CN108438168A - A kind of hull cleaning vehicle - Google Patents
A kind of hull cleaning vehicle Download PDFInfo
- Publication number
- CN108438168A CN108438168A CN201810144530.1A CN201810144530A CN108438168A CN 108438168 A CN108438168 A CN 108438168A CN 201810144530 A CN201810144530 A CN 201810144530A CN 108438168 A CN108438168 A CN 108438168A
- Authority
- CN
- China
- Prior art keywords
- arm
- hull
- car body
- hinged
- cantilever
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
Include car body the invention discloses a kind of hull cleaning vehicle, be arranged vehicle bottom walking mechanism, cleaning mechanism and setting wiper mechanism on the car body in Vehicular body front are set, walking mechanism includes wheel and the crawler belt that is set on wheel, the magnet that several multiple adsorption capacities can change is equipped on crawler belt, magnet is electrically connected with electronic control unit.Cleaning vehicle by the magnet absorption that is arranged on crawler belt on hull, on hull walk, and can change the adsorption capacity of magnet and hull under different working conditions by the control of electronic control unit by wheel driving cleaning vehicle.Cleaning mechanism includes the revolving scraper and implementation shovel for being handled attachment on hull, and revolving scraper is arranged in the front that implementation is shoveled.The advantages of wiper mechanism includes self exciting vibration cavitation efflux side arm and driving mechanism, and self exciting vibration cavitation efflux has cavitation jet and pulsing jet concurrently, have many advantages, such as it is efficient, at low cost, and can make cleaning vehicle on hull attachment cleaning more thoroughly.
Description
Technical field
The invention belongs to shipping cleaning technical fields, and in particular to a kind of hull cleaning vehicle.
Background technology
Since ship is at sea being navigated by water and berthed for a long time, over time, many mosses, sea can be grown on hull
The multiclass microorganism such as algae, can especially adhere to large quantities of marine growths below the water line of hull, such as seaweed, barnacle, oyster, lime
The fresh worm of worm, tongue, cylindrical fireworks Xi etc., the consequence of continuous calcification are to form extremely solid coarse marine growth accumulated layers.This not only can
Headway and the fuel oil consumption of ship are seriously affected, can also generate corrosion failure to hull, that shortens ship itself uses the longevity
Life, so should in time be cleared up the attachment on hull.Currently, the cleaning mode to hull is mostly：Hull berths
Carry out hand-held operation after pulling in shore in water by diver, not only cleaning efficiency is low, human cost is high, but also underwater work is dangerous
It is larger.
Invention content
For deficiency existing for hull clean technologies in the prior art, the purpose of the present invention is to provide a kind of users
Just, work efficiency is high, can carry out underwater operation, the hull cleaning cleaned to hull can be completed during hull navigates by water
Vehicle, for solving in the prior art, artificial diving cleaning hull cleaning efficiency is low, human cost is high, dangerous big problem.
To achieve the above object, the technical scheme is that：A kind of hull cleaning vehicle, including car body, setting are in car body
Cleaning mechanism and setting wiper mechanism on the car body in Vehicular body front, the walking mechanism is arranged in the walking mechanism of bottom
Including wheel and the crawler belt being set on wheel, the magnet that several multiple adsorption capacities can change, institute are equipped on the crawler belt
Magnet is stated to be electrically connected with electronic control unit.
Further, the cleaning mechanism includes the revolving scraper for being handled attachment on hull and implementation
Shovel, the revolving scraper are connected to by the first cantilever on the car body, are carried out shovel and are connected to the car body by the second cantilever
On, the revolving scraper is arranged in the front for carrying out shovel.
Further, one end of first cantilever and the first support shaft on the car body are hinged, first cantilever
One end connect with the revolving scraper, first cantilever is equipped with the first power arm, and one end of first power arm is cut with scissors
It is connected on the car body, the other end of first power arm is hinged on first cantilever.
Further, one end of second cantilever and the second support shaft on the car body are hinged, second cantilever
One end and implementations shovel connect, second cantilever is equipped with the second power arm, and one end of second power arm is hinged
On the car body, the other end of second power arm is hinged on second cantilever.
