Underwater laser cleaning device for ship complex curved surface structure

Abstract

The invention discloses an underwater laser cleaning device for a complex curved surface structure of a ship, and particularly relates to the technical field of ship cleaning, the underwater laser cleaning device comprises a laser generator, a sliding frame, an adjusting electric cylinder and a transverse synchronous drainage cleaning mechanism; the transverse synchronous drainage cleaning mechanism comprises a hinge block, two connecting shafts, a sleeving rod, a connecting rod and a sleeving groove block. The device further comprises a vertical synchronous drainage cleaning mechanism and a flow guide filtering assembly. Through the transverse synchronous drainage cleaning mechanism, separated attached impurities can be synchronously and rapidly shunted on the two sides and discharged on the side along water flow, the situation that the separated impurities hinder a laser irradiation part of the laser cleaning device is avoided, meanwhile, the situation that laser is wasted on the separated attached impurities is avoided, and the service life of the laser cleaning device is prolonged. And the laser cleaning effect of the ship is greatly improved, so that the problem that the laser cleaning effect of the ship is influenced due to the fact that the fallen impurities can block the laser irradiation part of the laser cleaning device is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship cleaning, and more specifically to an underwater laser cleaning device for a ship with a complex curved surface structure. Background Art

[0002] The underwater laser cleaning device for the complex curved surface structure of ships plays an important role in ship maintenance and upkeep. It can quickly remove debris from the complex curved surface structure of ships underwater by using laser technology. Compared with traditional manual cleaning or high-pressure water jet cleaning, laser cleaning has higher efficiency and can significantly shorten the cleaning time.

[0003] In the existing public documents, the patent with patent announcement number CN112478079A discloses an underwater laser cleaning device for ships, which is arranged between two lifting devices through a cleaning base, connected to the lower end of the lifting device, and the floating device is provided with a laser generator, and the cleaning base is provided with a laser head, and the laser generator and the laser head are connected through an optical fiber. The floating device floats directly on the water surface, and the cleaning base is suspended in the water through the lifting device, so that the bottom of the ship can be directly laser cleaned. However, this technology still has the following defects when it is used.

[0004] The complex curved surface structure of a ship needs to be cleaned by an underwater laser cleaning device, which uses laser to irradiate impurities to remove impurities. During the laser irradiation process, the impurities will be separated from the complex curved surface structure of the ship, but the impurities will still be in the water after they fall off. As the water flows, a large amount of impurities will be located in front of the laser of the laser cleaning device, which will still cause the separated impurities to continue to block the front of the laser of the laser cleaning device, making it difficult to quickly discharge the impurities that have fallen off after cleaning, and it is difficult to discharge the impurities up and down. Therefore, the impurities that have fallen off will still hinder the laser irradiation part of the laser cleaning device and affect the laser cleaning effect of the ship. This requires an underwater laser cleaning device for the complex curved surface structure of a ship. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides the following technical solutions: an underwater laser cleaning device for a ship with a complex curved surface structure, comprising a laser generator, a sliding frame and an adjusting electric cylinder, wherein the sliding frame is fixed on the upper surface of the laser generator, the adjusting electric cylinder is fixedly installed on the upper surface of the sliding frame, and a transverse synchronous drainage cleaning mechanism is provided at the output end of the adjusting electric cylinder; the transverse synchronous drainage cleaning mechanism comprises an articulated block fixedly arranged at the output end of the adjusting electric cylinder, and two connecting shafts are fixedly installed on the inner wall of the articulated block, and the outer wall of each connecting shaft is rotatably connected with a sleeve rod; the inner wall of the sleeve rod A connecting rod is rotatably connected to the wall and away from the connecting shaft, a sleeve groove block is fixedly installed at the bottom end of the connecting rod, a connecting sleeve frame is fixedly connected to one side of the sleeve groove block, and a driving rod is rotatably connected to the inner wall of the connecting sleeve frame; an angle sensor is fixedly installed at the top of the driving rod, a waterproof servo motor is fixedly installed at the sensing end of the angle sensor, and a cleaning roller is fixedly connected to the bottom end of the connecting sleeve frame, and a plurality of arc-shaped blades are fixedly connected to the outer wall of the cleaning roller; a vertical synchronous drainage and cleaning mechanism is provided on the upper surface of the regulating electric cylinder; a flow guide filter assembly is provided at one end of the laser generator.

