1411results about "Vessel cleaning" patented technology

The invention relates to an anti-icing-deicing composite surface and a preparation method thereof, and belongs to the field of anti-icing and deicing. The surface comprises a porous material substrate, a super-hydrophobic / hydrophobic lubricating fluid top microstructure and a hydrophobic / hydrophilic lubricating fluid internal microstructure, wherein the super-hydrophobic / hydrophobic lubricating fluid top microstructure and the hydrophobic / hydrophilic lubricating fluid internal microstructure are coupled to the surface of the porous material substrate; lubricating fluid is injected into the surface of the hydrophobic / hydrophilic lubricating fluid internal microstructure; the super-hydrophobic / hydrophobic lubricating fluid top microstructure is located on the surfaces of a plurality of columnar bodies arranged on the porous material substrate in an array mode, namely, the super-hydrophobic / hydrophobic lubricating fluid top microstructure has the super-hydrophobic characteristic to water and lubricating fluid. And the hydrophobic / lubricating fluid-loving internal microstructures are also arranged in the array form, surround the root of each cylindrical object, and have the characteristics of lubricating fluid loving and hydrophobicity. The surface can have anti-icing / ice-dredging properties of super-hydrophobic and super-smooth properties at the same time, that is, the surface can have excellent anti-icing properties of a super-hydrophobic surface, and can also be ice-dredging like a super-smooth surface after the surface is iced, so that ice is easier to remove.

The invention discloses a ship intelligent operation robot based on artificial intelligence, and relates to the technical field of ship equipment. The device comprises a mobile platform, and an operation execution mechanism is arranged at the top of the mobile platform; the operation executing mechanism comprises a driving arm mounted at the top of the movable platform, and a spray gun and a flaw detector which are mounted at the output end of the driving arm. The mobile platform is of a crawler-type structure and is matched with sensing assemblies such as a laser radar and a camera, so that the robot can navigate autonomously and adapt to the complex ship environment, the potential safety hazard that workers enter a dangerous area for operation is avoided, a driving arm in the operation executing mechanism can accurately control the positions of a spray gun and a flaw detector, and the working efficiency is improved. Automatic paint make-up and damage detection are achieved, errors of manual operation are reduced, the rust removal assembly forms a set of complete automatic rust removal system through reciprocating knocking of an impact rod and rotary sweeping of a cleaning roller, and the risk that operators make contact with poisonous and harmful gas and dust is effectively avoided.

A fender structure, comprising a rubber fender (1), which is of a hollow cylinder shape, wherein one end of the rubber fender (1) is connected to a dock sidewall (2); a protective plate (3) vertically arranged at the other end of the rubber fender (1), wherein a rubber layer (4) is provided on the side of the protective plate (3) that is away from the rubber fender (1); a guide column (5), one end of which is horizontally and slidably connected to the protective plate (3), and the other end of which extends to the inside of the rubber fender (1) and is elastically connected to a closed end of the rubber fender (1); and two pairs of chains (6), which are symmetrically arranged on two sides of the rubber fender (1), wherein each pair of chains (6) comprises a first chain and a second chain, ends of the first chain and the second chain are both connected to embedded parts arranged on the dock sidewall (2), and the other ends of the first chain and the second chain are connected to an upper portion and a lower portion of the side of the protective plate (3) that is close to the rubber fender (1). The fender structure has the advantages of effectively reducing the maximum deformation amount during an energy absorption process of a rubber fender, protecting the rubber fender, prolonging the service life of the rubber fender, and achieving good use stability.