Further, the wiper mechanism includes self exciting vibration cavitation efflux side arm and driving self exciting vibration cavitation efflux side
The driving mechanism of arm work, the both sides on the car body are equipped with the self exciting vibration cavitation efflux side arm and driving mechanism.
Further, the self exciting vibration cavitation efflux side arm include large arm, the rotating brush that is arranged in large arm and setting
Jet pipe in large arm internal cavities.
Further, the rotating brush is internally provided with cavity structure, and the cavity structure connects equipped with several with outside
Logical spray-hole, the jet pipe are connected to the cavity structure.
Further, the driving mechanism includes support arm, and one end of the support arm and one end of the large arm are hinged,
The other end of the large arm connects the rotating brush, and the other end of the support arm is connected on the car body.
Further, the driving mechanism further includes third power arm and the 4th power arm, and the one of the third power arm
End is hinged on one end far from the rotating brush, the other end of the third power arm in the large arm and is hinged on the support arm
On, one end of the 4th power arm is hinged on the support arm, and the other end of the 4th power arm is hinged on the vehicle
On body, the connection between the support arm and the car body is hinged.
Further, the revolving scraper is cylindrical squirrel-cage revolving scraper, the length of the squirrel-cage revolving scraper
Not less than the length for carrying out shovel.
The advantages of using technical solution of the present invention for：
1. magnet absorption of the hull cleaning vehicle of the present invention by being arranged on crawler belt passes through the driving of wheel on hull
Hull cleaning vehicle can walk on hull, and the operation principle of magnet is consistent with the operation principle of magnet contactor, passes through electronic control unit
Control can change the adsorption capacity of magnet and hull under different working conditions, such as：Hull cleaning vehicle is walked on hull
During, need the magnet of front to be adsorbed with hull, need below magnet with hull to be detached from, electronic control unit can be passed through at this time
Control, make the magnet absorption power to be adsorbed with hull enhance, increase the fastness of connection；Make the magnetic to be adsorbed with hull simultaneously
Body adsorption capacity weakens, and reduces the resistance that hull cleaning garage is walked.
2. the revolving scraper of the present invention carries out rough processing for handling long and hard attachment, and to attachment,
Processing again to carry out shovel is prepared；Carry out shovel for carrying out fining cleaning to hull surface, and can also be Athey wheel
Walking removing obstacles, makes crawler belt be more firmly attached on hull.
3. the self exciting vibration cavitation efflux that the self exciting vibration cavitation efflux side arm of the present invention uses has cavitation jet and arteries and veins concurrently
The advantages of rushing jet stream, has many advantages, such as efficient, at low cost, and the use of self exciting vibration cavitation efflux side arm can make cleaning vehicle
To the more thorough of the attachment cleaning on hull.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments：
Fig. 1 is the overall structure diagram that hull of the present invention cleans vehicle.
Fig. 2 is the front view that hull of the present invention cleans vehicle.
Fig. 3 is the structural schematic diagram of walking mechanism of the present invention installation on the car body.
Fig. 4 is the structural schematic diagram of revolving scraper of the present invention.
Fig. 5 is the structural schematic diagram that the present invention carries out shovel.
Fig. 6 is operation principle of the magnet absorption of the present invention when on hull；
Fig. 7 is operation principle when magnet of the present invention is detached from hull；
Label in above-mentioned figure is respectively：1. car body；11. the first support shaft；12. the second support shaft；2. walking mechanism；
21. wheel；22. crawler belt；23. magnet；231. magnetizer；232. copper coin；233. magnet；3. cleaning mechanism；31. revolving scraper；
32. carrying out shovel；33. the first cantilever；34. the second cantilever；35. the first power arm；36. the second power arm；4. wiper mechanism；41.
Self exciting vibration cavitation efflux side arm；42. driving mechanism；43. large arm；44. rotating brush；441. cavity structure；442. spray-hole；
45. jet pipe；46. support arm；47. third power arm；48. the 4th power arm；5. hull.
