阅读说明：本技术 一种船舶表面污物清理的活动平台 (Movable platform for cleaning dirt on surface of ship ) 是由 于凯 刘洋 郭春雨 徐鹏 陈帅 杨波 李元弟 于 2019-09-26 设计创作，主要内容包括：一种船舶表面污物清理的活动平台,属于水下机器人作业领域。结构包括承载平台、辅助运动机构、污物清理机构、磁力单元控制器、污物清理机构、水下观测单元,承载平台的两侧下方分别设置运动机构,承载平台的中部下方安装有辅助运动机构,承载平台的上方安装有磁力单元控制器,磁力单元控制器通过控制线路管道中的导线与运动机构、辅助运动机构相连,承载平台的前部下方安装有污物清理机构,承载平台下方安装有水下观测单元,机构连接处均使用防水盒、水密垫圈进行水密处理。本发明吸附力更强,运动稳定性也更好,能源消耗更小,安全性更好,适应性更强,可以实现曲率较大区域的稳定运动,而且转向更灵活,清污工作效率和效果更好。(A movable platform for cleaning dirt on the surface of a ship belongs to the field of underwater robot operation. The structure includes load-bearing platform, the auxiliary motion mechanism, filth clearance mechanism, magnetic force unit controller, filth clearance mechanism, survey the unit under water, load-bearing platform's both sides below sets up motion respectively, auxiliary motion mechanism is installed to load-bearing platform's middle part below, magnetic force unit controller is installed to load-bearing platform's top, magnetic force unit controller passes through wire and motion in the control scheme pipeline, auxiliary motion mechanism links to each other, filth clearance mechanism is installed to load-bearing platform's front portion below, load-bearing platform installs the unit of surveing under water, watertight box is all used to the watertight mechanism below connection department, the watertight packing ring carries out the watertight processing. The invention has stronger adsorption force, better motion stability, less energy consumption, better safety and stronger adaptability, can realize the stable motion of a region with larger curvature, and has more flexible steering and better work efficiency and effect of cleaning dirt.)

1. The utility model provides a movable platform of boats and ships surface filth clearance, its structure includes load-bearing platform (1), auxiliary motion mechanism, filth clearance mechanism, magnetic force unit controller (14), filth clearance mechanism, observation unit under water, its characterized in that: the both sides below of load-bearing platform (1) sets up respectively motion, install the middle part below of load-bearing platform (1) auxiliary motion, install the top of load-bearing platform (1) magnetic force unit controller (14), magnetic force unit controller (14) link to each other with motion, auxiliary motion through the wire in control scheme pipeline (3), and filth clearance mechanism is installed to the front portion below of load-bearing platform (1), and the observation unit under water is installed to load-bearing platform (1) below, and the mechanism junction all uses waterproof box, watertight packing ring to carry out the watertight processing.

2. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the four motion mechanisms are all four, each motion mechanism is composed of two coaxial motion wheels through an inter-wheel connecting piece (11), the inter-wheel connecting piece (11) is connected with the bearing platform (1) through a damping device and an axle tube, the two coaxial motion wheels can move independently, electromagnets (12) and anti-skid gaskets (13) are uniformly fixed on the surfaces of the motion wheels in a staggered mode, the electromagnets (12) are connected with the magnetic unit controller (14) through a control circuit pipeline (3), and watertight boxes and watertight gaskets are used at the joints for watertight treatment.

3. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the auxiliary movement mechanism is composed of a hydraulic telescopic pipe (7) and a magnetic sucker (15), the magnetic sucker (15) is connected with the bearing platform (1) through the hydraulic telescopic pipe (7) and an axle pipe, an electromagnet (12) is fixed on the lower surface of the magnetic sucker (15), the electromagnet (12) is connected with the magnetic unit controller (14) through a control line pipeline (3), and the joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.

4. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the dirt cleaning mechanism comprises a sliding rail (16), a rotating mechanism, an angle regulator and a cavitation water gun (10), the cavitation water gun (10) is connected with the sliding rail (16) through the rotating mechanism and the angle regulator, and an air inlet pipeline (8) and a water supply pipeline (9) of the cavitation water gun (10) are connected with a gun nozzle of the cavitation water gun (10) through a cavitation water pipe.

5. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the underwater observation unit comprises an LED lamp, a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater high-definition camera.

6. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the magnetic force unit controller (14) is placed in a watertight structure, and watertight treatment is carried out on joints of the magnetic force unit controller and the watertight structure by using a waterproof box and a watertight gasket.

Technical Field

The invention belongs to the field of underwater robots, and particularly relates to a movable platform for cleaning dirt on the surface of a ship.

Background

Marine organisms and deposited dirt are often attached to the surface of a ship sailing in the ocean, the sailing resistance of the ship is increased due to the existence of the dirt, the fuel consumption is increased, the surface characteristic of the ship body is damaged, and potential safety hazards are caused due to the damage of a steel structure. Thus, regular cleaning of the vessel surface is of great importance.

