WO2021103438A1 - 闸门密封面海生物水下清理设备、设备组合及清理方法 - Google Patents

闸门密封面海生物水下清理设备、设备组合及清理方法 Download PDF

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Publication number
WO2021103438A1
WO2021103438A1 PCT/CN2020/090859 CN2020090859W WO2021103438A1 WO 2021103438 A1 WO2021103438 A1 WO 2021103438A1 CN 2020090859 W CN2020090859 W CN 2020090859W WO 2021103438 A1 WO2021103438 A1 WO 2021103438A1
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WO
WIPO (PCT)
Prior art keywords
sealing surface
gate
cleaning
nozzle
sea creatures
Prior art date
Application number
PCT/CN2020/090859
Other languages
English (en)
French (fr)
Inventor
朱健林
赵阿朋
吴玉
周国丰
刘刚
李志�
张美玲
陈嘉杰
余冰
Original Assignee
中广核研究院有限公司
中国广核集团有限公司
中国广核电力股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中广核研究院有限公司, 中国广核集团有限公司, 中国广核电力股份有限公司 filed Critical 中广核研究院有限公司
Priority to EP20892652.7A priority Critical patent/EP4035784A4/en
Priority to JP2022517991A priority patent/JP7400087B2/ja
Publication of WO2021103438A1 publication Critical patent/WO2021103438A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
    • B66C1/16—Slings with load-engaging platforms or frameworks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B8/00—Details of barrages or weirs ; Energy dissipating devices carried by lock or dry-dock gates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
    • B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
    • B08B2203/0288—Ultra or megasonic jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B63B2059/087—Cleaning devices for hulls of underwater surfaces while afloat the devices being adapted for being pulled across, or along the underwater surface to be cleaned, e.g. by ropes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
    • E02B7/20—Movable barrages; Lock or dry-dock gates
    • E02B7/54—Sealings for gates

Definitions

  • This application relates to the technical field of sea creature cleaning, and in particular to an underwater cleaning device for sea creatures on the sealing surface of a gate, a combination of equipment and a cleaning method.
  • the sealing surface of the gate of the building structure of the large seawater culvert intake will breed a large number of sea creatures, which affects the sealing effect between the gate and the building structure when the gate is closed, and there is a potential safety hazard. Therefore, the sea creatures on the sealing surface of the gate must be cleaned regularly.
  • the traditional cleaning method usually involves diving into the water by divers and manual cleaning with hand-held cleaning tools. There are problems such as heavy workload and difficulty in ensuring the personal safety of the divers, and this method is greatly affected by weather and ocean conditions.
  • Chinese patent ZL201611189296.1 discloses a sea creature cleaning robot on the outer surface of an underwater steel structure pipeline. It adopts a magnetic adsorption wheel type method.
  • the magnetic adsorption component makes the robot positioned on the outer surface of the pipeline to be cleaned and can be moved along the outer surface of the pipeline to be cleaned.
  • the pipe moves axially to clean up the sea creatures on the outer surface of the pipe.
  • This method has the following shortcomings: the magnetic adsorption method cannot satisfy the adsorption and fixation of stainless steel material and concrete surface; the magnetic adsorption wheel drive is adopted.
  • Adsorption wheel type underwater carrier cannot adapt to sharp corners and multi-plane operations; Magnetic adsorption wheel type robot cannot be large-scaled design, cleaning range is small, movement is limited, and the cleaning efficiency of large vertical gantry steel structure surface is extremely low.
  • the purpose of this application is to provide an underwater cleaning device for sea creatures on the sealing surface of the gate, which has neither the low efficiency of traditional diver cleaning methods nor the problem of poor movement stability of the cleaning equipment.
  • Another object of the present application is to provide a combination of underwater cleaning equipment for sea creatures on the sealing surface of the gate that neither has the inefficiency of traditional diver cleaning methods nor the problem of poor movement stability of cleaning equipment.
  • Another object of the present application is to provide an underwater cleaning method for sea creatures on the sealing surface of the gate without the inefficiency of the traditional diver cleaning method and the problem of poor movement stability of the cleaning equipment.
  • this application discloses an underwater cleaning device for sea creatures on the sealing surface of a gate, which is used for cleaning the sea creatures attached to the sealing surface of the gate of a building structure.
  • the underwater cleaning device for sea creatures on the sealing surface of the gate includes a main body Structure, a cleaning structure installed on the main structure, and a rigging structure fixed to the main structure, the rigging structure is used to connect with lifting equipment to drive the main structure to carry the cleaning structure to move To the corresponding position of the sealing surface of the gate, the cleaning structure is used to clean the sea creatures on the sealing surface of the gate when it moves to the corresponding position of the sealing surface of the gate.
  • two opposite sides of the main structure are respectively provided with guides for sliding engagement with guide rails extending in the vertical direction provided on both sides of the sealing surface of the gate.
  • the cleaning structure includes a nozzle structure and a liquid infusion tube, and the liquid infusion tube is used to provide spray liquid to the nozzle structure.
  • the liquid outlet direction of the nozzle structure is 30-40 degrees with the sealing surface of the gate.
  • the nozzle structure is a cavitation nozzle structure.
  • the nozzle structure includes a first nozzle used to clean the upper sealing surface of the gate sealing surface and a second nozzle used to clean the lower sealing surface of the gate sealing surface, and the main structure includes a transverse arrangement
  • the truss and the mobile carrier slidably arranged on the truss, the first nozzle and the second nozzle are installed on the mobile carrier.
  • the nozzle structure further includes a third nozzle and a fourth nozzle for cleaning the left sealing surface and the right sealing surface of the gate sealing surface, respectively, the third nozzle and the fourth nozzle are respectively installed in the The truss is on the opposite sides.
  • the cleaning structure further includes a first valve, a second valve, and a third valve.
  • the first valve is used to control the discharge of the first nozzle
  • the second valve is used to control the first valve.
  • the discharge of the second nozzle, the third valve is used to control the discharge of the third nozzle and the fourth nozzle.
  • the cleaning structure further includes a reel device, the reel device is installed on the truss, and the reel device can release the infusion tube or rewind the infusion tube along with the movement of the movable carrier. Infusion tube.
  • the underwater cleaning equipment for sea creatures on the sealing surface of the gate further includes a vision system.
  • the vision system includes a camera device for collecting underwater image information and at least two supplementary lights for providing a light source to the camera device. At least two of the supplementary lights are installed on the left and right sides of the truss, and the camera device includes a panoramic camera installed in the middle of the truss, and the left and right sides of the truss. A side camera and a right side camera, and a mobile camera mounted on the mobile carrier.
  • the rigging structure includes a hoisting ring for connecting with the lifting equipment, a plurality of hoisting ropes connected to the hoisting ring, and a pull rod connected to the lower end of the hoisting rope, the pull rod and the main body
  • the structure is connected, and the length of the pull rod is adjustable.
  • the present application discloses a method for cleaning sea creatures attached to the sealing surface of a gate of a building structure.
  • the combination of underwater cleaning equipment for sea creatures on the sealing surface of the gate includes underwater cleaning equipment for sea creatures on the sealing surface of the gate and Two guide rails.
  • the two guide rails are used to be installed side by side on both sides of the sealing surface of the gate.
  • the underwater cleaning equipment for marine organisms on the sealing surface of the gate includes a main structure, a cleaning structure installed on the main structure, and
  • the main structure is fixed with a rigging structure, opposite sides of the main structure are respectively provided with guides for slidingly fitting with the guide rail, and the rigging structure is used to connect with a lifting device to drive the main body
  • the structure carries the cleaning structure to move to the corresponding position of the sealing surface of the gate, and the cleaning structure is used to clean the sea creatures on the sealing surface of the gate when it moves to the corresponding position of the sealing surface of the gate.
  • this application provides a new sea creature cleaning equipment, the main structure of which is fixed with the rigging structure, the cleaning structure is installed on the main structure, and the rigging structure is connected to the lifting equipment.
  • the lifting equipment drives the sea creatures on the sealing surface of the gate to move along the building structure to the position corresponding to the sealing surface of the gate, and then uses the cleaning structure to clean the sea creatures on the sealing surface of the gate, which avoids traditional diver cleaning methods.
  • the main structure of the present application does not need to move on the structure to be cleaned, and can be adapted to sharp-edged, multi-planar cleaning operations.
  • this application also discloses an underwater cleaning method for sea creatures on the sealing surface of the gate, which is used to clean the sea creatures attached to the sealing surface of the gate of a building structure, including the following steps:
  • the underwater cleaning device for sea creatures on the sealing surface of the gate includes a main structure, a cleaning structure installed on the main structure for cleaning the sea creatures, and A rigging structure fixed to the main structure;
  • the underwater cleaning method for sea creatures on the sealing surface of the gate further includes: installing two vertically extending guide rails on the building structure, the two guide rails are located on both sides of the sealing surface of the gate; Guides are respectively provided on both sides of the gate.
  • the guides slide along the guide rails when the underwater cleaning equipment for marine organisms on the sealing surface of the gate moves downward along the building structure.
  • this application provides a new sea creature cleaning method, which connects the rigging structure of the sea creature underwater cleaning equipment on the sealing surface of the gate with the lifting equipment, and the entire gate is driven by the lifting equipment
  • the underwater cleaning equipment for sea creatures on the sealing surface moves along the building structure to the position corresponding to the sealing surface of the gate, so that the cleaning structure can clean the sea creatures on the sealing surface of the gate, which avoids the inefficiency of traditional divers’ cleaning methods and potential safety hazards in life
  • the cleaning equipment of this application is not limited by the building structure materials, and can be applied to various sizes and materials.
  • the cleaning of the sealing surface of the gate has good applicability; in addition, the main structure of the present application does not need to move on the structure to be cleaned, and can be adapted to sharp-edged, multi-planar cleaning operations.
  • FIG. 1 is a schematic diagram of the three-dimensional structure of the underwater cleaning equipment for sea creatures on the sealing surface of the gate according to the embodiment of the present application.
  • Fig. 2 is a schematic diagram of part of the structure of the mobile carrier shown in Fig. 1.
  • Figure 3 is a schematic diagram of the underwater cleaning equipment for sea creatures on the sealing surface of the gate shown in Figure 1 during cleaning.
  • Fig. 4 is a flowchart of an underwater cleaning method for sea creatures on the sealing surface of a gate according to an embodiment of the present application.
  • this application discloses an underwater cleaning device 100 for sea creatures on the sealing surface of a gate, which is used to connect with a lifting device (not shown), which can be used along a building structure under the action of the lifting device
  • the 200 moves in the vertical direction to clean the sea creatures attached to the sealing surface of the gate of the building structure 200.
  • the underwater cleaning equipment 100 for sea creatures on the sealing surface of the gate includes a main structure 1, a cleaning structure installed on the main structure 1, and a rigging structure 3 fixed to the main structure 1, and the rigging structure 3 is used with lifting equipment.
  • the cleaning structure is used to clean the sea creatures on the sealing surface of the gate when it moves to the corresponding position on the sealing surface of the gate.
  • two opposite sides of the main structure 1 are respectively provided with guides 13 for sliding engagement with vertical guide rails (not shown) provided on both sides of the sealing surface of the gate.
  • the guide 13 can move in the vertical direction along the guide rail, which prevents the breeding of sea creatures on the guide rail from cleaning the sea creatures on the sealing surface of the gate underwater.
  • the movement of the device 100 causes jamming, so that the device 100 for underwater cleaning of sea creatures on the sealing surface of the gate can stably move in the vertical direction along the building structure 200.
  • the guide 13 is a guide wheel, but it should not be limited to this.
  • the horizontal dimension of the main structure 1 is adapted to the dimensions of the building structure 200 and the guide rails, so as to ensure that the underwater cleaning equipment 100 for sea creatures on the sealing surface of the gate can operate in a limited space and will clean up the sea creatures.
  • the generated reaction force is transmitted to the guide rail and the building structure 200;
  • the size of the guide 13 is adapted to the size of the guide rail, so as to transmit the reaction force generated during the cleaning of sea creatures to the guide rail.
  • the transverse dimension of the main structure 1 can be adjusted adaptively according to the transverse dimension of the sealing surface of the gate to be cleaned, so that the cleaning device 100 can be suitable for cleaning the sealing surface of the gate of various transverse dimensions, especially It is to clean the sealing surface of large vertical gantry gate.
