Cavitation cleaning device for jacket and marine organism cleaning method for jacket

Abstract

The invention provides a cavitation cleaning device for a jacket and a marine organism cleaning method for the jacket. The device comprises a height adjusting assembly; the adjustable suspension is arranged at the power output end of the height adjusting assembly. The negative pressure seat is connected with the adjustable suspension frame in a rotatable manner; and the cavitation cleaning disc is arranged on the negative pressure seat. Lifting adjustment of the adjustable suspension, the negative pressure seat and the cavitation cleaning disc is achieved through the height adjusting assembly; the distance between the two negative pressure seats can be adjusted through the adjustable suspension, and the distance between the two cavitation cleaning discs can be adjusted; the cavitation cleaning disc is driven to rotate through the rotation of the negative pressure seat; high-speed cavitation water jet generated by the cavitation cleaning disc is used for cleaning marine organisms on the wall surface of the jacket, and the cavitation cleaning disc can form negative pressure and generate adsorption force, so that the cavitation cleaning disc can be adsorbed on the wall surface of the jacket and has self-adsorption capacity.

Description

Technical Field

[0001] This invention relates to the field of underwater cleaning technology, and more specifically, to a cavitation cleaning device for jackets and a method for cleaning marine organisms from jackets. Background Technology

[0002] The fully submerged and tidal zones of offshore platform jackets attract and parasitize large amounts of marine organisms such as barnacles, algae, and shellfish. The colloids secreted by barnacles and shellfish are often permanent and difficult to degrade naturally. The surrounding waters of my country, especially the South China Sea, have high seawater temperatures and favorable hydrological conditions, leading to rapid marine organism growth. Data from field surveys show that the marine organism layer near the water surface of offshore platform jackets in the South China Sea is up to 17 cm thick, and the layer on the seabed is as thick as 9 cm, posing a significant threat to production safety. These harsh conditions severely limit the application of traditional cleaning methods and equipment in jacket wall cleaning. Currently, domestic and international methods for cleaning jacket walls generally include manual cleaning by divers, high-pressure jet cleaning, and robotic cleaning. Traditional jacket wall cleaning methods suffer from drawbacks such as poor cleaning effectiveness and low operational efficiency when dealing with excessively thick layers of marine organisms.

[0003] Existing underwater cleaning methods and devices for jacket structures mainly have the following problems: (1) Existing underwater cleaning methods for jackets are ineffective or even impossible to clean when faced with excessively thick marine organisms.

[0004] (2) Most existing cleaning discs are fixed cleaning discs, which are mostly used for flat or smooth curved surfaces. They lack adaptability to cylindrical curved surfaces and are not effective for cleaning marine organisms on the outer walls of jackets, MOPU legs, etc. This seriously restricts the application of cleaning discs in the field of underwater marine organism cleaning of jackets.

[0005] (3) Most existing underwater cleaning discs do not have self-adhesion capabilities and usually require divers or robots to provide sufficient adhesion for normal cleaning, resulting in poor operability and practicality.

[0006] (4) The existing water path design of the self-rotating cleaning disc is not reasonable enough, which obviously hinders the flow of water and causes a large pressure loss of high-speed water flow during rotation cleaning.

[0007] (5) Existing underwater cleaning discs mostly use the method of installing guide wheels to passively overcome obstacles, which increases the complexity of the cleaning disc and does not have the ability to actively overcome obstacles on the working surface. Summary of the Invention

[0008] In view of this, and to address the technical problems mentioned in the background section, this invention proposes a cavitation cleaning device and a method for cleaning marine organisms from a jacket structure. The cleaning device used to implement the method of this invention can adapt to jacket structure walls with different curvatures and possesses the ability to clamp curved surfaces under negative pressure. Compared with previous methods for cleaning marine organisms from jacket structures, the method of this invention simplifies the structure of the cleaning device and solves the problems of previous cleaning devices being unable to actively overcome obstacles and having poor cleaning effects on excessively thick marine organisms.