A solar boat for easy collection of spilled oil and garbage of the present disclosure includes a cabin unit, a boat body consisting of a pair of ship bottoms having a structure that is symmetrical left and right and spaced apart below the cabin unit, a solar panel unit provided above the cabin unit and configured to convert solar energy into electrical energy, a collection and transfer unit provided between the pair of ship bottoms, driven by the electric energy supplied from the solar panel unit, and configured to collect spilled oil and garbage into the inside of the boat body, a garbage storage unit, and a spilled oil storage unit, wherein the collection and transfer unit comprises a rotating conveyor belt, and an oil adsorption member and a collection member that are attached to and detached from the conveyor belt, and the solar boat for easy collection of spilled oil and garbage of the present disclosure has an effect of having excellent work efficiency by simultaneously including an oil adsorption member and a collection member that are attached to and detached from a conveyor belt and simultaneously proceeding with collection of spilled oil and collection of garbage on the water, and an effect of being able to separate the spilled oil from the oil adsorption member, the collection member, and the garbage and easily move the spilled oil to the spilled oil storage unit by including a steam spray nozzle configured to spray hot steam at the end of the conveyor belt.

This invention introduces a unique two-piece nozzle used to provide air to the hull bottom of a ship, reducing the drag of water friction while in motion. The unique base assembly will mount flush in the bottom portion of a hull of a ship, creating no additional drag when closed. The unique interchangeable and modular nozzle design will allow for maintenance and or development of various designs in the water, without requiring a drydock visit. A flap portion of the nozzle insert will open when air is supplied, releasing small air bubbles to a ship's hull. The flap portion of the nozzle insert may incorporate various materials and passive closing schemes to adjust the air plastron. The present invention creates and maintains an air curtain, called plastron, delivering air underneath a ship hull through an array of nozzles.

The utility model relates to a hydrological buoy emergency monitoring device, and belongs to the technical field of hydrological monitoring. Comprising a body, a cleaning mechanism is arranged at the top end of the body, a plurality of ventilation channels penetrate through the body, a floating plate is fixedly connected to the lower end of the body, and wing plates are fixedly connected to the side faces of the floating plate. By arranging the cleaning mechanism, the side face of the buoy can be effectively cleaned, the situation that aquatic creatures are attached to the buoy is effectively reduced, the working stability of the buoy and the accuracy of data collection are improved, by arranging the ventilating duct and the wing plate, the stability of the buoy is improved, and inclination and swing caused by waves and water flow can be reduced.

A cleaning robot (1000), comprising the overwater machine body (100) and an underwater machine body (200) detachably connected to the overwater machine body (100). The overwater machine body (100) is used for floating on the surface level of a working water area. The underwater machine body (200) is used for cleaning at least one of the working water area and the wall surface of a water pool. The overwater machine body (100) comprises a functional module (2), and the functional module (2) comprises at least one of the following: a power supply module (21), a collection module (22), a drive module (23), a communication module (24), a sensor module (25), a prompt module (26), a water quality testing module (27) and a water quality improvement module (280). The cleaning robot (1000) in the present application can achieve separation of the overwater machine body (100) from the underwater machine body (200), so that the two can be separately used. The overwater machine body (100) can also be assembled and connected with the underwater machine body (200), so that the two can work cooperatively. The overwater machine body (100) can expand the functions of the cleaning robot (1000), so that the functions of the cleaning robot (1000) are diversified.

The invention discloses a real-time monitoring device for ecological restoration of a water environment in the technical field of water environment monitoring. A wireless transmission module for transmitting monitoring data is arranged on the buoy; sliding grooves are formed in the bottoms of the buoys; the bottom of the sliding groove communicates with a rotating groove. An acquisition module is arranged in the sliding groove; the acquisition module comprises a carrier and a pile casing; the carrier is in sliding fit with the sliding groove; the outer side of the carrier is rotationally connected with the inner side of the pile casing; the outer side of the pile casing is rotationally matched with the rotating groove; at least two pairs of openings are symmetrically formed in the bottom of the pile casing; through grooves are formed in the bottom of the carrier; the through groove and the opening are communicated with each other when located on the same straight line. A sensor assembly used for detecting water quality parameters and an adjusting assembly used for controlling deflection of the pile casing based on the flow speed in the through groove are arranged in the through groove. According to the scheme, the pile casing and the carrier structure which are ingeniously designed are combined with the adjusting assembly, automatic cleaning of floating objects attached to the opening is achieved, and normal operation of water quality monitoring is ensured.

