CN205008290U - Hull belt cleaning device - Google Patents
Hull belt cleaning device Download PDFInfo
- Publication number
- CN205008290U CN205008290U CN201520721667.0U CN201520721667U CN205008290U CN 205008290 U CN205008290 U CN 205008290U CN 201520721667 U CN201520721667 U CN 201520721667U CN 205008290 U CN205008290 U CN 205008290U
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- Prior art keywords
- mount pad
- arm
- cleaning device
- rotating shaft
- cleaning
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Abstract
The utility model discloses a hull belt cleaning device, include the robot carrier and install in the belt cleaning device and supporting control system of robot carrier, the robot carrier is equipped with absorption formula wheel and absorbs water the return circuit, the outer circumference of absorption formula wheel evenly is provided with a plurality of sucking discs and the on -off control through sucking disc and the return circuit that absorbs water realizes the operation in aqueous of robot carrier, the utility model discloses a hull belt cleaning device can adsorb in the hull surface to wash the hull surface, accomplishing the cleaning under water of hull, alleviateing personnel's work load, reduce cost improves work efficiency.
Description
Technical field
The utility model relates to automated machine device, particularly relates to a kind of hull cleaning device.
Background technology
Manipulator is widely studied as critical equipment comparatively main in important manufacturing equipment, be mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and the industry such as equipment group and Ferrous Metallurgy, and Underwater resources exploration work, mostly come by the underwater robot or diver that are equipped with manipulator.
Boats and ships are after long-term navigation, ship outer casing below its water line can be formed the dirty layer that one deck is thick, these dirty layers are made up of algae, shellfish attachment, in order to ensure the normal/cruise of boats and ships and extend regular the cleaning boats and ships of needs in its service life, at present, the cleaning of hull is mainly through manually diving or dock cleaning realize, because dirty layer is fine and close and area is large, the underwater cleaning work of hull is often comparatively complicated, therefore cleaning is compared and is taken time and effort, cost is high, and efficiency is low.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of hull cleaning device, can complete the underwater cleaning work of hull, alleviate the workload of personnel, reduce costs, increase work efficiency.
Hull cleaning device of the present utility model, comprises robot carrier and is installed on the cleaning device of robot carrier and supporting control system, and described robot carrier is provided with absorption type wheel and water suction loop; The excircle of described absorption type wheel be evenly provided with multiple sucker and by sucker with water suction loop break-make control realization robot carrier at underwater work.
Further, described absorption type wheel is multiple and to be positioned at robot carrier both lateral sides symmetrical.
Further, described sucker is made up of elastomeric material, and sucker embeds along the radial direction of absorption type wheel and to be installed in absorption type wheel and to protrude from absorption type wheel excircle surface.
Further, the helical blade of the fluid flowing for promoting its inside is provided with in described water suction loop; Described robot carrier is provided with the motor for driving helical blade to rotate.
Further, described cleaning device comprises the first mount pad, cleaning disc and the first blade; Described first mount pad is casing and is provided with inlet, and described cleaning disc to be positioned at below the first mount pad and to be horizontally disposed with, and cleaning disc is rotationally connected with the first mount pad around himself axis single-degree-of-freedom; Described first blade to be located in the first mount pad and to be rotated under the impetus entering the fluid in the first mount pad by inlet, and the first blade is connected to cleaning disc and rotates for driving cleaning disc.
Further, the upper end of described cleaning disc is provided with the first rotating shaft and is rotationally connected with the first mount pad by the first rotating shaft single-degree-of-freedom; Described first rotating shaft is stretched in the first mount pad, and described first blade is fixed on the cylindrical of the first rotating shaft.
Further, the bottom surface of described cleaning disc is provided with bristle; Described first rotating shaft is that hollow shaft makes the inner chamber of cleaning disc communicate with the inner chamber of the first mount pad; The corresponding bristle gap uniformity of diapire of cleaning disc is provided with multiple first jet; Be provided with in described first jet and prevent fluid countercurrent current from entering the first check valve in cleaning disc.