[0009] On one hand, this invention proposes a cavitation cleaning device for a guide tube frame, comprising: a height adjustment assembly for mounting to an underwater wall-climbing robot body; an adjustable suspension disposed on the power output end of the height adjustment assembly for height adjustment under the action of the height adjustment assembly; a negative pressure seat rotatably connected to the adjustable suspension for adjusting the support angle of the negative pressure seat; and a cavitation cleaning disc disposed on the negative pressure seat for generating a high-speed cavitation water jet to clean marine organisms from the guide tube frame wall. The cavitation cleaning disc can generate negative pressure and adsorption force, allowing it to adhere to the pipe rack wall. The cavitation cleaning disc is angled with the negative pressure seat to ensure it is perpendicular to the normal plane of the pipe rack wall. Furthermore, the height of the cavitation cleaning disc and the negative pressure seat can be adjusted with the adjustable suspension to overcome obstacles when marine life is detected. This allows the cavitation cleaning disc to move to the pipe rack where the marine life is located, adhere to the pipe rack wall, and clean the marine life on the pipe rack.

[0010] Furthermore, the aforementioned cavitation cleaning device, wherein the cavitation cleaning disc comprises: a cleaning hood, the bottom end of which is provided with elastic support wires along its circumference for elastic deformation according to the wall of the guide frame to relatively seal the inside of the cleaning hood; a water inlet shaft, which is rotatably inserted through the cleaning hood, with its inlet end outside the cleaning hood connected to a water pipe hole on the negative pressure seat; a rotary joint, connected to the outlet end of the water inlet shaft inside the cleaning hood, the inlet of the rotary joint communicating with the water inlet shaft; a water inlet pipe, the inlet of which is connected to the outlet of the rotary joint, for rotating with the rotary joint and generating velocity so that the velocity of the flow field inside the cleaning hood is higher than the velocity of the flow field outside the cleaning hood, generating negative pressure according to Bernoulli's principle, so that the cleaning hood is adsorbed onto the guide frame; and a cavitation nozzle, disposed at the outlet of the water inlet pipe, for spraying a high-speed cavitation water jet to clean the marine organisms on the guide frame.

[0011] Furthermore, in the above-mentioned cavitation cleaning device, the rotary joint has two staggered and oppositely arranged guide ports, and there are two water inlet pipes and two cavitation nozzles, so that the two cavitation nozzles are staggered, so that when the cavitation nozzles spray water, they generate a counter-torque to rotate, thereby driving the rotary joint to rotate, and driving the water inlet pipe and the cavitation nozzles to rotate.

[0012] Furthermore, in the aforementioned cavitation cleaning device, the outer periphery of the water inlet shaft is provided with damping to mitigate the impact during cleaning.

[0013] Furthermore, in the above-mentioned cavitation cleaning device, there are two negative pressure seats and two cavitation cleaning discs, which are spaced apart on the adjustable suspension. The adjustable suspension is a length adjustment component used to adjust the distance between the two cavitation cleaning discs.

[0014] Furthermore, in the aforementioned cavitation cleaning device, the adjustable suspension includes: an outer crossbeam; two inner crossbeams, respectively disposed at both ends of the outer crossbeam, with one end of each inner crossbeam slidably disposed inside the outer crossbeam for supporting the two negative pressure seats respectively, and the distance between the two cavitation cleaning discs can be adjusted by sliding the two inner crossbeams; a cantilever beam disposed on the outer crossbeam for connecting the power output end of the height adjustment component; two connecting clamps disposed at the ends of the two inner crossbeams outside the outer crossbeam for clamping and adjusting the support angle of the negative pressure seats; the connecting clamps are also provided with locking components for locking the connecting clamps after the support angle of the negative pressure seats is adjusted to the correct position, so that the negative pressure seats are locked onto the connecting clamps.

[0015] Furthermore, in the aforementioned cavitation cleaning device, the height adjustment component is a guide rail screw structure, which includes: a fixed base for connecting the underwater wall-climbing robot body; a screw rotatably mounted on the fixed base, the screw being connected to a driving component for driving the screw to rotate; and a slider mounted on the screw and threadedly connected to the outer wall of the screw, for reciprocating linear motion along the axial direction of the screw when the screw rotates, thereby driving the adjustable suspension to adjust the height.

[0016] Furthermore, in the aforementioned cavitation cleaning device, a cleaning disc height sensor is provided on the fixed end of the height adjustment component to obtain the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the height adjustment component; and / or, a horizontal proximity sensor is provided on the cavitation cleaning disc to sense whether there are marine organisms directly in front of the cavitation cleaning disc and to obtain the horizontal relative position of the marine organisms directly in front of the cavitation cleaning disc with respect to the cavitation cleaning disc; and / or, a vertical proximity sensor is provided on the cavitation cleaning disc to sense the vertical relative position of marine organisms directly below the cavitation cleaning disc with respect to the cavitation cleaning disc.

