CN112793731A - Novel ship bottom rotating knife cleaning robot - Google Patents
Novel ship bottom rotating knife cleaning robot Download PDFInfo
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- CN112793731A CN112793731A CN202110269768.9A CN202110269768A CN112793731A CN 112793731 A CN112793731 A CN 112793731A CN 202110269768 A CN202110269768 A CN 202110269768A CN 112793731 A CN112793731 A CN 112793731A
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- Prior art keywords
- rotary knife
- cleaning
- component
- assembly
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a novel ship bottom rotary knife cleaning robot which comprises a travelling mechanism, a propelling mechanism, a cleaning mechanism, a rotary knife cleaning assembly and a nylon brush cleaning assembly, wherein the travelling mechanism is a crawler-type mechanism and can provide moving power for the ship bottom rotary knife cleaning robot, an electric bin is fixedly arranged on an installation plate, the propelling mechanism and the cleaning mechanism are respectively arranged on the travelling mechanism, the rotary knife cleaning assembly in the cleaning mechanism comprises a rotary knife assembly, a driving assembly, a lifting assembly and a transmission assembly, the lifting assembly is connected with the driving assembly and the electric bin, the rotary knife cleaning assembly is arranged at the foremost end of the whole robot through the transmission assembly, and the nylon brush cleaning assembly is arranged at the front end of the travelling mechanism. This novel rotatory sword cleaning machines people in hull bottom has replaced diver and the clean workman's in hull bottom work, has avoided high strength and the clean operation of high difficulty, has the advantage that work efficiency is high.
Description
Technical Field
The invention relates to the technical field of ship cleaning, in particular to a novel ship bottom rotating knife cleaning robot.
Background
The bottom and the side of the ship are under water for a long time, so that aquatic organisms are easy to attach to the bottom of the large ship, and when the speed of the ship is lower than a certain level, marine organisms such as barnacles, shellfish and seaweed are attached to and grow on the bottom, the side and the like and are difficult to clean.
At present, two schemes are commonly used for cleaning the ship body, one scheme is that an operator enters a dock and adopts a manual cleaning mode, tools such as a brush or a shovel are used for removing marine organisms adhered to the ship bottom, the other scheme is a method for dispatching a diver to carry cleaning instruments to enter underwater cleaning, the former scheme is high in cost for cleaning the ship due to the fact that the number of docks is limited, the dock number is limited, the requirement for cleaning a large number of ships is difficult to meet, the latter scheme is extremely high in technical requirement for the diver, low in cleaning efficiency, high in operation strength and high in danger, and the efficient and fast cleaning of the ship bottom is not facilitated.
Disclosure of Invention
The invention aims to provide a novel ship bottom rotating knife cleaning robot, and aims to solve the problems that the existing manual cleaning mode for cleaning the bottom of a large ship body is high in cleaning difficulty, high in danger, low in cleaning efficiency and incapable of meeting the cleaning requirements of a large number of ships in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a novel hull bottom rotary knife cleaning machines people, includes running gear, advancing mechanism, clean mechanism, the clean subassembly of rotatory sword and the clean subassembly of nylon brush, running gear is crawler-type mechanism, and running gear can do the hull bottom rotary knife cleaning machines people provides the power of removal to last mounting panel and the electrical storage of being provided with of running gear, electrical storage fixed mounting is on the mounting panel, and electrical storage is connected with control platform on water through the cable to electrical storage is used for receiving control platform's on water instruction, advancing mechanism and clean mechanism install respectively on running gear, and include two propellers on the advancing mechanism to each propeller is used alone or the cooperation can realize advancing, retreating and controlling actions such as upset removal of hull bottom rotary knife cleaning machines people, the clean subassembly of rotatory sword in the clean mechanism includes the rotatory sword subassembly, Drive assembly, lifting unit and drive assembly, and rotatory knife tackle spare is through pivot and lifting unit spare interconnect to drive assembly's one end and rotatory knife tackle spare interconnect, the other end and the drive assembly interconnect of transmission assembly simultaneously, last drive assembly and the electric storehouse of being connected with of lifting unit, and the drive assembly adjusts the lift and the rotation of rotatory sword through the electric signal control lifting unit in electric storehouse, the clean subassembly of rotatory sword passes through drive assembly and installs in whole machine foremost, the clean subassembly of nylon brush install in running gear's front end, and the clean subassembly of nylon brush and the clean subassembly of rotatory sword clean the marine organism attached to hull bottom and side jointly.
