US3859948A - Apparatus for cleaning hulls and other submerged surfaces - Google Patents

Apparatus for cleaning hulls and other submerged surfaces Download PDF

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Publication number
US3859948A
US3859948A US336558A US33655873A US3859948A US 3859948 A US3859948 A US 3859948A US 336558 A US336558 A US 336558A US 33655873 A US33655873 A US 33655873A US 3859948 A US3859948 A US 3859948A
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Prior art keywords
frame
submerged surface
cleaning
main frame
brush
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Expired - Lifetime
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US336558A
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English (en)
Inventor
Giuliano Romano
Ferruccio Buonaprole
Fernando Lodi
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion

Definitions

  • ABSTRACT Apparatus for cleaning hulls or other submerged surfaces comprises a structure driven along the sub merged surface by a pair of caterpillar belts.
  • the structure carries cleaning tools, for example in the form of rotating brushes or sand-blasting devices.
  • Propellers are provided to thrust the apparatus against the submerged surface, and floats serve to provide buoyant support for the apparatus.
  • the invention relates to apparatus for cleaning hulls and other submerged surfaces.
  • a mounting structure in apparatus for cleaning a submerged surface, a mounting structure, drive means arranged on the structure, the drive means being operative to engage the submerged surface and to move the structure along the sugmerged surface, means on the structure for steering the apparatus during movement along the sugmerged surface, cleaning tool means carried by the structure and operative to engage the sugmerged surface, means on the structure and operative to create a hydraulic thrust whereby to urge the apparatus against the sugmerged surface, and float means on the structure and operative to at least partially balance the weight of the apparatus.
  • FIG. 1 is a side view of the apparatus in a working position against the bottom of the ships hull;
  • FIG. 2 is a view of the apparatus on line II-II of FIG.
  • FIG. 3 is a view of the apparatus on line IIIIII of FIG. 2, the apparatus operating along the submerged portion of a ships side;
  • FIG. 4 shows a device for correcting the immersion level of the cleaning apparatus
  • FIG. 5 is a section of the device as shown in FIG. 2 to an enlarged scale, the line A-A representing the transverse axis of symmetry of the apparatus;
  • FIG. 6 is a longitudinal section taken on line VIVI of FIG. 5;
  • FIG. 7 is a lateral view on line VII-VII of FIG. 5;
  • FIG. 8 is a section taken on line VIII-VIII of FIG.
  • FIG. 9 is a fragmentary section taken on line [XIX of FIG. 6, the line B--B representing the longitudinal axis of symmetry of the cleaning apparatus;
  • FIG. I is a section taken on line XX of FIG. 9;
  • FIG. 11 is a view of the apparatus on line Xl-XI of FIG. 7;
  • FIG. 12 is a view of part of the apparatus on line XII- -XII of FIG. 6;
  • FIG. 13 is a section taken on line XIII-XIII of FIG. 12;
  • FIG. 14 is a view on line XIV-XIV of FIG. 12;
  • FIG. 15 illustrates a device for cleaning the area between the bottom of the hull and the side of the hull;
  • FIG. 16 is a section taken on line XV-XV of FIG.
  • FIG. 17 shows an arrangement allowing transverse movement of cleaning tools of the apparatus
  • FIG. 18 is a longitudinal section of a modified form
  • FIG. 19 is a section taken on line XIXXIX of FIG.
  • FIG. 20 is a longitudinal section of a cleaning tool assembly in the form of a sand-blasting device.
  • FIG. 21 is a section taken on line XXI-XXI of FIG. 20.
  • the apparatus includes a carriage comprising a frame 1 (FIGS. 1 and 2) having two spaced'tubular beams 1A, lying in the same plane and joined at their two ends by U-shaped elements 18.
  • the elements 1B are flanked by similar elements 1C,
  • each pair of elements IBIC forms a structure arranged to accommodate, transversely, with respect to the longitudinal plane of symmetryB-B of the carriage, a frame 20 carrying a rotary cleaning tool 2.
  • a rotary cleaning tool 2 When the tool 2 is rotated in the direction of the arrow f (FIG. 6) and the carriage advanced in the direction of arrow f, cleaning of a submerged surface G is effected.
  • the whole frame 1, formed by the members lA-l- B-lC-lD, is constructed of tubular metal elements. These tubular metal elements are welded together with their inner cavities in communication so as to form a single watertight tank providing buoyancy to assist in balancing the weight of the entire carriage when the latter is submerged in water.
  • External subsidiary floats may be provided to fully counter the weight of the carriage when it is immersed.
  • floats 3 (FIGS. 2, 5, 8 and 11) may be provided on each side of the carriage, and further floats 4 may be attached to the frames 20 bearing the tools 2.
  • two caterpillar belts 5 (FIGS. 7, 8 and 9) are provided.
  • the belts 5 are mounted symmetrically about the longitudinal plane of symmetry B-B external to the beams 1A.
  • Associated with each caterpillar belt 5 is a framework 5A comprising two adjacent tubular members.
  • wheels 6 which transmit drive to the respective belts.