The invention discloses a composite multi-frequency marine ultrasonic anti-fouling system and method, relates to the technical field of marine anti-fouling, and aims to change a single-frequency or simple-pulse ultrasonic transmitting mode, transmit composite multi-frequency ultrasonic waves in a wide frequency band, and superpose the ultrasonic waves of multiple frequencies in a transmission medium to generate a cavitation effect so as to achieve the anti-fouling effect. The method is used for avoiding the tolerance of marine organisms, improving the anti-adhesion efficiency and enhancing the effect of a specific area; the wave generating frequency and the working frequency are dynamically adjusted according to the running state and the environment condition of the ship, the energy consumption and the biological adhesion rate of the ship are reduced, and the relation among the biological adhesion rate, low energy consumption and the environment protection requirement is balanced.

The invention relates to a ship ultra-high pressure water rust removal and wall-climbing cleaning equipment, comprising a cleaning disc, a first rotating wheel, a second rotating wheel and a third rotating wheel of a hub motor type arranged outside the cleaning disc, a magnetic adsorption component and a rotatable ultra-high pressure nozzle component are arranged on the cleaning disc, a first driving mechanism for driving the first rotating wheel and the second rotating wheel to synchronously change direction is arranged between the first rotating wheel, the second rotating wheel and the cleaning disc, a second driving mechanism for driving the third rotating wheel to change direction is arranged between the third rotating wheel and the cleaning disc, a shock absorbing mechanism is arranged between the first rotating wheel, the second rotating wheel and the first driving mechanism, and between the third rotating wheel and the second driving mechanism, a third driving mechanism for driving the second rotating wheel to change direction is arranged between the second rotating wheel and the shock absorbing mechanism, based on the ultra-high pressure water rust removal, a rotating wheel type is adopted to replace a crawler type structure, and a shock absorbing mechanism is carried to obtain better space utilization, which is beneficial to automation efficiency and stability, and meets the application requirements of green ship repair surface treatment.

The invention discloses a coating with in-situ plugging and active protection functions as well as a preparation method and application thereof, and belongs to the technical field of metal material surface treatment. An innovative electrolyte design scheme is provided, the commercial 5083 aluminum alloy is subjected to micro-arc oxidation in a phosphate system containing specific cerium salt and a complexing agent, film layer growth and in-situ chemical blocking of micropores are completed in one step, the process is simple, and the obtained coating has excellent blocking firmness and corrosion resistance, has an active protection function and is suitable for large-scale industrial production. And a new solution is provided for improving the durability of the 5083 aluminum alloy in a harsh marine environment.

The invention relates to the technical field of ship berthing, and discloses a ship unberthing and berthing device and a using method thereof.The ship unberthing and berthing device comprises a pressed mechanism, the pressed mechanism further comprises a mounting plate, a fixing support is fixedly connected to the side wall of the mounting plate, before use, the whole device is mounted on the outer wall of a ship, and a pressed sliding frame is influenced by pushing of a spring telescopic rod and is fixed to the outer wall of the ship; the angle between the rotating frame and the mounting plate is reduced along with the reduction of the distance between the port and the ship, and the force applied to the rotating wheel by the rotating frame is continuously increased along with the reduction of the angle of the rotating frame, so that the rotating wheel is forced to slide along the outer wall of the rotating frame; the rotating wheel drives the pressed sliding frame to slide along the inner wall of the mounting plate through the rotating column, in the process, the pressed sliding frame is pushed by the spring telescopic rod to force the rotating frame to expand outwards, the expanding force offsets the transverse force of the feet for the ship to get close to the port, and the situation that friction is too large, and the berthing efficiency of the ship is affected is avoided.