Preferably, a crawler belt assembly is arranged in the travelling mechanism, a crawler belt driver, a driving wheel, a driven wheel and a magnetic crawler belt are arranged in the crawler belt assembly, the crawler belt assembly surrounds the periphery of the driving wheel and the periphery of the driven wheel, and the crawler belt assembly controls the travelling mechanism to travel underwater.
Preferably, the rotary knife assembly comprises a rotary knife blade and a rotary drum therein, and the rotary drum is mounted at the lower end of the rotary knife blade.
Preferably, a rotating shaft and a lifting device are included in the lifting assembly, the lifting device can be used for receiving an electric signal of the electric bin to drive and adjust the rotating shaft, and the lifting device can be used for controlling the lifting of the rotary cutter assembly.
Preferably, the observation mechanism is fixedly arranged on the upper side of the front end of the travelling mechanism and comprises a spherical camera and illuminating lamps at two ends of the camera.
Compared with the prior art, the invention has the beneficial effects that: the novel ship bottom rotary knife cleaning robot adopts a novel structural design, when the novel ship bottom rotary knife cleaning robot is used, the structure of the walking mechanism and the propelling mechanism is arranged in the novel ship bottom rotary knife cleaning robot, so that the novel ship bottom rotary knife cleaning robot can provide sufficient moving power for the ship bottom rotary knife cleaning robot, and is firmly attached to the surface of a ship body, so that a high-efficiency and quick cleaning effect is achieved, and the structure of the rotary knife cleaning assembly and the nylon brush cleaning mechanism can be arranged in the cleaning mechanism, so that the novel ship bottom rotary knife cleaning robot can be used for cleaning marine organisms with strong hardness and high adhesion degree attached to the ship bottom and the ship side, the cleaning rate of the marine organisms is effectively improved, and the ship body is prevented from being damaged while the cleaning effect;
1. the device is internally provided with a walking mechanism and a propelling mechanism, the walking mechanism is of a crawler-type structure, a magnetic crawler in a crawler component is firmly adsorbed on a ship body of a magnetic adsorption metal, so that the device can freely move on the ship body, the propelling mechanism comprises two propellers, and the forward, backward, left-right direction overturning and other actions of the ship bottom rotary knife cleaning robot can be realized by using each propeller independently or cooperatively, so that the device can conveniently provide sufficient moving power for the ship bottom rotary knife cleaning robot and is firmly attached to the surface of the ship body, and the aim of efficiently and quickly cleaning the ship body is fulfilled;
2. set up the clean structure of subassembly of rotatory sword and the clean mechanism of nylon brush in the clean mechanism, install in the foremost end of machine through the clean subassembly of rotatory sword, the shellfish that will tightly adhere on the hull is shoveled down, recycle and install the clean mechanism of nylon brush in the front end of two tracks, wash marine life such as marine alga, utilize the clean mechanism of rotatory sword and nylon brush all to be used for cleaing away the principle of marine life attached to hull bottom and ship side, the realization device can be used for cleaing away the hardness of attaching to hull bottom and ship side strong, marine life that the adhesion degree is high, make marine life's clearance effectively promote, and avoid causing the function of damage to the hull when clean effectual.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the bottom rotating knife cleaning robot of the present invention;
FIG. 3 is a schematic diagram of the overall three-dimensional structure of the traveling mechanism of the present invention;
FIG. 4 is a partial perspective view of the traveling mechanism of the present invention;
FIG. 5 is a schematic side view of the rotary knife cleaning assembly of the present invention;
FIG. 6 is a side view of the lifting assembly of the rotary knife cleaning assembly of the present invention;
FIG. 7 is a schematic overall perspective view of the nylon brush cleaning mechanism of the present invention;
FIG. 8 is a schematic view of the overall structure of the propulsion mechanism of the present invention;
fig. 9 is a schematic overall perspective structure of the observation mechanism of the present invention.