Specific implementation mode
In the present invention, it is to be understood that term " length ", " width ", "upper", "lower", "front", "rear", " left side ",
" right side ", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction "
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, be merely for convenience of the description present invention and
Simplify description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of hull cleaning vehicle includes car body 1, is arranged in car body 1
Cleaning mechanism 3 and the wiper mechanism 4 that is arranged on car body 1 in 1 front of car body, walking mechanism is arranged in the walking mechanism 2 of bottom
2 include wheel 21 and the crawler belt 22 being set on wheel 21, and the magnetic that several multiple adsorption capacities can change is equipped on crawler belt 22
Body 23, magnet 23 are electrically connected with electronic control unit.Cleaning vehicle is adsorbed on by the magnet 23 being arranged on crawler belt 22 on hull 5, is led to
Crossing the driving cleaning vehicle of wheel 21 can walk on hull 5.When being cleaned under water to hull 5 using the cleaning vehicle, to institute
Some electrical joints carry out water-proofing treatment.
The operation principle for the magnet 23 that above-mentioned adsorption capacity can change is consistent with the operation principle of magnet contactor, such as Fig. 6 and
The operation principle of magnet 23 shown in Fig. 7 is：Magnet 23 includes two pieces of magnetizers 231 being oppositely arranged that are open, two pieces of magnetizers 231
Centre is separated with non-magnetic copper coin 232, is formed in two pieces of magnetizers 231 and a rotatable magnet 233 is arranged in space,
Electronic control unit control magnet 233 rotates between two pieces of magnetizers 231, when the line of magnetic induction that magnet 233 generates passes through ship by the poles N
When body 5 constitutes a closed circuit to the poles S, magnet 23 is adsorbed on hull 5；When magnet 233 generate the line of magnetic induction by the poles N to
When the poles S are without hull 5, there is no adsorption capacity between magnet 23 and hull 5, it is easy to be detached from from hull 5.
Above-mentioned cleaning mechanism 3 includes the revolving scraper 31 and implementation shovel 32 for being handled attachment on hull 5, rotation
Turn scraper 31 to be connected on car body 1 by the first cantilever 33, carries out shovel 32 and be connected on car body 1 by the second cantilever 34, rotated
Scraper 31 is arranged in the front for carrying out shovel 32.
Preferably, the first support shaft 11 on one end of the first cantilever 33 and car body 1 is hinged, one end of the first cantilever 33 with
Revolving scraper 31 connects, and the first cantilever 33 is equipped with the first power arm 35, and the first power arm 35 is scalable power arm, scalable
Power arm type of drive is to surge, pneumatically or electrically, and one end of the first power arm 35 is hinged on car body 1, the first power arm 35
The other end be hinged on the first cantilever 33.When the first power arm 35 stretches out or shrinks, the first cantilever 33 can be driven around first
Support shaft 11 rotates, to expand the cleanup area of revolving scraper 31.
Preferably, the second support shaft 12 on one end of the second cantilever 34 and car body 1 is hinged, one end of the second cantilever 34 with
Carry out 32 connection of shovel, the second cantilever 34 is equipped with the second power arm 36, and the second power arm 36 is scalable power arm, scalable dynamic
Arm of force type of drive is to surge, pneumatically or electrically, and one end of the second power arm 36 is hinged on car body 1, the second power arm 36
The other end is hinged on the second cantilever 34.When the second power arm 36 stretches out or shrinks, the second cantilever 34 can be driven around second
It supports axis 12 to rotate, to expand the cleanup area for carrying out shovel 32.
Preferably, above-mentioned revolving scraper 31 is cylindrical squirrel-cage revolving scraper, and the length of squirrel-cage revolving scraper is not small
In the length for carrying out shovel 32.Squirrel-cage revolving scraper is conducive to handle long and hard attachment, and carries out rough formula to attachment
Processing, for carry out shovel 32 processing again prepare；Carry out shovel 32 for carrying out fining cleaning to 5 surface of hull, and
It can also be Athey wheel walking removing obstacles, crawler belt 22 is made to be more firmly attached on hull 5.