Further, described cleaning device is installed on the longitudinally front side of robot carrier, and the longitudinal direction rear side of described robot carrier is also provided with mechanical arm auxiliary cleaner; Described mechanical arm auxiliary cleaner comprises two mechanical arms and is installed on the clamping device of a mechanical arm and is installed on the cleaning head of another mechanical arm; Described cleaning head comprises the second mount pad, washing barrel and the second blade; Described second mount pad is casing and is provided with inlet, and described washing barrel is rotationally connected with the second mount pad around himself axis single-degree-of-freedom; Described second blade to be located in the second mount pad and to be rotated under the impetus entering the fluid in the second mount pad by inlet, and the second blade is connected to washing barrel and rotates for driving washing barrel.
Further, one end of described washing barrel is provided with the second rotating shaft and is rotationally connected with the second mount pad by this second rotating shaft single-degree-of-freedom; Described second rotating shaft is stretched in the second mount pad, and described second blade is fixed on the cylindrical of the second rotating shaft; One end face of the cylindrical of described washing barrel and washing barrel the second mount pad is dorsad equipped with bristle; Described second rotating shaft is that hollow shaft makes the inner chamber of washing barrel communicate with the inner chamber of the second mount pad; The corresponding bristle gap uniformity of sidewall of washing barrel is provided with multiple second nozzle; Be provided with in described second nozzle and prevent fluid countercurrent current from entering the second check valve in washing barrel; Described clamping device is hydraulic clamp.
Further, described mechanical arm comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Floor installation is in robot carrier; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device and cleaning head are installed on the second arm of corresponding mechanical arm respectively; Second arm of two mechanical arms is all installed with camera.
The beneficial effects of the utility model are: hull cleaning device of the present utility model, can be adsorbed in hull surface, and cleans hull outer surface; Complete the underwater cleaning work of hull, alleviate the workload of personnel, reduce costs, increase work efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the A place zoomed-in view of Fig. 1.
Detailed description of the invention
Fig. 1 is structural representation of the present utility model, Fig. 2 is the top view of Fig. 1, Fig. 3 is the A place zoomed-in view of Fig. 1, as shown in the figure: the hull cleaning device of the present embodiment, comprise robot carrier 1 and be installed on cleaning device and the supporting control system 2 of robot carrier 1, described robot carrier 1 is provided with absorption type wheel 3 and water suction loop 4, the excircle of described absorption type wheel 3 is evenly provided with multiple sucker 5 and by the break-make control realization robot carrier 1 in sucker 5 and water suction loop 4 at underwater work, as shown in Figure 1, the side of robot carrier 1 and the inner face of absorption type wheel 3 fit, the inner face of absorption type wheel 3 is provided with sucker 5 one_to_one corresponding on this absorption type wheel 3 and the discharge orifice be communicated with, the side of described robot carrier 1 is provided with inlet hole that is equal with lowest part discharge orifice and that communicate with water suction loop 4, therefore can remain in vehicle wheel rotation process that the sucker 5 of lowest part communicates with water suction loop 4, absorption type wheel 3 can be driven by independent driving mechanism and rotate, also the profiled holes structure by inlet hole being set to variable area enables relative with one or more discharge orifice and is controlled to switch between one and multiple discharge orifice by supporting control system 2, realize robot carrier 1 along hull surface walking and location, also water suction loop 4 can be communicated with each sucker 5 and on individual channel mounted valve, by the break-make of supporting control system 2 by-pass valve control, realize absorption type wheel 3 along hull surface walking with locate.
In the present embodiment, described absorption type wheel 3 for multiple and to be positioned at robot carrier 1 both lateral sides symmetrical, ensure robot carrier 1 walk and location time stability.
In the present embodiment, described sucker 5 is made up of elastomeric material, sucker 5 embeds along the radial direction of absorption type wheel 3 and is installed in absorption type wheel 3 and protrudes from absorption type wheel 3 outer round surface, as shown in Figure 2, the cylindrical of absorption type wheel 3 is provided with the mounting groove embedded for sucker 5 radial direction, flexible sucker 5 can absorb certain shock loading, makes absorption type wheel 3 be attached to hull surface after sucker 5 adsorption compression simultaneously.
In the present embodiment, in described water suction loop 4, be provided with the helical blade 6 of the fluid flowing for promoting its inside; Described robot carrier 1 is provided with the motor 7 for driving helical blade 6 to rotate, water suction loop 4 comprises the branch road between total water route and the sucker 5 being communicated in total water route and each absorption type wheel 3, helical blade 6 is located in total water route, water suction loop 4 delivery port can directly lead to the external world also can be communicated to cleaning device be cleaning device supply water.
In the present embodiment, described cleaning device comprises the first mount pad 8, cleaning disc 10 and the first blade 9, described first mount pad 8 is for casing and be provided with inlet, and described cleaning disc 10 to be positioned at below the first mount pad 8 and to be horizontally disposed with, and cleaning disc 10 is rotationally connected with the first mount pad 8 around himself axis single-degree-of-freedom, described first blade 9 to be located in the first mount pad 8 and to be rotated under the impetus being entered the fluid in the first mount pad 8 by inlet, first blade 9 is connected to cleaning disc 10 and rotates for driving cleaning disc 10, cleaning device arranges two along robot carrier 1 is transversely arranged, first mount pad 8 is fixed on robot carrier 1, may correspond to cleaning device configuration water under high pressure feedway, water under high pressure feedway is connected to the inlet of the first mount pad 8, also the inlet of the first mount pad 8 can be directly connected in the delivery port in water suction loop 4, all the purpose of this utility model can be realized, fluid driven first blade 9 that utilization enters in the first mount pad 8 and cleaning disc 10 rotate, and utilize the more level and smooth surface of cleaning disc 10 pairs of hulls to clean, be suitable for underwater operation, cost is low.
In the present embodiment, the upper end of described cleaning disc 10 is provided with the first rotating shaft and is rotationally connected with the first mount pad 8 by the first rotating shaft single-degree-of-freedom; Described first rotating shaft is stretched in the first mount pad 8, and described first blade 9 is fixed on the cylindrical of the first rotating shaft; The installation not only achieved between cleaning disc 10 with the first mount pad 8 is connected, and the first rotating shaft also constitutes the installation foundation of the first blade 9, and structure is simple, easily manufactures.
In the present embodiment, the bottom surface of described cleaning disc 10 is provided with bristle; Described first rotating shaft is that hollow shaft makes the inner chamber of cleaning disc 10 communicate with the inner chamber of the first mount pad 8; The corresponding bristle gap uniformity of diapire of cleaning disc 10 is provided with multiple first jet; Be provided with in described first jet and prevent fluid countercurrent current from entering the first check valve in cleaning disc 10, fluid in first mount pad 8 can to enter in cleaning disc 10 and to be sprayed by first jet, self-cleaning is carried out to the bristle on cleaning disc 10, ensure that the high efficiency of cleaning, avoid in cleaning process the program changing cleaning disc 10, cost is relatively low, and economic serviceability is good.
In the present embodiment, described cleaning device is installed on the longitudinally front side of robot carrier 1, and the longitudinal direction rear side of described robot carrier 1 is also provided with mechanical arm auxiliary cleaner; Described mechanical arm auxiliary cleaner comprises two mechanical arms 11 and is installed on the clamping device 12 of a mechanical arm 11 and is installed on the cleaning head of another mechanical arm 11; Described cleaning head comprises the second mount pad 13, washing barrel 14 and the second blade 15; Described second mount pad 13 is casing and is provided with inlet, and described washing barrel 14 is rotationally connected with the second mount pad 13 around himself axis single-degree-of-freedom; Described second blade 15 to be located in the second mount pad 13 and to be rotated under the impetus being entered the fluid in the second mount pad 13 by inlet, and the second blade 15 is connected to washing barrel 14 and rotates for driving washing barrel 14; The cleaning complex-curved due to screw during underwater cleaning etc. is more difficult, and can run into the situations such as rotation during screw cleaning, and Dual-Arm Coordination cleaning can effectively address this problem, an arm clamping, and the mode of an arm cleaning realizes; May correspond to cleaning head configuration water under high pressure feedway, water under high pressure feedway is connected to the inlet of the second mount pad 13, also the inlet of the second mount pad 13 can be directly connected in the delivery port in water suction loop 4, all can realizes the purpose of this utility model.
