WO2018086188A1

WO2018086188A1 - Underwater ship hull cleaning and monitoring robot

Info

Publication number: WO2018086188A1
Application number: PCT/CN2016/109794
Authority: WO
Inventors: 曹伟; 曹文
Original assignee: 南通市海鸥救生防护用品有限公司
Priority date: 2016-11-11
Filing date: 2016-12-14
Publication date: 2018-05-17

Abstract

Disclosed is an underwater ship hull cleaning and monitoring robot, comprising a rack (1), rotating wheels (2), an electromagnet (3) and washing devices (4). The rack is provided with a plurality of mounting holes (5) for mounting the washing devices therein. On the washing device, a universal joint (6) is fixed in the rack, a sensor installation pipe (8) is provided in the universal joint, and a universal socket (9) is connected at the lower end of the universal joint. The universal socket comprises a fixed head (10) and a movable head (11), the movable head being connected to a brush plate (12), and an axle seat is provided in the middle of the brush plate. The axle seat is connected to a base (14), and reinforcing ribs (13) are uniformly distributed on the outer circumference of the axle seat. The base is provided with a plurality of brush plate slots (15) that fix brush plates (16) through brush plate fixing holes. Blade fixing holes are provided on the circumference of the base for fixing blades (17), an upper surface of the brush plates is a smooth surface, and a lower surface thereof is provided with a plurality of protrusions (18). The arc edge on one side of the brush plate is provided with teeth (19), the rotating wheels are arranged between a plurality of washing devices, and the electromagnet is located between a steering wheel (21) and a driving wheel (22). An upper portion of the rack is sealed by a housing. The robot has the advantages of stable performance, strong rigidity and durability.

Description

Hull cleaning brush monitoring underwater robot

Technical field

The invention relates to a hull cleaning brush monitoring underwater robot.

Background technique

Broadly speaking: since there are ships that have ship cleaning, ship cleaning has gone from the original manual cleaning, simple mechanical baking shovel, to sand blasting, whitening, mechanical cleaning and chemical cleaning. In recent years, the new cleaning technology has developed rapidly, the process requirements for shipbuilding and repairing ship are getting higher and higher, and the ship cleaning technology and process have also undergone significant changes. The methods used in domestic ship washing: high-pressure water jet cleaning technology, sandblasting cleaning, neutral no Acid cleaning, gas blasting, PIG cleaning technology, biological cleaning technology, manual processing technology, robot underwater cleaning technology, ultrasonic cleaning technology have been successfully applied to the field of ship cleaning. The latest technology is a portable abrasive water jet cleaning device developed and manufactured by Ruixun Security Special Technology Development Co., Ltd. High-pressure water is used to drive the abrasive to achieve efficient cleaning. It was developed on the technology of portable water cutting equipment. This technology combines techniques such as shot blasting, sand blasting and high-pressure water cleaning to achieve high efficiency, low pollution and easy operation.

Large ships will form a thick layer of scale on the hull of the hull below their waterline after years of voyage. These scale layers are composed of algae and shellfish attachments that are tight and hard. On the other hand, after years of operation, the ship will inevitably produce large areas of rust. Therefore, in the overhaul of large ships, it is generally required to remove the coating, scale and old special rust and rust on the hull, and then apply new paint to ensure the normal navigation and extend the service life of the ship. At present, the coating of the hull shell and the removal of the scale layer are also carried out by the worker's hand holding a hammer shovel for tapping and scraping. The scale layer is hard and compact, and the area is large, the maintenance period is long, and the labor intensity of the worker is large. In the late 1980s, foreign countries began to explore the use of high-pressure water jet technology to clean and rust and remove paint, and achieved success. This technology has been widely promoted and adopted in the foreign ship repair industry. In recent years, with the development of high-pressure water jet technology in China, this technology has been applied to the shipbuilding industry. The technology works by using a high-pressure water pump to increase the pressure of ordinary water to 40- 250MPa, single gun flow rate of about 20-39L / min, from the nozzle, forming an ultra-high pressure water jet or abrasive water jet. With the powerful impact, erosion and stripping capabilities of water jets, coatings, scale, rust and paint can be quickly removed. In the cleaning, pure water jet cleaning and abrasive water jet cleaning can be used. When cleaning with pure water, the pressure of the water jet is very high, and the rotating nozzle can be used, the cleaning speed is fast, and the equipment is simple. When cleaning with abrasive water jets, the pressure of the water jet is relatively small, and the abrasive is cheap quartz sand. The operation is now more complicated. The use of high-pressure water jet technology to clean the ship is an efficient, high-quality and fast maintenance method.

The hull cleaning brush monitors the underwater robot, which is controlled by technicians on the water surface. It can sneak into the water and adsorb on the hull. It can remove 1000 to 1500 square meters of attachments per hour. During the operation, the robot can cut and smash the attachments, and collect them and send them to the surface working boat in time. The amount of attachments recovered is more than 30 tons per hour, which can avoid cross-contamination of marine organisms.

Summary of the invention

The object of the present invention is to overcome the above limitations, thereby providing a hull cleaning and monitoring underwater robot capable of stable performance, strong rigidity, good adhesion and universal movement.

The object of the present invention is achieved by the following technical solutions: a hull cleaning brush monitoring underwater robot, including a frame, a rotating wheel, an electromagnet and a scrubbing device; the frame is surrounded by a closed integral aluminum alloy layer, the machine There are a plurality of cleaning device mounting holes in the frame, the cleaning device mounting holes are fixed with the brushing device, the upper part of the brushing device is fixed in the frame in the universal head, and a plurality of sets of bearings are arranged outside the universal head, and the sensor is installed inside the universal head. a universal joint is connected to the lower end of the universal head, the universal joint includes a fixed head and a movable head, and the outer side of the fixed head and the movable head is provided with a spring, and the movable head is connected with the brush tray, the brush tray is circular, and the brush tray is provided in the middle of the brush tray. The shaft seat and the shaft seat are connected with a base through a plurality of reinforcing ribs, and the reinforcing ribs are evenly distributed on the outer circumference of the shaft seat, and the base is provided with a plurality of brush plate grooves, and the brush plate groove is fixed with the brush plate through the fixing holes of the brush plate, and the base plate is fixed. A blade fixing hole is arranged on the circumference of the seat for fixing the blade, the brush plate is fan-shaped, the surface of the brush plate is a smooth surface, and the lower surface is provided with a plurality of convex portions, and the arc side of the brush plate is provided with a tooth portion and a tooth portion. Composed of multiple bumps, rotating wheel Brushing means disposed between the plurality of rotation of the steering wheel comprises a pair of wheels and a pair of driving wheel The driving wheel is controlled by the motor, the steering wheel is controlled to rotate by the steering device, the electromagnet is located between the steering wheel and the driving wheel, and the upper part of the frame is sealed by the casing.

Preferably, the sensor mounting tube is provided with a distance sensor, one end of the distance sensor is located in the middle of the brush disc, and the other end is extended from the upper part of the rack to be connected with the controller.

Preferably, the front and rear ends of the rack are provided with underwater monitoring devices.

Preferably, the blade is an annular blade having a plurality of circular arc grooves on the outer circumference.

In summary, the present invention has the following advantages: stable performance, strong rigidity, good adhesion, universal movement, and novel design to solve the problem of cleaning the hull with crops.

DRAWINGS

Figure 1 is a structural view of the present invention;

Figure 2 is a structural view of the frame of the present invention;

Figure 3 is a structural view of a washing device of the present invention;

Figure 4 is a structural view of a brush disk of the present invention;

Figure 5 is a structural view of a brush plate of the present invention;

Figure 6 is a structural view of the blade of the present invention;

Numbers in the figure: 1-frame, 2-rotating wheel, 3-electromagnet, 4-washing device, 5-washing device mounting hole, 6-million head, 7-bearing, 8-sensor mounting tube, 9-10,000 Orientation, 10-fixing head, 11-moving head, 12-brushing disc, 13-ribs, 14-base, 15-brushing trough, 16-brushing plate, 17-blade, 18-lobed, 19 - Tooth, 20-spring, 21-steering wheel, 22-drive wheel, 23-steering device, 24-underwater monitoring device, 25-circular groove.

detailed description

The invention will be further described in detail with reference to the embodiments and the accompanying drawings, which are to be construed as illustrative only.

