WO2022121204A1 - Appareil de nettoyage sous-marin pour équipement marin - Google Patents

Appareil de nettoyage sous-marin pour équipement marin Download PDF

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Publication number
WO2022121204A1
WO2022121204A1 PCT/CN2021/087827 CN2021087827W WO2022121204A1 WO 2022121204 A1 WO2022121204 A1 WO 2022121204A1 CN 2021087827 W CN2021087827 W CN 2021087827W WO 2022121204 A1 WO2022121204 A1 WO 2022121204A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
mounting plate
underwater
structural frame
ball screw
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PCT/CN2021/087827
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English (en)
Chinese (zh)
Inventor
唐文献
周志凯
郭胜
朱永梅
陈赟
齐继阳
苏世杰
张思
周佳惠
Original Assignee
江苏科技大学
镇江宇诚智能装备科技有限责任公司
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Application filed by 江苏科技大学, 镇江宇诚智能装备科技有限责任公司 filed Critical 江苏科技大学
Publication of WO2022121204A1 publication Critical patent/WO2022121204A1/fr

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    • 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
    • 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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

Definitions

  • the invention relates to the technical field of marine equipment cleaning, in particular to an underwater cleaning device for marine equipment.
  • Marine fouling has always been a problem plaguing shipping and underwater facilities because marine organisms such as algae and shellfish will adsorb and erode marine equipment such as hull surfaces, aquaculture nets, and seawater pipelines.
  • marine fouling will increase the resistance of ships, resulting in increased fuel consumption and reduced ship speed. At the same time, it will also accelerate the process and speed of electrochemical corrosion of metals on the surface of the hull, affecting the safe operation of ships.
  • the sea creatures While the sea creatures cause mesh clogging, they also compete with the aquaculture shellfish for the attachment base and bait, which affects the growth and output of oysters and other aquaculture shellfish.
  • marine fouling will increase the volume and roughness of the platform support, increase the external load, increase the platform's own weight and increase the platform's center of gravity, and increase the possibility of the platform tilting or collapsing.
  • control methods of marine fouling organisms can be divided into physical anti-fouling method, chemical anti-fouling method and biological anti-fouling method according to the principle of anti-fouling technology.
  • the latest underwater cleaning device is described in the patent CN107985526A Robot for Removing Substances from Underwater Hulls. It uses propellers and sonar detectors to realize the robot's free movement in water, and adopts suction cup adsorption to realize the robot's fixation on the underwater ship.
  • a robot for cleaning and detecting an underwater outer circular tube uses front and rear drive wheels to achieve axially guided movement along the pipeline, and swings left and right.
  • the arm adsorption wheel realizes the pipe clamping and positioning. Although this positioning method can ensure that the relative position of the pipe and the robot remains unchanged, it is difficult to realize the circumferential cleaning of the robot on the outer wall of the pipe because the moving direction of the driving wheel and the busbar of the adsorption wheel is perpendicular to the pipe busbar. .
  • the purpose of the present invention is to provide an underwater cleaning device for marine equipment, which solves the problem of difficulty in continuous cleaning due to the difficulty of positioning different cleaning objects, and can be used in various occasions. Underwater cleaning device.
  • an underwater cleaning device for marine equipment including a built-in module, a cleaning robot, a water jet cleaning brush mechanism, a clamping robot, a magnetic adsorption walking mechanism, and a cleaning disk assembly.
  • the built-in module includes a structural frame, an auxiliary control system, and a structural frame.
  • the cleaning robot is connected to the upper surface of the upper mounting plate.
  • the water jet cleaning brush mechanism is installed at the end of the cleaning robot.
  • the clamping robot has four Each of them is divided into two groups relative to each other, which are respectively arranged on opposite sides of the structural frame and connected to the middle-layer mounting plate.
  • the board is connected, the cleaning disk assembly is installed on the bottom surface of the bottom installation board and is located between the four magnetic adsorption walking mechanisms, the auxiliary control system is installed on the structural frame, the cleaning robot, the water jet cleaning brush mechanism, the clamping robot, the magnetic adsorption walking mechanism The mechanism and the cleaning disc assembly are respectively connected with the auxiliary control system signal.
  • the cleaning manipulator includes a rotating base and a large arm, a middle arm, a small arm, a wrist and a hand connected in sequence. It is connected by the first rotating shaft, and the first servo steering gear is arranged at one part of the rotating shaft.