In the present embodiment, one end of described washing barrel 14 is provided with the second rotating shaft and is rotationally connected with the second mount pad 13 by this second rotating shaft single-degree-of-freedom; Described second rotating shaft is stretched in the second mount pad 13, and described second blade 15 is fixed on the cylindrical of the second rotating shaft; One end face of the cylindrical of described washing barrel 14 and washing barrel 14 second mount pad 13 is dorsad equipped with bristle; Described second rotating shaft is that hollow shaft makes the inner chamber of washing barrel 14 communicate with the inner chamber of the second mount pad 13; The corresponding bristle gap uniformity of sidewall of washing barrel 14 is provided with multiple second nozzle; Be provided with in described second nozzle and prevent fluid countercurrent current from entering the second check valve in washing barrel 14; Described clamping device 12 is hydraulic clamp, and the installation not only achieved between washing barrel 14 with the second mount pad 13 is connected, and the second rotating shaft also constitutes the installation foundation of the second blade 15, and structure is simple, easily manufactures; Cleaning head effectively can adapt to curved surface cleaning, and strong adaptability, can self-cleaning, and ensure that the high efficiency of cleaning, avoid in cleaning process the program changing washing barrel 14, cost is relatively low, and economic serviceability is good.
In the present embodiment, described mechanical arm 11 comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Floor installation is in robot carrier 1; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device 12 and cleaning head are installed on the second arm of corresponding mechanical arm 11 respectively; Second arm of two mechanical arms 11 is all installed with camera 16, and the base of two mechanical arms 11 can be rotationally connected with robot carrier 1 around vertical axes, increases working area; Supporting control system 2 comprises the communication apparatus be connected with camera 16, realizes the control on the bank to robot, two mechanical arm 11 co-operatings to realize complex surface, your cleaning of unstable surface.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (10)
1. a hull cleaning device, is characterized in that: comprise robot carrier and be installed on the cleaning device of robot carrier and supporting control system, and described robot carrier is provided with absorption type wheel and water suction loop; The excircle of described absorption type wheel be evenly provided with multiple sucker and by sucker with water suction loop break-make control realization robot carrier at underwater work.
2. hull cleaning device according to claim 1, is characterized in that: described absorption type wheel is multiple and to be positioned at robot carrier both lateral sides symmetrical.
3. hull cleaning device according to claim 1, is characterized in that: described sucker is made up of elastomeric material, and sucker embeds along the radial direction of absorption type wheel and to be installed in absorption type wheel and to protrude from absorption type wheel excircle surface.
4. hull cleaning device according to claim 1, is characterized in that: the helical blade being provided with the fluid flowing for promoting its inside in described water suction loop; Described robot carrier is provided with the motor for driving helical blade to rotate.
5. hull cleaning device according to claim 1, is characterized in that: described cleaning device comprises the first mount pad, cleaning disc and the first blade; Described first mount pad is casing and is provided with inlet, and described cleaning disc to be positioned at below the first mount pad and to be horizontally disposed with, and cleaning disc is rotationally connected with the first mount pad around himself axis single-degree-of-freedom; Described first blade to be located in the first mount pad and to be rotated under the impetus entering the fluid in the first mount pad by inlet, and the first blade is connected to cleaning disc and rotates for driving cleaning disc.
6. hull cleaning device according to claim 5, is characterized in that: the upper end of described cleaning disc is provided with the first rotating shaft and is rotationally connected with the first mount pad by the first rotating shaft single-degree-of-freedom; Described first rotating shaft is stretched in the first mount pad, and described first blade is fixed on the cylindrical of the first rotating shaft.