In the figure: 1. a traveling mechanism; 10. mounting a plate; 11. an electric bin; 12. a motor driver; 13. a track assembly; 131. a track drive; 132. a drive wheel; 133. a driven wheel; 134. a magnetic crawler; 14. connecting a bracket; 2. a propulsion mechanism; 21. a horizontal thruster; 3. a cleaning mechanism; 31. a rotary knife cleaning assembly; 311. a rotary knife assembly; 3111. a rotary blade; 3112. rotating the drum; 312. a lifting assembly; 3121. a rotating shaft; 3122. a lifting device; 32. a nylon brush cleaning component; 321. a nylon brush head; 322. a connecting frame; 4. an observation mechanism; 41. a spherical camera; 42. an illuminating lamp.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution: a novel ship bottom rotary knife cleaning robot comprises a traveling mechanism 1, a mounting plate 10, an electric bin 11, a motor driver 12, a crawler belt assembly 13, a crawler belt driver 131, a driving wheel 132, a driven wheel 133, a magnetic crawler belt 134, a connecting support 14, a propelling mechanism 2, a horizontal propeller 21, a cleaning mechanism 3, a rotary knife cleaning assembly 31, a rotary knife assembly 311, a rotary knife blade 3111, a rotary roller 3112, a lifting assembly 312, a rotating shaft 3121, a lifting device 3122, a nylon brush cleaning assembly 32, a nylon brush head 321, a connecting support 322, an observation mechanism 4, a spherical camera 41 and an illuminating lamp 42, wherein the traveling mechanism 1 is a crawler belt type mechanism, the traveling mechanism 1 can provide moving power for the ship bottom rotary knife cleaning robot, the traveling mechanism 1 is provided with the mounting plate 10, the electric bin 11, the motor driver 12 and the connecting support 14, the electric bin 11 is fixedly mounted on the mounting plate 10, the electric bin 11 is connected with the above-water control platform through a cable, the electric bin 11 is used for receiving instructions of the above-water control platform, the propelling mechanism 2 and the cleaning mechanism 3 are respectively installed on the walking mechanism 1, the propelling mechanism 2 comprises two horizontal propellers 21, each propeller can be used independently or cooperatively to realize the actions of advancing, retreating, left-right overturning movement and the like of the ship bottom rotary knife cleaning robot, the rotary knife cleaning component 31 in the cleaning mechanism 3 comprises a rotary knife component 311, a driving component, a lifting component 312 and a transmission component, the rotary knife component 311 is connected with the lifting component 312 through a rotating shaft 3121, one end of the transmission component is connected with the rotary knife component 311, the other end of the transmission component is connected with the driving component, the lifting component 312 is connected with the electric bin 11, and the driving component controls the lifting component 312 to adjust the lifting and rotating of the rotary knife through electric signals of the electric bin 11, the clean subassembly 31 of revolving knife is installed in whole machine foremost through transmission assembly, and the clean subassembly 32 of nylon brush is installed in the front end of running gear 1, and the clean subassembly 32 outside of nylon brush is provided with link 322 to the clean subassembly 31 of nylon brush internal brush 321 and the clean marine life who adheres to at the bottom of a ship and ship side jointly of nylon brush.
The crawler belt assembly 13 is arranged in the travelling mechanism 1, the crawler belt assembly 13 comprises a crawler belt driver 131, a driving wheel 132, a driven wheel 133 and a magnetic crawler belt 134, the crawler belt assembly 13 surrounds the periphery of the driving wheel 132 and the driven wheel 133, and meanwhile the crawler belt assembly 13 controls the travelling mechanism 1 to travel underwater.