  • Spring-loaded rollers 7 are spaced along each framework SA and press against the inner surface of the caterpillar belts S to tension the belts sufficiently to enable the wheels 6 to transmit drive to the belts and to ensure effective contact of the belts S with the submerged surface G.
  • the two caterpillars belts 5 are powered from a reversible hyraulic motor 8 (FIGS. 5, 6, 8).
  • the motor 8 is mounted centrally with respect to the carriage on a structure 16 which lies between the two beams 1A of the frame 1.
  • the motor 8 drives a differential unit 9, from which two shafts 9A extend.
  • the two shafts 9A carry, at their outer end portions, a disc 10 and two combined pulleys 11, 12.
  • the pulleys ll, 12 are connected by means of belts 11A and 12A (FIGS. and 7), to pulleys 6A integral with the wheels 6 of each caterpillar belt (FIGS. 5, 9 and 16).
  • the belts 11A-12A have transverse grooves which define teeth arranged to engage corresponding teeth on the pulleys ll, 12 and 6A.
  • the frameworks 5A are attached to the frame 1 by means of supports 14 and 14A, and rods 13 and 13A (FIGS. 7 to which engage in seats in the supports and are retained therein by threaded means.
  • the supports 14A are provided at both ends of each framework and the support 14 is centrally positioned on the framework.
  • the rods 13 are formed at the ends of two crossbeams 13B (FIGS. 9 and 10) attached by clamps 15 to the two branches of each fork 1B.
  • the rods 13A (FIGS. 5 to 8) extend laterally from the structure 16.
  • each disc 10 of the two output shafts 9A of the differential unit 9 there are, associated with each disc 10 of the two output shafts 9A of the differential unit 9, two hydraulic cylinders 17 (FIG. 8) operative to move friction blocks 17A.
  • the cylinders 17 are mounted either side of each disc 10 in such a manner as to enable simultaneous application of each pair of friction blocks 17A against both surfaces of the discs 10. It is thus possible to impose a selective braking action on either of the discs 10 whereby to cause the corresponding caterpillar belts to slow-down or to stop, thus enabling the'direction, of advance of the carriage to be altered.
  • valves or actuating pistons which operate the cylinder 17, may be effected manually by a diver operator who' follows the carriage when submerged or directly from aboard the vessel by means of suitable operating cables, or, when the carriage is moving along a vertical 18A and are operated by hydraulic motors 19 mounted between the beams 1A on cross-members 19A.
  • the motors 19 are of such a power rating as to ensure that the thrust of the propellers 18 is sufficient to produce adhesion of the caterpillar belt 5 against the submerged surface G even when the tools 2 are operating.
  • the tools 2 may be of various types.
  • the tools 2 (FIGS. 1 to 12) are in the form of a rotatable cylinder having a rigid or brush-like helical cleaning edge.
  • Each tool 2 is located within a supporting frame 20 (FIG. 5).
  • the frame 20 comprises two tubular members 20A, joined at their ends by elements 203 on which supports 21 are mounted by means of crossmembers.
  • the supports 21 carry roller bearings for shafts 22 of thetools 2.
  • Each tool 2 may be readily replaced either by removal of the tool 2 from the frame 20, or by removing both the tool 2 and the frame 20.
  • Each shaft 22 is driven via two bevel gears 23 by a respective reversible hydraulic motor 24.
  • the two motors 24 are connected by means of flexible pipes (not shown) to two respective valves of a group of five valves 25, mounted centrally on the carriage (FIGS. 1, 6, 7 and 8).
  • two other valves are provided for the control of the motors 19, and a further valve serves to operate the motor 8 of the differential unit 9.
  • Each frame 20 (FIG. 14) is gripped in its central section by two sleeves 26, each formed in two sections and interconnected by clamping screws 27 so as to encompas and grip part of the member 20A of the frame 20.
  • the sleeves 26 are attached to the carriage, in a manner to be described, so as to prevent their movement except in a direction perpendicular to the plane of beams 1A.
  • By slackening the screws 27 it is possible to slide the frame 20 within the sleeve 26'to enable the frame 20 and the tool assembly to be adjustabl'y positioned assymmetrically with respect to the longitudinal plane of symmetry B-B (FIG. 15).
  • each sleeve 26 is linked through a respective pin 28 (FIGS. 12, 13 and 14) to the end of the slider.29,
  • the sliders 29 may slide in a direction perpendicular to the plane of the beams 1A along rollers 31 and 32 mounted on supports 30.
  • the rollers 31 bear on the inside of the arms of the slider 29 and the rollers 32 on the end surface of the arms of the slider 29.
  • the supports are connected by the cross-members 33to the two arms of the members 1B and 1C (FIG. 12). H
  • a hollow cylinder 35 Mounted between the two sliders 29 of each tool and attached to the sliders by means of supports 34 (FIG. 13) is a hollow cylinder 35. Within the cylinder 35 is located a helical-spring 36 which pushes against the bottom 35A of the cylinder and against a plate 37 attached to the end of a screw 37A. The screw 37A, operated by a handwheel 37B, is engaged in a threaded hole in a member 38 fixed to gussets 39. The gussets are attached to the two cross-beams 1D connecting the elements 18 and 1C.