[0006] Preferably, the two sleeve groove blocks are both slidably connected to the sliding frame, and the outer wall of the sleeve groove block and the inner wall of the sliding frame are both smooth surfaces; the two connecting sleeves are symmetrically arranged about the adjusting electric cylinder. The plurality of arc-shaped blades are arranged in a circular ring with equal spacing, and the cross-sectional shape of the arc-shaped blades is an arc. A support block is provided on one side of the waterproof servo motor, and the waterproof servo motor and the connecting sleeve are both fixedly connected to the support block; a reinforcement block is fixedly connected to one side of the angle sensor, and the reinforcement block is fixedly connected to the connecting sleeve. A guide rod is fixedly connected to one side of the inner wall of the sliding frame, and the two sleeve groove blocks are both slidably connected to the guide rod, and the vertical cross-sectional shape of the guide rod is circular. The bottom end of the laser generator is fixedly connected to a support bar, and a downward moving electric cylinder is fixedly installed on the upper surface of the support bar and away from the position of the laser generator; the outer wall of the downward moving electric cylinder is fixedly connected to a mounting frame plate, and the outer wall of the output end of the downward moving electric cylinder is slidably connected to the mounting frame plate, a battery is fixedly installed on the top of the mounting frame plate, and a controller is fixedly connected to the upper surface of the battery.

[0007] When this technology is in use, the electric cylinder is adjusted to push the hinge block to move right, and the hinge block makes the two connecting shafts move right synchronously. The two connecting shafts drive one end of the two sleeve rods to move right synchronously respectively, and the other end of the sleeve rod drives the connecting rod to move backward, so that the sleeve groove block moves backward along the outer wall of the guide rod, the connecting sleeve frame drives the support block to move backward, and the connecting sleeve frame drives the reinforcement block to move backward, so that the connecting sleeve frame drives the drive rod to move backward, the groove ring drives the bearing sleeve to move backward, and the sliding sleeve block moves backward along the outer wall of the sliding column. The cleaning roller will make multiple arc blades move backward synchronously. When the distance value sensed by the lateral distance sensor is the same as the distance value set by the controller, the lateral distance sensor is turned off by the controller. The waterproof servo motor drives the angle sensor sensing end to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed, while another waterproof servo motor drives another angle sensor sensing end to rotate rapidly clockwise by 180 degrees and then rotate counterclockwise by 180 degrees at a low speed. The angle sensor drives the driving rod to rotate rapidly counterclockwise 180 degrees and then rotate clockwise 180 degrees at a low speed. The convex strip drives the groove ring to rotate rapidly counterclockwise 180 degrees and then rotate clockwise 180 degrees at a low speed. The cleaning roller drives multiple arc-shaped blades to rotate rapidly counterclockwise 180 degrees and then rotate clockwise 180 degrees at a low speed. The multiple arc-shaped blades on another cleaning roller can rotate rapidly clockwise 180 degrees and then rotate counterclockwise 180 degrees at a low speed.

[0008] Preferably, the vertical synchronous drainage cleaning mechanism includes a transverse distance sensor fixedly arranged on the upper surface of the adjusting electric cylinder; a sleeve strip is provided on one side of the transverse distance sensor, and the sleeve strip is fixedly connected to the adjusting electric cylinder, a linkage electric cylinder is fixedly installed on the upper surface of the sleeve strip, the output end of the linkage electric cylinder is fixedly connected to a support frame, and a vertical distance sensor is fixedly installed on one side of the sleeve strip; a sliding column is fixedly connected to one side of the inner wall of the support frame, and two sliding sleeves are slidably connected to the outer wall of the sliding column, and one side of each sliding sleeve is fixedly connected to a bearing sleeve; the inner wall of the bearing sleeve is rotatably connected to a groove ring, and the inner wall of the groove ring is slidably connected to a convex strip, and the convex strip is fixedly connected to the driving rod, and the driving rod is slidably connected to the groove ring; a plurality of linkage columns are fixedly connected to the bottom end of the groove ring, and a cleaning push plate is fixedly connected to the bottom end of each linkage column, and the cleaning roller and the arc blade are slidably connected to the cleaning push plate. The two sliding sleeves are slidably connected to the support frame, and the vertical distance sensor is used to sense the moving distance of the support frame.

[0009] When this technology is used, the output end of the linkage electric cylinder moves down along the inner wall of the sleeve strip, and the support frame drives the sliding column to move down quickly. The sliding sleeve drives the bearing sleeve to move down, the groove ring moves down along the outer wall of the convex strip, and the linkage column drives the cleaning push plate to move down, and the impurities attached to the water flow between two adjacent arc-shaped blades are discharged downward. When the distance value sensed by the vertical distance sensor is the same as the displacement distance set by the controller, the linkage electric cylinder drives the support frame to move up, the sliding column causes the two sliding sleeves to move up synchronously, and the linkage column drives the cleaning push plate to move up and reset.