  • the rigging structure 3 includes a hoisting ring 31 for connecting with lifting equipment, a number of hoisting ropes 32 connected to the hoisting ring 31, and a tie rod 33 connected to the lower end of the hoisting rope 32, the tie rod 33 and the main structure 1 articulated, the length of the lever 33 is adjustable.
  • the suspension rope 32 is a stainless steel wire rope
  • the pull rod 33 is a flower basket pull rod.
  • the cleaning structure includes a nozzle structure and an infusion tube (not shown), and the infusion tube is used to provide jetting liquid to the nozzle structure.
  • the nozzle structure is a cavitation nozzle structure, which uses the powerful force of micro jets and shock waves generated by the cavitation jet technology to remove sea creatures, has a simple structure, and can effectively remove sea creatures on a large area of the sealing surface of the gate. .
  • the gate sealing surface includes an upper sealing surface 210 for mating with the lintel of the gate, a lower sealing surface 220 for mating with the bottom of the gate, and a left sealing surface opposite to the upper sealing surface 210 and the lower sealing surface 220.
  • the right sealing surface (similar to the door frame structure), due to the location of the upper sealing surface 210 (vertical surface), the lower sealing surface 220 (horizontal surface), the left sealing surface (vertical surface) and the right sealing surface (vertical surface)
  • nozzles with different liquid outlet directions are used to clean the different sealing surfaces to achieve full coverage of the gate sealing surface, avoid cleaning dead corners, and ensure the cleaning effect of the gate sealing surface .
  • the nozzle structure includes a first nozzle 21, a second nozzle 22, a third nozzle 23, and a fourth nozzle 24.
  • the first nozzle 21 is used to clean the sea creatures on the upper sealing surface 210
  • the second nozzle 22 is used to clean the lower seal.
  • the third nozzle 23 is used to clean the sea creatures on the left sealing surface
  • the fourth nozzle 24 is used to clean the sea creatures on the right sealing surface.
  • the outlet direction of the nozzle 22 and the lower sealing surface 220, the outlet direction of the third nozzle 23 and the left sealing surface, and the outlet direction of the fourth nozzle 24 and the right sealing surface are all at 30-40 degrees to maximize the cleaning effect. good.
  • the main structure 1 includes a truss 11 arranged horizontally and a mobile carrier 12 slidably arranged on the truss 11.
  • the first nozzle 21 and the second nozzle 22 are mounted on the mobile carrier 12, when the external When lifting and driving the main structure 1 to the upper sealing surface 210 or the lower sealing surface 220, the moving carrier 12 carries the first nozzle 21 and the second nozzle 22 to move laterally along the truss 11, thereby performing the upper sealing surface 210 and the lower sealing surface 220. All-round cleaning to ensure the cleaning effect.
  • the truss 11 includes a truss beam 111, a left end beam 112 installed on the left side of the truss beam 111, and a right end beam 113 installed on the right side of the truss beam 111.
  • the third nozzle 23 is installed on the left end beam 112, and the fourth nozzle 24 is installed on the left end beam 112.
  • the third nozzle 23 and the fourth nozzle 24 clean the left sealing surface and Sea creatures on the right sealing surface.
  • the moving carrier 12 will simultaneously drive the first nozzle 21 and the second nozzle 22 to move laterally along the truss 11 when the moving carrier 12 moves laterally along the truss 11; in other embodiments, the moving carrier 12 can also include a plurality of independent moving parts that can move laterally along the truss 11, and then the first nozzle 21 and the second nozzle 22 are disassembled and installed on different moving parts, and the first nozzle 21 and the second nozzle are driven by the moving parts. The second nozzle 22 moves laterally along the truss 11.
  • the mobile carrier 12 includes a main body 121, wheels 122 mounted on the main body 121, a drive assembly 123, a lateral limit wheel 124, and a vertical limit wheel 125; wherein the main body 121 is a welded structure that is connected to the first The nozzle 21 and the second nozzle 22 are connected by bolts; the wheel 122 is connected to the output end of the driving assembly 123, and the driving assembly 123 drives the wheel 122 to move laterally along the truss beam 111.
  • the driving assembly 123 adopts dynamic and static sealing
  • the technology wraps the motor in the sealed cavity and at the same time inputs compressed air into the sealed cavity to maintain a slight positive pressure in the sealed cavity relative to the outside, ensuring that the motor in the drive assembly 123 can be used normally in an environment with a water depth of 15 meters to drive the wheels normally 122;
  • the lateral limit wheel 124 is used to achieve the lateral limit of the wheel 122, and the vertical limit wheel 125 is used to achieve the vertical limit of the wheel 122.
  • the mobile carrier 12 and the truss beam 111 are in a gear and rack meshing manner, but it should not be limited to this.
  • the cleaning structure further includes a first valve 25 and a second valve 26 installed on the mobile carrier 12 and a third valve 27 installed on the truss 11, the first valve 25 is used to control the discharge of the first nozzle 21, The second valve 26 is used to control the discharge of the second nozzle 22, and the third valve 27 is used to control the discharge of the third nozzle 23 and the fourth nozzle 24.
  • the first nozzle 21 and the second nozzle 22 are controlled separately by the first valve 25 and the second valve 26, and the third nozzle 23 and the fourth nozzle 24 are controlled simultaneously by the third valve 27, which is convenient for left Cleaning of the sealing surface and the right sealing surface.
  • the first valve 25, the second valve 26, and the third valve 27 are all solenoid valves, but this should not be a limitation.
  • the cleaning structure further includes a reel device 28 installed on the truss beam 111, and the reel device 28 can release the infusion tube or wind up the infusion tube along with the movement of the movable carrier 12.
  • the reel device 28 adopts a spring drive mechanism to realize the recovery of the infusion tube.
  • the reel device 28 includes a reel body 281, a left guide wheel 282, and a right guide wheel 283.
  • the infusion tube is wound on the reel body 281 and is located between the left guide wheel 282 and the right guide wheel 283.
  • the reel body 281 ensures the infusion tube required by the moving carrier 12 when it moves.
  • the left guide wheel 282 and the right guide wheel 283 ensure that the infusion tube can be bent to the left and right with a proper bending radius, and ensure that the infusion tube and the main structure 1 Do not interfere with each other.
  • the underwater cleaning device 100 for sea creatures on the sealing surface of the gate further includes a vision system, and the vision system includes a camera device and a fill light 45 that provides a light source for the camera device.
