S is located in the cleaning space of the floating structure 10 , the signal of the integrated monitoring control system It may be configured to protrude to the outside of the both side surfaces 12 of the floating structure 10 to be in close contact with both sides of the ship (S).

In addition, the floating structure 10 may be provided with a recovery system (R) for recovering the removed material including the berthing life removed by the mobile cleaning system (20).

Briefly describing the recovery system R, in order to quickly and efficiently treat the contaminated water in the floating structure 10, the cleaning by-products may be chemically/physically submerged or floated to undergo a pretreatment process.

In the case of fine cleaning by-products, a chemical method is used to increase the size of the fine cleaning by-products by burying them with a chemical method. It is a method of processing by-products by causing the flow to occur by pushing up or down using

Aquatic organisms or macroscopic cleaning by-products are collected by sweeping the particles that have sunk to the bottom with a broom-shaped device, sucked through the suction port formed on the bottom of the floating structure 10, and then injected into the water treatment system (W).

In this way, the floating structure 10 may be provided with a water treatment system (W) connected to the recovery system (R) for purifying the removed material recovered by the recovery system (R) and discharging it to seawater.

Such a water treatment system (W) may include a sterilizer and a filter.

As such, by providing the recovery system (R) and the water treatment system (W) in the floating structure 10, various foreign substances and aquatic organisms removed after cleaning the bottom of the ship are recovered, then treated with water and discharged to seawater, thereby preventing the ecosystem from being disturbed. there will be

5 is a view showing a mobile cleaning system according to the present invention, FIG. 6 is an enlarged view of a portion indicated by a circle in FIG.

The mobile cleaning system 20 includes a mobile main body 22 and a cleaning unit 24 .

The movable body portion 22 includes a pair of side portions 22a spaced apart to face each other, and a bottom portion 22b connecting the lower ends of the pair of side portions 22a.

A pair of first rollers K1 are provided on the pair of side portions 22a of the movable body 22 so as to be coupled to the first rails R1 respectively formed on the inner side surfaces 12 of the floating structure 10, respectively. is formed

In addition, a second roller K2 may be formed on the bottom 22b of the movable body 22 to be coupled to the second rail R2 formed on the inner bottom surface 14 of the floating structure 10 .

In addition, dynamic positioning devices DP may be provided on both sides of the bottom 22b of the movable body 22, respectively.

Such a dynamic position control device (DP) is provided with a function capable of correcting and controlling the speed difference between both sides of the movable body part.

The dynamic position control device (DP) controls the mobile cleaning system 20 to move at a desired speed by the operator, and is constant from left to right so that a yaw motion, that is, a Z-axis rotational motion, does not occur within the floating structure 10 . generate thrust.

This dynamic positioning device (DP) can be controlled by a plurality of thrusters, and may be configured by adopting other roller driving methods, rail systems, closed circuit wires and ropes, racks and pinions, friction rollers, etc. .

A pair of side portions 22a and the bottom portion 22b of the movable body portion 22 are provided with a cleaning unit 24 .

The cleaning unit 24 may be configured by combining a brush, a water jet nozzle, etc. as cleaning means to the articulated robot arm, in this case, the robot arm is made to be able to adjust the length and rotate, so that the gap between the outer surface (side and bottom) of the ship (S) It is possible to clean every corner of the area.

In addition, the cleaning unit 24 may employ a roll-type brush, and a multi-joint robot arm combined with the cleaning means as described above, and a roll-type brush may be employed at the same time.

7 is a view showing a state in which the movable cleaning system according to the present invention is located inside the floating structure, and is a view showing a first example of a cleaning unit, FIG. 8 is a view showing the movable cleaning system of FIG. 7, FIG. It is an enlarged view of a portion indicated by a circle in FIG. 7 .

The mobile cleaning system 20 employed in the integrated ship-bottom cleaning plant according to the present invention is made of a predetermined width and length and is floated on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the ship can enter and exit. It is formed and is a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure 10 that is watertightly connected to the bottom and both sides so that a cleaning space is formed on the inside, and a movable body 22 and a cleaning unit ( 24) is included.

The movable body part 22 is located at the lower part of the ship (S) in the floating structure (10) and moves along the longitudinal direction of the floating structure (10), spaced apart from the left and right sides of the ship (S) to face each other It may include a pair of side portions 22a and a bottom portion 22b connecting the lower ends of the pair of side portions 22a.

In addition, the movable body part 22 may further include an inclined part 22c slantingly connecting the lower inner surface of the pair of side parts 22a and the upper surfaces of both sides of the bottom part 22b to correspond to the shape of the ship for cleaning the bottom of the ship. can

On the other hand, a first roller K1 may be formed on a pair of side portions 22a of the movable body 22 so as to be coupled to the first rails R1 formed on both inner side surfaces 12 of the floating structure 10, respectively. there is.

In addition, a second roller K2 may be formed on the bottom 22b of the movable body 22 so as to be coupled to the second rail R2 formed on the inner bottom surface 14 of the floating structure 10 .

Dynamic position control devices DP are provided on both sides of the bottom 22b of the movable body 22, respectively.

The dynamic position control device (DP) controls the mobile cleaning system 20 to move at a desired speed by the operator, and is constant from left to right so that a yaw motion, that is, a Z-axis rotational motion, does not occur within the floating structure 10 . generate thrust.

This dynamic positioning device (DP) can be controlled by a plurality of thrusters, and may be configured by adopting other roller driving methods, rail systems, closed circuit wires and ropes, racks and pinions, friction rollers, etc. .

In addition, the cleaning unit 24 made of the articulated robot arm 24a is positioned on the pair of side portions 22a, the inclined portions 22c and the bottom portion 22b of the movable body portion 22 .

The cleaning unit 24 is made of a plurality of articulated robot arms (24a), one end connected to the movable body portion 22, the other end is equipped with a cleaning means (not shown) in the cleaning space of the floating structure (10) to clean the exterior of the vessel.

This articulated robot arm (24a) is very useful for cleaning the crevice area of the vessel.

On the other hand, one end of the cleaning unit 24 may be connected to the interval adjusting mechanism 26 installed in the movable body portion (22).

The spacing control mechanism 26 includes a cylinder (L) fixed to the movable body portion 22 and a spacing control member (26a) composed of a piston (P) reciprocating linearly within the cylinder (L); and a multi-link member ( 26b).

In this case, the gap control member 26a may be configured to operate by receiving a signal according to the distance between the cleaning unit and the outer surface of the vessel detected by the sensor installed in the cleaning unit 24 .

10 is a view showing a state in which the movable cleaning system according to the present invention is located inside the floating structure, and is a view showing a second example of the cleaning unit, FIG. 11 is a view showing the movable cleaning system of FIG. It is an enlarged view of a portion indicated by a circle in FIG. 10 .

The mobile cleaning system 20 employed in the integrated ship-bottom cleaning plant according to the present invention is made of a predetermined width and length and is floated on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the ship can enter and exit. It is formed and is a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure 10 that is watertightly connected to the bottom and both sides so that a cleaning space is formed on the inside, and a movable body 22 and a cleaning unit ( 24) is included.

The movable body part 22 is located in the lower part of the ship in the floating structure 10 and is configured to move along the longitudinal direction of the floating structure.

The cleaning unit 24 is installed in a plurality of the movable body part 22 so that the distance from the movable body part 22 to the outer surface of the ship can be adjusted, and consists of a roll-shaped brush 24b having a predetermined length, cleaning the floating structure and to clean the exterior surface of the vessel within the space.

Both ends of the brush 24b of the cleaning unit 24 are rotatably coupled to a predetermined support member (J), and the lower end of the support member (J) is a gap adjusting mechanism (26) installed in the movable body portion (22). can be connected to

At this time, the spacing control mechanism 26, the cylinder (L) fixed to the movable body portion 22 and the cylinder (L), a spacing control member (26a) consisting of a piston (P) reciprocating in a straight line; And one end is connected to the piston (P) of the gap control member (26a) and the other end is connected to the support member (J), a multiple link member made to be foldable according to the linear motion of the piston (P) of the gap control member (26a) (26b) may be included.

As described above, it is preferable that the plurality of cleaning units 24 made of a roll-shaped brush 24b are spaced apart from each other in the movable body 22 to face the outer surface of the ship.

13 is a view showing a state in which the mobile cleaning system according to the present invention is located in the lower part of the ship, and is a view showing a third example of a cleaning unit employed in the mobile cleaning system, and FIG. 14 is a view showing the mobile cleaning system of FIG. 13 am.