[0010] Preferably, the flow guide filter assembly includes a cleaning laser head fixedly arranged at one end of the laser generator; the top of the outer wall of the cleaning laser head is fixedly connected to an arc cover, and a camera is fixedly installed at one end of the cleaning laser head; the outer wall of the arc cover is fixedly connected to a filter sleeve plate, one side of the filter sleeve plate is slidably connected to two arc filter plates, and the arc blades are rotatably connected to the arc filter plates; the top of each arc filter plate is fixedly connected to a connecting column, the top of the connecting column is fixedly connected to a connecting block, and the connecting block is fixedly connected to the connecting sleeve frame. The outer wall of the arc filter plate is a smooth surface, and the filter sleeve plate and the two arc filter plates are made of stainless steel.

[0011] When this technology is in use, when the water flow in front of the cleaning laser head flows to both sides, the external water flow will be filtered along the two arc-shaped filter plates, and the water flow filtered along the filter sleeve plate will be diverted to the front of the cleaning laser head. The connecting sleeve frame supports the connecting block, and the connecting block supports the connecting column. The attached impurities peeled off by the laser will continue to flow to both sides along the water flow and be diverted and discharged in the vertical direction. The supplementary water flow will be filtered over a large area and refilled in front of the cleaning laser head.

[0012] Technical effects and advantages of the present invention: 1. The present invention uses a lateral synchronous drainage cleaning mechanism to adjust the electric cylinder to push the hinge block to move right, the hinge block allows the two connecting shafts to move right synchronously, the sleeve groove block allows the connecting sleeve frame to move backward, and the connecting sleeve frame drives the driving rod to move backward. The multiple arc blades on the cleaning roller can be located on the side of the cleaning laser head, and the multiple arc blades on another cleaning roller are symmetrically arranged on the other side of the cleaning laser head. The waterproof servo motor drives the angle sensor sensing end to rotate rapidly counterclockwise by 180 degrees and then rotates clockwise by 180 degrees at a low speed, while another waterproof servo motor drives the other angle sensor sensing end to rotate rapidly clockwise by 180 degrees and then rotates counterclockwise by 180 degrees at a low speed. The water flow in front of the cleaning laser head can be diverted to both sides, so that the attached impurities carried by the laser stripping in the water flow will be synchronously and rapidly diverted and discharged to the sides along the water flow, so as to avoid the impurities after falling off from obstructing the laser irradiation part of the laser cleaning device, and at the same time avoid wasting the laser on the attached impurities that have fallen off, thereby greatly improving the laser cleaning effect of ships.

[0013] 2. The present invention adopts a vertical synchronous drainage and cleaning mechanism. The output end of the linkage electric cylinder moves downward along the inner wall of the sleeve strip, and the sliding column drives the two sliding sleeve blocks to move downward synchronously. The sliding sleeve block drives the bearing sleeve to move downward to discharge the attached impurity water flow between two adjacent arc-shaped blades. When the distance value sensed by the vertical distance sensor is the same as the displacement distance set by the controller, the linkage electric cylinder drives the support frame to move upward, and the sliding sleeve block enables the groove ring to drive multiple linkage columns to move upward synchronously. Multiple cleaning push plates can realize vertical drainage operation on the attached impurity water flow on the sides of multiple arc-shaped blades, avoiding laser waste on attached impurities that have fallen off, and greatly improving the laser cleaning effect of ships.

[0014] 3. The present invention uses a diversion and filtering component. When the water flow in front of the cleaning laser head flows to both sides, the external water flow will be filtered along the two arc-shaped filter plates, and the water flow filtered along the filter sleeve plate will be diverted to the front of the cleaning laser head. The cleaning laser head supports the arc cover, the arc cover supports the filter sleeve plate, and the connecting sleeve supports the connecting block. The supplementary water flow will be filtered over a large area and refilled in front of the cleaning laser head, so as to keep the laser continuously cleaning the attached impurities of the complex curved surface structure of the ship, avoid wasting the laser on the attached impurities that have fallen off, and greatly improve the cleaning effect of the complex curved surface structure of the ship.

[0015] According to the mutual influence of the above multiple effects, firstly, the attached impurities carried by the laser in the water flow will be quickly diverted and discharged to the sides along the water flow, and secondly, the attached impurities on the sides of multiple arc-shaped blades can be vertically discharged. Finally, the supplementary water flow will be filtered over a large area and refilled in front of the cleaning laser head. In summary, the impurities removed after cleaning can be quickly discharged to the side, and the impurities can be discharged up and down to avoid the impurities removed from blocking the laser irradiation part of the laser cleaning device, and at the same time avoid wasting the laser on the attached impurities that have already fallen off, greatly improving the laser cleaning effect of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the main structure of the underwater laser cleaning device for complex curved surface structures of ships according to the present invention.