[0017] On the other hand, this invention proposes a method for cleaning marine organisms from a guide frame. This method employs the aforementioned cavitation cleaning device and includes the following steps: First, the cavitation cleaning device is pre-installed on the body of an underwater wall-climbing robot. The underwater wall-climbing robot then moves the cavitation cleaning device towards the guide frame until the horizontal proximity sensor detects that the relative horizontal position of the marine organism directly in front of the cavitation cleaning disc is within a preset horizontal approach distance. Then, the underwater wall-climbing robot stops moving forward. Next, a height adjustment component is controlled to lift the adjustable suspension, negative pressure seat, and cavitation cleaning disc along the height direction using the power output of the height adjustment component until the horizontal proximity sensor no longer detects the marine organism directly in front, thus achieving obstacle crossing. Finally, the underwater wall-climbing robot moves the cavitation cleaning device. Continue moving forward a preset distance so that the cavitation cleaning disc covers the marine organisms to be cleaned. After covering, control the height adjustment component so that the adjustable suspension, negative pressure seat, and cavitation cleaning disc descend along the height direction with the power output end of the height adjustment component until the vertical relative position of the cavitation cleaning disc relative to the fixed end of the adjustable suspension, as obtained by the vertical proximity sensor, is a preset vertical approach distance. The cavitation cleaning disc generates a high-speed cavitation water jet to clean the marine organisms on the pipe rack wall. The adsorption force generated by the cavitation cleaning disc allows it to adhere to the pipe rack wall. During the cleaning process, the thickness of the marine organisms on the pipe rack wall gradually decreases. Control the height adjustment component so that the vertical relative position of the cavitation cleaning disc relative to the fixed end of the adjustable suspension is always a preset vertical approach distance.

[0018] Furthermore, in the above-mentioned method for cleaning marine organisms from the guide frame, the distance between the bottom surface of the cavitation cleaning disc and the outer tangential surface of the guide frame wall is calculated using the following formula: in: This represents the total upward displacement distance of the cavitation cleaning disc; y is the total downward displacement distance of the cavitation cleaning disc; y is the downward displacement distance of the cavitation cleaning disc due to negative pressure; L is the distance between the bottom surface of the cavitation cleaning disc and the outer tangent surface of the guide frame wall.