  • the camera device includes a panoramic camera 41 installed in the middle of the truss beam 111, a left camera 42 installed on the left end beam 112, a right camera 43 installed on the right end beam 113, and a mobile carrier 12
  • the mobile camera 44 can be moved laterally on the truss beam 111 with the mobile carrier 12, and the underwater image information is collected by each camera 41, 42, 43, 44, and transmitted to the shore monitor through a network cable (not shown in the figure) ), so that the operator can judge the underwater position of the underwater cleaning equipment 100 for sea creatures on the sealing surface of the gate through underwater image information, observe the condition of sea creatures on the sealing surface of the gate, and check the underwater cleaning equipment 100 for sea creatures on the sealing surface of the gate.
  • the left end beam 112 and the right end beam 113 are respectively provided with a fill light 45, and a full coverage light field is established by the fill light 45, so as to realize the omnidirectional high-definition monitoring of each sealing surface of the gate sealing surface by the vision system.
  • the two fill lights 45 can also be installed at other positions of the truss 11, and the left camera 42 and the right camera 43 are not limited to be installed on the left end beam 112 and the right end beam 113.
  • the application also discloses a combination of underwater cleaning equipment for sea creatures on the sealing surface of the gate, which is used for cleaning the sea creatures attached to the sealing surface of the gate of the building structure 200, which includes the underwater cleaning equipment for sea creatures on the sealing surface of the gate 100 and two guide rails.
  • the two guide rails are used to install side by side on both sides of the sealing surface of the gate.
  • the underwater cleaning device for marine organisms on the sealing surface of the gate 100 includes a main structure 1, a cleaning structure for cleaning marine organisms installed on the main structure 1, and a main structure 1 Fixed rigging structure 3, the opposite sides of the main structure 1 are respectively provided with guides 13 for sliding cooperation with the guide rails, and the rigging structure 3 is used to connect with lifting equipment to drive the main structure 1 to carry the cleaning structure along The guide rail moves to the corresponding position of the sealing surface of the gate, and the cleaning structure is used to clean the sea creatures on the sealing surface of the gate when it moves to the corresponding position of the sealing surface of the gate.
  • the result of the underwater cleaning device 100 for sea creatures on the sealing surface of the gate is as described above, and will not be repeated here.
  • the lifting equipment drives the cleaning equipment 100 to move down the track at a low speed, and the third nozzle 23 and the fourth nozzle 24 jets to clean the sea creatures on the left and right sealing surfaces until the cleaning equipment 100 descends to the lower sealing surface 220;
  • this application also discloses an underwater cleaning method for sea creatures on the sealing surface of the gate, which is used to clean the sea creatures attached to the sealing surface of the gate of a building structure, including the following steps:
  • the underwater cleaning device 100 for sea creatures on the sealing surface of the gate includes a main structure 1, a cleaning structure installed on the main structure 1 for cleaning sea creatures, and the main structure 1 Fixed rigging structure 3;
  • S3 The device 100 for underwater cleaning of sea creatures on the sealing surface of the gate is driven by the lifting equipment to move down the building structure 200 to a position corresponding to the sealing surface of the gate;
  • the underwater cleaning method for sea creatures on the sealing surface of the gate further includes: installing two vertically extending guide rails on the building structure, the two guide rails are located on both sides of the sealing surface of the gate; the main structure 1 is provided with guides on opposite sides of the sealing surface. 13.
  • the guide 13 slides along the guide rail when the device 100 for underwater cleaning of marine organisms on the sealing surface of the gate moves downward along the building structure 200.
  • the guide rail and the guide it is avoided that the sea creatures breeding on the guide rail cause jamming of the movement of the sea creature underwater cleaning device 100 on the sealing surface of the gate, so that the sea creature underwater cleaning device 100 on the sealing surface of the gate can stably move along
  • the building structure 200 moves in the vertical direction.
  • the guide 13 is a guide wheel, but it should not be limited to this.
  • the present application provides a new sea creature cleaning equipment 100, the main structure 1 of which is fixed to the rigging structure 3, the cleaning structure is installed on the main structure 1, and the rigging structure 3 is used for lifting
  • the underwater cleaning equipment 100 for sea creatures on the sealing surface of the gate can be driven by the lifting equipment to move along the building structure 200 to a position corresponding to the sealing surface of the gate, and then the cleaning structure can be used to clean the sea creatures on the sealing surface of the gate.
  • the cleaning equipment 100 of this application is not Limited by the material of the building structure 200, it can be suitable for cleaning the sealing surfaces of gates of various sizes and materials, and has good applicability; in addition, the main structure 1 of the present application does not need to move on the structure to be cleaned, and can be adapted to sharp edges and corners. Multi-plane cleaning operations.