[0017] Figure 2 It is a schematic diagram of the partial structure of the connection between the adjusting electric cylinder and the hinge block of the present invention.

[0018] Figure 3 The figure is a side structural schematic diagram of the underwater laser cleaning device for complex curved surface structures of ships according to the present invention.

[0019] Figure 4 It is a schematic diagram of the partial structure of the connection between the connecting sleeve and the supporting block of the present invention.

[0020] Figure 5 It is a schematic diagram of the partial structure of the connection between the driving rod and the cleaning roller of the present invention.

[0021] Figure 6 It is a schematic diagram of the local structure of the branch truncation of the present invention.

[0022] Figure 7 It is a schematic diagram of a partial structure of a vertical synchronous drainage and cleaning mechanism of the present invention in a truncated front view.

[0023] Figure 8 It is a schematic diagram of the partial structure of the connection between the groove ring and the bearing sleeve of the present invention from a front view.

[0024] Fig. 9 It is a schematic diagram of the partial structure of the cleaning laser head and the arc cover of the present invention.

[0025] Fig.10 For the present invention Fig. 9 Enlarged structural diagram at A in the middle.

[0026] The accompanying drawings are marked as follows: 1, laser generator; 2, sliding frame; 3, adjusting electric cylinder; 4, hinge block; 5, connecting shaft; 6, sleeve rod; 7, connecting rod; 8, sleeve slot block; 9, connecting sleeve frame; 10, driving rod; 11, angle sensor; 12, waterproof servo motor; 13, cleaning roller; 14, arc blade; 15, support block; 16, reinforcement block; 17, guide rod; 18, support bar; 19, lowering electric cylinder; 20, mounting frame plate; 21, battery ; 22. Controller; 23. Horizontal distance sensor; 24. Socket strip; 25. Linkage electric cylinder; 26. Support frame; 27. Vertical distance sensor; 28. Sliding column; 29. ​​Sliding sleeve block; 30. Bearing sleeve; 31. Groove ring; 32. Raised strip; 33. Linkage column; 34. Cleaning push plate; 35. Cleaning laser head; 36. Arc cover; 37. Filter sleeve plate; 38. Arc filter plate; 39. Connecting column; 40. Connecting block; 41. Camera. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] As attached Figure 1-10 An underwater laser cleaning device for a complex curved surface structure of a ship is shown. The underwater laser cleaning device for a complex curved surface structure of a ship is provided with a lateral synchronous drainage cleaning mechanism, a vertical synchronous drainage cleaning mechanism, and a diversion and filtering component. The settings of each mechanism and component can quickly discharge the impurities that fall off after cleaning, and can discharge the impurities up and down, so as to avoid the impurities that fall off blocking the laser irradiation part of the laser cleaning device, and at the same time avoid wasting laser on the attached impurities that have fallen off, thereby greatly improving the laser cleaning effect of the ship. The specific structural settings of each mechanism and component are as follows.

[0029] In this embodiment, as shown in the attached Figure 1 - Attachment Figure 5 As shown, the slide frame 2 is fixed on the upper surface of the laser generator 1, the adjusting electric cylinder 3 is fixedly installed on the upper surface of the slide frame 2, and the output end of the adjusting electric cylinder 3 is provided with a transverse synchronous drainage and cleaning mechanism; the transverse synchronous drainage and cleaning mechanism includes a hinge block 4 fixedly arranged at the output end of the adjusting electric cylinder 3, and two connecting shafts 5 are fixedly installed on the inner wall of the hinge block 4, and the outer wall of each connecting shaft 5 is rotatably connected to a sleeve rod 6; a connecting rod 7 is rotatably connected to the inner wall of the sleeve rod 6 and away from the connecting shaft 5, and a sleeve groove block 8 is fixedly installed on the bottom end of the connecting rod 7, a connecting sleeve frame 9 is fixedly connected to one side of the sleeve groove block 8, and a driving rod 10 is rotatably connected to the inner wall of the connecting rod 6.

[0030] An angle sensor 11 is fixedly installed on the top of the driving rod 10, a waterproof servo motor 12 is fixedly installed on the sensing end of the angle sensor 11, and a cleaning roller 13 is fixedly connected to the bottom end of the connecting sleeve 9, and a plurality of arc-shaped blades 14 are fixedly connected to the outer wall of the cleaning roller 13; a vertical synchronous drainage and cleaning mechanism is provided on the upper surface of the adjusting electric cylinder 3; a flow guide filter assembly is provided at one end of the laser generator 1.

