Bridge pier underwater surface attachment washing system and robot with improved structure

A cleaning robot and cleaning system technology, applied in the direction of motor vehicles, cleaning hollow objects, chemical instruments and methods, etc., can solve the problems of low cleaning efficiency, detachment, and difficulty in finding, so as to reduce the probability of detachment, improve adsorption performance, and improve The effect of adsorption

Active Publication Date: 2020-05-08
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] During the process of cleaning the attachments on the surface of bridge piers using the underwater working robot, the applicant found that when there are deep gullies in some attachments, if the ravine is narrow, it is easy to be covered by some thin layer attachments. Difficult to find, leading to the risk of detaching from the adsorption surface when the negative pressure swirl adsorption devices on both sides pass through the gully at the same time; When the surface of the attachment is more uneven, there is also a risk of detachment from the surface of the attachment
[0006] In addition, when cleaning the attachments on the surface of the pier, it needs to perform multiple transpositions, resulting in low cleaning efficiency

Method used

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  • Bridge pier underwater surface attachment washing system and robot with improved structure
  • Bridge pier underwater surface attachment washing system and robot with improved structure
  • Bridge pier underwater surface attachment washing system and robot with improved structure

Examples

Experimental program
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Effect test

Embodiment 1

[0039] see figure 1, the underwater cleaning system 1 applicable to the cleaning method of the underwater surface attachments of bridge piers of the present invention includes an underwater working robot 2 and a pump arranged on the bridge deck 01 and supplying high-pressure water to the underwater working robot 2 through a composite umbilical cable 10 machine 11, and provide the cables in the composite umbilical cable 10 to supply electric energy and communication signals to the underwater working robot 2, that is, the composite umbilical cable 10 is at least integrated with communication lines, energy supply lines and high-pressure water flow pipes; for communication, it can Use the wireless module to communicate, or add a wireless communication module to communicate in wired and wireless ways. In this embodiment, the underwater working robot 2 constitutes an underwater cleaning robot due to the integrated cleaning module. The composite umbilical cable 10 is composed of a w...

Embodiment 2

[0068] As a description of Embodiment 2 of the present invention, only the differences from the above-mentioned Embodiment 1 will be described below, that is, the structure of the connection device between the cavitation jet cleaning nozzle 21 and the frame 3 is improved to improve work efficiency and increase the scope of application.

[0069] see Figure 11 to Figure 14 , in this embodiment, the cavitation jet cleaning nozzle 21 is installed on the frame 3 through the injection angle adjustment module 7, and the injection angle adjustment module 21 includes a fixed seat 70 fixed on the frame 3, which can rotate around a transverse axis 701 The first turntable 71 that is installed on the fixed base 70 is used to drive the first angle driver that the first turntable 71 rotates around the transverse axis 701, and the second turntable that is installed on the first turntable 71 rotatably around the vertical axis 702 72, and a second corner driver for driving the second turntabl...

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Abstract

The invention relates to a bridge pier underwater surface attachment washing system and a robot with an improved structure, and belongs to the technical field of underwater operation robots. The underwater operation robot comprises a rack, a flexible crawler, a propeller, negative pressure cyclone adsorption devices and an operation system, wherein the flexible crawler is an annular rubber belt provided with a plurality of through holes; the negative pressure cyclone adsorption devices located in an inter-belt space of the flexible crawler are arranged in each side of the rack, and adsorptionopenings of the negative pressure cyclone adsorption devices are formed in the through holes in a penetrating mode to generate an adsorption force on the surface of an operation place; the two or morenegative pressure cyclone adsorption devices which are arranged at intervals are arranged in the inter-belt space on the same side; the two or more negative pressure cyclone adsorption devices are arranged at intervals in the extending direction; and in the traveling process, the one or above adsorption openings are always exist to completely be covered by the through holes. The robot is suitablefor operating the surface of a non-steel structure, and the robot can be widely applied to the fields such as bridge pier surface washing, and flaw detection.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a system for cleaning attachments on the underwater surface of bridge piers and an underwater working robot that can be used to construct the cleaning system. Background technique [0002] After the bridge is built, part of the structure on the bridge will be soaked in water for a long time, such as the bridge pier, and the surface of this part will be attached to sea organisms such as barnacle algae, which will accelerate the corrosion of the bridge body and reduce the service life of the bridge; in addition, the bridge pier The detection and repair of the equipment also need to clean the surface attachments. [0003] In order to solve the above technical problems, the applicant proposes an underwater working robot with improved structure and proposes a method for cleaning the underwater surface attachments of bridge piers based on the underwater working robot, and has...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B3/02B08B9/093B62D57/024
CPCB08B3/02B08B9/093B62D57/024
Inventor 杨灿军赵一冰陈燕虎刘斯悦李佳魏谦笑
Owner ZHEJIANG UNIV
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