Abstract

一种闸门密封面海生物水下清理设备（100），用于清理附着在建筑结构（200）的闸门密封面上的海生物，其包括主体结构（1）、装设在主体结构（1）上的清理结构及与主体结构（1）固定的索具结构（3），索具结构（3）用于与起重设备连接，以带动清理结构移动至闸门密封面的对应位置，清理结构用于在其移动至闸门密封面的对应位置时清理闸门密封面上的海生物。通过将索具结构（3）与起重设备连接，便可借由起重设备带动清理设备移动至闸门密封面的对应位置时，使得清理结构能够清理海生物，既避免了潜水员清理方式效率低、存在人身安全隐患的问题，也不存在磁吸附方式移动稳定性差的问题。

Description

闸门密封面海生物水下清理设备、设备组合及清理方法 技术领域
本申请涉及海生物清理技术领域，尤其涉及一种闸门密封面海生物水下清理设备、设备组合及清理方法。
背景技术
随着使用时间的推移，大型海水涵洞取水口的建筑结构的闸门密封面会滋生大量的海生物，影响了闸门关闭时闸门与建筑结构之间的密封效果，存在安全隐患。因此，必须定期对闸门密封面上的海生物进行清理。传统的清理方式通常是通过潜水员潜入水下，手持清理工具进行手动清理，存在工作量大、潜水员的人身安全难以确保等问题，且该方式受天气、海洋状况的影响大。
中国专利ZL201611189296.1公开了一种环抱式水下钢结构管道外表面海生物清理机器人，其采用磁吸附轮式的方式，借由磁吸附组件使机器人定位在待清理管道的外表面并可沿管道轴向运动，从而对管道外表面的海生物进行清理。该方式存在以下缺陷：采用磁吸附方式，无法满足不锈钢材质及混凝土表面的吸附固定；采用磁吸附轮式驱动，当管道表面有大量的海生物时管道表面凹凸不平，该清理机器人难以稳定沿管道运动；吸附轮式水下载体，无法适应棱角尖锐、多平面作业；磁吸附轮式机器人无法大型化设计，清理范围小，运动受限，对大型竖直龙门式钢结构表面清理效率极低。
申请内容
本申请的目的是提供一种既不存在传统潜水员清理方式效率低下，也不存在清理设备移动稳定性差的问题的闸门密封面海生物水下清理设备。
本申请的另一目的是提供一种既不存在传统潜水员清理方式效率低下，也 不存在清理设备移动稳定性差的问题的闸门密封面海生物水下清理设备组合。
本申请的又一目的是提供一种既不存在传统潜水员清理方式效率低下，也不存在清理设备移动稳定性差的问题的闸门密封面海生物水下清理方法。
为了实现上述目的，本申请公开了一种闸门密封面海生物水下清理设备，用于清理附着在建筑结构的闸门密封面上的海生物，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的清理结构以及与所述主体结构固定的索具结构，所述索具结构用于与起重设备连接，以带动所述主体结构承载所述清理结构移动至所述闸门密封面的对应位置，所述清理结构用于在其移动至所述闸门密封面的对应位置时清理所述闸门密封面上的海生物。
较佳地，所述主体结构的相对的两侧分别设有用于与设于所述闸门密封面的两侧的沿竖直方向延伸的导轨滑动配合的导向件。
较佳地，所述清理结构包括喷嘴结构和输液管，所述输液管用于给所述喷嘴结构提供喷射液体。
较佳地，所述喷嘴结构的出液方向与所述闸门密封面成30-40度。
较佳地，所述喷嘴结构为空化喷嘴结构。
更佳地，所述喷嘴结构包括用于清理所述闸门密封面的上密封面的第一喷嘴和用于清理所述闸门密封面的下密封面的第二喷嘴，所述主体结构包括横向设置的桁架和滑设在所述桁架上的移动载体，所述第一喷嘴和所述第二喷嘴安装在所述移动载体上。
更佳地，所述喷嘴结构还包括分别用于清理所述闸门密封面的左密封面和右密封面的第三喷嘴和第四喷嘴，所述第三喷嘴和第四喷嘴分别装设在所述桁架左右相对的两侧。
较佳地，所述清理结构还包括第一阀门、第二阀门以及第三阀门，所述第一阀门用于控制所述第一喷嘴的出液，所述第二阀门用于控制所述第二喷嘴的出液，所述第三阀门用于控制所述第三喷嘴和第四喷嘴的出液。
较佳地，所述清理结构还包括卷盘装置，所述卷盘装置安装在所述桁架上，所述卷盘装置可随所述移动载体的移动而释放所述输液管或收卷所述输液管。
较佳地，所述闸门密封面海生物水下清理设备还包括视觉系统，所述视觉系统包括用于采集水下图像信息的相机装置和用于给所述相机装置提供光源的至少两补光灯，至少两所述补光灯安装在所述桁架的左右两侧，所述相机装置包括安装在所述桁架的中间位置的全景相机、分别安装在所述桁架的左侧和右侧的左侧相机和右侧相机以及安装在所述移动载体上的移动相机。
较佳地，所述索具结构包括用于与所述起重设备连接的吊环、与所述吊环连接的若干吊绳以及连接在所述吊绳的下端的拉杆，所述拉杆与所述主体结构连接，所述拉杆的长度可调。
为了实现上述目的，本申请公开了一种用于清理附着在建筑结构的闸门密封面上的海生物，所述闸门密封面海生物水下清理设备组合包括闸门密封面海生物水下清理设备和两导轨，两所述导轨用于并排安装在所述闸门密封面的两侧，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的清理结构以及与所述主体结构固定的索具结构，所述主体结构的相对的两侧分别设有用于与所述导轨滑动配合的导向件，所述索具结构用于与起重设备连接，以带动所述主体结构承载所述清理结构移动至所述闸门密封面的对应位置，所述清理结构用于在其移动至所述闸门密封面的对应位置时清理所述闸门密封面上的海生物。
与现有技术相比，本申请提供了一种新的海生物清理设备，其主体结构与索具结构固定，清理结构装设在主体结构上，通过索具结构与起重设备连接，便可以借由起重设备带动整个闸门密封面海生物水下清理设备沿建筑结构移动至与闸门密封面对应的位置，进而利用清理结构清理闸门密封面上的海生物，既避免了传统潜水员清理方式效率低下、存在人生安全隐患的问题，也不存在磁吸附方式清理时清理设备移动稳定性差的问题，能够适用于大型闸门密封面的海生物清理；另，本申请的清理设备不受建筑结构材料的限制，能够适用于各种大小、材质的闸门密封面的清理，适用性好；此外，本申请的主体结构无需在被清理结构上移动，能够适应于棱角尖锐、多平面的清理作业。
为了实现上述目的，本申请还公开了一种闸门密封面海生物水下清理方法， 用于清理附着在建筑结构的闸门密封面上的海生物，包括以下步骤：