[0031] In this embodiment, as shown in the attached Figure 1 - Attachment Figure 6 As shown, a support block 15 is provided on one side of the waterproof servo motor 12, and the waterproof servo motor 12 and the connecting sleeve 9 are fixedly connected to the support block 15; a reinforcement block 16 is fixedly connected to one side of the angle sensor 11, and the reinforcement block 16 is fixedly connected to the connecting sleeve 9, so that the connecting sleeve 9 can drive the support block 15 to move backward, the support block 15 drives the waterproof servo motor 12 to move backward, and the connecting sleeve 9 drives the reinforcement block 16 to move backward, so as to realize the linkage movement. A guide rod 17 is fixedly connected to one side of the inner wall of the slide frame 2, and the two sleeve groove blocks 8 are slidably connected to the guide rod 17, and the vertical cross-section shape of the guide rod 17 is circular, so that the sleeve groove block 8 can move backward along the outer wall of the guide rod 17, so that the guide rod 17 can realize the guiding operation of the sleeve groove block 8.

[0032] The bottom end of the laser generator 1 is fixedly connected with a support bar 18, and a downward electric cylinder 19 is fixedly installed on the upper surface of the support bar 18 and away from the laser generator 1; the outer wall of the downward electric cylinder 19 is fixedly connected with a mounting frame plate 20, and the outer wall of the output end of the downward electric cylinder 19 is slidably connected to the mounting frame plate 20, and a battery 21 is fixedly installed on the top of the mounting frame plate 20, and a controller 22 is fixedly connected to the upper surface of the battery 21, so that the mounting frame plate 20 can be fixed on the operating boat. In this way, the cleaning laser head 35 is located at the side of the complex curved surface structure of the underwater ship, and the battery 21 supplies power to the controller 22. The controller 22 starts the output end of the downward electric cylinder 19 to move downward along the inner wall of the mounting frame plate 20, and the output end of the downward electric cylinder 19 drives the support bar 18 to move downward, and the support bar 18 drives the laser generator 1 to move downward.

[0033] In this embodiment, as shown in the attached Figure 2 - Attachment Figure 8As shown, the vertical synchronous drainage and cleaning mechanism includes a lateral distance sensor 23 fixedly arranged on the upper surface of the adjusting electric cylinder 3; a sleeve strip 24 is provided on one side of the lateral distance sensor 23, and the sleeve strip 24 is fixedly connected to the adjusting electric cylinder 3, a linkage electric cylinder 25 is fixedly installed on the upper surface of the sleeve strip 24, and a support frame 26 is fixedly connected to the output end of the linkage electric cylinder 25, and a vertical distance sensor 27 is fixedly installed on one side of the sleeve strip 24; a sliding column 28 is fixedly connected to one side of the inner wall of the support frame 26, and two sliding sleeve blocks 29 are slidably connected to the outer wall of the sliding column 28, and a bearing sleeve 30 is fixedly connected to one side of each sliding sleeve block 29.

[0034] The inner wall of the bearing sleeve 30 is rotatably connected with a groove ring 31, and the inner wall of the groove ring 31 is slidably connected with a convex strip 32, and the convex strip 32 is fixedly connected to the driving rod 10, and the driving rod 10 is slidably connected to the groove ring 31; the bottom end of the groove ring 31 is fixedly connected with a plurality of linkage columns 33, and the bottom end of each linkage column 33 is fixedly connected with a cleaning push plate 34, and the cleaning roller 13 and the arc blade 14 are slidably connected to the cleaning push plate 34. The two sliding sleeve blocks 29 are slidably connected to the support frame 26, and the vertical distance sensor 27 is used to sense the moving distance of the support frame 26.

[0035] In this embodiment, as shown in the attached Figure 5 - Attachment Fig.10 As shown, the flow guide filter assembly includes a cleaning laser head 35 fixedly arranged at one end of the laser generator 1; an arc cover 36 is fixedly connected to the top of the outer wall of the cleaning laser head 35, and a camera 41 is fixedly installed at one end of the cleaning laser head 35; a filter sleeve 37 is fixedly connected to the outer wall of the arc cover 36, and two arc filter plates 38 are slidably connected to one side of the filter sleeve 37, and the arc blade 14 is rotatably connected to the arc filter plate 38; a connecting column 39 is fixedly connected to the top of each arc filter plate 38, and a connecting block 40 is fixedly connected to the top of the connecting column 39, and the connecting block 40 is fixedly connected to the connecting sleeve frame 9. The outer wall of the arc filter plate 38 is a smooth surface, and the filter sleeve 37 and the two arc filter plates 38 are made of stainless steel.

[0036] The method of using the underwater laser cleaning device for complex curved surface structures of ships of the present invention is as follows: First, when the present invention is installed, the cleaning personnel take the cleaning operation boat and insert the bolts into the holes of the installation frame plate 20, so that the installation frame plate 20 can be fixed on the operation boat. In this way, the cleaning laser head 35 is located at the side of the complex curved surface structure of the underwater ship, and the controller 22 is powered by the battery 21. The controller 22 starts the output end of the downward electric cylinder 19 to move down along the inner wall of the installation frame plate 20, and the output end of the downward electric cylinder 19 drives the support bar 18 to move down, the support bar 18 drives the laser generator 1 to move down, and the laser generator 1 drives the cleaning laser head 35 to move down, and the image of the complex curved surface structure of the underwater ship is collected through the camera 41, and the attached impurities of the complex curved surface structure of the underwater ship are checked on the display screen of the controller 22. At the same time, the laser generator 1 is turned on, and the laser generated by the laser generator 1 is irradiated on the attached impurities through the cleaning laser head 35 to remove the peeled impurities. A large amount of impurities after peeling will be attached to the water.

[0037] Secondly, when the present invention performs horizontal synchronous drainage cleaning, the controller 22 is started to drive the adjusting electric cylinder 3, the adjusting electric cylinder 3 pushes the hinge block 4 to move right, the hinge block 4 drives the connecting shaft 5 to move right, the hinge block 4 makes the two connecting shafts 5 move right synchronously, the two connecting shafts 5 respectively drive one end of the two sleeve rods 6 to move right synchronously, the other end of the sleeve rod 6 drives the connecting rod 7 to move backward, and the other connecting rod 7 moves forward, and the connecting rod 7 drives the sleeve groove block 8 to move backward. In this way, the sleeve groove block 8 moves backward along the outer wall of the guide rod 17, and at the same time, the sleeve groove block 8 moves backward along the inner wall of the slide frame 2, and the sleeve groove block 8 makes the connecting sleeve frame 9 move backward, the connecting sleeve frame 9 will drive the support block 15 to move backward, the support block 15 drives the waterproof servo motor 12 to move backward, and the connecting sleeve frame 9 drives the reinforcement block 16 to move backward, and the reinforcement block 16 makes the angle sensor 11 move backward. In this way, the connecting sleeve frame 9 drives the driving rod 10 to move backward, the driving rod 10 drives the groove ring 31 to move backward, the groove ring 31 drives the bearing sleeve 30 to move backward, the bearing sleeve 30 drives the sliding sleeve block 29 to move backward, and the sliding sleeve block 29 moves backward along the outer wall of the sliding column 28. At the same time, the sliding sleeve block 29 moves backward along the inner wall of the sliding sleeve block 29, so that the driving rod 10 drives the cleaning roller 13 to move backward, and the cleaning roller 13 causes the multiple arc-shaped blades 14 to move backward synchronously.

[0038] The connecting sleeve 9 approaches the lateral distance sensor 23, and when the distance value sensed by the lateral distance sensor 23 is the same as the distance value set by the controller 22, the lateral distance sensor 23 is turned off by the controller 22. In this way, the multiple arc blades 14 on the cleaning roller 13 can be located on the side of the cleaning laser head 35, and the multiple arc blades 14 on another cleaning roller 13 are symmetrically arranged on the other side of the cleaning laser head 35.

[0039] The waterproof servo motor 12 is started by the controller 22. The waterproof servo motor 12 drives the sensing end of the angle sensor 11 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The other waterproof servo motor 12 drives the sensing end of the other angle sensor 11 to rotate rapidly clockwise by 180 degrees and then rotate counterclockwise by 180 degrees at a low speed. The angle sensor 11 drives the driving rod 10 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The driving rod 10 drives the convex strip 32 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The convex strip 32 drives the groove ring 31 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The groove ring 31 reciprocates on the inner wall of the bearing sleeve 30. In this way, the driving rod 10 drives the cleaning roller 13 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The cleaning roller 13 drives the multiple arc blades 14 to rotate rapidly counterclockwise by 180 degrees and then rotate clockwise by 180 degrees at a low speed. The multiple arc blades 14 on the other cleaning roller 13 can rotate rapidly clockwise by 180 degrees and then rotate counterclockwise by 180 degrees at a low speed. In this way, the water flow in front of the cleaning laser head 35 can be diverted to both sides, so that the attached impurities removed by the laser carried in the water flow can be quickly diverted and discharged along the water flow to both sides, avoiding the attached impurities from continuously blocking the contact in front of the cleaning laser head 35, ensuring that the laser can continuously irradiate other attached impurities of the complex curved surface structure of the ship, and avoiding the laser from being wasted on the attached impurities that have fallen off.