The invention belongs to the technical field of rudder horn, and particularly relates to a high-stability low-resistance large marine rudder horn which comprises a rudder horn main body and an environment temperature sensor, the rudder horn main body is of a hollow structure, and a plurality of reinforcing plates are fixedly arranged in the rudder horn main body at equal intervals up and down; ventilation openings are formed in the upper end of the rudder horn body and the surface of the reinforcing plate, two connecting bases are integrally connected to the rear side of the rudder horn body, and shaft holes are formed in the surfaces of the connecting bases. Heating and deicing of the rudder horn can be automatically triggered at low temperature, and the heating intensity is adjusted according to the environment temperature; after the ice layer is fragile, knocking deicing is automatically started, and the knocking force is regulated and controlled according to the environment temperature; lubricating oil can be automatically injected into the connecting position of the rudder horn and the rudderstock at intervals, temperature compensation is conducted at low temperature to ensure smooth injection, the single-time injection amount is adjusted according to the temperature, the performance of the rudder horn is effectively maintained, and the stable course of a ship is guaranteed.

A water sensor buoy for use in a water environment. The buoy including a buoy hull, a data processing and control unit, a data transmission unit, a power source, a water sensor, a wiper wheel with a wiper to slidably engage the exterior sensor surface upon rotation of the wiper wheel for removal of particulates disposed upon the exterior sensor surface, a water pump and a water jet outlet to direct a water stream at the exterior sensor surface for removal of particulates disposed upon the exterior sensor surface.

A real-time monitoring device for a polar nearshore marine environment is provided, including a cabin body, a main control cabin and a scraping structure, an outer wall of the cabin body is provided with collecting holes, an electric motor is arranged in the main control cabin, the electric motor provides power through a first rotating rod penetrating a side wall of the main control cabin. The scraping structure includes a power structure, a scraper and a collecting bucket, the scraper is arranged outside the cabin body and is fixedly provided with the collecting bucket. The power structure is connected to the first rotating rod and drives the scraper and the collecting bucket to rotate relative to the cabin body, the collecting bucket collects the floating objects on the outer wall and around the cabin body, and the floating objects enter the cabin body through the collecting holes.

The invention relates to a ship bottom dirt removal system and a ship bottom dirt removal process, and belongs to the technical field of ship bottom dirt removal. The ship bottom dirt removal system comprises an underwater robot platform, four multi-degree-of-freedom mechanical arms, a high-pressure water jet nozzle, a sprinkler type coating nozzle, an underwater motor and an ultrasonic generator; the four multi-degree-of-freedom mechanical arms are all installed on the underwater robot platform, the underwater robot platform is provided with an underwater holder, the underwater holder is provided with a high-definition underwater camera, and the underwater robot platform is provided with a water jet pump, a liquid storage water tank and a conveying pump. According to the system, the underwater robot with the path designed through an algorithm can achieve dirt recognition, multi-mode collaborative removal (high-pressure water jet, bio-enzyme and ultrasonic wave) and self-repairing coating spraying, the system has high efficiency, environment friendliness and long-acting antifouling capacity, and the ship maintenance cost and the marine pollution risk can be remarkably reduced.

The invention relates to the technical field of wave concentrators, and discloses a cavitation wave concentrator which comprises a connecting pipe, one end of the connecting pipe is fixedly connected with an adjusting pipeline, one end of the adjusting pipeline is fixedly connected with a cavitation generator, water flow is conveyed from the A direction to the B direction in a resonant cavity, and the water flow is conveyed in the cavitation generator. Water flow is accelerated and local pressure is reduced through the cavitation generation pipe, so that bubbles are induced to be formed and tiny bubbles are manufactured, pressure waves generated by the resonant cavity are spread in fluid in the form of sound waves and are finally reflected and focused through the arc-shaped wave gathering opening, a high-pressure, high-temperature and high-energy gathering area is generated, and the bubbles fully grow up in the area. Grown bubbles are rapidly annihilated when encountering microorganisms through water jet, so that huge impact force and shear force are generated, and barnacles at the bottom of the ship are efficiently washed away in water. According to the device, efficient impact force is achieved through the pressure wave gathering effect and the cavitation effect, then barnacles and other attachments at the bottom of the ship can be easily removed, and the effect is better.