S1，提供一闸门密封面海生物水下清理设备，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的用于清理所述海生物的清理结构以及与所述主体结构固定的索具结构；
S2，将所述索具结构与起重设备连接；
S3，通过所述起重设备带动所述闸门密封面海生物水下清理设备沿所述建筑结构向下移动至与所述闸门密封面对应的位置；
S4，通过所述清理结构清理所述闸门密封面上的海生物。
较佳地，所述闸门密封面海生物水下清理方法还包括：在建筑结构上装设两竖直延伸的导轨，两所述导轨位于所述闸门密封面的两侧；所述主体结构的相对的两侧分别设有导向件，在步骤S3中，所述闸门密封面海生物水下清理设备沿所述建筑结构向下移动时所述导向件沿所述导轨滑动。
与现有技术相比，本申请提供了一种新的海生物清理方法，其通过将闸门密封面海生物水下清理设备的索具结构与起重设备连接，借由起重设备带动整个闸门密封面海生物水下清理设备沿建筑结构移动至与闸门密封面对应的位置，进而使得清理结构能够清理闸门密封面上的海生物，既避免了传统潜水员清理方式效率低下、存在人生安全隐患的问题，也不存在磁吸附方式清理稳定性差的问题，能够适用于大型闸门密封面的海生物清理；另，本申请的清理设备不受建筑结构材料的限制，能够适用于各种大小、材质的闸门密封面的清理，适用性好；此外，本申请的主体结构无需在被清理结构上移动，能够适应于棱角尖锐、多平面的清理作业。
附图说明
图1是本申请实施例闸门密封面海生物水下清理设备的立体结构示意图。
图2是图1所示移动载体的部分结构示意图。
图3是图1所示闸门密封面海生物水下清理设备清理时的示意图。
图4是本申请实施例闸门密封面海生物水下清理方法的流程图。
具体实施方式
为详细说明本申请的技术内容、构造特征、所实现目的及效果，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“竖直”、“水平”、“横向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为便于描述本申请和简化描述，因而不能理解为对本申请保护内容的限制。
请参阅图1至图3，本申请公开了一种闸门密封面海生物水下清理设备100，用于与起重设备(图未示)连接，其可在起重设备的作用下沿建筑结构200在竖直方向上移动，以清理附着在建筑结构200的闸门密封面上的海生物。具体的，闸门密封面海生物水下清理设备100包括主体结构1、装设在主体结构1上的清理结构以及与主体结构1固定的索具结构3，索具结构3用于与起重设备连接，以带动主体结构1承载清理结构沿建筑结构200移动至闸门密封面的对应位置，清理结构用于在其移动至闸门密封面的对应位置时清理闸门密封面上的海生物。
在一实施例中，主体结构1的相对的两侧分别设有用于与设于闸门密封面的两侧的沿竖直方向延伸的导轨(图未示)滑动配合的导向件13。当闸门密封面海生物水下清理设备100受到起重设备的作用力时，导向件13可沿导轨在竖直方向上移动，避免了导轨上滋生的海生物对闸门密封面海生物水下清理设备100的移动造成卡涩，从而使得闸门密封面海生物水下清理设备100能够稳定地沿建筑结构200在竖直方向上移动。优选的，导向件13为导向轮，但不应以此为限。
附带一提的是，主体结构1的横向尺寸与建筑结构200和导轨的尺寸相适配，以保证闸门密封面海生物水下清理设备100能够在限定的空间内作业，并将清理海生物时产生的反作用力传递给导轨和建筑结构200；导向件13的尺寸 与导轨的尺寸相适配，以将清理海生物时产生的反作用力传递给导轨。在具体实施中，可以根据待清理的闸门密封面的横向尺寸的大小对主体结构1的横向尺寸作适应性的调整，使得清理设备100能够适用于各种横向尺寸的闸门密封面的清理，尤其是对大型竖直龙门式闸门密封面的清理。
请参阅图1，具体的，索具结构3包括用于与起重设备连接的吊环31、与吊环31连接的若干吊绳32以及连接在吊绳32的下端的拉杆33，拉杆33与主体结构1铰接，拉杆33的长度可调。通过调节拉杆33的长度，保证索具结构3的受力均衡，以使闸门密封面海生物水下清理设备100能够在起重设备的作用下在沿导轨稳定移动。更具体的，吊绳32为不锈钢钢丝绳，拉杆33为花篮拉杆。
请参阅图2和图3，具体的，清理结构包括喷嘴结构和输液管(图未示)，输液管用于给喷嘴结构提供喷射液体。优选的，喷嘴结构为空化喷嘴结构，其通过采用空化射流技术产生的微射流和冲击波的强大作用力将海生物清除，结构简单，且能够实现闸门密封面大面积的海生物的有效去除。
具体而言，闸门密封面包括有用于与闸门的门楣配合的上密封面210、与闸门的底部配合的下密封面220、相对位于上密封面210和下密封面220的两侧的左密封面和右密封面(类似于门框结构)，由于上密封面210(竖直面)、下密封面220(水平面)、左密封面(竖直面)及右密封面(竖直面)的所处的平面不同，在该实施例中，针对各个不同的密封面分别采用出液方向不同的喷嘴来进行清理，以实现闸门密封面的全覆盖清理，避免清理死角，从而确保闸门密封面的清理效果。具体的，喷嘴结构包括第一喷嘴21、第二喷嘴22、第三喷嘴23及第四喷嘴24，第一喷嘴21用于清理上密封面210的海生物，第二喷嘴22用于清理下密封面220的海生物，第三喷嘴23用于清理左密封面的海生物，第四喷嘴24用于清理右密封面的海生物，第一喷嘴21的出液方向与上密封面210、第二喷嘴22的出液方向与下密封面220、第三喷嘴23的出液方向与左密封面、第四喷嘴24的出液方向与右密封面均成30-40度，以使清理效果达到最佳。
请参阅图1和图2，具体的，主体结构1包括横向设置的桁架11和滑设在 桁架11上的移动载体12，第一喷嘴21和第二喷嘴22安装在移动载体12上，当外部起重带动主体结构1到达上密封面210或下密封面220时，通过移动载体12承载第一喷嘴21和第二喷嘴22沿桁架11横向移动，从而对上密封面210和下密封面220进行全方位清理，确保清理效果。桁架11包括桁架梁111、安装在桁架梁111的左侧的左端梁112及安装在桁架梁111的右侧的右端梁113，第三喷嘴23安装在左端梁112上，第四喷嘴24安装在右端梁113上，当闸门密封面海生物水下清理设备100在起重设备的作用下沿导轨在竖直方向上移动的过程中，第三喷嘴23和第四喷嘴24分别清理左密封面和右密封面的海生物。
值得注意的是，在该实施例中，移动载体12在沿桁架11横向移动时将同时带动第一喷嘴21和第二喷嘴22两个喷嘴沿桁架11横向移动；在其它实施例中，移动载体12也可以包括有多个独立的可沿桁架11横向移动的移动部件，然后将第一喷嘴21和第二喷嘴22分解安装在不同的移动部件上，通过移动部件分别带动第一喷嘴21和第二喷嘴22沿桁架11横向移动。
更具体的，移动载体12包括本体121、安装在本体121上的车轮122、驱动组件123、横向限位轮124及竖直限位轮125；其中，本体121为焊接结构体，其与第一喷嘴21和第二喷嘴22通过螺栓连接；车轮122接于驱动组件123的输出端，通过驱动组件123驱动车轮122沿桁架梁111横向移动，在本实施例中，驱动组件123采用动、静密封技术将电机包裹在密封腔内，同时在密封腔内输入压缩空气，使密封腔相对外界保持微正压，保证驱动组件123中的电机能够在15米水深的环境中正常使用，以正常驱动车轮122；横向限位轮124用以实现车轮122的横向限位，竖直限位轮125用以实现车轮122的竖向限位。在本实施例中，移动载体12与桁架梁111之间为齿轮齿条啮合配合的方式，但不应以此为限。
具体的，清理结构还包括安装在移动载体12上的第一阀门25和第二阀门26以及安装在桁架11上的第三阀门27，第一阀门25用于控制第一喷嘴21的出液，第二阀门26用于控制第二喷嘴22的出液，第三阀门27用于控制第三喷嘴23和第四喷嘴24的出液。借由第一阀门25和第二阀门26对第一喷嘴21和 第二喷嘴22进行分别控制，借由第三阀门27实现第三喷嘴23和第四喷嘴24两个喷嘴的同时控制，便于左密封面和右密封面的清理。优选的，第一阀门25和第二阀门26及第三阀门27均为电磁阀，但不应以此为限。
请参阅图1，具体的，清理结构还包括卷盘装置28，卷盘装置28安装在桁架梁111上，卷盘装置28可随移动载体12的移动而释放输液管或收卷输液管。具体而言，卷盘装置28采用弹簧驱动机构来实现输液管的回收。在本实施例中，卷盘装置28包括卷盘体281、左导向轮282及右导向轮283，输液管缠绕在卷盘体281上并位于左导向轮282、右导向轮283之间，通过卷盘体281确保移动载体12在移动时所需要的输液管，通过左导向轮282和右导向轮283确保输液管能够左、右弯折合适的弯曲半径，并保证输液管与主体结构1之间互不干涉。
请继续参阅图1，具体的，闸门密封面海生物水下清理设备100还包括视觉系统，视觉系统包括相机装置和给相机装置提供光源的补光灯45。更具体的，相机装置包括安装在桁架梁111的中间位置的全景相机41、安装在左端梁112上的左侧相机42、安装在右端梁113上的右侧相机43以及安装在移动载体12上的移动相机44，移动相机44可随移动载体12在桁架梁111上横向移动，借由各个相机41、42、43、44采集水下图像信息，并通过网线传输到岸上监视器(图未示)，以使操作人员可以通过水下图像信息判断闸门密封面海生物水下清理设备100在水下的位置，观察闸门密封面上的海生物情况，检查闸门密封面海生物水下清理设备100的射流状态，以及检查闸门密封面海生物的清理情况等。左端梁112上和右端梁113上分别设有一补光灯45，通过补光灯45建立全覆盖光场，从而实现视觉系统对闸门密封面的各个密封面的全方位高清监控。当然，在其它实施例中，两补光灯45也可以安装在桁架11的其它位置，左侧相机42和右侧相机43也不限于安装在左端梁112、右端梁113上。
本申请还公开了一种闸门密封面海生物水下清理设备组合，用于清理附着在建筑结构200的闸门密封面上的海生物，其包括闸门密封面海生物水下清理设备100和两导轨，两导轨用于并排安装在闸门密封面的两侧，闸门密封面海生物水下清理设备100包括主体结构1、装设在主体结构1上的用于清理海生物 的清理结构以及与主体结构1固定的索具结构3，主体结构1的相对的两侧分别设有用于与导轨滑动配合的导向件13，索具结构3用于与起重设备连接，以带动主体结构1承载清理结构沿导轨移动至闸门密封面的对应位置，清理结构用于在其移动至闸门密封面的对应位置时清理闸门密封面上的海生物。具体的，闸门密封面海生物水下清理设备100的结果如上所述，在此不再赘述。
以下，结合图1至图3所示的具体实施例对本申请的闸门密封面海生物水下清理设备100的作业过程进行说明。
首先，将闸门密封面海生物水下清理设备100的吊环31挂在起重设备的吊钩上，借由起重设备起吊清理设备100并转运至待清理的建筑结构200的闸门门口的正上方(水上)；接着，检查清理设备100整体及各个组成结构是否完整；接着，起重设备将清理设备100低速下放至水中，打开视觉系统以监视水下图像信息，然后继续低速将清理设备100下放至闸门门口的底部，在此过程中，通过视觉系统观察闸门密封面的海生物生长情况；接着，起重设备将清理设备100上吊至上密封面210处并停止，打开第一阀门25并控制移动载体12在桁架11上横向移动，第一喷嘴21射流清理上密封面210上的海生物；接着，控制移动载体12停放在桁架11的中间位置，关闭第一阀门25；接着，打开第三阀门27，起重设备带动清理设备100沿轨道低速下移，第三喷嘴23和第四喷嘴24射流清理左密封面和右密封面上的海生物，直至清理设备100下降至下密封面220处；接着，关闭第三阀门27，打开第二阀门26并控制移动载体12在桁架11上横向移动，第二喷嘴22射流清理下密封面220上的海生物，清理完成后，关闭第二阀门26并控制移动载体12停放在桁架11的中间位置；接着起重设备带动清理设备100沿轨道上移提出水面；待海生物沉降一段时间后，起重设备重新将清理设备100下方至水中，通过视觉系统检查闸门密封面的清理效果。
请参阅图4，本申请还公开了一种闸门密封面海生物水下清理方法，用于清理附着在建筑结构的闸门密封面上的海生物，包括以下步骤：
S1，提供一闸门密封面海生物水下清理设备100，闸门密封面海生物水下清 理设备100包括主体结构1、装设在主体结构1上的用于清理海生物的清理结构以及与主体结构1固定的索具结构3；
S2，将索具结构3与起重设备连接；
S3，通过起重设备带动闸门密封面海生物水下清理设备100沿建筑结构200向下移动至与闸门密封面对应的位置；
S4，通过清理结构清理闸门密封面上的海生物。