  • the diver operator can, by turning the handwheel 378 in the appropriate direction, cause the tool 2 to move towards and against the submerged surface by virtue of the sliding assembly 29, 30, 31 and 32. Further turning of the handwheel 37B causs compression of the associated spring 36 pressing the said tool against the submerged surface with the force necessary to ensure effective working of the tool.
  • the tools 2X can be arranged assymetrically with respect to the longitudinal plane of symmetry B-B by moving the frames 20with respect to the sleeves 28.
  • a pressure system similar to the one formed by the screw 37A, the spring 26 and the cylinder 35, but displaced with respect to the plane B B.
  • a pressure system can comprise a screw 37X with an associated handwheel 37Z, the screw 37X having an extended shaft 37Y and a plate 37W, attached along the shaft and being in contact with one end of a spring 36X contained in a cylinder 35X.
  • the extended shaft 37Y passes through the bottom of the cylinder 35X while the screw 37X is engaged within a threaded hole in a member fixed to a bracket 38X mounted on the side of the element 1C.
  • the spring 36X re-acting on the cylinder 35X, causes one or more grooved rollers 26X, mounted on a fork 29X attached to the bottom of the cylinder 35X, to press against one or on both tubular members 20A of the respective frame 20. This in turn provides the required contact pressure necessary for effective operation of the tool 2X.
  • a device attached to the carriage of the cleaning apparatus for cleaning the area between the side and the bottom of the hull will now be described.
  • a jointed arm C (FIG. pivoted to a gusset 40 mounted, for example on the side of the element 1C,
  • the element 42 may be a sealed tubular element providing buoyancy to partly counter-act the weight of a brush D and an associated hydraulic motor 44.
  • the motor 44 is attached in a lockable manner by a pivot 45 to the forward end of the element 42.
  • the brush D includes an annular rim 46 defining a brush support 46A and having a central cylindrical bore 468. Within the bore 46B there is located a propeller 47 integral with the brush.
  • a device 49 (FIG. 8) responsive to changes in hydrostatic pressure can be so connected with the caterpillar belt drive motor assembly so as to automatically maintain the cleaning apparatus at a predetermined depth when the apparatus is moving across a submerged surface.
  • the device serves to operate the two caterpillar belts 5 selectively, in such a manner as to modify the direction of motion of the carriage through the application of a temporary restraining effect on one or other of the caterpillar belts. This causes a change of depth of the carriage until the average depth required is attained and maintained.
  • the device comprises a piston 51 (FIG. 4) contained in a cylinder 52, one side of the piston 51 being subjected to the hydrostatic pressure of the water in which it is submerged, and the other side of the piston 51 being subjected to the pressure of air trapped in a tank 53.
  • the tank 53 may be formed by the cavities of the tubular frame 1 and be connected to the device-49 by piping 50, the pressure within the tank being equivalent to the pressure at the desired depth.
  • the pressure of the air in the tank 53 is obtained by admitting air via a pipe 55 from a high pressure source through a valve 59 and by allowing air to escape through a valve 61 and a nozzle 57.
  • Each depth variation of the cleaning equipment from the desired level causes movement of the piston 51 and corresponding movement of a lever 63.
  • the movement of the lever 63 causes the arm to act on one of two control units 65 or 67 depending on whether the cleaning apparatus has moved below or above the required depth.
  • the units 65 and 67 may, for example, be cylinder-piston units or pressurized piping control valves.
  • Actuation of either of the control units 65 or 67 will cause the associated hydraulic cylinders 17 to press their attached friction blocks 17A against the surfaces of the associated disc 10 so as to restrain the drive to a caterpillar belt and to I cause the carriage to turn and to move to the correct depth.
  • a tool assembly comprising tools 2, frames 20 and the clamping arrangements 26 or 27 as hereinbefore described can be removed and replaced by different cleaning tool assemblies.
  • One such assembly as shown in FIGS. 18 and 19 comprises a brush device rotatable about an axis perpendicular to the surface to be cleaned.
  • the brush device is mounted on the slider 29 by means of brackets 83 attached to the slider 29 by pivots 81 perpendicular to the brush axis.
  • Mounted on the brackets 83 is a ring 85 to which ring is attached, by means of pivots 87 having their a-xis substantially perpendicular to that of pivots 81, a plate 89.
  • the disclike brush 9l-is mounted on the plate 89 and is driven by a hydraulic or other motor 93 mounted on the plate 89.
  • FIGS. 18 and 19 The assembly shown in FIGS. 18 and 19 is arranged on the front end of the carriage and an identicalassembly can be arranged on the rear end of the carriage.
  • FIGS. 20 and 21 Another such tool assembly is shown'in FIGS. 20 and 21 and is in the form of a sand-blasting device.
