A self-adapting cleaning device for a ship lifting fin

Abstract

The application discloses a kind of ship lifting fin plate self-adapting cleaning device, belong to ship equipment technical field, including fixed plate, the fixed plate is connected with fin plate by suspension assembly, the fin plate outside is provided with deep well, the deep well side wall is provided with cleaning assembly, the cleaning assembly includes the slide rail mounting bracket of the deep well side wall, the slide rail mounting bracket is installed with slide rail, the slide rail is installed with push rod, the push rod is connected with sanding wheel, the whole device is provided with control component.The application adopts the above-mentioned ship lifting fin plate self-adapting cleaning device, push rod is adjusted sanding wheel and fin plate adhesion degree by spring and hydraulic equipment, symmetrically arranged sanding wheel is combined with slide rail and can fully cover fin plate surface, improve cleaning efficiency;Real-time monitoring data is obtained by torque sensor and flexible pressure sensing array, and the cleaning strength is intelligently adjusted by using fuzzy PID algorithm, which can ensure the cleaning effect and avoid damaging the anticorrosive coating of fin plate.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to an adaptive cleaning device for marine lifting fins. Background Technology

[0002] Ships play a vital role in maritime transport and marine exploration. As a key component of ships, the fins are crucial to their navigational stability, maneuverability, and the accuracy of marine exploration operations. However, the marine environment is extremely complex and harsh, and the fins, being constantly submerged in seawater, face numerous challenges.

[0003] Marine organism attachment and fouling are among the major challenges faced by lifting fins. Barnacles, mussels, and other marine organisms adhere extensively to the fin surface, forming a thick biofilm, while silt, oil, and other contaminants from the seawater also accumulate. These deposits not only increase the surface roughness of the fins but also severely impair their hydrodynamic performance. Studies have shown that severely polluted fins can increase ship drag by 20%-30% and fuel consumption by 15%-20%, significantly increasing operating costs and reducing speed and efficiency.

[0004] Currently, traditional cleaning methods have many drawbacks. Manual cleaning relies mainly on operators using simple tools such as brushes, which is extremely inefficient. Cleaning a medium-sized fin can often take several hours to several days, and the cleaning effect is greatly affected by the operator's skill and physical strength, making it difficult to guarantee a thorough and complete cleaning. In addition, manual cleaning also poses significant safety risks, as operators are prone to accidents due to factors such as the ship's rolling motion during the cleaning process. Simple mechanical auxiliary cleaning equipment, such as ordinary high-pressure water guns or simple rotating brushes, although improving cleaning efficiency to some extent, lacks the ability to intelligently sense and adaptively adjust to the fin surface condition, and can easily damage the fins during cleaning, such as scratching the anti-corrosion coating on the fin surface and accelerating fin corrosion. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive cleaning device for ship lifting fins, which solves the problems of low efficiency, incomplete cleaning, easy damage to fins, and inability to meet the rapid turnover requirements of modern ships by traditional cleaning methods. The device adaptively adjusts the fit between the grinding wheel and the fin using springs and hydraulic equipment, employing two symmetrically arranged grinding wheels combined with slide rails to fully cover the fin surface, thus improving cleaning efficiency. Real-time data monitoring via torque sensors and a flexible pressure sensing array, along with a fuzzy PID algorithm, intelligently adjusts the cleaning force. For stubborn dirt, it increases thrust and reduces rotation speed; in smooth areas, it reduces thrust and increases rotation speed, ensuring cleaning effectiveness while avoiding damage to the fin's anti-corrosion coating and extending its service life.

[0006] To achieve the above objectives, the present invention provides an adaptive cleaning device for ship lifting fins, including a fixed plate, a fin connected to the fixed plate via a suspension assembly, a deep well on the outer side of the fin, a cleaning assembly on the side wall of the deep well, the cleaning assembly including a slide rail mounting frame disposed on the side wall of the deep well, a slide rail mounted on the slide rail mounting frame, a thrust rod mounted on the slide rail, and a grinding wheel connected to the thrust rod, and the device as a whole is provided with a control assembly.

[0007] Preferably, the suspension assembly includes a fixed pulley, which is installed below the fixed plate. The fixed pulley is connected to a movable pulley via a steel cable. The movable pulley is fixedly connected to the fin plate. The lifting and lowering of the movable pulley is driven by a motor installed on the fixed plate.

[0008] Preferably, the suspension assembly further includes a suspension rope, one end of which is fixed to the bottom of the fixing plate, and the other end of which is fixed to a U-shaped ring disposed above the fin plate.

[0009] Preferably, the suspension assembly further includes an iron chain disposed on the fixed plate, and a spare U-shaped ring that cooperates with the iron chain is disposed above the fin plate.

[0010] Preferably, the control component includes a control system disposed inside the thrust rod, a torque sensor is disposed at the rotating shaft of the grinding wheel, and a flexible pressure sensing array is disposed on the surface of the grinding wheel.

[0011] Preferably, the cleaning components are provided in two sets and are symmetrically arranged about the fins, and the height of the grinding wheel is not lower than the height of the fins.

[0012] Therefore, this invention employs the aforementioned adaptive cleaning device for ship lifting fins. The suspension assembly can stably control the lifting and lowering of the fins and lock their height, providing reliable support for cleaning operations. In the cleaning assembly, the thrust rod adaptively adjusts the fit between the grinding wheel and the fin through springs and hydraulic equipment. Two sets of symmetrically arranged grinding wheels, combined with the slide rail, can fully cover the fin surface, improving cleaning efficiency. The control assembly monitors data in real time through torque sensors and a flexible pressure sensing array, and intelligently adjusts the cleaning force using a fuzzy PID algorithm. When encountering stubborn dirt, the thrust is increased and the rotation speed is reduced, while in smooth areas, the thrust is reduced and the rotation speed is increased, ensuring cleaning effectiveness while avoiding damage to the fin's anti-corrosion coating and extending its service life. The grinding wheel is made of wear-resistant and corrosion-resistant materials and has a wear-resistant coating, making it suitable for the marine environment.

[0013] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0014] Figure 1This is a schematic diagram of the overall structure of an embodiment of the adaptive cleaning device for ship lifting fins according to the present invention;

[0015] Figure 2 This is a top view of the internal structure of an embodiment of the adaptive cleaning device for ship lifting fins according to the present invention;

[0016] Figure 3 This is a bottom view of an embodiment of the adaptive cleaning device for ship lifting fins according to the present invention.

[0017] Figure 4 This is a control principle diagram of an embodiment of a ship lifting fin adaptive cleaning device according to the present invention.

[0018] Figure Labels

[0019] 1. Fixed plate; 2. Deep well; 3. Fin plate; 4. Slide rail; 5. Thrust rod; 6. Grinding wheel; 7. Slide rail mounting bracket; 8. U-shaped ring; 9. Suspension rope; 10. Steel cable; 11. Spare U-shaped ring; 12. Moving pulley; 13. Electric motor; 14. Fixed pulley; 15. Iron chain. Detailed Implementation

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example 1

[0023] This invention provides an adaptive cleaning device for ship lifting fins, such as... Figure 1-3As shown, the system includes a fixed plate 1, to which a fin 3 is connected via a suspension assembly. A deep well 2 is located on the outer side of the fin 3, and a cleaning assembly is installed on the side wall of the deep well 2. The cleaning assembly includes a slide rail mounting bracket 7 mounted on the side wall of the deep well 2, a slide rail 4 mounted on the slide rail mounting bracket 7, and a push rod 5 mounted on the slide rail 4. The mounting position of the push rod 5 on the slide rail 4 is adjustable, and the push rod 5 moves along the slide rail 4 to ensure that it covers the entire surface of the fin 3. A grinding wheel 6 is connected to the push rod 5. A spring is installed inside the push rod 5, and a hydraulic device is connected to the outside of the push rod 5. The spring and the hydraulic device are used to control the grinding wheel 6 to move closer to or further away from the fin 3 and adaptively adjust the fit between the grinding wheel 6 and the fin 3. Two sets of cleaning assemblies are provided and are symmetrically arranged about the fin 3. The height of the grinding wheel 6 is not lower than the height of the fin 3. In this embodiment, the spring has an elastic coefficient of 200-500 N / mm and can produce a deformation of 5-15mm under hydraulic thrust. The grinding wheel 6 is made of a wear-resistant, corrosion-resistant material with a silicon carbide content of ≥60% and has high cleaning performance. Its surface is coated with a wear-resistant coating by plasma spraying.

[0024] The suspension assembly includes a fixed pulley 14, which is installed below the fixed plate 1. The fixed pulley 14 is connected to a movable pulley 12 via a steel cable 10. The movable pulley 12 is fixedly connected to the fin plate 3. The lifting and lowering of the movable pulley 12 is driven by a motor 13 installed on the fixed plate 1.

[0025] The suspension assembly also includes a suspension rope 9, one end of which is fixed to the bottom of the fixed plate 1, and the other end of which is fixed to a U-shaped ring 8 disposed above the fin plate 3. The suspension assembly also includes an iron chain 15 disposed on the fixed plate 1, and a spare U-shaped ring 11 that cooperates with the iron chain 15 is disposed above the fin plate 3. The suspension assembly is used to control the raising and lowering of the fin plate 3 and to lock the height of the fin plate 3, providing stable support for cleaning operations.

[0026] The device is equipped with a control assembly, which includes a control system located inside the thrust rod 5, a torque sensor located at the rotation axis of the grinding wheel 6, and a flexible pressure sensing array on the surface of the grinding wheel 6. The fit and cleaning force between the grinding wheel 6 and the fin 3 are jointly controlled by the control system inside the thrust rod 5, the flexible pressure sensing array on the surface of the grinding wheel 6, and the torque sensor at the rotation axis of the grinding wheel 6. The torque sensor monitors the torque changes during the rotation of the grinding wheel 6 in real time, thereby reflecting the changes in friction between the grinding wheel 6 and the fin 3, and transmits the data to the control system inside the thrust rod 5. The flexible pressure sensing array consists of multiple high-sensitivity pressure sensing units, which monitor the pressure changes between the grinding wheel 6 and the fin 3 in real time and transmit the data to the control system inside the thrust rod 5. In this embodiment, the rotational speed of the grinding wheel 6 is adjustable from 50 to 200 rpm, and the thrust is adjustable from 100 to 500 N. The control system inside the thrust rod 5 uses a fuzzy PID algorithm to adjust the cleaning force. This algorithm calculates the deviation between the current cleaning state and the preset cleaning state based on data transmitted from the flexible pressure sensing array and torque sensor. Through fuzzification processing, fuzzy inference, and declarative calculation, the corresponding control quantity is obtained to adjust the thrust of the thrust rod 5 on the grinding wheel 6 and the rotational speed of the grinding wheel 6. When encountering stubborn dirt, the thrust of the thrust rod 5 on the grinding wheel 6 is increased and the rotational speed of the grinding wheel 6 is decreased. In the smooth area of ​​the fin 3, the thrust is decreased and the rotational speed of the grinding wheel 6 is increased. The control principle is as follows: Figure 4 As shown.

[0027] The working steps of the ship lifting fin adaptive cleaning device described in this embodiment are as follows:

[0028] S1. Start the hydraulic equipment. Hydraulic oil enters the hydraulic chamber of the thrust rod 5, pushing the piston to extend the thrust rod 5 and bringing the grinding wheel 6 closer to the fin 3. During this process, the flexible pressure sensing array monitors the contact between the grinding wheel 6 and the fin 3 in real time. If the grinding wheel 6 encounters an uneven surface on the fin 3, such as a protrusion or depression, the spring and hydraulic equipment will automatically adjust the extension and retraction of the thrust rod 5 according to the elastic coefficient and the preset deformation range, changing the thrust on the grinding wheel 6 to ensure that the grinding wheel 6 and the fin 3 always maintain a good fit. After cleaning, the hydraulic equipment reverses its operation, the thrust rod 5 retracts, and the grinding wheel 6 returns to its initial position.