[0040] Then, when the present invention performs vertical synchronous drainage cleaning, the controller 22 starts the linkage electric cylinder 25, and the output end of the linkage electric cylinder 25 moves down along the inner wall of the sleeve strip 24, and at the same time, the output end of the linkage electric cylinder 25 drives the support frame 26 to move down quickly, and the support frame 26 drives the sliding column 28 to move down quickly. At the same time, the sliding column 28 drives the two sliding sleeves 29 to move down synchronously, and the sliding sleeve 29 drives the bearing sleeve 30 to move down, and the bearing sleeve 30 makes the groove ring 31 move down, and the groove ring 31 moves down along the outer wall of the convex strip 32, and the groove ring 31 drives a plurality of linkage columns 33 to move down synchronously, and the linkage column 33 drives the cleaning push plate 34 to move down, and the cleaning push plate 34 moves down along the arc blade 14, and the impurity-attached water flow between two adjacent arc blades 14 is discharged downward.

[0041] The distance sensing of the support frame 26 is realized by the vertical distance sensor 27. When the distance value sensed by the vertical distance sensor 27 is the same as the displacement distance set by the controller 22, the support frame 26 is driven to move upward by the linkage electric cylinder 25. The support frame 26 causes the sliding column 28 to move upward. The sliding column 28 causes the two sliding sleeves 29 to move upward synchronously. The sliding sleeves 29 cause the groove ring 31 to drive multiple linkage columns 33 to move upward synchronously. The linkage column 33 drives the cleaning push plate 34 to move upward and reset. In this way, the multiple cleaning push plates 34 can realize vertical drainage operation on the water flow of attached impurities on the sides of the multiple arc-shaped blades 14, so as to prevent the attached impurities from gathering in front of the cleaning laser head 35.

[0042] Finally, when the present invention performs diversion filtration, when the water flow in front of the cleaning laser head 35 flows to both sides, the external water flow will be filtered along the two arc filter plates 38, and the water flow filtered along the filter sleeve plate 37 will be diverted to the front of the cleaning laser head 35, and the cleaning laser head 35 supports the arc cover 36, and the arc cover 36 supports the filter sleeve plate 37. At the same time, the connecting sleeve frame 9 supports the connecting block 40, the connecting block 40 supports the connecting column 39, and the connecting column 39 provides stable support for the arc filter plate 38. In this way, the attached impurities peeled off by the laser will flow continuously to both sides along the water flow, and be diverted and discharged in the vertical direction, and the supplementary water flow will be filtered over a large area and refilled in front of the cleaning laser head 35, so as to ensure that the attached impurities peeled off by the laser in front of the cleaning laser head 35 will be discharged, so as to keep the laser continuously cleaning the attached impurities of the complex curved surface structure of the ship, and greatly improve the cleaning effect of the complex curved surface structure of the ship.

[0043] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater laser cleaning device for a complex curved surface structure of a ship, comprising a laser generator (1), a slide frame (2) and an adjusting electric cylinder (3), wherein the slide frame (2) is fixed on the upper surface of the laser generator (1), and the adjusting electric cylinder (3) is fixedly mounted on the upper surface of the slide frame (2), characterized in that: The output end of the regulating electric cylinder (3) is provided with a lateral synchronous drainage and cleaning mechanism; The horizontal synchronous drainage cleaning mechanism comprises an articulated block (4) fixedly arranged at the output end of the regulating electric cylinder (3), and two connecting shafts (5) are fixedly installed on the inner wall of the articulated block (4), and the outer wall of each connecting shaft (5) is rotatably connected to a sleeve rod (6); A connecting rod (7) is rotatably connected to the inner wall of the sleeve rod (6) at a position away from the connecting shaft (5); a sleeve groove block (8) is fixedly mounted on the bottom end of the connecting rod (7); a connecting sleeve frame (9) is fixedly connected to one side of the sleeve groove block (8); and a driving rod (10) is rotatably connected to the inner wall of the connecting sleeve frame (9); An angle sensor (11) is fixedly mounted on the top end of the driving rod (10), a waterproof servo motor (12) is fixedly mounted on the sensing end of the angle sensor (11), and a cleaning roller (13) is fixedly connected to the bottom end of the connecting sleeve (9), and a plurality of arc-shaped blades (14) are fixedly connected to the outer wall of the cleaning roller (13); The upper surface of the regulating electric cylinder (3) is provided with a vertical synchronous drainage and cleaning mechanism; A flow guide and filtering component is provided at one end of the laser generator (1).

2. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: The two sleeve groove blocks (8) are both slidably connected to the slide frame (2), and the outer wall of the sleeve groove block (8) and the inner wall of the slide frame (2) are both smooth surfaces; The two connecting sleeves (9) are symmetrically arranged with respect to the adjusting electric cylinder (3).

3. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: The plurality of arc-shaped blades (14) are arranged and distributed equidistantly in a circular ring, and the cross-sectional shape of the arc-shaped blades (14) is an arc shape.

4. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: A support block (15) is provided on one side of the waterproof servo motor (12), and the waterproof servo motor (12) and the connecting sleeve (9) are both fixedly connected to the support block (15); A reinforcement block (16) is fixedly connected to one side of the angle sensor (11), and the reinforcement block (16) is fixedly connected to the connecting sleeve (9).

5. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: A guide rod (17) is fixedly connected to one side of the inner wall of the sliding frame (2), and the two sleeve groove blocks (8) are both slidably connected to the guide rod (17), and the vertical cross-section of the guide rod (17) is circular.

6. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: The bottom end of the laser generator (1) is fixedly connected to a support bar (18), and a downward moving electric cylinder (19) is fixedly installed on the upper surface of the support bar (18) at a position away from the laser generator (1); The outer wall of the downward moving electric cylinder (19) is fixedly connected to a mounting frame plate (20), and the outer wall of the output end of the downward moving electric cylinder (19) is slidably connected to the mounting frame plate (20), a storage battery (21) is fixedly mounted on the top of the mounting frame plate (20), and a controller (22) is fixedly connected to the upper surface of the storage battery (21).

7. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: The vertical synchronous drainage and cleaning mechanism comprises a lateral distance sensor (23) fixedly arranged on the upper surface of the regulating electric cylinder (3); A sleeve strip (24) is provided on one side of the lateral distance sensor (23), and the sleeve strip (24) is fixedly connected to the adjusting electric cylinder (3); a linkage electric cylinder (25) is fixedly mounted on the upper surface of the sleeve strip (24); a support frame (26) is fixedly connected to the output end of the linkage electric cylinder (25); and a vertical distance sensor (27) is fixedly mounted on one side of the sleeve strip (24); A sliding column (28) is fixedly connected to one side of the inner wall of the support frame (26); two sliding sleeves (29) are slidably connected to the outer wall of the sliding column (28); and a bearing sleeve (30) is fixedly connected to one side of each sliding sleeve (29); The inner wall of the bearing sleeve (30) is rotatably connected to a groove ring (31), the inner wall of the groove ring (31) is slidably connected to a convex strip (32), the convex strip (32) is fixedly connected to the driving rod (10), and the driving rod (10) is slidably connected to the groove ring (31); The bottom end of the groove ring (31) is fixedly connected to a plurality of linkage columns (33), the bottom end of each linkage column (33) is fixedly connected to a cleaning push plate (34), and the cleaning roller (13) and the arc-shaped blade (14) are both slidably connected to the cleaning push plate (34).

8. The underwater laser cleaning device for complex curved surface structures of ships according to claim 7, characterized in that: The two sliding sleeve blocks (29) are both slidably connected to the support frame (26), and the vertical distance sensor (27) is used to sense the movement distance of the support frame (26).

9. The underwater laser cleaning device for complex curved surface structures of ships according to claim 1, characterized in that: The diversion and filtering assembly comprises a cleaning laser head (35) fixedly arranged at one end of the laser generator (1); The top end of the outer wall of the cleaning laser head (35) is fixedly connected to an arc-shaped cover (36), and a camera (41) is fixedly mounted on one end of the cleaning laser head (35); the outer wall of the arc-shaped cover (36) is fixedly connected to a filter sleeve (37); one side of the filter sleeve (37) is slidably connected to two arc-shaped filter plates (38), and the arc-shaped blade (14) is rotatably connected to the arc-shaped filter plate (38); The top end of each arc-shaped filter plate (38) is fixedly connected to a connecting column (39), the top end of the connecting column (39) is fixedly connected to a connecting block (40), and the connecting block (40) is fixedly connected to the connecting sleeve (9).

10. The underwater laser cleaning device for complex curved surface structures of ships according to claim 9, characterized in that: The outer wall of the arc-shaped filter plate (38) is a smooth surface, and the filter sleeve plate (37) and the two arc-shaped filter plates (38) are all made of stainless steel.

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