The invention provides a hull cleaning brush monitoring underwater robot, comprising a frame 1, a rotating wheel 2, an electromagnet 3 and a scrubbing device 4; the frame 1 is surrounded by a closed-loop integrated aluminum alloy layer, the frame 1 There are four cleaning device mounting holes 5, and the cleaning device mounting hole 5 is fixed to the cleaning device 4. The upper portion of the cleaning device 4 is fixed in the frame 1 of the universal head 6, and four sets of bearings 7 are provided on the outer side of the universal head 6. To different roles The inside of the universal head 6 is a sensor mounting tube 8 in which a distance sensor is installed to detect the distance between the brush disc 12 and the surface of the hull. One end of the distance sensor is located in the middle of the brush disc 12, and the other end is extended from the upper part of the rack 1 and controlled. The universal joint 9 is connected to the lower end of the universal joint 6. The universal joint 9 includes a fixed head 10 and a movable head 11, and the fixed head 10 and the movable head 11 are relatively movable. The fixed head 10 and the movable head 11 are disposed outside. There is a spring 20, and the movable head 11 is connected with the brush disc 12 to rotate the brush disc 12 to meet the requirements of different hull shapes. The brush disc 12 is circular, and the shaft portion of the brush disc 12 is provided with a shaft seat. The ribs 13 are connected to the pedestal 14 , and the ribs 13 are evenly distributed on the outer circumference of the shaft seat. The susceptor 14 is provided with a plurality of brush plate grooves 15 . The brush plate grooves 15 are fixed with the brush plate 16 through the brush plate fixing holes. A blade fixing hole is arranged on the circumference of the seat 14 for fixing the blade 17. The brush plate 16 is in the shape of a fan. The upper surface of the brush plate 16 is a smooth surface, and the lower surface is provided with a plurality of convex portions 18, and the arc plate side of the brush plate 16 is provided. With the tooth portion 19, the tooth portion 19 is composed of a plurality of bumps to increase the frictional force to better adhere to the hull, and the rotating wheel 2 Between the four scrubbing devices 4, the rotating wheel 2 includes a pair of steering wheels 21 and a pair of driving wheels 22, the driving wheel 22 is powered by a motor control, and the steering wheel 21 is controlled to rotate by the steering device 23 to turn the robot, the electromagnet 3 is provided between the steering wheel 21 and the driving wheel 22 to provide suction so that the underwater robot is attracted to the surface of the hull. The plane of the electromagnet 3 is higher than the plane of the brushing plate 12 without obstructing the contact between the brushing plate 12 and the surface of the hull. The casing seal prevents water from entering. The front and rear ends of the frame 1 are provided with an underwater monitoring device 24, the blade 17 is an annular blade, and a plurality of circular arc grooves 25 are provided on the outer circumference to prevent stress generated when debris is removed. Destroy the blade.

Claims

A hull cleaning brush monitoring underwater robot, characterized in that:

The utility model comprises a frame (1), a rotating wheel (2), an electromagnet (3) and a scrubbing device (4); the frame (1) is surrounded by a closed-loop integrated aluminum alloy layer, and the frame (1) A plurality of cleaning device mounting holes (5) are disposed therein, the cleaning device mounting holes (5) are fixed to the cleaning device (4), and the upper portion of the cleaning device (4) is fixed to the frame (6) 1) inside, the outer side of the universal head (6) is provided with a plurality of sets of bearings (7), the inside of the universal head (6) is a sensor mounting tube (8), and the lower end of the universal head (6) is connected with a universal joint a seat (9), the gimbal (9) includes a fixed head (10) and a movable head (11), and the outer side of the fixed head (10) and the movable head (11) is provided with a spring (20), the activity The head (11) is connected to the brush disc (12), the brush disc (12) is circular, and the middle portion of the brush disc (12) is provided with a shaft seat, and the shaft seat is connected with a base through a plurality of reinforcing ribs (13) (14) The reinforcing ribs (13) are evenly distributed on the outer circumference of the shaft seat, and the base (14) is provided with a plurality of brush plate grooves (15), and the brush plate grooves (15) are fixed by the brush plate The hole is fixed with a brush plate (16), and the base (14) is provided with a blade fixing hole on the circumference for fixing the blade (17), the brush plate (16) is fan-shaped, and the brush plate (16) is The surface is a smooth surface, and the lower surface is provided with a plurality of convex portions (18), and the arc plate side of the brush plate (16) is provided with a tooth portion (19), and the tooth portion (19) is composed of a plurality of convex portions. Composition, the rotating wheel (2) is disposed between a plurality of scrubbing devices (4), the rotating wheel (2) comprising a pair of steering wheels (21) and a pair of driving wheels (22), the driving wheels ( 22) Controlled by a motor, the steering wheel (21) is controlled to rotate by a steering device (23) located between the steering wheel (21) and the driving wheel (22), the frame (1) The upper part is sealed with a casing.
The hull cleaning monitoring underwater robot according to claim 1, wherein a distance sensor is installed in the sensor mounting tube (8), and one end of the distance sensor is located in the middle of the brush tray (12), and the other end is Extend from the upper part of the frame (1) to connect to the controller.
The hull cleaning monitoring underwater robot according to claim 1, characterized in that: the front and rear ends of the frame (1) are provided with underwater monitoring devices (24).
The hull cleaning monitoring underwater robot according to claim 1, wherein the blade (17) is an annular blade, and a plurality of circular arc grooves (25) are disposed on the outer circumference.