  • the tool assembly of FIGS. 20 and 21 comprises a frame 101 similar to the frame 20 mounted on the slider 29 by means of sleeves 26 and clamping screws 27 so as to be slidably adjustable with respect to the sleeves '26.
  • the frame 101 carries a longitudinal beam 105 in which nozzles 107 are formed. Each of the nozzles 107 receives sand through respective flexible conduits 109, the sand being fed by an appropriate fluid.
  • the several flexible conduits can be supported by a support 110 mounted on the element 1C. Attached to either end of the frame 101 are wheels 103 to maintain a stand-off distance of the nozzles 107 from the working surface.
  • the form of the nozzle jets together with the standoff distance is such as to provide a uniform abrasive action of the sand over the whole working front.
  • Apparatus for cleaning a submerged surface comprising, in combination, a relatively elongated main frame; driving means mounted on said main frame and engageable with the submerged surface to move said main frame along the submerged surface in a direction parallel to the length of said main frame; first hydraulic motor means on said main frame connected to said driving means to operate the latter; at least one relatively elongated second frame; mounting means mounting each second frame on said main frame at a respective end of said main frame to extend parallel to the submerged surface, said mounting means mounting each second frame and adjustably positioning each second frame in a direction parallel to its length and perpendicular to the length of said main frame; cleaning tool means arranged on each second frame and operable to clean the submerged surface during movement of said main frame along the submerged surface; and float means operable to counterbalance the weight of said apparatus.
  • Apparatus for cleaning a submerged surface including propeller means mounted on said main frame; and second hydraulic motor means operable to drive said propeller means to exert a thrust forcing said apparatus toward the submerged surface.
  • Apparatus for cleaning a submerged surface including guide means mounted on said main frame and extending perpendicular thereto toward the submerged surface; said mounting means being mounted in said guide means for displacement therealong.
  • each cleaning tool means comprises a cylindrical brush rotatably mounted in the associated second frame for rotation about an axis extending longitudinally of the associated second frame and parallel to the submerged surface; each second frame surrounding the associated cylindrical brush and including frame members extending parallel to the axis of rotation of the associated cylindrical brush.
  • each mounting means mounts the associated second frame in said guide means for pivoting about an axis extending parallel to the length of said main frame.
  • Apparatus for cleaning a submerged surface as claimed in claim 8, in which there are two relatively elongated said second frames, one mounted at each end of said main frame; a respective mounting means being associated with each said second frame.
  • each cleaning tool means comprises an elongated cylindrical member extending longitudinally of the associated second frame and mounted therein for rotation about an axis parallel to the length of the associated second frame; each cylindrical member having mounted thereon two helical brushes extending therealong, each brush extending from substantially the mid-point of the associated cylindrical member to a respective end thereof, and the two helical brushes being wound in opposing directions; and third hydraulic motor means mounted on each second frame and operable to rotate the associated cylindrical member.
  • Apparatus for cleaning a submerged surface including guidemeans on said main frame extending perpendicular to the surface to be cleaned; slider means mounted in each guide means for displacement in a direction perpendicular to the surface to be cleaned; pivot means connecting each mounting means to a slider means for pivoting of the associated second frame about an axis extending parallel to the length of said main frame; each mounting means with its associated second frame being disenmounted on the associated slider means for pivotal movement about an axis extending parallel to the length of said main frame; and third hydraulic motor means operatively associated with each brush to rotate the same.
  • said cleaning tool means comprises a sand blasting device including a manifold extending longitudinally of each second frame and having rotatable rollers at each end engageable with the submerged surface; and a plurality of sand blasting nozzles spaced longitudinally of each manifold.
  • Apparatus for cleaning a submerged surface as claimed in claim 1, in which said float means includes first floats secured to said main frame and second floats secured to each second frame.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Coating With Molten Metal (AREA)
  • Electrolytic Production Of Metals (AREA)
  • Storage Of Harvested Produce (AREA)
US336558A 1972-03-08 1973-02-28 Apparatus for cleaning hulls and other submerged surfaces Expired - Lifetime US3859948A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT9382/72A IT957249B (it) 1972-03-08 1972-03-08 Apparecchiatura per la pulitura di superfici sommerse da formazioni or ganiche in specie per scafi di na tanti