7. hull cleaning device according to claim 6, is characterized in that: the bottom surface of described cleaning disc is provided with bristle; Described first rotating shaft is that hollow shaft makes the inner chamber of cleaning disc communicate with the inner chamber of the first mount pad; The corresponding bristle gap uniformity of diapire of cleaning disc is provided with multiple first jet; Be provided with in described first jet and prevent fluid countercurrent current from entering the first check valve in cleaning disc.
8. hull cleaning device according to claim 1, is characterized in that: described cleaning device is installed on the longitudinally front side of robot carrier, and the longitudinal direction rear side of described robot carrier is also provided with mechanical arm auxiliary cleaner; Described mechanical arm auxiliary cleaner comprises two mechanical arms and is installed on the clamping device of a mechanical arm and is installed on the cleaning head of another mechanical arm; Described cleaning head comprises the second mount pad, washing barrel and the second blade; Described second mount pad is casing and is provided with inlet, and described washing barrel is rotationally connected with the second mount pad around himself axis single-degree-of-freedom; Described second blade to be located in the second mount pad and to be rotated under the impetus entering the fluid in the second mount pad by inlet, and the second blade is connected to washing barrel and rotates for driving washing barrel.
9. hull cleaning device according to claim 8, is characterized in that: one end of described washing barrel is provided with the second rotating shaft and is rotationally connected with the second mount pad by this second rotating shaft single-degree-of-freedom; Described second rotating shaft is stretched in the second mount pad, and described second blade is fixed on the cylindrical of the second rotating shaft; One end face of the cylindrical of described washing barrel and washing barrel the second mount pad is dorsad equipped with bristle; Described second rotating shaft is that hollow shaft makes the inner chamber of washing barrel communicate with the inner chamber of the second mount pad; The corresponding bristle gap uniformity of sidewall of washing barrel is provided with multiple second nozzle; Be provided with in described second nozzle and prevent fluid countercurrent current from entering the second check valve in washing barrel; Described clamping device is hydraulic clamp.
10. hull cleaning device according to claim 8, is characterized in that: described mechanical arm comprises base, the first arm, the second arm, the first driving hydraulic cylinder and the second driving hydraulic cylinder; Floor installation is in robot carrier; Described base, the first arm and the second arm are hinged successively; First drives hydraulic cylinder to be connected to for driving the first arm relative to base rotation between base and the first arm, and second drives hydraulic cylinder to be connected between the first arm and the second arm for driving the second arm to roll over relative to first; Clamping device and cleaning head are installed on the second arm of corresponding mechanical arm respectively; Second arm of two mechanical arms is all installed with camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721667.0U CN205008290U (en) | 2015-09-17 | 2015-09-17 | Hull belt cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721667.0U CN205008290U (en) | 2015-09-17 | 2015-09-17 | Hull belt cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205008290U true CN205008290U (en) | 2016-02-03 |
Family
ID=55206918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520721667.0U Expired - Fee Related CN205008290U (en) | 2015-09-17 | 2015-09-17 | Hull belt cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205008290U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| CN111299280A (en) * | 2020-03-04 | 2020-06-19 | 宝悦自动化装备（上海）有限公司 | Cleaning system of transport tank |
| US20210402443A1 (en) * | 2018-05-03 | 2021-12-30 | Petróleo Brasileiro S.A. - Petrobras | Device for cleaning and polishing connections of underwater equipment |
-
2015
- 2015-09-17 CN CN201520721667.0U patent/CN205008290U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| US20210402443A1 (en) * | 2018-05-03 | 2021-12-30 | Petróleo Brasileiro S.A. - Petrobras | Device for cleaning and polishing connections of underwater equipment |
| CN111299280A (en) * | 2020-03-04 | 2020-06-19 | 宝悦自动化装备（上海）有限公司 | Cleaning system of transport tank |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160203 Termination date: 20160917 |