The rotary blade assembly 311 includes a rotary blade 3111 and a rotary drum 3112 therein, and the rotary drum 3112 is mounted at the lower end of the rotary blade 3111, and the arrangement of the above structure can prevent the blade from hurting the ship body, so as to realize safe and efficient cleaning.
The lifting assembly 312 comprises a rotating shaft 3121 and a lifting device 3122, the lifting device 3122 can be used for receiving an electric signal from the electric bin 11 to drive the adjusting rotating shaft 3121, and the lifting device 3122 can be used for controlling the lifting of the rotary knife assembly 311, the arrangement of the above structure enables the device to facilitate the multi-angle quick removal of marine organisms attached to the bottom and side of the ship.
The observation mechanism 4 is fixedly arranged on the upper side of the front end of the walking mechanism 1, the observation mechanism 4 comprises a spherical camera 41 and illuminating lamps 42 arranged at two ends of the camera, and the arrangement of the structure enables an operator to determine the underwater position of the ship bottom rotating knife cleaning robot and provide a video image of a real-time underwater operation area for the operator.
The working principle is as follows: when the device is used, according to the structure shown in fig. 1, 2, 3 and 4, firstly, an operator connects the electric cabin 11 of the ship bottom rotary knife cleaning robot with the water control platform by using the motor driver 12 on the shore or on the ship, then releases the robot into a target water area by using the winch, observes and confirms the underwater condition by using the spherical camera 41 and the illuminating lamp 42 arranged in the observation mechanism 4, then uses the horizontal propeller 21 arranged in the propulsion mechanism 2 to smoothly move the robot to a proper position, drives the crawler belt assembly 13 to operate by using the motor driver 12 arranged at the bottom of the mounting plate 10 of the walking mechanism 1, at the moment, the crawler belt driver 131 arranged in the crawler belt assembly 13 at the inner side of the connecting bracket 14 simultaneously rotates the driving wheel 132 and the driven wheel 133 to pull the magnetic crawler belt 134 to rotate, and after the magnetic crawler belt 134 with magnetism meets metal, so that the ship body is adsorbed on the side surface of the ship body;
according to the structure shown in fig. 5, 6, 7, 8 and 9, a controller can move the rotary blade 3111 and the rotary drum 3112 installed in the rotary blade assembly 311 up and down by controlling the elevation assembly 312, the rotation shaft 3121 and the elevation device 3122 in the cleaning mechanism 3, at which time the height of the rotary blade assembly 311 can be adjusted by observing through the camera at the front end of the apparatus, then the robot moves back and forth through the walking mechanism 1, the rotary knife cleaning component 31 can do rotary circular motion through the motor driver 12, at the moment, a nylon brush head 321 arranged on the device by utilizing a connecting frame 322 in the nylon brush cleaning component 32 is clung to the bottom of the ship, the nylon brush head 321 and the ship can move forward while cleaning through the movement of the walking mechanism 1, and then realize the clean fast with whole hull bottom, this is this novel hull bottom rotary knife cleaning machines people's theory of operation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a novel hull bottom rotary knife cleaning machines people, includes running gear (1), advancing mechanism (2), clean mechanism (3), clean subassembly of rotary knife (31) and nylon brush clean subassembly (32), its characterized in that: running gear (1) is crawler-type mechanism, and running gear (1) can be for the hull bottom rotary knife cleaning robot provides the power that removes, and be provided with mounting panel (10), electric storehouse (11), motor driver (12) and linking bridge (14) on running gear (1), electric storehouse (11) fixed mounting is on mounting panel (10), and electric storehouse (11) are connected with control platform on water through the cable to electric storehouse (11) are used for receiving the instruction of control platform on water, propulsion mechanism (2) and cleaning mechanism (3) are installed respectively on running gear (1), and include two horizontal propeller (21) on propulsion mechanism (2), and each propeller is used alone or the cooperation can realize advancing, retreating and turning over actions such as removal about the ship bottom rotary knife cleaning robot, rotary knife cleaning assembly (31) in cleaning mechanism (3) include rotary knife subassembly (311), A driving component, a lifting component (312) and a transmission component, wherein the rotary knife component (311) is connected with the lifting component (312) through a rotating shaft (3121), one end of the transmission component is connected with the rotary knife component (311), the other end of the transmission component is connected with the driving component, the lifting component (312) is connected with the driving component and the electric bin (11), the driving component controls the lifting component (312) to adjust the lifting and the rotation of the rotary knife through the electric signal of the electric bin (11), the rotary knife cleaning component (31) is arranged at the foremost end of the whole machine through a transmission component, the nylon brush cleaning component (32) is arranged at the front end of the travelling mechanism (1), a connecting frame (322) is arranged at the outer side of the nylon brush cleaning component (32), and the nylon brush head (321) in the nylon brush cleaning component (32) and the rotary knife cleaning component (31) clean marine organisms attached to the bottom and the side of the ship together.