A self-adaptive fender system suitable for LNG side-by-side conveying is applied to an FSRU or FLNG or other fixed offshore LNG treatment platforms, movable fenders are fixed to the bow end and the stern end of a parallel midbody deck of a floating LNG receiving treatment platform respectively, and fixed fenders are fixed to the two ends of a collecting pipe area of the floating LNG receiving treatment platform respectively. The sound wave range finder is fixed to the end close to the bow portion of the fender body located on the bow portion of the parallel midbody deck, and the sound wave range finder is fixed to the end close to the stern portion of the fender body located on the stern portion of the parallel midbody deck. And the actual distance between the floating LNG receiving and processing platform and the LNG ship is continuously measured, the actual distance is compared with the theoretical distance, the movable fender moves till the actual distance is equal to the theoretical distance, and then the fender system automatically adapts to the parallel midbody range of the LNG ship. All the fender devices are always located in the parallel middle bodies of the two ships, and the situation that due to the fact that the positions of traditional fender devices cannot be adjusted, the traditional fender devices are located outside the parallel middle bodies of the LNG ships, and fenders fail is avoided.

The invention discloses FPSO hull rust prevention coating equipment which comprises a base, translation wheels are fixedly connected to the surface of the base, a limiting frame is fixedly connected to the top surface of the base, a lifting plate is slidably connected to the inner wall of the limiting frame, an electric push rod is fixedly connected to the inner wall of the lifting plate, and a universal joint is fixedly connected to the output end of the electric push rod. A fixing plate is fixedly connected to the front face of the universal joint, a fan cover is fixedly connected to the front face of the fixing plate, and an elastic adjusting mechanism is arranged at the output end of an electric push rod, so that grinding, cleaning and spraying work can be conducted on the surface of the ship body in a sectional mode, and rust powder cleaning and rust-proof spraying work can be continuously conducted after rust removal is completed; the processing efficiency of spraying rust prevention of the ship body is effectively improved, and the problem that the rust removal workload and the rust prevention period are greatly increased due to the fact that rust removal work and coating work are carried out separately and the ship body is prone to being corroded repeatedly in the working process is solved.

Apparatuses for marine vessels to maximize solar energy collection are provided, along with systems and methods relating thereto. In some embodiments, an apparatus is mounted on the top of a marine vessel and extends its surface area, facilitating optimal sun exposure for solar panels. In some embodiments, prior to docking, the apparatus can be folded and rotated to fit within the original ship's profile, allowing for efficient cargo loading and unloading from the top as is standard in the cargo industry. In some embodiments, an apparatus comprises a plurality of solar panels and a plurality of skids configured to trail behind a stern portion of a marine vessel.

A system and method for enhancing marine vessel efficiency through integrated hull optimizations is disclosed. The system includes automated bow thruster covers that reduce hull drag and condition water flow, coupled with strategically positioned air lubrication nozzles that create and maintain an air layer under the vessel. The bow thruster covers may be configured as circular doors or parallel panels, optionally incorporating air discharge ports or working in conjunction with dedicated air jets. An intelligent control system optimizes the integrated components using real-time sensor data and computational fluid dynamic analysis. The system modulates air distribution and cover positions based on sea conditions and vessel speed, maintaining optimal efficiency during operation. External surfaces may incorporate superaerophilic structures to enhance air retention and reduce drag. The comprehensive integration of these components provides improved hydrodynamic efficiency while maintaining full bow thruster functionality when required.