  • the middle arm and the forearm are connected through the second rotating shaft, and a servo motor is arranged at the second rotating shaft.
  • the connection between the wrist and the hand is provided with servo steering gear 3
  • the interior of the hand is provided with a rotation motor
  • the water jet cleaning brush mechanism is connected with the hand, servo steering gear 1, servo motor, servo steering gear 2, servo rudder
  • the third machine and the rotation motor are respectively connected with the auxiliary control system signal.
  • the water jet cleaning brush mechanism includes an integrated mounting plate, a vertical bearing, a sleeve, a ball screw assembly, a cleaning brush, a stepping motor, a jet gun, and a ball screw mechanism, and two parallel and spaced installations on the integrated mounting plate
  • the sleeves are successively passed through the two vertical bearings and connected to the two.
  • the cleaning brush is circumferentially arranged and connected to one end of the sleeve through the ball screw assembly.
  • the jet gun passes through the other end of the sleeve.
  • the stepper motor is mounted on the integrated mounting plate and connected with the sleeve, the ball screw mechanism is installed on the integrated mounting plate at the end of the sleeve, the jet gun is connected with the ball screw mechanism, and the integrated mounting plate is connected with the cleaning manipulator Connection, the ball screw assembly, stepper motor, jet gun, ball screw mechanism are respectively connected with the auxiliary control system signal.
  • cleaning brushes are distributed circumferentially around a point, respectively connected to the sleeve through a ball screw assembly, and the ball screw body of the ball screw assembly is fixed to the outer peripheral surface of the sleeve through the screw base, The cleaning brush is connected with the screw slider of the ball screw body.
  • the clamping manipulator includes a first knuckle, a second knuckle, a third knuckle, a clamping base, and a linear module, and one end of the first knuckle and one end of the third knuckle are respectively connected to both ends of the second knuckle.
  • the two joints are respectively provided with a transmission motor
  • the other end of the third knuckle is connected with the linear module through the clamping base
  • the linear module is connected with the middle-layer mounting plate.
  • the magnetic adsorption traveling mechanism includes a magnetic crawler wheel assembly, a first drive shaft, a second drive shaft, an electric push rod, and a drive motor.
  • One end of the first shaft is connected with the drive motor, the other end is connected with the magnetic track wheel assembly, one end of the transmission shaft is connected with the magnetic track wheel assembly, and the other end is connected with the middle-level mounting plate.
  • the electric push rod is installed on the structural frame and is connected with the drive shaft.
  • the second connection, the electric push rod and the drive motor are respectively connected with the auxiliary control system signal.
  • the magnetic track wheel assembly includes a fixed bracket, a magnetic track, and a track wheel.
  • the track wheels are distributed in circumferential intervals on the vertical plane of the fixed bracket and are respectively connected with the fixed bracket.
  • the periphery is meshed and connected with it, the first transmission shaft is connected with one of the crawler wheels, and the second transmission shaft is connected with the fixed bracket.
  • the cleaning disk assembly includes an auxiliary cleaning disk and a main cleaning disk.
  • the main cleaning disk is located in the middle position of the bottom of the structure frame and is connected to it.
  • the auxiliary cleaning disks are respectively arranged on opposite sides in the horizontal direction of the main cleaning disk.
  • the auxiliary cleaning trays are respectively connected with the structural frame.
  • the main cleaning disc includes a cover, a different-direction nozzle, and a central rotating body.
  • the outer end face of the cover is provided with a plurality of notches evenly spaced in the circumferential direction, and a central rotating body is installed in the middle of the cover. Passing through the central hole of the casing and connecting with it, the central rotating body is provided with a different-direction nozzle.
  • the auxiliary control system includes a power cabin, an electronic cabin, a three-dimensional scanner, a searchlight 1, a camera 1, a searchlight 2, a camera 2, a vertical thruster, an ultrasonic sensor, a horizontal thrust
  • a horizontal thruster is installed on the lower side of the upper mounting plate near its four top corners, and a searchlight II and a camera II are installed on the opposite sides of the upper mounting plate.
  • a vertical thruster is installed at each end, and a three-dimensional scanner is provided on one side of each vertical thruster 7, and the three-dimensional scanner is connected with the structural frame.
  • the front and rear ends of the bottom installation board are respectively provided with a searchlight 1 and a camera 1.
  • Cleaning the manipulator, water jet The cleaning brush mechanism, the clamping manipulator, the magnetic adsorption traveling mechanism, and the cleaning disk assembly are respectively connected with the electric power cabin and the electronic cabin signal.
  • the negative pressure adsorption cavitation jet disc and the two-stage crawler movement mode are used, which can be used for movement on various underwater materials and complex curved surfaces to expand the cleaning range.
  • the clip-on cleaning method compared with unidirectional adsorption, it can reduce the adhesion to the net, reduce the risk of being entangled due to the soft texture of the net, and the effect of the net on the undercurrent of the sea has a certain swing. It is difficult for the cleaning device to achieve continuous cleaning.
  • the clip-on cleaning method can use the thrust device of the underwater cleaning device to achieve fixed-depth and fixed-point cleaning in the water, without the need for the adhesion of the net to further expand the cleaning range.
  • a modular and reconfigurable body structure and peripheral interface are developed, which are equipped with positioning mechanisms required by different cleaning objects, which have strong versatility, wide adaptability and cost savings.
  • the contour model of the target to be cleaned is obtained by scanning and fed back to the control computer.
  • the computer uses the software program to calculate and plan the cleaning device according to the effective cleaning range of the cavitation jet plate.
  • the movement path coordinates improve the automation and intelligence of the operation, and improve the cleaning efficiency on the premise of ensuring the cleaning effect.
  • the use of the buoy and the propeller can effectively reduce the buoyancy effect caused by the change of seawater density while moving in all directions, so that the cleaning device can freely adjust the underwater posture to ensure cleaning in all corners, with high cleaning efficiency and cleanliness. high degree.
  • Fig. 1 is the side view three-dimensional structure schematic diagram of the present invention
  • Fig. 2 is the side view of the present invention
  • Fig. 3 is the structural representation of the water jet cleaning brush mechanism
  • Fig. 4 is the front view three-dimensional structure schematic diagram of the present invention.
  • Fig. 5 is the side sectional view of the present invention.
  • Fig. 6 is a partial view of magnetic adsorption walking decoupling
  • Fig. 7 is the bottom schematic diagram of the present invention.
  • Fig. 8 is the pipeline cleaning schematic diagram of the present invention.
  • Fig. 9 is the net clothes cleaning schematic diagram of the present invention.
  • Figure 10 is a schematic diagram of the ship propeller cleaning of the present invention.
  • the built-in module 1 includes a structural frame 101 and an auxiliary control system.
  • the structural frame 101 is provided with an upper-layer mounting plate 113, a middle-layer mounting plate 114, and a bottom-layer mounting plate 115 in sequence from top to bottom, forming a three-layer frame structure.
  • the cleaning robot 2 is installed with the upper layer.
  • the upper surface of the board 113 is connected.
  • the cleaning robot 2 includes a rotating base 21 and a large arm 22 , a middle arm 23 , a small arm 24 , a wrist 25 , and a hand 26 connected in sequence.
  • the surface is connected, the rotating base 21 can realize circumferential rotation, and the cleaning robot 2 can be disassembled as a whole when the cleaning device replaces the cleaning object.
  • the large-scale lifting motion of the cleaning robot 2 is realized by the first drive of the servo steering gear.
  • the middle arm 23 and the small arm 24 are connected through the second rotating shaft, and a servo motor is provided at the second rotating shaft. The small amplitude lifting and lowering of the cleaning robot 2 is driven by the servo motor.
  • the joint between the forearm 24 and the wrist 25 is provided with the second servo steering gear, which controls the rotation of the wrist 25 relative to the end face of the forearm 24, and the joint between the wrist 25 and the hand 26 is provided with a servo steering gear three.
  • the inside of the hand 26 is provided with an autorotation motor, which can realize the circumferential rotation of the hand 26, the water jet cleaning brush mechanism 3 is connected with the hand 26, the servo steering gear 1, the servo motor , Servo steering gear 2, servo steering gear 3, and rotation motor are respectively connected to the auxiliary control system signal.
  • the servo steering gear 3 provided at the connection between the wrist 25 and the hand 26 controls the tilting motion of the wrist 25 including the water jet cleaning brush mechanism 3, and adjusts the rotation angle of the components on the wrist 25 through the three rotation angles of the servo steering gear. Pitch angle; the rotation motor of the hand 26 drives the hand 26 to rotate around the wrist 15, that is, to move in a circumferential direction, so as to ensure the full coverage and cleaning of the water jet cleaning brush mechanism 3 on the surface of the propeller blade.
  • the mechanism 3 includes an integrated mounting plate 31, a vertical bearing 32, a sleeve 33, a ball screw assembly 34, a cleaning brush 35, a stepper motor 36, a jet gun 37, and a ball screw mechanism 38.
  • Integrated installation Two vertical bearings 32 are installed on the plate 31 in parallel and spaced apart, and the sleeve 33 is successively passed through the two vertical bearings 32 and connected with them.
  • the cleaning brushes 35 are arranged in a circumferential direction around one point and are connected with the sleeve 33 respectively through a ball screw assembly 34.
  • the ball screw body of the ball screw assembly 34 is connected with the screw base 341.
  • the outer peripheral surface of the sleeve 33 is fixed, the cleaning brush 35 is connected with the screw slider 342 of the ball screw body, each cleaning brush 35 is hinged with the end face of the sleeve 33, and the screw slider 342 is driven by the screw motor to realize four pieces.
  • the cleaning effect is achieved by the rotary friction movement of the cleaning brush 35 on the cleaning surface.
  • the ball screw mechanism 38 is installed on the integrated mounting plate 31 on the side of the rear end of the sleeve 33.
  • the jet gun 37 is connected with the ball screw mechanism 38.
  • the jet gun 37 can move back and forth along the sleeve 33 to achieve the purpose of cleaning the surface of the blade at a close distance.
  • the integrated mounting plate 31 is connected to the hand 26 , and the ball screw assembly 34 , the stepping motor 36 , the jet gun 37 , and the ball screw mechanism 38 are signally connected to the auxiliary control system, respectively.
  • the jet gun 37 is a bidirectional output structure. In order to reduce the impact force of the water jet output, openings are provided at both ends of the water jet channel (in the direction of the arrow in FIG. 3 ) to balance the impact force of the water jet output port with reverse thrust.
  • the clamping manipulator 4 includes a first knuckle 41 and a second knuckle. 42.
  • the third knuckle 43, the clamping base 44, the linear module 45, one end of the first knuckle 41 and one end of the third knuckle 43 are respectively connected with the two ends of the second knuckle 42, and two joints are respectively provided with one
  • the transmission motor is used as the driving part, so that the three knuckles can rotate relative to each other to realize the clamping movement.
  • the other end of the third knuckle 43 is connected to the clamping base 44 , the linear module 45 is a ball screw structure with a transmission slider 451 , the base 44 is fixed on the slider 451 , and the linear module 45 is connected to the middle-level mounting plate 114 connect.
  • the magnetically adsorbed traveling mechanism 5 includes a magnetic crawler wheel assembly, a transmission shaft 53, and a transmission shaft 2 54. , electric push rod 55, drive motor 57, the magnetic track wheel assembly is arranged at the bottom of the bottom mounting plate 115, the magnetic track 52 wheel assembly includes a fixed bracket 51, a magnetic track 52, a track wheel 56, and the track wheel 56 is vertical on the fixed bracket 51 There are a plurality of circumferentially spaced distributions on the plane and are respectively connected to the fixed bracket 51.
  • the magnetic track 52 is meshed and connected with the plurality of track wheels 56 at the periphery.
  • the drive motor 57 is installed on the bottom mounting plate 115.
  • One end of the transmission shaft 53 It is connected with the drive motor 57, the other end is connected with the crawler wheel 56, one end of the second transmission shaft 54 is connected with the fixed bracket 51, and the other end is connected with the middle-level mounting plate 114, and the electric push rod 55 is installed on the structural frame 101 and is connected with the second transmission shaft.
  • 54 is connected, and the electric push rod 55 and the drive motor 57 are respectively connected with the auxiliary control system signal.
  • the first transmission shaft 53 outputs the power of the driving motor 57 to the track 52.
  • the second transmission shaft 54 can rotate at a certain angle relative to the first transmission shaft 53, so that the magnetic adsorption walking device on the same side of the multifunctional cleaning device 5 to meet the walking requirements of complex surfaces.