The ship body is cleaned in two cleaning areas above the water surface line and below the water surface line, so that the water part is conveniently cleaned and the cost is low; the current main mode of partial clearance under the water is still the manpower clearance, and not only the cost is high, also has very big safety problem simultaneously. In recent years, a novel wall climbing device is developed, a permanent magnet crawler-type structure is adsorbed on the surface of a ship body, but the device also has a great problem: firstly, the crawler belt is rigid in structure, and the crawler belt is easy to fall off from the surface of a ship body when the surface of the ship body with larger curvature is cleaned; secondly, the crawler-type base is applied, so that turning is difficult and flexibility is poor; thirdly, the permanent magnet caterpillar base makes the power that needs bigger, and the energy consumption is more. In addition, the cleaning mode of a high-pressure water gun is mostly adopted at present, the cleaning efficiency is low, and the effect is not good.

Disclosure of Invention

Aiming at the problems, the invention provides a movable platform for cleaning dirt on the surface of a ship.

In order to realize the purpose, the movable platform for cleaning the dirt on the surface of the ship structurally comprises a bearing platform 1, an auxiliary motion mechanism, a dirt cleaning mechanism, a magnetic unit controller 14, a dirt cleaning mechanism and an underwater observation unit, wherein the two sides of the bearing platform 1 are respectively arranged below the motion mechanism and the middle of the bearing platform 1, the auxiliary motion mechanism is arranged below the middle of the bearing platform 1, the upper part of the bearing platform 1 is arranged on the magnetic unit controller 14, the magnetic unit controller 14 is connected with the motion mechanism and the auxiliary motion mechanism through a wire in a control circuit pipeline 3, the dirt cleaning mechanism is arranged below the front part of the bearing platform 1, the underwater observation unit is arranged below the bearing platform 1, and the mechanism joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.

The motion mechanism has four groups, each motion mechanism is composed of two coaxial motion wheels through an inter-wheel connecting piece 11, the inter-wheel connecting piece 11 is connected with the bearing platform 1 through a damping device and an axle tube, the two coaxial motion wheels can move independently, electromagnets 12 and anti-skid gaskets 13 are uniformly fixed on the surfaces of the motion wheels in a staggered mode, the electromagnets 12 are connected with the magnetic unit controller 14 through a control circuit pipeline 3, and watertight treatment is carried out on the joints through waterproof boxes and watertight gaskets.

The auxiliary motion mechanism is composed of a hydraulic telescopic pipe 7 and a magnetic sucker 15, the magnetic sucker 15 is connected with the bearing platform 1 through the hydraulic telescopic pipe 7 and an axle tube, an electromagnet 12 is fixed on the lower surface of the magnetic sucker 15, the electromagnet 12 is connected with the magnetic unit controller 14 through a control line pipeline 3, and the joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.

The dirt cleaning mechanism comprises a sliding rail 16, a rotating mechanism, an angle regulator and a cavitation water gun 10, the cavitation water gun 10 is connected with the sliding rail 16 through the rotating mechanism and the angle regulator, and an air inlet pipeline 8 and a water supply pipeline 9 of the cavitation water gun 10 are connected with a gun nozzle of the cavitation water gun 10 through a cavitation water pipe.

The underwater observation unit comprises an LED lamp, a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater high-definition camera.

The magnetic unit controller 14 is placed in a watertight structure, and the joints of the magnetic unit controller and the magnetic unit controller are subjected to watertight treatment by using a waterproof box and a watertight gasket.

The invention has the beneficial effects that:

according to the movable platform for cleaning the dirt on the surface of the ship, provided by the invention, the electromagnet is arranged on the wheel type movement mechanism, so that the adsorption force is stronger, and the stability during movement is better; compared with a control motor, the electromagnet is used for realizing the platform motion, so that the energy consumption is lower, and the energy waste caused when the permanent magnet is separated from the surface of the adsorption ship is not required to be overcome; compared with the crawler type structure on the market at present, the crawler type structure has the advantages that stable movement of the area with larger curvature can be realized, and the steering is more flexible. With the help of the auxiliary movement device, the safety of the wheel type mechanism is ensured; compared with a common high-pressure water gun, the cavitation water gun has better working efficiency and effect; the use of a series of control mechanisms such as slide rail and angle modulation not only is applicable to general comparatively level hull surface, to complicated areas such as bulbous bow, hull bottom, stern, also can realize the accurate location of cavitation squirt, realizes all-round filth clearance.

Drawings

FIG. 1 is an overall schematic view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a schematic view of the motion mechanism of the present invention;

FIG. 5 is a schematic view of the motion assist mechanism of the present invention;

fig. 6 is a schematic diagram of the cavitation water gun of the present invention.

The specific implementation mode is as follows:

the invention is further described with reference to the accompanying drawings in which: