Adsorption device for underwater repair carrier and operation method thereof

Abstract

The invention provides an adsorption device for an underwater repair carrier and an operation method. The adsorption device comprises a vacuum suction barrel and a cleaning assembly. The cleaning assembly comprises a cutter holder and a cleaning cutter assembly; the cutter holder comprises an upper cutter holder and a lower cutter holder; a plurality of follow-up cutter holders are uniformly arranged on the upper cutter holder in the circumferential direction, and each follow-up cutter holder is in positioning connection with the upper cutter holder; the cleaning cutter assembly comprises a plurality of cleaning cutters; when the lower cutter holder ascends and descends, the cleaning cutters synchronously rotate to adjust the front angles of the cleaning cutters, and it can be ensured that the cutter heads of the cleaning cutters always exceed the open end of the vacuum suction barrel. The underwater degaussing surface vacuum adsorption device is applied to vacuum adsorption of an underwater degaussing surface, the telescopic cutter coaxial with the adsorption head is adopted, the cutter can change the front angle according to the hardness degree of attachments, various attachments on the surface of a shell can be efficiently cleaned, and then tight adsorption of an uneven surface is achieved by means of the adjustable airtight ring and the negative pressure vacuum cavity.

Description

Technical Field

[0001] The present invention relates to the fields of underwater surface adsorption devices and underwater repair operations, and particularly to an adsorption device for an underwater repair carrier and an operation method thereof. Background Art

[0002] During their service life, offshore engineering structures and ocean-going ships are extremely vulnerable to damage under harsh marine environments (such as storms, tides, seawater corrosion, collisions between ships and sea ice, etc.), and need to be repaired and maintained in-situ. Integrating operation equipment on an underwater operation platform can improve the automation level of underwater operations, reduce the underwater working time of operators, and lower the difficulty of underwater maintenance work. However, currently, most operation platforms in this scenario are magnetically adsorbed on the surface to be maintained, which cannot meet the operation requirements of some degaussed surfaces, such as the degaussed hulls of military ships and marine engineering equipment made of weakly magnetic materials.

[0003] The complexity of the marine environment also leads to the presence of many attachments on the wall surface to be maintained, such as barnacles, algae, and some shellfish. These attachments usually have hard surfaces and are firmly adhered, making them difficult to clean. If not removed, they will have a great impact on the adsorption effect and may even damage the adsorption device.

[0004] Chinese Patent CN112478109A discloses a Bernoulli suction cup suitable for underwater operations, including an adsorption main body and a thruster arranged inside the adsorption main body. The bottom surface of the adsorption main body is the adsorption surface, and a support structure is arranged at the bottom of the adsorption surface, so that there is a certain gap between the adsorption surface and the surface to be adsorbed during the adsorption process. An environmental flow is generated by the propeller in the thruster, and the support structure of the adsorption surface is used to create a flow gap. This suction cup solves the problem of adsorption on non-magnetic surfaces, but due to using the Bernoulli effect to provide adsorption force, it will cause large water flow disturbance in the working area and low upper limit of adsorption force; in addition, for uneven surfaces and surfaces with foreign objects, a customized process is required to prepare a flexible adsorption surface, and the process is cumbersome.

[0005] Chinese Patent CN110054073A discloses a convex vacuum suction cup. The suction cup film adopts a convex design and uses the convex suction cup film to fit the surface of the adsorbed product. During operation, the liquid between the suction cup and the surface of the adsorbed object is extruded through the process of flattening the convexity of the suction cup film. The fully flattened suction cup film forms a seal with the product surface, and the suction cup is evacuated, creating a vacuum inside the support housing, attracting the suction cup film to separate from the product surface to generate a vacuum, thereby generating adsorption force. This suction cup needs to ensure that the operation surface is flat and there are no protruding foreign objects during operation, otherwise the convex suction cup film cannot be flattened normally, and drainage and tight adsorption cannot be achieved; in addition, this suction cup cannot handle rough surfaces. Summary of the Invention

[0006] The object of the present invention is to provide an adsorption device for underwater repair carriers and its operation method in view of the limitations of existing underwater surface adsorption technologies, which can achieve pre-cleaning of underwater degaussed surfaces, change the rake angle of the cutting tool according to the hardness of the attached substances during cleaning to ensure the stability and cleaning efficiency of the mechanism, and can achieve tight adsorption on the surface after cleaning.

[0007] To solve the above technical problems, the present invention provides the following technical solutions:

[0008] An adsorption device for an underwater repair carrier includes a vacuum suction cylinder and a cleaning assembly. The cleaning assembly includes a tool holder and a cleaning tool assembly; wherein:

[0009] The upper end of the vacuum suction cylinder is arranged in an open manner;

[0010] The tool holder includes an upper tool holder and a lower tool holder; both the upper and lower tool holders are annular and coaxially arranged on the periphery of the vacuum suction cylinder; the upper tool holder is rotatably arranged close to the open end of the vacuum suction cylinder, and the lower tool holder is arranged below the upper tool holder in a liftable manner;

[0011] A number of follower tool holders are evenly arranged along the circumference of the upper tool holder, and each follower tool holder is positioned and connected to the upper tool holder;

[0012] The cleaning tool assembly includes a number of cleaning tools. The cleaning tools are evenly arranged along the circumference of the tool holder and correspond to the follower tool holders one by one. The lower end of each cleaning tool is positioned and connected to the lower tool holder, and the upper end passes through the corresponding follower tool holder and is clamped and fixed by the follower tool holder;

[0013] When the lower tool holder makes a lifting movement, each cleaning tool rotates synchronously to adjust its own rake angle, and it can ensure that the cutting edge part of each cleaning tool always extends beyond the open end of the vacuum suction cylinder.

[0014] Preferably, a lifting actuator mechanism is arranged below the lower tool holder;

[0015] The lifting actuator mechanism includes a fixed frame and more than two hydraulic lifting devices;

[0016] The fixed frame is annular and fixedly sleeved on the periphery of the vacuum suction cylinder;

[0017] The hydraulic lifting devices are evenly distributed along the circumference of the fixed frame, and the lower end of each hydraulic lifting device is connected to the fixed frame, and the upper end is connected to the lower tool holder;

[0018] When the hydraulic lifting devices act synchronously, they drive the lower tool holder to make a lifting movement relative to the upper tool holder.

[0019] Preferably, a guide shaft is arranged between two adjacent cleaning tools;

[0020] The lower end of the guide shaft is fixed to the lower tool holder, and the upper end is arranged through the guide hole arranged at the corresponding position of the upper tool holder.

[0021] Preferably, the lower tool holder includes a lower tool support ring and a plurality of tool restraint seats evenly distributed along the circumference of the lower tool support ring;

[0022] An annular groove is arranged on the outer wall of the vacuum suction cylinder; the lower tool support ring is liftably installed in the annular groove;

[0023] The lower ends of the cleaning tools are positioned and connected through the corresponding tool restraint seats;

[0024] The lower end of the guide shaft is installed on the lower tool support ring.

[0025] Preferably, the upper tool holder includes an annular guide rail and an upper tool support ring;

[0026] The annular guide rail is fixed on the outer wall of the vacuum suction cylinder and is flush with the upper end of the vacuum suction cylinder;

[0027] The inner ring of the tool support ring is slidably connected to the annular guide rail and is linked to the power output end of the rotary drive module; the fixed part of the rotary drive module is installed on the outer wall of the vacuum suction cylinder;

[0028] Under the power action of the rotary drive module, the tool support ring slides along the circumference of the annular guide rail. According to the adsorption device for underwater repair carriers described in claim 5, wherein the annular guide rail is fastened by two symmetrically arranged upper and lower parts through bolts.

[0029] Preferably, the rotary drive module includes a module fixing seat, a power motor and a gear transmission mechanism;

[0030] The module fixing seat is installed on the outer wall of the vacuum suction cylinder;

[0031] The gear transmission mechanism includes a driving gear, a first transmission gear, a second transmission gear and an outer ring gear;

[0032] The power output end of the power motor is meshed with the second transmission gear through the driving gear, the first transmission gear is coaxially arranged with the second transmission gear through a transmission shaft, and the first transmission gear is meshed with the outer ring gear, and the outer ring gear is formed by arranging teeth on the outer ring of the annular guide rail.

[0033] Preferably, the vacuum suction cylinder comprises a cylinder body, a negative pressure adsorption cavity, an adjustable inflatable airtight ring, and a positive and negative pressure generating device. The adjustable inflatable airtight ring is arranged around the top groove of the cylinder body and is driven by an external gas source. The positive and negative pressure generating device is fixed at the bottom of the cylinder body, and the switching and generation of positive and negative pressure are realized through an external gas source.

[0034] Preferably, the cylinder body comprises a cylinder body step, a limit block, a limit driving motor, and a motor mounting bracket. The limit block is mounted on the cylinder body step through a shaft, and a step is also provided on the shaft to prevent the limit block from falling off. The limit block and the limit driving motor are driven by two identical gears in meshing transmission. The limit driving motor is mounted on the motor mounting bracket, and the motor mounting bracket is fixed to the cylinder body step through bolts.

[0035] Another technical object of the present invention is to provide an operation method for an adsorption device for an underwater repair carrier, which is realized based on the above-mentioned adsorption device for an underwater repair carrier, and is characterized by comprising:

[0036] Step 1: Retract the limit block into the cylinder body, and start the hydraulic lifting module to extend the cutter to the highest position above the end face of the cylinder body;

[0037] Step 2: Start the rotary driving module, and at the same time start the positive and negative pressure generating device and set positive pressure to blow high-pressure gas out of the cavity; then make the cutter head contact the surface to clean the attached objects, and perform local movement near the contact surface to clean the entire area to be adsorbed; there are two situations at this time:

[0038] a. If the attached objects are easy to clean and the overall vibration situation is gentle, extend the limit block to restrict the freedom degree of the lower cutter holder in the vertical direction;

[0039] b. If the attached objects have high rigidity and the vibration of the entire device is obvious, control the hydraulic lifting module to descend first. After the cutter loses the lower support, it will also descend accordingly. At this time, only the hydraulic lifting module is used to restrict the freedom degree of the lower cutter holder in the vertical direction to reduce the rake angle of the cutter, which can suppress the vibration of the device;

[0040] Step 3: After the cleaning is completed, turn off the rotary driving module. For situation a, first retract the limit block, lower the hydraulic lifting module back to its original position, and then extend the limit block; for situation b, lower the hydraulic lifting module back to its original position and extend the limit block;

[0041] Step 4: Slowly reduce the gas pressure to zero gradually, and at the same time inflate and pressurize the adjustable inflatable airtight ring;

[0042] Step 5: After the airtight ring is pressurized, the air film surface of the airtight ring contacts the surface to be adsorbed, and start the negative pressure generating device to evacuate the cavity to achieve tight adsorption.

[0043] The present invention provides an adsorption device for underwater repair carriers and its operation method. Compared with the prior art, its beneficial effects are as follows:

[0044] 1. By coaxially arranging a retractable cutting tool on the vacuum adsorption device, the present invention can first remove stubborn impurities on the surface to be operated, and continuously blow the fallen objects away from the area to be operated by the gas generated by the positive pressure generating device. It can avoid the problem that the negative pressure is difficult to maintain and the adsorption force is insufficient due to the uneven surface of the vacuum adsorption device, and at the same time prevent impurities from being sucked into the negative pressure vacuum cavity, thereby causing blockage or damage to the structure.

[0045] 2. Through the combined action of the hydraulic lifting device on the fixing ring, the tool restraint seat on the lower tool support ring, and the follower tool holder on the upper tool support ring, the present invention can achieve the stability of the overall rotary cutting structure while changing the rake angle of the tool, enabling the cleaning module to change the rake angle of the tool in real time according to the hardness of the attached objects and the vibration of the whole machine, thereby ensuring the high efficiency and stability of cleaning.

[0046] 3. The present invention realizes the sealing and maintenance of the negative pressure vacuum area through the adjustable inflatable airtight ring above the cylinder body. During the attachment cleaning stage, the airtight ring is retracted into the annular groove to prevent damage to the airtight ring by the tool and the debris of the attached objects. After the cleaning is completed, the airtight ring is pressurized to make it fully extend, which can effectively improve the negative pressure adsorption effect. At the same time, due to its elasticity, it can adsorb the surface with a certain curvature. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art.

[0048] Figure 1 Schematic diagram of the overall mechanism of an adsorption device for underwater repair carriers provided by an embodiment of the present invention;

[0049] Figure 2 Schematic diagram of the structure of the cylinder body 1 provided by an embodiment of the present invention.

[0050] Figure 3 Schematic diagram of the structure of the upper tool holder 2 provided by an embodiment of the present invention.

[0051] Figure 4 Schematic diagram of the structure of the lower tool holder 3 provided by an embodiment of the present invention.

[0052] Figure 5 Schematic diagram of the structure of the rotary drive module 5 provided by an embodiment of the present invention.

[0053] Figure 6 Schematic diagram of the loading provided by an embodiment of the present invention.

[0054] Explanation of symbols in the figure:

[0055] 1 is the cylinder body, 2 is the upper tool holder, 3 is the lower tool holder, 4 is the fixing frame, 401 is the hydraulic lifting device, and 5 is the slewing drive module;

[0056] 101 is the negative pressure adsorption cavity, 102 is the adjustable inflatable airtight ring, 103 is the annular groove, 104 is the cylinder body step, 105 is the limit block, 106 is the limit drive motor, 107 is the motor mounting frame, and 108 is the positive and negative pressure generating device;

[0057] 201 is the annular guide rail, 202 is the outer ring gear, 203 is the upper tool support ring, 204 is the guide hole, and 205 is the follower tool holder;

[0058] 301 is the lower tool support ring, 302 is the guide shaft, 303 is the tool restraint seat, and 304 is the cleaning tool;

[0059] 501 is the first transmission gear, 502 is the transmission shaft, 503 is the second transmission gear, 504 is the drive gear, 505 is the module fixing seat, and 506 is the power motor;

[0060] A is the vector thrust pump, B is the first joint arm, C is the second joint arm, and D is the adsorption device for the underwater repair carrier in the present invention. Specific embodiments

[0061] To deepen the understanding of the present invention, we will further elaborate on the present invention in conjunction with the accompanying drawings below. This embodiment is only used to explain the present invention and does not constitute a limitation on the protection scope of the present invention.

[0062] (1) An adsorption device for an underwater repair carrier

[0063] The first aspect of the embodiments of the present application provides an adsorption device for an underwater repair carrier. Combining Figure 1, the adsorption device for the underwater repair carrier includes a vacuum suction cylinder and a cleaning component. The cleaning component includes a tool holder and a cleaning tool assembly. Among them: the upper end of the vacuum suction cylinder is arranged in an open manner. The tool holder includes an upper tool holder 2 and a lower tool holder 3. Both the upper tool holder 2 and the lower tool holder 3 are annular and coaxially arranged on the periphery of the vacuum suction cylinder. The upper tool holder 2 is rotatably arranged close to the open end of the vacuum suction cylinder, while the lower tool holder 3 is arranged below the upper tool holder 2 in a liftable manner. A number of follower tool holders 205 are evenly arranged along the circumference of the upper tool holder 2, and each follower tool holder 205 is positioned and connected to the upper tool holder 2. The cleaning tool assembly includes a number of cleaning tools 304. The cleaning tools 304 are evenly arranged along the circumference of the tool holder and correspond to the follower tool holders 205 one by one. The lower end of each cleaning tool 304 is positioned and connected to the lower tool holder 3, and the upper end passes through the corresponding follower tool holder 205 and is clamped and fixed by the follower tool holder 205. When the lower tool holder 3 moves up and down, each cleaning tool 304 rotates synchronously to adjust its rake angle, and it can ensure that the cutting edge part of each cleaning tool always extends beyond the open end of the vacuum suction cylinder.

[0064] Combined with Figure 2 , the vacuum suction cylinder includes a cylinder body 1 with an open upper end, a negative pressure adsorption cavity, a negative pressure adsorption cavity 101, an adjustable inflatable airtight ring 102, and a positive and negative pressure generating device 108. The upper end of the cylinder body 1 is provided with a top groove arranged in a ring shape. The adjustable inflatable airtight ring 102 is arranged around the top groove and is driven by an external gas source. In the cleaning stage, the adjustable inflatable airtight ring 102 deflates and retracts into the top groove, and after the cleaning is completed, it is pressurized and extended. A ring-shaped groove 103 is machined on the outer wall of the cylinder body 1 as the running track of the lower tool holder 3. The positive and negative pressure generating device 108 is fixed at the bottom of the cylinder body and realizes the switching and generation of positive and negative pressures through an external gas source.

[0065] Combined with Figure 3 , the upper tool holder 2 includes an inner ring-shaped guide rail 201 and an upper tool support ring 203 slidably connected to the ring-shaped guide rail 201. The ring-shaped guide rail 201 is composed of two symmetric upper and lower parts fastened by bolts and fixed on the cylinder body 1, so that the upper surface of the ring-shaped guide rail 201 is aligned with the upper end face of the cylinder body 1. The upper tool support ring 203 is matched with the ring-shaped guide rail 201 through a rectangular slideway with rounded corners, so that the upper tool support ring 203 can rotate relative to the cylinder body 1. A guide hole 204 is opened on the upper tool support ring 203, and a guide shaft 302 on the lower tool holder 3 passes through it. Follower tool holders 205 are arranged around the upper tool support ring 203, and the follower tool holders 205 are hinged to the upper tool support ring 203 through rotating shafts at both ends.

[0066] Combined with Figure 5 , in order to drive the upper tool holder 2 and the lower tool holder 3, a rotary drive module 5 is provided on the side of the cylinder body 1. The inner ring of the tool carrier ring 203 is slidably connected to the annular guide rail 201 and is linked to the power output end of the rotary drive module; the fixed part of the rotary drive module is installed on the outer wall of the vacuum suction cylinder; under the action of the power of the rotary drive module, the tool carrier ring 203 can slide circumferentially along the annular guide rail 201. Specifically, the rotary drive module 5 includes a module fixing seat 505, a power motor 506 and a gear transmission mechanism; the module fixing seat 505 is installed on the outer wall of the vacuum suction cylinder; the gear transmission mechanism includes a driving gear 504, a first transmission gear 501, a second transmission gear 503 and an outer ring gear 202; the same gears (the first transmission gear 501, the second transmission gear 503) are installed at both ends of the transmission shaft 502, and the power output is realized by the second transmission gear 503 meshing with the driving gear 504. The driving gear 504 is fixed to the power motor 506, and both the power motor 506 and the transmission shaft 502 are installed on the module fixing seat 505. The driving gear 504 meshes with the second transmission gear 503, and the first transmission gear 501 meshes with the outer ring gear 202. The outer ring gear 202 is formed by setting teeth on the outer ring of the annular guide rail 201.

[0067] Combined with Figure 4 , the lower tool holder 3 includes a lower tool carrier ring 301, a guide shaft 302, a tool restraint seat 303, a cleaning tool 304 and a transmission shaft follower holder 305. The lower tool carrier ring 301 slides up and down along the annular groove 103. The guide shaft 302 is fixed to the lower tool carrier ring 301 by threads. The tool restraint seat 303 is fixed to the lower tool carrier ring 301 radially. The tool is hinged to the tool restraint seat 303 through a rotating shaft at the bottom and passes upward through the follower tool holder 205.

[0068] Combined with Figure 2 , in order to further fix the lower tool holder 3 in the working position and the retracted position, an electric locking device is provided on the side of the cylinder body 1. The cylinder body 1 includes a cylinder body step 104, a limit block 105, a limit drive motor 106 and a motor mounting bracket 107. The limit block 105 is installed on the cylinder body step 104 through a shaft, and a step is also provided on the shaft to prevent the limit block from falling off. The limit block 105 and the limit drive motor 106 are driven by two identical gears in mesh. The limit drive motor 106 is installed on the motor mounting bracket 107, and the motor mounting bracket 107 is fixed to the cylinder body step 104 by bolts.

[0069] Combined with Figure 1In order to control and maintain the front angle of the tool, a lifting device 401 is provided on the fixing frame 4. A hydraulic lifting device 401 is fixed circumferentially on the fixing frame 4, and the upper end surface of the hydraulic lifting device 401 contacts the lower end surface of the lower tool support ring 301 to lift the lower tool holder 3.

[0070] Example 2

[0071] The second aspect of the embodiment of the present application provides an operating method of an adsorption device for an underwater repair carrier. Figure 6 In this specific embodiment, the device is used in conjunction with an underwater vector propulsion platform. It should be stated that the specific embodiment described in this combination is only used to explain the present application, and is not used to limit the present application. The present invention is centered on an adsorption device and an operation method for an underwater repair carrier. It includes the following steps:

[0072] Step 1: Use the vector thrust pump A to move the platform to the vicinity of the surface to be operated, and adjust the thrust and direction of each pump to make the entire platform roughly parallel to the operating surface. Adjust the first and second articulated arms B and C so that the four underwater repair carrier adsorption devices D are in contact with the surface. On this basis, lock each articulated arm and increase the thrust of the vector pump A at the same time, so that the underwater vector propulsion platform fits closely with the surface to be operated.

[0073] Step 2: Retract the limit block 105 into the cylinder, start the hydraulic lifting module 401, and extend the tool to the highest point above the end surface of the cylinder;

[0074] Step 3: Start the rotary drive module 5, and start the positive and negative pressure generating device 108 at the same time and set the positive pressure to blow high-pressure gas out of the cavity to blow the debris off the surface. At this time, the thrust of the vector pump A needs to be adjusted to balance the reverse thrust generated by the high-pressure gas ejected from the vacuum adsorption head D. Then, the cutter head contacts the surface to start cleaning the attachments, and moves locally near the contact surface by adjusting the positions of the first and second articulated arms B and C to clean the entire area to be adsorbed. There are two situations at this time:

[0075] a. If the attachment is easy to clean and the overall vibration is gentle, keep the tool unchanged at the maximum stroke, extend the limit block 105, and constrain the freedom of the lower tool holder 3 in the vertical direction.

[0076] b. If the rigidity of the attachment is high and the vibration of the entire device is obvious, the hydraulic lifting module 401 is controlled to descend first, and the tool will also descend after losing the lower end support. At this time, only the vertical degree of freedom of the lower tool holder is constrained by the hydraulic lifting module 401 to achieve the reduction of the tool rake angle, which can suppress the vibration of the device;

[0077] Step 3: After cleaning is completed, turn off the slewing drive module 5. For case a, first retract the limit block 105, lower the hydraulic lifting module 401 back to its original position, and then extend the limit block 105. For case b, lower the hydraulic lifting module 401 back to its original position and extend the limit block 105.

[0078] Step 4: Slowly reduce the gas pressure to zero gradually while inflating and pressurizing the adjustable inflatable airtight ring 102.

[0079] Step 5: After the airtight ring 102 is pressurized, the air film surface of the airtight ring contacts the surface to be adsorbed, and the negative pressure generating device 108 is started to evacuate the cavity to achieve tight adsorption.

[0080] Finally, it should be noted that: Obviously, the above embodiments are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes derived therefrom are still within the protection scope of the present invention.

Claims

1. An adsorption device for an underwater repair carrier, characterized in that, It includes a vacuum suction cylinder and a cleaning component. The cleaning component includes a tool holder and a cleaning tool assembly; wherein: The upper end of the vacuum suction cylinder is arranged in an open manner. The tool holder includes upper and lower tool holders; both the upper and lower tool holders are annular and coaxially arranged on the periphery of the vacuum suction cylinder; the upper tool holder is rotatably arranged close to the open end of the vacuum suction cylinder, and the lower tool holder is arranged below the upper tool holder in a liftable manner. A number of follower tool holders are evenly arranged along the circumference of the upper tool holder, and each follower tool holder is positioned and connected to the upper tool holder. The cleaning tool assembly includes a number of cleaning tools, and the cleaning tools are evenly arranged along the circumference of the tool holder and correspond to the follower tool holders one by one. The lower end of each cleaning tool is positioned and connected to the lower tool holder, and the upper end passes through the corresponding follower tool holder and is clamped and fixed by the follower tool holder. When the lower tool holder makes a lifting movement, each cleaning tool rotates synchronously to adjust its rake angle, and it can ensure that the cutting edge part of each cleaning tool always extends beyond the open end of the vacuum suction cylinder.

2. The adsorption device for the underwater repair carrier according to claim 1, characterized in that, A lifting actuator mechanism is arranged below the lower tool holder. The lifting actuator mechanism includes a fixed frame and more than two hydraulic lifting devices. The fixed frame is annular and fixedly sleeved on the periphery of the vacuum suction cylinder. Each hydraulic lifting device is evenly distributed along the circumference of the fixed frame. The lower end of each hydraulic lifting device is connected to the fixed frame, and the upper end is connected to the lower tool holder. When each hydraulic lifting device acts synchronously, it drives the lower tool holder to make a lifting movement relative to the upper tool holder.

3. The adsorption device for the underwater repair carrier according to claim 2, characterized in that, A guide shaft is arranged between two adjacent cleaning tools. The lower end of the guide shaft is fixed to the lower tool holder, and the upper end passes through the guide hole arranged at the corresponding position of the upper tool holder.