  • the cleaning disk assembly 6 is installed on the bottom surface of the bottom mounting plate 115 and is located between the four magnetic adsorption traveling mechanisms 5.
  • the cleaning disk assembly 6 includes a secondary cleaning disk assembly 61 and a main cleaning disk assembly 62.
  • the main cleaning disk assembly 62 is in the structural frame. 101 and connected to the middle position of the bottom, two auxiliary cleaning disk assemblies 61 are arranged at intervals on opposite sides of the main cleaning disk assembly 62 in the horizontal direction, and each auxiliary cleaning disk assembly 61 is connected to the structural frame 101 respectively.
  • the main cleaning disc assembly 62 includes a cover 621, a different-direction nozzle 622, and a central rotating body 623.
  • the outer end surface of the cover 621 is provided with a plurality of notches evenly spaced in the circumferential direction, and a central rotating body 623 is installed in the middle of the cover.
  • the central rotating body 623 passes through the central hole of the casing 621 and is fixedly connected with the casing 621 through a connecting piece.
  • a different-directional nozzle 622 is installed at one end of the central rotating body 623.
  • the auxiliary cleaning disk assembly 61 has the same structure as the main cleaning disk assembly 62 , with the difference in size.
  • the volume of the auxiliary cleaning disk assembly 61 is smaller than that of the main cleaning disk assembly 62 .
  • the auxiliary control system is installed on the structural frame 101, and the auxiliary control system includes a power cabin 111, an electronic cabin 112, a three-dimensional scanner 102, a searchlight-103, a camera-104, a searchlight that are signally connected to the power cabin 111 and/or the electronic cabin 112 respectively.
  • the device 109 is arranged in a 45° direction, a searchlight 2 105 and a camera 2 106 are respectively installed on opposite sides of the upper mounting plate 113 in the lateral direction, and a vertical thruster 107 is respectively installed on both ends of the bow and tail of the structural frame 101.
  • One side of the device 1077 is provided with a three-dimensional scanner 102, the three-dimensional scanner 102 is connected to the structural frame 101, a buoyancy adjusting device 110 is provided on the middle-layer mounting plate 114, and the front and rear ends of the middle-layer mounting plate 114 are respectively installed with an electronic cabin 112 and a power cabin. 111.
  • ultrasonic sensors 108 which are respectively close to a corresponding linear module 45 and are connected to the middle-layer mounting plate 114 to realize the ranging function relative to the bottom surface of the multi-function cleaning device.
  • the searchlight 103 and the camera one 104 can be rotated along the bottom mounting plate 115 to realize image data collection at different angles.
  • the cleaning robot 2 , the water jet cleaning brush mechanism 3 , the clamping robot 4 , the magnetic adsorption traveling mechanism 5 , and the cleaning disk assembly 6 are signally connected to the power compartment 111 and the electronic compartment 112 , respectively.
  • the power compartment 111 provides power for the device, and the electronic compartment 112 is the controller of the device to realize intelligent control.
  • the device can realize various cleaning modes such as hull cleaning, underwater pipeline cleaning, aquaculture net clothing cleaning, and ship propeller cleaning.
  • the device When cleaning the hull on site, first put the device into the water, make it move around the ship to be cleaned, photograph and scan the surface of the ship wall by the 3D scanner 102, generate a 3D model of the hull, and according to the 3D model of the hull, The cleaning path of the multifunctional underwater cleaning device on the hull surface is divided, and the cleaning path is divided into a horizontal cleaning line and a vertical cleaning line, and at the same time, the starting point and end point of the cleaning operation of the device on the hull surface are determined. Then, by adjusting the buoyancy adjusting device 110, the water entry depth of the device is changed so that it reaches the starting depth of the cleaning operation, and then reaches the corner of the designated cleaning area under the thrust of the horizontal thruster 109.
  • the camera 104 monitors the underwater cleaning device and the hull surface in real time. distance, after approaching the hull surface, close the horizontal thruster 109, adjust the center of gravity of the underwater cleaning device by adjusting the slider 451 of the linear module 45, and change its underwater posture so that the bottom of the underwater cleaning device is facing the hull surface,
  • the vertical thruster 107 is energized, and the magnetic crawler of the underwater cleaning device is adsorbed on the surface of the hull, the main cleaning disk assembly 62 and the auxiliary cleaning disk assembly 61 are opened, and the opposite direction nozzle 622 above starts to clean along the surface under the action of the high-pressure water flow.