2. The novel hull bottom rotating knife cleaning robot according to claim 1, characterized in that: be provided with track subassembly (13) in running gear (1), and including track driver (131), drive wheel (132), follow driving wheel (133) and magnetism track (134) in track subassembly (13) to track subassembly (13) centers on the periphery of drive wheel (132) and follow driving wheel (133), and track subassembly (13) control running gear (1) is walked under water simultaneously.
3. The novel hull bottom rotating knife cleaning robot according to claim 1, characterized in that: the rotary knife assembly (311) comprises a rotary knife blade (3111) and a rotary drum (3112), and the rotary drum (3112) is arranged at the lower end of the rotary knife blade (3111).
4. The novel hull bottom rotating knife cleaning robot according to claim 1, characterized in that: the lifting assembly (312) comprises a rotating shaft (3121) and a lifting device (3122), the lifting device (3122) can be used for receiving an electric signal from the electric bin (11) to drive the adjusting rotating shaft (3121), and the lifting device (3122) can be used for controlling the lifting of the rotary knife assembly (311).
5. The novel hull bottom rotating knife cleaning robot according to claim 1, characterized in that: the observation mechanism (4) is fixedly arranged on the upper side of the front end of the travelling mechanism (1), and the observation mechanism (4) comprises a spherical camera (41) and illuminating lamps (42) at two ends of the camera.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269768.9A CN112793731A (en) | 2021-03-12 | 2021-03-12 | Novel ship bottom rotating knife cleaning robot |
| CN202110564897.0A CN113148052A (en) | 2021-03-12 | 2021-05-24 | Novel ship bottom rotating knife cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269768.9A CN112793731A (en) | 2021-03-12 | 2021-03-12 | Novel ship bottom rotating knife cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112793731A true CN112793731A (en) | 2021-05-14 |
Family
ID=75817009
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110269768.9A Pending CN112793731A (en) | 2021-03-12 | 2021-03-12 | Novel ship bottom rotating knife cleaning robot |
| CN202110564897.0A Withdrawn CN113148052A (en) | 2021-03-12 | 2021-05-24 | Novel ship bottom rotating knife cleaning robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110564897.0A Withdrawn CN113148052A (en) | 2021-03-12 | 2021-05-24 | Novel ship bottom rotating knife cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112793731A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715981A (en) * | 2021-09-24 | 2021-11-30 | 中国科学院合肥物质科学研究院 | Device for removing marine organisms at bottom of ship |
-
2021
- 2021-03-12 CN CN202110269768.9A patent/CN112793731A/en active Pending
- 2021-05-24 CN CN202110564897.0A patent/CN113148052A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715981A (en) * | 2021-09-24 | 2021-11-30 | 中国科学院合肥物质科学研究院 | Device for removing marine organisms at bottom of ship |
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| Publication number | Publication date |
|---|---|
| CN113148052A (en) | 2021-07-23 |
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Application publication date: 20210514 |