[0029] S2. After the grinding wheel 6 contacts the surface of the fin 3, the flexible pressure sensing array and torque sensor begin to operate. The flexible pressure sensing array monitors the pressure changes between the grinding wheel 6 and the fin 3 in real time, while the torque sensor monitors the torque changes during the rotation of the grinding wheel 6. These data are transmitted to the control system inside the thrust rod 5 via a preset signal transmission line. The control system analyzes and processes the data according to a preset fuzzy PID algorithm. When high pressure or abnormal torque changes are detected, indicating the presence of stubborn dirt, the control system increases the thrust of the thrust rod 5 on the grinding wheel 6 and reduces the rotational speed of the grinding wheel 6 according to the algorithm calculation. When low pressure and normal torque changes are detected, indicating a relatively smooth surface of the fin 3, the control system reduces the thrust and increases the rotational speed of the grinding wheel 6. In this way, intelligent adjustment of cleaning intensity is achieved, ensuring cleaning effectiveness while protecting the fin 3.

[0030] S3. Before cleaning, the operator uses motor 13 to raise or lower fin 3 to a suitable cleaning position. During cleaning, the suspension assembly remains stable, providing reliable support for fin 3 and preventing fin 3 from shaking or shifting. After cleaning, motor 13 is used again to adjust fin 3 to its normal working position.

[0031] S4. During the movement of the grinding wheel 6, the grinding wheel 6 moves along the trajectory of the slide rail 4. The slide rail 4 ensures the accuracy and stability of the movement of the grinding wheel 6, avoids deviation, shaking, and jamming of the grinding wheel 6, ensures smooth movement of the grinding wheel 6, and guarantees the uniformity of cleaning and the reliability of the equipment.

[0032] Therefore, this invention employs the aforementioned adaptive cleaning device for ship lifting fins. The suspension assembly can stably control the lifting and lowering of the fins and lock their height, providing reliable support for cleaning operations. In the cleaning assembly, the thrust rod adaptively adjusts the fit between the grinding wheel and the fin through springs and hydraulic equipment. Two sets of symmetrically arranged grinding wheels, combined with the slide rail, can fully cover the fin surface, improving cleaning efficiency. The control assembly monitors data in real time through torque sensors and a flexible pressure sensing array, and intelligently adjusts the cleaning force using a fuzzy PID algorithm. When encountering stubborn dirt, the thrust is increased and the rotation speed is reduced, while in smooth areas, the thrust is reduced and the rotation speed is increased, ensuring cleaning effectiveness while avoiding damage to the fin's anti-corrosion coating and extending its service life. The grinding wheel is made of wear-resistant and corrosion-resistant materials and has a wear-resistant coating, making it suitable for the marine environment.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A self-adapting cleaning device for a ship lifting fin, characterized by: The device comprises a fixed plate, a fin plate connected by a suspension assembly, a deep well provided outside the fin plate, a cleaning assembly provided on the sidewall of the deep well, a slide rail mounting frame provided on the sidewall of the deep well, a slide rail mounted on the slide rail mounting frame, a push rod mounted on the slide rail, a rolling sand wheel connected with the push rod, and a control assembly provided on the device as a whole. The control assembly comprises a control system provided inside the push rod, a torque sensor provided at the rotating shaft of the rolling sand wheel, and a flexible pressure sensing array provided on the surface of the rolling sand wheel; a spring is mounted inside the push rod, and a hydraulic device is connected outside the push rod; the spring and the hydraulic device are used to control the rolling sand wheel to approach and move away from the fin plate and to adaptively adjust the adhesion of the rolling sand wheel to the fin plate.

2. A self-cleaning device for a lifting foil of a marine vessel according to claim 1, characterized in that: The suspension assembly comprises a fixed pulley mounted below the fixed plate, a movable pulley connected with the fixed pulley by a steel cable, and the movable pulley is fixedly connected with the fin plate; the lifting of the movable pulley is driven by a motor provided on the fixed plate.

3. A self-cleaning device for a lifting fin of a marine vessel according to claim 1, characterized in that: The suspension assembly further comprises a suspension rope, one end of which is fixed below the fixed plate, and the other end of which is fixed above the U-shaped ring provided on the fin plate.

4. A self-cleaning device for a lifting fin of a marine vessel according to claim 1, characterized in that: The suspension assembly further comprises an iron chain provided on the fixed plate, and a standby U-shaped ring provided above the fin plate and matched with the iron chain.

5. A self-cleaning device for a lifting fin of a marine vessel according to claim 1, characterized in that: The cleaning assembly is provided in two groups and symmetrically arranged with respect to the fin plate; the height of the rolling sand wheel is not less than the height of the fin plate.

Images