The mobile cleaning system 20 employed in the integrated ship-bottom cleaning plant according to the present invention is made of a predetermined width and length and is floated on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the ship can enter and exit. As a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a floating structure that is formed and watertightly connected to the bottom and both sides so that a cleaning space is formed on the inside, the movable body part 22 and the cleaning part 24 are provided. consists of including

The movable body part 22 is located in the lower part of the ship S in the floating structure 10 and is configured to move along the longitudinal direction of the floating structure 10 .

The cleaning unit 24 is installed in plurality in the movable body part 22 so that the distance from the movable body part 22 to the outer surface of the ship (S) can be adjusted, and is made in the form of a waterjet 24c to clean the floating structure 10 . and to clean the exterior surface of the vessel within the space.

The cleaning unit 24 in the form of a waterjet 24c is provided with a plurality of cleaning units U including a support plate U1 and a plurality of waterjet nozzles U2 installed on the support plate U1. It is preferable that the waterjet nozzle U2 be disposed on the movable body portion 22 so as to face the outer surface of the vessel.

In addition, the support plate U1 of the cleaning unit 24 may be connected to the spacing adjusting mechanism 26 installed in the movable body 22 .

The spacing adjusting mechanism 26 includes a cylinder (L) fixed to the movable body part (22) and a spacing control member (26a) composed of a piston (P) reciprocating linearly within the cylinder (L); And one end is connected to the piston (P) of the gap control member (26a) and the other end is connected to the support plate (U1), a multiple link member made to be foldable according to the linear motion of the piston (P) of the gap control member (26a) (26b) may be included.

As such, the present invention provides a movable cleaning system 20 that reciprocates along the longitudinal direction of the floating structure 10, so that the hull and the antifouling paint are not damaged, and it is possible to cleanly clean even the gap region of the hull.

In addition, the present invention can reduce the fuel cost of the ship and prevent the ecosystem from being disturbed by removing various foreign substances and aquatic organisms attached to the hull in the cleaning space of the floating structure 10 .

As mentioned above, although several preferred embodiments of the present invention have been described with some examples, the descriptions of various various embodiments described in the "Specific Content for Carrying Out the Invention" item are merely exemplary, and the present invention Those of ordinary skill in the art will understand well that the present invention can be practiced with various modifications or equivalents to the present invention from the above description.

In addition, since the present invention can be implemented in various other forms, the present invention is not limited by the above description, and the above description is intended to complete the disclosure of the present invention, and is generally It is to be understood that this is only provided to fully inform those with knowledge of the scope of the present invention, and that the present invention is only defined by each of the claims.

10: floating structure
12: inside both sides
14: inner bottom surface
R1: 1st rail
R2 : 2nd rail
D1 : 1st open/close door
D2 : 2nd opening and closing door
20: mobile cleaning system
22: movable body part
24 : Janitor
24a: articulated robot arm
24b: Roll-shaped brush
24c: water jet
26: gap adjustment mechanism
26a: gap control member
26b: multi-link member

Claims (18)