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US3859948A true US3859948A (en) 1975-01-14

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US (1) US3859948A (de)
BE (1) BE796495A (de)
CH (1) CH556256A (de)
DE (1) DE2311081C3 (de)
ES (1) ES412432A1 (de)
FR (1) FR2175493A5 (de)
GB (1) GB1418185A (de)
IT (1) IT957249B (de)
NL (1) NL7302918A (de)
NO (1) NO137114C (de)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2654328A1 (de) * 1975-12-01 1977-06-08 Centre Nat Exploit Oceans Vorrichtung zum auftragen eines belages auf eine eingetauchte oberflaeche
US4029164A (en) * 1974-12-28 1977-06-14 Sanko Co., Ltd. Movable apparatus adhering to the surface of a wall
US4058082A (en) * 1976-06-25 1977-11-15 A/S Jotungruppen Submersible painting apparatus
DE2629493A1 (de) * 1976-06-21 1978-01-05 Jotungruppen As Unter wasser betreibbare vorrichtung zum aufbringen von anstrichfarben
US4092942A (en) * 1977-07-05 1978-06-06 Magster Company Mobile shot blasting apparatus for shot blasting the bottom of a ship or the like
US4270484A (en) * 1978-10-07 1981-06-02 Mitsui Engineering & Shipbuilding Co., Ltd. Machine for underwater painting
US4402101A (en) * 1981-08-07 1983-09-06 Zyl Robert M Van Power pool cleaner
US4462328A (en) * 1981-01-02 1984-07-31 Oram Stephen W Ship hull cleaning device
GB2147529A (en) * 1983-10-27 1985-05-15 Hitachi Shipbuilding Eng Co Abrasive cleaning apparatus
US5279012A (en) * 1992-06-09 1994-01-18 Subaqueous Services, Inc. Self-propelled steerable apparatus for removing material from surface of confined area
US5285601A (en) * 1991-12-31 1994-02-15 The Wheelabrator Corporation Magnetic track self-propelled blast cleaning machine
US7437959B1 (en) * 2006-05-01 2008-10-21 The United States Of America As Represented By The Secretary Of The Navy In-water hull cleaning sampling device
US8506719B2 (en) 2009-11-23 2013-08-13 Searobotics Corporation Robotic submersible cleaning system
EP2348828B1 (de) 2008-10-10 2015-04-15 Mic Pty Ltd Vorrichtung zur In-situ-reinigung und -überprüfung von Unterwassernetzen
US12054229B2 (en) 2018-03-08 2024-08-06 Jotun A/S Robot with magnetic wheels for cleaning ship hulls