The invention discloses a ship deck automatic cleaning and maintenance robot system which comprises a robot body (7) and a robot parking base station (8), and the robot system is provided with an autonomous moving chassis (1), an automatic cleaning module (2), a monitoring sensing module (3), a maintenance toolkit (4), a control and communication unit (5) and a power driving module (6). The invention further discloses an operation method adopted by the robot system. By adopting the technical scheme, the deck cleaning efficiency is obviously improved, and the manual labor intensity is reduced; the automation degree is improved, long-time uninterrupted work can be achieved, and the downtime is shortened; all deck areas are accurately cleaned and covered, the appearance of the ship is guaranteed, the working environment and the comfort degree of ship passengers are improved, and then the working efficiency of ship related workers is improved; and a simple maintenance function is achieved, and the service life of deck equipment and marine devices is prolonged.

The present invention discloses a multi-section arm underwater inspection robot and an operation method thereof, wherein the robot comprises a carrier, a motion module, a control module, a detection module, a cleaning module and a spraying module, wherein the carrier comprises a multi-section arm, and the motion module comprises a plurality of servo motors, wherein the plurality of servo motors are respectively arranged between each two adjacent sections of the arm, and each two adjacent sections of the arm are hinged by the output shaft of the servo motor, so that each two adjacent sections of the arm can rotate relative to each other to form a folded motion mode and an embracing operation state. The present invention solves the contradiction between the maneuverability and versatility of the existing underwater robots; in addition, when performing the operation and maintenance of the marine pile column structure, the present invention can realize the autonomous obstacle crossing of the complex truss nodes and the autonomous transfer of the adjacent trusses, which greatly improves the movement flexibility of the robot.

The invention discloses a bionic machine for hull cleaning and spraying. The bionic machine comprises a body, double heads, eight feet, a spraying device and a walking mechanism. The body adopts a bionic turtle shell design and is internally provided with a water storage tank, a paint storage tank, an energy storage tank and a control processor; double heads are provided with cameras and sensors with AI identification, so that the state of attachments and painted surfaces of the ship body can be intelligently identified; the eight feet adopt flexible limb sections and sucker arrays, can adapt to the curvature of the ship body and realize stable adsorption; the spraying device has a high-pressure cleaning mode and a pressure adjusting spraying mode, and attachment cleaning and protective paint spraying operation can be completed respectively. The bionic eight-legged walking mechanism realizes omnidirectional movement and is matched with a vacuum adsorption system to ensure the operation stability, and an intelligent sensing system is utilized to realize autonomous decision making. The bionic machine achieves autonomous cleaning and spraying operation through system presetting, has the advantages of being high in operation efficiency, wide in coverage, safe and reliable to operate and the like, and remarkably improves the automation level and operation quality of ship body maintenance.

The utility model discloses an underwater adsorbable creeping ship cleaning robot in the technical field of ship cleaning, which comprises a machine body, the top of the machine body is fixedly provided with a second waterproof motor, and the bottom output end of the second waterproof motor is fixedly connected with the top of a connecting frame. Second electromagnets are fixedly installed at the two ends of the bottom of the connecting frame, a flat shovel is fixedly installed at one end of the connecting rod, a water distribution box is fixedly installed at the top of the connecting rod, and multiple sets of high-pressure nozzles are fixedly installed at the bottom of the water distribution box. And external water is conveyed into the high-pressure nozzle at high pressure, the bottom of the ship can be washed, a connecting disc and a cleaning brush can be driven to rotate at a high speed through driving of a third waterproof motor, and therefore the bottom of the ship can be cleaned, and the ship cleaning efficiency is improved.

An in-water boat wash system includes pontoons constructed to float in a body of water in a spaced apart arrangement. A frame is attached to the pontoons such that the frame extends down and away from the pontoon into the body of water when in use. A tank is attached to or supported by the frame. A brush assembly is attached to the pontoon such that the brush assembly extends away from the pontoon into the body of water, the brush assembly shaped to clean the exterior of a boat. A nozzle assembly is attached to the pontoons such that the nozzle assembly extends away from the pontoon into the body of water, the nozzle assembly shaped to clean the exterior of the boat.