It consists of a predetermined width and length, floats on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the vessel can enter and exit, and the bottom and both sides are watertight so that a cleaning space is formed inside. As a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a connected floating structure,
a movable body part that is accommodated in the floating structure and is slidably coupled to the lower part of the stationary ship so as to be linearly reciprocated along the longitudinal direction of the floating structure without being affected by the load of the ship; and
One end is connected to the movable body part, the other end is equipped with a cleaning means to clean the outer surface of the vessel in the cleaning space, and a cleaning unit comprising a multi-joint robot arm and provided in plurality;
A space control mechanism for receiving a signal according to the distance between the outer surface of the ship and the cleaner detected by the sensor installed in the cleaner to adjust the distance between the outer surface of the ship and the cleaner is installed in the movable body part, characterized in that,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
The method according to claim 1,
The movable body part,
a pair of side portions spaced apart from each other on the left and right sides of the vessel to face each other; and
A bottom part connecting the lower ends of the pair of side parts; characterized in that it comprises a,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
3. The method according to claim 2,
The movable body part,
For ship bottom cleaning, characterized in that it further comprises an inclined portion for obliquely connecting the pair of lower inner surfaces of the side parts and the upper surfaces of both sides of the bottom to correspond to the shape of the ship,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
3. The method according to claim 2,
Characterized in that a roller or a rail is respectively formed on the pair of side portions so as to be coupled to the rails or rollers formed on both inner side surfaces of the floating structure,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
3. The method according to claim 2,
Characterized in that the roller or rail is formed on the bottom so as to be coupled to the rail or roller formed on the inner bottom surface of the floating structure,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
3. The method according to claim 2,
A dynamic position control device (DP) equipped with a dynamic position control function capable of correcting and controlling the speed difference between both sides while moving the movable main body is provided on both sides of the bottom, respectively,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
4. The method according to claim 3,
The pair of side parts, the inclined part and the bottom part, characterized in that the cleaning unit consisting of an articulated robot arm is located,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
The method according to claim 1,
One end of the cleaning unit is characterized in that it is connected to a gap adjusting mechanism installed in the movable body portion,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
9. The method of claim 8,
The gap adjusting mechanism,
a space control member comprising a cylinder fixed to the movable body and a piston reciprocating linearly within the cylinder; and
One end is connected to the piston and the other end is connected to the cleaning unit, and a multi-link member made foldable according to the linear motion of the piston; characterized in that it comprises a,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
10. The method of claim 9,
The gap control member is characterized in that it is configured to operate by receiving a signal according to the distance between the outer surface of the vessel and the cleaning unit sensed by the sensor installed in the cleaning unit,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
It consists of a predetermined width and length, floats on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the vessel can enter and exit, and the bottom and both sides are watertight so that a cleaning space is formed inside. As a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a connected floating structure,
a movable body part that is accommodated in the floating structure and is slidably coupled to the lower part of the stationary ship so as to be linearly reciprocated along the longitudinal direction of the floating structure without being affected by the load of the ship; and
A cleaning unit that is installed in a plurality of the movable body portion so as to be able to adjust the distance from the movable body portion to the outer surface of the ship, and is made of a roll-shaped brush having a predetermined length to clean the outer surface of the ship in the cleaning space; and ,
A space control mechanism for receiving a signal according to the distance between the outer surface of the ship and the cleaner detected by the sensor installed in the cleaner to adjust the distance between the outer surface of the ship and the cleaner is installed in the movable body part, characterized in that,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
12. The method of claim 11,
Both ends of the brush are rotatably coupled to a predetermined support member,
The lower end of the support member is characterized in that it is connected to a gap adjusting mechanism installed in the movable body portion,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
13. The method of claim 12,
The gap adjusting mechanism,
a space control member comprising a cylinder fixed to the movable body and a piston reciprocating linearly within the cylinder; and
One end is connected to the piston and the other end is connected to the support member, the multi-link member is made foldable according to the linear motion of the piston; characterized in that it comprises a,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
12. The method of claim 11,
A plurality of cleaning units in the form of rolls are characterized in that they are disposed to be spaced apart from each other in the movable body portion to face the outer surface of the vessel,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
It consists of a predetermined width and length, floats on the sea, and at least one of the front and rear in the longitudinal direction can be opened and closed so that the vessel can enter and exit, and the bottom and both sides are watertight so that a cleaning space is formed inside. As a mobile cleaning system employed in a ship-bottom cleaning integrated plant including a connected floating structure,
a movable body part that is accommodated in the floating structure and is slidably coupled to the lower part of the stationary ship so as to be linearly reciprocated along the longitudinal direction of the floating structure without being affected by the load of the ship; and
A plurality of cleaning units installed in the movable body portion to enable distance adjustment from the movable body portion to the outer surface of the ship, and made in the form of a water jet to clean the outer surface of the ship in the cleaning space; includes,
A space control mechanism for receiving a signal according to the distance between the outer surface of the ship and the cleaner detected by the sensor installed in the cleaner to adjust the distance between the outer surface of the ship and the cleaner is installed in the movable body part, characterized in that,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
16. The method of claim 15,
The waterjet type cleaning unit,
A plurality of cleaning units including a support plate and a plurality of waterjet nozzles installed on the support plate are provided and the waterjet nozzles are disposed in the movable body portion to face the outer surface of the ship,
A mobile cleaning system employed in a bottom cleaning integrated plant.
17. The method of claim 16,
The support plate of the cleaning unit is characterized in that it is connected to the interval adjusting mechanism installed in the movable body portion,
A mobile cleaning system employed in an integrated plant for bottom cleaning.
18. The method of claim 17,
The gap adjusting mechanism,
a space control member comprising a cylinder fixed to the movable body and a piston reciprocating linearly within the cylinder; and
One end is connected to the piston and the other end is connected to the support plate, the multi-link member is foldable according to the linear motion of the piston; characterized in that it comprises a,
A mobile cleaning system employed in an integrated plant for bottom cleaning.

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