4. The adsorption device for the underwater repair carrier according to claim 3, characterized in that, The lower tool holder includes a lower tool support ring and a number of tool restraint seats evenly distributed along the circumference of the lower tool support ring. A circular groove is arranged on the outer wall of the vacuum suction cylinder; the lower tool support ring is liftably fitted in the circular groove. The lower ends of the cleaning tools are positioned and connected through the corresponding tool restraint seats. The lower end of the guide shaft is installed on the lower tool support ring.

5. The adsorption device for an underwater repair carrier according to claim 4, characterized in that, The upper tool holder includes an annular guide rail and an upper tool support ring. The annular guide rail is fixed on the outer wall of the vacuum suction cylinder and is flush with the upper end of the vacuum suction cylinder. The inner ring of the tool support ring is slidably connected to the annular guide rail and is linked to the power output end of the rotary drive module; the fixed part of the rotary drive module is installed on the outer wall of the vacuum suction cylinder. Under the action of the power of the rotary drive module, the tool support ring slides along the circumference of the annular guide rail.

6. The adsorption device for the underwater repair carrier according to claim 5, characterized in that, The annular guide rail is fastened by two symmetric upper and lower parts with bolts.

7. The adsorption device for underwater repair carriers according to claim 5, characterized in that, The rotary drive module includes a module fixed seat, a power motor and a gear transmission mechanism. The module fixed seat is installed on the outer wall of the vacuum suction cylinder. The gear transmission mechanism includes a driving gear, a first transmission gear, a second transmission gear and an outer ring gear. The power output end of the power motor meshes with the second transmission gear through a driving gear. The first transmission gear is coaxially arranged with the second transmission gear through a transmission shaft, and the first transmission gear meshes with an outer ring gear, which is formed by arranging teeth on the outer ring of an annular guide rail.

8. The adsorption device for an underwater repair carrier according to claim 1, characterized in that, The vacuum suction cylinder includes a cylinder body, a negative pressure adsorption cavity, an adjustable inflatable airtight ring, and a positive and negative pressure generating device. The adjustable inflatable airtight ring is arranged around the groove at the top of the cylinder body and is driven by an external gas source. The positive and negative pressure generating device is fixed at the bottom of the cylinder body, and the switching and generation of positive and negative pressure are realized through an external gas source.

9. The adsorption device for underwater repair carriers according to claim 7, characterized in that The cylinder body includes a cylinder body step, a limit block, a limit driving motor, and a motor mounting bracket. The limit block is mounted on the cylinder body step through a shaft, and a step is also provided on the shaft to prevent the limit block from falling off. The limit block and the limit driving motor are driven by meshing of two identical gears. The limit driving motor is mounted on the motor mounting bracket, and the motor mounting bracket is fixed to the cylinder body step through bolts.

10. An operation method of an adsorption device for an underwater repair carrier, which is realized based on the adsorption device for an underwater repair carrier described in claim 9, characterized in that, Including: Step 1: Retract the limit block into the cylinder body, and start the hydraulic lifting module to extend the tool to the highest position above the end face of the cylinder body. Step 2: Start the rotary driving module, and at the same time start the positive and negative pressure generating device and set positive pressure to blow high-pressure gas out of the cavity; then make the tool head contact the surface to clean the attached substances, and perform local movement near the contact surface to clean the entire area to be adsorbed; there are two situations at this time: a. If the attached substances are easy to clean and the overall vibration situation is gentle, extend the limit block to restrict the freedom degree of the lower tool holder in the vertical direction. b. If the attached substances have high stiffness and the vibration of the entire device is obvious, control the hydraulic lifting module to descend first. After the tool loses the lower support, it will also descend accordingly. At this time, only the hydraulic lifting module restricts the freedom degree of the lower tool holder in the vertical direction to reduce the rake angle of the tool, which can suppress the vibration of the device. Step 3: After the cleaning is completed, turn off the rotary driving module. For situation a, first retract the limit block, lower the hydraulic lifting module back to its original position, and then extend the limit block; for situation b, lower the hydraulic lifting module back to its original position and extend the limit block. Step 4: Slowly reduce the gas pressure to zero gradually, and at the same time inflate and pressurize the adjustable inflatable airtight ring. Step 5: After the airtight ring is pressurized, the air film surface of the airtight ring contacts the surface to be adsorbed, and start the negative pressure generating device to evacuate the cavity to achieve tight adsorption.

Images