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4157229A (en) * 1977-07-13 1979-06-05 Westinghouse Electric Corp. Under-ice traveling shelter system
JPS6353185A (ja) * 1986-06-03 1988-03-07 エドワ−ド　ウイリアム　サザ−ランド　ニ−ボ−ン 改良された自己推進型の運搬具
FR3033229B1 (fr) * 2015-03-06 2017-09-01 Abyssnaut Systeme de polissage de parois de bassins aquatiques
CN112317480B (zh) * 2020-10-21 2022-03-04 无锡太湖学院 一种安全高效的反应釜清洗机器人

Citations (10)

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US1466315A (en) * 1922-06-02 1923-08-28 Thorsen Ludvig Apparatus for scrubbing ships' bottoms below the water level
US2321874A (en) * 1940-09-07 1943-06-15 Ind Scient Corp Robot vehicle
US3088429A (en) * 1961-06-28 1963-05-07 Johannessen Harry De Fi Brandt Cleaning devices for removing marine growth from ships' hulls
US3324492A (en) * 1965-08-05 1967-06-13 Robert R Myers Swimming pool cleaning means
US3337889A (en) * 1966-03-11 1967-08-29 Walter L West Mechanical device for cleaning the interior of large aquarium tanks
US3396423A (en) * 1965-02-09 1968-08-13 Hope Leiv Device for treating large area surfaces
US3439368A (en) * 1967-01-03 1969-04-22 Robert R Myers Swimming pool cleaner
US3609916A (en) * 1968-10-24 1971-10-05 Paul Hammelmann Apparatus for treating surfaces of ships' hulls or the like
US3627562A (en) * 1968-05-20 1971-12-14 Paul Hammelmann Method of treating continuous surfaces
US3705565A (en) * 1969-10-10 1972-12-12 Paul Hammelmann Arrangement for treating upright surfaces