Above-mentioned wiper mechanism 4 includes 41 work of self exciting vibration cavitation efflux side arm 41 and driving self exciting vibration cavitation efflux side arm
The driving mechanism 42 of work, the both sides on car body 1 are equipped with self exciting vibration cavitation efflux side arm 41 and driving mechanism 42.Self-excited vibration
Cavitation jet side arm 41 is the fluid self-oscillation principle using transient flow theory and marine acoustics, and solid jet, which is modulated into, to be had
Intense pressure vibrates and the novel jet flow of altitude initiation capacity, and cavitation is generated using fluid self-excited vibration；Self-excited vibration
Cavitation jet has the advantages of cavitation jet and pulsing jet concurrently, has many advantages, such as efficient, at low cost.Self exciting vibration cavitation efflux
Side arm 41 can make cleaning vehicle to the more thorough of the attachment cleaning on hull 5.
Above-mentioned self exciting vibration cavitation efflux side arm 41 includes that large arm 43, the rotating brush 44 being arranged in large arm 43 and setting exist
Jet pipe 45 in 43 internal cavities of large arm.It is preferred that being internally provided with cavity structure 441 in rotating brush 44, set on cavity structure 441
There are several spray-holes 442 being connected to outside, jet pipe 45 to be connected to cavity structure 441, the water in jet pipe 45 flows through rotation
Turn the cavity structure 441 inside brush 44 to be ejected on hull 5 by spray-hole 442, hull 5 is cleaned.
Above-mentioned driving mechanism 42 includes support arm 46, and one end of support arm 46 is hinged with one end of large arm 43, large arm 43
The other end connects rotating brush 44, and the other end of support arm 46 is connected on car body 1.It is preferred that driving mechanism 42 further includes that third is dynamic
The arm of force 47 and the 4th power arm 48, the third power arm 47 and the 4th power arm 48 are scalable power arm, scalable power
Arm type of drive is to surge, pneumatically or electrically；One end of third power arm 47 is hinged on one far from rotating brush 44 in large arm 43
End, the other end of third power arm 47 are hinged on support arm 46, and one end of the 4th power arm 48 is hinged on support arm 46, the
The other end of four power arms 48 is hinged on car body 1, and the connection between support arm 46 and car body 1 is hinged.
As shown in Fig. 2, driven when the 4th power arm 48 stretches out support arm 46 around the hinged place of support arm 46 and car body 1 to
Upper rotation drives support arm 46 to be rotated down around support arm 46 and the hinged place of car body 1 when the 4th power arm 48 is shunk；When
Driving large arm 43 is rotated around the hinged place of large arm 43 and support arm 46 to close to the direction of car body 1 when three power arms 47 stretch out, when
Driving large arm 43 is rotated around the hinged place of large arm 43 and support arm 46 to the direction of principle car body 1 when third power arm 47 is shunk；
The stretching of third power arm 47 and the 4th power arm 48 is to clear up ship to expand self exciting vibration cavitation efflux side arm 41 with contraction
The range of body 5 can be improved the working efficiency of cleaning vehicle, expand the use scope of cleaning vehicle.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as use technical solution of the present invention progress various unsubstantialities improvement, or it is not improved by the present invention
Design and technical solution directly apply to other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of hull cleans vehicle, it is characterised in that：Including car body (1), setting car body (1) bottom walking mechanism (2), set
Set car body (1) front cleaning mechanism (3) and wiper mechanism (4) on car body (1) is set, walking mechanism (2) packet
The crawler belt (22) for including wheel (21) and being set on wheel (21), being equipped with several multiple adsorption capacities on the crawler belt (22) can be with
The magnet (23) of change, the magnet (23) are electrically connected with electronic control unit.