具体的，闸门密封面海生物水下清理方法还包括：在建筑结构上装设两竖直延伸的导轨，两导轨位于闸门密封面的两侧；主体结构1的相对的两侧分别设有导向件13，在步骤S3中，闸门密封面海生物水下清理设备100沿建筑结构200向下移动时导向件13沿导轨滑动。借由导轨和导向件的配合，避免了导轨上滋生的海生物对闸门密封面海生物水下清理设备100的移动造成卡涩，从而使得闸门密封面海生物水下清理设备100能够稳定地沿建筑结构200在竖直方向上移动。优选的，导向件13为导向轮，但不应以此为限。
与现有技术相比，本申请提供了一种新的海生物清理设备100，其主体结构1与索具结构3固定，清理结构装设在主体结构1上，通过索具结构3与起重设备连接，便可以借由起重设备带动整个闸门密封面海生物水下清理设备100沿建筑结构200移动至与闸门密封面对应的位置，进而利用清理结构清理闸门密封面上的海生物，既避免了传统潜水员清理方式效率低下、存在人生安全隐患的问题，也不存在磁吸附方式清理稳定性差的问题，能够适用于大型闸门密封面的海生物清理；另，本申请的清理设备100不受建筑结构200材料的限制，能够适用于各种大小、材质的闸门密封面的清理，适用性好；；此外，本申请的主体结构1无需在被清理结构上移动，能够适应于棱角尖锐、多平面的清理作业。
以上所揭露的仅为本申请的优选实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请申请专利范围所作的等同变化，仍属本申请所涵盖的范围。

Claims (14)

  1. 一种闸门密封面海生物水下清理设备，用于清理附着在建筑结构的闸门密封面上的海生物，其特征在于，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的清理结构以及与所述主体结构固定的索具结构，所述索具结构用于与起重设备连接，以带动所述主体结构承载所述清理结构移动至所述闸门密封面的对应位置，所述清理结构用于在其移动至所述闸门密封面的对应位置时清理所述闸门密封面上的海生物。
  2. 如权利要求1所述的闸门密封面海生物水下清理设备，其特征在于，所述主体结构的相对的两侧分别设有用于与设于所述闸门密封面的两侧的沿竖直方向延伸的导轨滑动配合的导向件。
  3. 如权利要求1或2所述的闸门密封面海生物水下清理设备，其特征在于，所述清理结构包括喷嘴结构和输液管，所述输液管用于给所述喷嘴结构提供喷射液体。
  4. 如权利要求3所述的闸门密封面海生物水下清理设备，其特征在于，所述喷嘴结构的出液方向与所述闸门密封面成30-40度。
  5. 如权利要求3所述的闸门密封面海生物水下清理设备，其特征在于，所述喷嘴结构为空化喷嘴结构。
  6. 如权利要求3所述的闸门密封面海生物水下清理设备，其特征在于，所述喷嘴结构包括用于清理所述闸门密封面的上密封面的第一喷嘴和用于清理所述闸门密封面的下密封面的第二喷嘴，所述主体结构包括横向设置的桁架和滑设在所述桁架上的移动载体，所述第一喷嘴和所述第二喷嘴安装在所述移动载体 上。
  7. 如权利要求6所述的闸门密封面海生物水下清理设备，其特征在于，所述喷嘴结构还包括分别用于清理所述闸门密封面的左密封面和右密封面的第三喷嘴和第四喷嘴，所述第三喷嘴和第四喷嘴分别装设在所述桁架左右相对的两侧。
  8. 如权利要求7所述的闸门密封面海生物水下清理设备，其特征在于，所述清理结构还包括第一阀门、第二阀门以及第三阀门，所述第一阀门用于控制所述第一喷嘴的出液，所述第二阀门用于控制所述第二喷嘴的出液，所述第三阀门用于控制所述第三喷嘴和第四喷嘴的出液。
  9. 如权利要求6所述的闸门密封面海生物水下清理设备，其特征在于，所述清理结构还包括卷盘装置，所述卷盘装置安装在所述桁架上，所述卷盘装置可随所述移动载体的移动而释放所述输液管或收卷所述输液管。
  10. 如权利要求6所述的闸门密封面海生物水下清理设备，其特征在于，还包括视觉系统，所述视觉系统包括用于采集水下图像信息的相机装置和用于给所述相机装置提供光源的至少两补光灯，至少两所述补光灯安装在所述桁架的左右两侧，所述相机装置包括安装在所述桁架的中间位置的全景相机、分别安装在所述桁架的左侧和右侧的左侧相机和右侧相机以及安装在所述移动载体上的移动相机。
  11. 如权利要求1所述的闸门密封面海生物水下清理设备，其特征在于，所述索具结构包括用于与所述起重设备连接的吊环、与所述吊环连接的若干吊绳以及连接在所述吊绳的下端的拉杆，所述拉杆与所述主体结构连接，所述拉杆的长度可调。
  12. 一种闸门密封面海生物水下清理设备组合，用于清理附着在建筑结构的闸门密封面上的海生物，其特征在于，所述闸门密封面海生物水下清理设备组合包括闸门密封面海生物水下清理设备和两导轨，两所述导轨用于并排安装在所述闸门密封面的两侧，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的清理结构以及与所述主体结构固定的索具结构，所述主体结构的相对的两侧分别设有用于与所述导轨滑动配合的导向件，所述索具结构用于与起重设备连接，以带动所述主体结构承载所述清理结构移动至所述闸门密封面的对应位置，所述清理结构用于在其移动至所述闸门密封面的对应位置时清理所述闸门密封面上的海生物。
  13. 一种闸门密封面海生物水下清理方法，用于清理附着在建筑结构的闸门密封面上的海生物，其特征在于，包括以下步骤：
    S1，提供一闸门密封面海生物水下清理设备，所述闸门密封面海生物水下清理设备包括主体结构、装设在所述主体结构上的用于清理所述海生物的清理结构以及与所述主体结构固定的索具结构；
    S2，将所述索具结构与起重设备连接；
    S3，通过所述起重设备带动所述闸门密封面海生物水下清理设备沿所述建筑结构向下移动至与所述闸门密封面对应的位置；
    S4，通过所述清理结构清理所述闸门密封面上的海生物。
  14. 如权利要求13所述的闸门密封面海生物水下清理方法，其特征在于，还包括：
    在建筑结构上装设两竖直延伸的导轨，两所述导轨位于所述闸门密封面的两侧；所述主体结构的相对的两侧分别设有导向件，在步骤S3中，所述闸门密封面海生物水下清理设备沿所述建筑结构向下移动时所述导向件沿所述导轨滑动。
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