  • the disk rotates circumferentially, thereby cleaning the surface of the hull covered by the cleaning disk.
  • the underwater cleaning device takes the length of its own crawler as the cleaning step, and starts cleaning along the horizontal cleaning line from the stern to the bow.
  • the driving motor 57 is controlled to move the magnetic adsorption on the side of the underwater cleaning device.
  • the mechanism 5 is locked, and the magnetic adsorption traveling mechanism 5 on the other side continues to move, so that the magnetic adsorption traveling mechanism 5 on both sides forms a speed difference, and realizes the turning from the horizontal cleaning line to the longitudinal cleaning line, and the underwater cleaning device continues to follow the shape of "he".
  • the cleaning route travels to the end point of the cleaning operation.
  • the electric push rod 55 in the magnetic adsorption traveling device 5 starts to work, and the second drive shaft 54 is rotated around the drive motor drive shaft one 53 by a certain angle, so that the underwater cleaning is performed.
  • the front and rear tracks of the device fit the curved surface of the hull and move forward to ensure that the cleaning device runs normally on the surface of the hull.
  • the underwater cleaning device dives to the depth where the pipeline is located through the buoyancy adjustment device 110 .
  • the searchlight 2 105 and the camera 2 106 of the cleaning device transmit the collected underwater image information back to the observation interface of the computer control system, and the operator controls the horizontal thruster 109 to fine-tune through the feedback image information, so that the underwater cleaning device moves to Above pipe 7.
  • the position of the underwater cleaning device is fine-tuned horizontally and radially according to the data feedback collected by the ultrasonic sensors 108 installed on the bottom installation board 115.
  • the electric push rod 55 of the underwater cleaning device is energized and the front and rear magnetic adsorption walking devices 5 are folded up to form a certain angle, which is in the shape of a V-shaped block.
  • the operator controls the clamping base 44 to move a certain distance according to the diameter of the pipeline 7, the first knuckle 41, the second knuckle 42, and the third knuckle 43 are opened in sequence, and the buoyancy adjustment device 110 and the vertical thruster Under the coordinated action of 107, the underwater cleaning device sinks to the upper surface of the pipeline 7.
  • the first knuckle 41, the second knuckle 42, and the third knuckle 43 are closed in turn, and the pipeline 7 is cleaned.
  • the cleaning disk assembly 6 is opened at this time, and the camera 103 monitors the cleaning degree in real time.
  • the second knuckle 42 and the third knuckle are released while the shaft-holding state remains unchanged. 43.
  • the drive motor 57 drives the magnetic crawler 52, so that the underwater cleaning device completes the circumferential cleaning of the pipeline 7.
  • the underwater cleaning device is a combined installation, when the cleaning object is net clothes, in order to reduce the weight of the underwater cleaning device, the The cleaning robot 2 that clamps the robot 4 and the ship's propeller is removed.
  • the net 8 is scanned by the three-dimensional scanner 102, and the upper computer performs data processing to form a plane image of the net.
  • the operator then divides the net plan into several cleaning areas. In the area, the cleaning path is set as a horizontal cleaning line and a vertical cleaning line, and the starting point and end point of the cleaning path are specified.
  • the buoyancy adjustment device 110 When the buoyancy adjustment device 110 starts to work, the buoyancy of the underwater cleaning device is reduced, so that the underwater cleaning device is submerged to a predetermined depth. At this time, the second underwater cleaning device starts to work. Under the guidance of the ultrasonic sensor 108, the second underwater cleaning device estimates the distance, azimuth and elevation angle from the first underwater cleaning device, and the horizontal thruster 109 pushes The second underwater cleaning device moves to the other side of the first underwater cleaning device relative to the net, and the buoyancy adjusting device 110 submerges the second underwater cleaning device to the depth where the first robot is located. At this time, the second underwater cleaning device is adjusted together.
  • the sliders 451 of the first underwater cleaning device and the second underwater cleaning device change the postures of the two underwater cleaning devices, so that the first underwater cleaning device and the second underwater cleaning device are arranged symmetrically with respect to the net.
  • the vertical propeller 107 of the underwater cleaning device is turned on, and at the same time, the magnetic tracks 52 of the two underwater cleaning devices are energized at the same time, so that the magnetic tracks 52 of the two underwater cleaning devices are adsorbed into a whole under the action of magnetic force.