The invention discloses a fender buffering structure of a polar icebreaker. The fender buffering structure comprises a fender buffering structure body composed of an outer-layer steel structure and an inner-layer elastic structure. The outer-layer steel structure comprises a fender top plate, fender side plates, fender front and rear end coamings, end limiting cushion blocks, middle limiting cushion blocks and inner limiting toggle plates, the fender top plate, the fender side plates, the fender front and rear end coamings and the hull outer plate form a closed structure, the end limiting cushion blocks are arranged at the two ends of each fender side plate, the middle limiting cushion blocks are arranged in the middles of the fender side plates, and the inner limiting toggle plates are arranged in the middle of the fender side plates. A plurality of internal limiting toggle plates are arranged between the fender side plate and the hull outer plate, and the inner-layer elastic structure is limited through the end limiting cushion blocks, the middle limiting cushion blocks and the internal limiting toggle plates. The device is suitable for ship-ice and ship-ship collision scenes in a polar region complex environment, has a good buffering effect and can provide a good protection effect on a ship body; a fender buffer structure protection area is flexibly arranged according to ship design requirements and functions; and the low-temperature resistance meets the long-term use requirements in a low-temperature environment.

The invention discloses a ship cleaning robot based on a cavitation jet technology. The ship cleaning robot comprises a machine body. A cleaning device is arranged in the middle of the machine body and used for cleaning the ship body. A four-rotor device is arranged at the top of the machine main body and is used for providing water working power; the two thrust vectoring nozzles are arranged on the two sides of the bottom of the robot body and used for assisting the four-rotor device to provide power for hovering in the air, and the underwater propeller provides underwater working power and can move in different directions. The invention further discloses a cleaning method of the ship cleaning robot based on the cavitation jet technology. The robot has an overwater and underwater integrated operation function, rust, barnacles and other marine organisms on a ship body can be removed through cavitation jet flow on the premise that the ship body is not damaged, the application range is wide, movement is flexible, energy consumption is low, the structure is simple, the size is small, efficiency is high, important theoretical and practical significance is achieved for development of ship cleaning robots, and the robot is worthy of popularization and application. The popularization prospect is good.

Apparatus for servicing a structure has one or more buoyancy chambers attached thereto such that the angle of the apparatus when floating may be adjusted. The attachment may be by a pivotal connector with a pivot point at or near a midpoint or centre of gravity of the structure. The apparatus may comprise a frame that can be opened to fit around the structure to be serviced. This may facilitate attachment of the apparatus to angled structures in an aquatic environment.

The utility model provides an anti-collision rubber fender, which belongs to the technical field of ship berthing protection and comprises a fender frame, a clamping seat, a limiting block, a D-shaped rubber fender, a clamping block, a butt joint block, a screw rod and a locking nut, the clamping seat is integrally arranged on the front face of the fender frame, the limiting block is integrally arranged on the front face of the fender frame and located on the side face of the clamping seat, and the D-shaped rubber fender is arranged on the butt joint block. The L-shaped clamping seats are arranged on the edges of the upper end and the lower end of the fender frame, the D-shaped rubber fender can be installed and in butt joint from the side faces of the clamping seats, and the clamping blocks at the upper end and the lower end of the D-shaped rubber fender are embedded into the clamping seats, so that the D-shaped rubber fender can be transversely and horizontally installed on the fender frame, alignment is not needed, and a single person can operate the fender frame. The D-shaped rubber fender is simple in structure and convenient to install, butt joint blocks on the inner side of the D-shaped rubber fender and limiting blocks on the side face of the fender frame can be fixed through screws and locking nuts, buckle type connection is adopted, the D-shaped rubber fender can be rapidly replaced, disassembled and assembled, and maintenance is more convenient.