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1466315A (en) * 1922-06-02 1923-08-28 Thorsen Ludvig Apparatus for scrubbing ships' bottoms below the water level
US2321874A (en) * 1940-09-07 1943-06-15 Ind Scient Corp Robot vehicle
US3088429A (en) * 1961-06-28 1963-05-07 Johannessen Harry De Fi Brandt Cleaning devices for removing marine growth from ships' hulls
US3396423A (en) * 1965-02-09 1968-08-13 Hope Leiv Device for treating large area surfaces
US3324492A (en) * 1965-08-05 1967-06-13 Robert R Myers Swimming pool cleaning means
US3337889A (en) * 1966-03-11 1967-08-29 Walter L West Mechanical device for cleaning the interior of large aquarium tanks
US3439368A (en) * 1967-01-03 1969-04-22 Robert R Myers Swimming pool cleaner
US3627562A (en) * 1968-05-20 1971-12-14 Paul Hammelmann Method of treating continuous surfaces
US3609916A (en) * 1968-10-24 1971-10-05 Paul Hammelmann Apparatus for treating surfaces of ships' hulls or the like
US3705565A (en) * 1969-10-10 1972-12-12 Paul Hammelmann Arrangement for treating upright surfaces

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4029164A (en) * 1974-12-28 1977-06-14 Sanko Co., Ltd. Movable apparatus adhering to the surface of a wall
DE2654328A1 (de) * 1975-12-01 1977-06-08 Centre Nat Exploit Oceans Vorrichtung zum auftragen eines belages auf eine eingetauchte oberflaeche
DE2629493A1 (de) * 1976-06-21 1978-01-05 Jotungruppen As Unter wasser betreibbare vorrichtung zum aufbringen von anstrichfarben
US4058082A (en) * 1976-06-25 1977-11-15 A/S Jotungruppen Submersible painting apparatus
US4092942A (en) * 1977-07-05 1978-06-06 Magster Company Mobile shot blasting apparatus for shot blasting the bottom of a ship or the like
US4270484A (en) * 1978-10-07 1981-06-02 Mitsui Engineering & Shipbuilding Co., Ltd. Machine for underwater painting
US4462328A (en) * 1981-01-02 1984-07-31 Oram Stephen W Ship hull cleaning device
US4402101A (en) * 1981-08-07 1983-09-06 Zyl Robert M Van Power pool cleaner
GB2147529A (en) * 1983-10-27 1985-05-15 Hitachi Shipbuilding Eng Co Abrasive cleaning apparatus
US5285601A (en) * 1991-12-31 1994-02-15 The Wheelabrator Corporation Magnetic track self-propelled blast cleaning machine
US5279012A (en) * 1992-06-09 1994-01-18 Subaqueous Services, Inc. Self-propelled steerable apparatus for removing material from surface of confined area
US7437959B1 (en) * 2006-05-01 2008-10-21 The United States Of America As Represented By The Secretary Of The Navy In-water hull cleaning sampling device
EP2348828B1 (de) 2008-10-10 2015-04-15 Mic Pty Ltd Vorrichtung zur In-situ-reinigung und -überprüfung von Unterwassernetzen
US8506719B2 (en) 2009-11-23 2013-08-13 Searobotics Corporation Robotic submersible cleaning system
US12054229B2 (en) 2018-03-08 2024-08-06 Jotun A/S Robot with magnetic wheels for cleaning ship hulls

Also Published As

Publication number Publication date
DE2311081B2 (de) 1979-02-15
DE2311081A1 (de) 1973-09-13
IT957249B (it) 1973-10-10
DE2311081C3 (de) 1979-10-11
GB1418185A (en) 1975-12-17
NO137114B (no) 1977-09-26
FR2175493A5 (de) 1973-10-19
NO137114C (no) 1978-01-04
BE796495A (fr) 1973-09-10
CH556256A (it) 1974-11-29
ES412432A1 (es) 1976-01-01
NL7302918A (de) 1973-09-11

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