  • the second underwater cleaning device cooperates with the first underwater cleaning device to clean the net clothes together, and a length of crawler is a cleaning step.
  • the underwater cleaning device moves by one step, the underwater cleaning device
  • the camera 1 104 feeds back the contamination degree of the netting to the operator, and the operator can upload the picture according to the front camera, and reasonably control the cleaning time of the air jet cleaning disk to ensure the cleaning degree.
  • the two underwater cleaning devices start from the cleaning starting point and move to the end of the horizontal or vertical cleaning line. The speed difference realizes the steering movement, thereby forming a "bow" shape cleaning of the net.
  • the cleaning device clamps the propeller shaft according to the pipeline positioning method; the cleaning manipulator is unfolded in turn from the retracted state, and the specific steps are: feedback the position of the propeller according to the second camera 106 and the second searchlight 105
  • the operator on the shore drives the rotating base 21 to make the cleaning manipulator 2 rotate through a certain angle, so that the water jet cleaning brush mechanism 3 at the end of the cleaning manipulator 2 obtains a suitable orientation for positioning and cleaning; according to the height of the blade, the big arm 22 is driven to connect with the middle arm 23
  • the servo steering gear 1 at the 1st place makes the cleaning manipulator 2 lift a certain height, and then the servo motors at the forearm 24 and the middle arm 23 make the cleaning manipulator 2 reach the specified height; then drive the servo steering gears of the wrist 25 and the hand 26 Second, make the water jet cleaning brush mechanism 3 face the surface of the blade, and then fine-tune the servo steering gear 1,
  • the upper computer performs bow-shaped cleaning on the cleaning path of the 6-DOF cleaning manipulator according to the propeller 9 scanning model, from the top of the blade to the bottom of the blade.
  • the magnetic adsorption traveling device 5 rotates a certain angle along the circumferential direction of the propeller shaft, and then the cleaning manipulator 2 cleans the second blade.
  • the cleaning steps are the same as the previous blade.
  • the gripping manipulator 3 releases the propeller shaft, the underwater cleaning device is separated from the propeller propeller shaft, and the onshore operator completes the recovery of the device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

L'invention concerne un appareil de nettoyage sous-marin pour un équipement marin. Un cadre structural est doté d'une plaque de montage supérieure, d'une plaque de montage intermédiaire et d'une plaque de montage inférieure, et un manipulateur de nettoyage est relié à une surface supérieure de la plaque de montage supérieure ; un mécanisme de brosse de nettoyage à jet d'eau est monté au niveau d'une partie d'extrémité du manipulateur de nettoyage ; quatre manipulateurs de serrage sont fournis, qui sont divisés en deux groupes relativement espacés dans les deux et qui sont disposés sur deux côtés opposés du cadre structural respectivement et reliés à la plaque de montage intermédiaire ; quatre mécanismes de marche à adsorption magnétique, qui sont répartis sur une partie inférieure du cadre structural à intervalles dans une matrice et qui sont chacun reliés à la plaque de montage inférieure ; un ensemble disque de nettoyage est monté sur une surface inférieure de la plaque de montage inférieure et situé parmi les quatre mécanismes de marche à adsorption magnétique ; un système de commande auxiliaire est monté sur le cadre structural ; et le manipulateur de nettoyage, le mécanisme de brosse de nettoyage à jet d'eau, les manipulateurs de serrage, les mécanismes de marche à adsorption magnétique et l'ensemble disque de nettoyage sont reliés par signaux au système de commande auxiliaire. Le présent appareil peut être appliqué au nettoyage sous-marin automatique d'un équipement dans les domaines du transport maritime, de l'aquaculture, des plateformes offshore, des pipelines sous-marins et similaire(s).
PCT/CN2021/087827 2020-12-10 2021-04-16 Appareil de nettoyage sous-marin pour équipement marin WO2022121204A1 (fr)

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CN115743453A (zh) * 2022-12-23 2023-03-07 重庆赛迪奇智人工智能科技有限公司 一种船舱壁附着料清理系统及方法
CN117022585A (zh) * 2023-10-09 2023-11-10 天津瀚海蓝帆海洋科技有限公司 用于清洗船舶的机器人
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