2. a kind of hull as described in claim 1 cleans vehicle, it is characterised in that：The cleaning mechanism (3) includes for ship
The revolving scraper (31) and carry out shovel (32) that attachment is handled on body, the revolving scraper (31) passes through the first cantilever (33)
It is connected on the car body (1), carries out shovel (32) and be connected on the car body (1) by the second cantilever (34), the rotation is scraped
Knife (31) setting is in the front for carrying out shovel (32).
3. a kind of hull as described in right wants 2 cleans vehicle, it is characterised in that：One end of first cantilever (33) and the vehicle
The first support shaft (11) on body (1) is hinged, and one end of first cantilever (33) is connect with the revolving scraper (31), described
First cantilever (33) is equipped with the first power arm (35), and one end of first power arm (35) is hinged on the car body (1),
The other end of first power arm (35) is hinged on first cantilever (33).
4. a kind of hull as described in right wants 2 cleans vehicle, it is characterised in that：One end of second cantilever (34) and the vehicle
The second support shaft (12) on body (1) is hinged, and one end and the implementation of second cantilever (34) are shoveled (32) and connect, and described the
Two cantilevers (34) are equipped with the second power arm (36), and one end of second power arm (36) is hinged on the car body (1), institute
The other end for stating the second power arm (36) is hinged on second cantilever (34).
5. a kind of hull as described in Claims 1-4 any one cleans vehicle, it is characterised in that：Wiper mechanism (4) packet
The driving mechanism (42) for including self exciting vibration cavitation efflux side arm (41) and self exciting vibration cavitation efflux side arm (41) being driven to work, institute
It states the both sides on car body (1) and is equipped with the self exciting vibration cavitation efflux side arm (41) and driving mechanism (42).
6. a kind of hull as described in right wants 5 cleans vehicle, it is characterised in that：Self exciting vibration cavitation efflux side arm (41) packet
Include large arm (43), the rotating brush (44) being arranged in large arm (43) and the jet pipe being arranged in large arm (43) internal cavities
(45)。
7. a kind of hull as described in right wants 6 cleans vehicle, it is characterised in that：The rotating brush (44) is internally provided with cavity structure
(441), the cavity structure (441) is equipped with the spray-hole (442) that several are connected to outside, the jet pipe (45) and institute
State cavity structure (441) connection.
8. a kind of hull as described in right wants 6 cleans vehicle, it is characterised in that：The driving mechanism (42) includes support arm
(46), one end of the support arm (46) and one end of the large arm (43) are hinged, and the other end of the large arm (43) connects institute
Rotating brush (44) is stated, the other end of the support arm (46) is connected on the car body (1).
9. a kind of hull as described in right wants 8 cleans vehicle, it is characterised in that：The driving mechanism (42) further includes third power
One end of arm (47) and the 4th power arm (48), the third power arm (47) is hinged in the large arm (43) far from the rotation
Turn one end of brush (44), the other end of the third power arm (47) is hinged on the support arm (46), the 4th power
One end of arm (48) is hinged on the support arm (46), and the other end of the 4th power arm (48) is hinged on the car body
(1) on, the connection between the support arm (46) and the car body (1) is hinged.
10. a kind of hull as described in right wants 2 to 4 any one cleans vehicle, it is characterised in that：The revolving scraper (31) is
Cylindrical squirrel-cage revolving scraper, the length of the squirrel-cage revolving scraper is not less than the length for carrying out shoveling (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810144530.1A CN108438168A (en) | 2018-02-12 | 2018-02-12 | A kind of hull cleaning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810144530.1A CN108438168A (en) | 2018-02-12 | 2018-02-12 | A kind of hull cleaning vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108438168A true CN108438168A (en) | 2018-08-24 |
Family
ID=63192522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810144530.1A Pending CN108438168A (en) | 2018-02-12 | 2018-02-12 | A kind of hull cleaning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108438168A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501977A (en) * | 2018-11-29 | 2019-03-22 | 浙江海洋大学 | Hull cleaning device |
| CN110182333A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning equipment |
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN110723260A (en) * | 2019-08-27 | 2020-01-24 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN110861105A (en) * | 2019-12-01 | 2020-03-06 | 宜昌石铭电子科技有限公司 | Screw clearance robot |
| CN111409786A (en) * | 2020-04-29 | 2020-07-14 | 郑开梅 | Ship body attachment removing device |
| CN111422314A (en) * | 2020-05-20 | 2020-07-17 | 刘若江 | Hull surface attachment cleaning equipment |
| CN111776162A (en) * | 2020-07-14 | 2020-10-16 | 重庆交通大学 | Ship bottom marine fouling organism cleaning robot |
| CN112874718A (en) * | 2021-02-05 | 2021-06-01 | 广东海洋大学 | Trash removal robot |
| CN113086124A (en) * | 2021-05-07 | 2021-07-09 | 重庆锕维科技有限公司 | Underwater robot for cleaning attachments on ship body |
| CN113173229A (en) * | 2021-05-07 | 2021-07-27 | 重庆锕维科技有限公司 | Underwater cleaning robot with collection function |
| CN117302446A (en) * | 2023-04-03 | 2023-12-29 | 淄博蓝谷商贸有限公司 | Hull cleaning system |
| CN117341948A (en) * | 2023-10-07 | 2024-01-05 | 南京苏信交通设施有限公司 | Deep submersible crawler-type drainage robot |
| CN110802072B (en) * | 2019-11-19 | 2024-06-07 | 中船海为高科技有限公司 | Steel curved surface shell cleaning vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109501977A (en) * | 2018-11-29 | 2019-03-22 | 浙江海洋大学 | Hull cleaning device |
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN110182333A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning equipment |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN110723260B (en) * | 2019-08-27 | 2020-09-15 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN110723260A (en) * | 2019-08-27 | 2020-01-24 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN110802072A (en) * | 2019-11-19 | 2020-02-18 | 中船重工海为郑州高科技有限公司 | Steel curved surface casing washs car |
| CN110802072B (en) * | 2019-11-19 | 2024-06-07 | 中船海为高科技有限公司 | Steel curved surface shell cleaning vehicle |
| CN110861105A (en) * | 2019-12-01 | 2020-03-06 | 宜昌石铭电子科技有限公司 | Screw clearance robot |
| CN110861105B (en) * | 2019-12-01 | 2023-06-16 | 青岛奥海特船舶有限公司 | Propeller cleaning robot |
| CN111409786A (en) * | 2020-04-29 | 2020-07-14 | 郑开梅 | Ship body attachment removing device |
| CN111409786B (en) * | 2020-04-29 | 2024-05-14 | 郑开梅 | Hull attachment removing device |
| CN111422314A (en) * | 2020-05-20 | 2020-07-17 | 刘若江 | Hull surface attachment cleaning equipment |
| CN111776162A (en) * | 2020-07-14 | 2020-10-16 | 重庆交通大学 | Ship bottom marine fouling organism cleaning robot |
| CN111776162B (en) * | 2020-07-14 | 2022-06-03 | 重庆交通大学 | Ship bottom marine fouling organism cleaning robot |
| CN112874718B (en) * | 2021-02-05 | 2021-12-21 | 广东海洋大学 | Trash removal robot |
| CN112874718A (en) * | 2021-02-05 | 2021-06-01 | 广东海洋大学 | Trash removal robot |
| CN113173229A (en) * | 2021-05-07 | 2021-07-27 | 重庆锕维科技有限公司 | Underwater cleaning robot with collection function |
| CN113086124A (en) * | 2021-05-07 | 2021-07-09 | 重庆锕维科技有限公司 | Underwater robot for cleaning attachments on ship body |
| CN117302446A (en) * | 2023-04-03 | 2023-12-29 | 淄博蓝谷商贸有限公司 | Hull cleaning system |
| CN117341948A (en) * | 2023-10-07 | 2024-01-05 | 南京苏信交通设施有限公司 | Deep submersible crawler-type drainage robot |
| CN117341948B (en) * | 2023-10-07 | 2024-05-10 | 南京苏信交通设施有限公司 | Deep submersible crawler-type drainage robot |
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Application publication date: 20180824 |