[0019] The cavitation cleaning device and method for cleaning marine organisms from a guide tube frame provided by this invention achieve height adjustment of the adjustable suspension, negative pressure seats, and cavitation cleaning discs through a height adjustment component, especially the height adjustment of the cavitation cleaning discs. This enables obstacle crossing and positioning for cleaning. The obstacle crossing mechanism eliminates the need for traditional cleaning disc structures such as guide wheels, simplifying the cleaning disc structure and improving reliability. The adjustable suspension allows for adjustment of the distance between the two negative pressure seats, and consequently, the distance between the two cavitation cleaning discs, making the distance adaptable to different guide tube frame specifications. The pipe rack is cleaned; the rotation of the negative pressure seat drives the cavitation cleaning disc to rotate, making the bottom surface of the cavitation cleaning disc perpendicular to the normal plane of the pipe rack wall. This adapts to the curvature of the pipe rack wall, ensuring cleaning effectiveness and providing good adaptability to the curvature of the pipe rack wall, making it particularly suitable for applications on pipe rack walls with large curvature radii such as MOPU pile legs. The high-speed cavitation water jet generated by the cavitation cleaning disc cleans marine organisms from the pipe rack wall. Furthermore, the cavitation cleaning disc can create negative pressure, generating adsorption force so that the cavitation cleaning disc can adhere to the pipe rack wall. This device cleans marine organisms using high-speed cavitation water jets, showing significant cleaning effect on excessively thick layers of marine organisms. Simultaneously, the device has self-adsorption capability, good operability and practicality. The cavitation cleaning disc is a self-rotating cleaning disc, and its rotating joint's hydrocyclone chamber does not significantly obstruct water flow, resulting in minimal pressure loss during cleaning. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the cavitation cleaning device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of an underwater wall-climbing robot equipped with the cavitation cleaning device provided in an embodiment of the present invention; Figure 3 A schematic diagram illustrating the state of the robot mounted on this device conforming to the wall of the guide frame, as provided in an embodiment of the present invention; Figure 4 This is a top view of the robot mounted on the device and in contact with the wall of the guide frame, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the height adjustment component in the cavitation cleaning device provided in an embodiment of the present invention; Figure 6 This is an exploded view of the adjustable suspension structure in the cavitation cleaning device provided in an embodiment of the present invention; Figure 7This is a rear view of the cavitation cleaning apparatus provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the negative pressure seat provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the cleaning tray assembly provided in an embodiment of the present invention; Figure 10 This is a top view of the cleaning tray assembly provided in an embodiment of the present invention; Figure 11 for Figure 10 A bottom view; Figure 12 This is a schematic diagram of the structure of the cleaning tray assembly provided in an embodiment of the present invention; Figure 13 for Figure 12 A magnified view of a section at point B in the middle; Figure 14 This is a schematic diagram of the damping structure provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the external structure of the water inlet shaft of the cavitation cleaning disc provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the structure of the rotary joint provided in an embodiment of the present invention; Figure 17 for Figure 16 Sectional view at point AA; Figure 18 A flowchart illustrating the method for cleaning marine organisms from a duct stent provided in an embodiment of the present invention; Figure 19 A flowchart illustrating the self-lifting process of the cavitation cleaning device provided in this embodiment of the invention when it approaches marine organisms; Figure 20 This is a flowchart illustrating the process of cleaning marine organisms using a cavitation cleaning device provided in an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached drawings: 1-Height adjustment component, 11-Fixed seat, 12-Screw rod, 13-Slider, 14-Drive component, 15-Coupling, 16-Guide rail, 2-Adjustable suspension, 21-Outer crossbeam, 211-Fixed groove, 22-Inner crossbeam, 221-Sliding groove, 23-Cantilever beam, 24-Connecting clamp, 25-Locking component, 251-Locking bolt, 252-Locking nut, 26-Locking fastener, 261-Fastening bolt, 262-Fastening nut, 3-Negative pressure seat, 31-Seat body, 311-Guide hole, 312-Water pipe hole, 32-Connecting shaft, 33-Guide rod, 34-Fixed nut, 35-Elastic adjustment component, 4-Cavitation cleaning disc, 41- Cleaning hood, 411-bottom surface of cleaning hood, 412-inlet, 42-inlet shaft, 421-hexagonal fixing part, 43-rotary joint, 431-vortex chamber, 432-rotary inlet, 433-guide port, 44-inlet pipe, 45-cavitation nozzle, 46-elastic support wire, 47-flange cover, 48-end cap, 49-first radial bearing, 40-second radial bearing, 51-damping, 511-damping shaft, 5111-mounting hole, 52-first O-ring, 53-second O-ring, 54-shaft end retaining ring, 5-underwater wall-climbing robot body, 6-guide frame, 7-horizontal proximity sensor, 8-vertical proximity sensor, 9-cleaning tray height sensor. Detailed Implementation

[0022] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] Device Example: See Figures 1 to 4 The figure illustrates a preferred structure of the cavitation cleaning device provided in an embodiment of the present invention. As shown, the device includes: a height adjustment assembly 1, an adjustable suspension 2, a negative pressure seat 3, and a cavitation cleaning disc 4; wherein, The height adjustment component 1 is installed on the underwater wall-climbing robot body 5; the adjustable suspension 2 is disposed on the power output end of the height adjustment component 1, and is used to adjust the height under the action of the height adjustment component 1; the negative pressure seat 3 is rotatably connected to the adjustable suspension 2, and is used to adjust the support angle of the negative pressure seat 3; the cavitation cleaning disc 4 is disposed on the negative pressure seat 3, and is used to generate a high-speed cavitation water jet to clean the marine organisms on the pipe rack wall, and the cavitation cleaning disc 4 can form a negative pressure to generate an adsorption force, so that... The cavitation cleaning disc 4 can adhere to the wall of the guide frame 6. The cavitation cleaning disc 4 can be angled with the negative pressure seat 3 so that the cavitation cleaning disc 4 is perpendicular to the normal plane of the wall of the guide frame 6. Furthermore, the cavitation cleaning disc 4 and the negative pressure seat 3 can be height-adjusted with the adjustable suspension 2 so that they can overcome obstacles when marine life is detected in front, so that the cavitation cleaning disc 4 can move to the guide frame 6 where the marine life is located, adhere to the wall of the guide frame 6, and then clean the marine life on the guide frame 6.

[0024] Specifically, the height adjustment component 1 can be bolted to the underwater wall-climbing robot body 5 to realize the lifting and lowering adjustment of the adjustable suspension 2, the negative pressure seat 3, and the cavitation cleaning disc 4, especially the lifting and lowering adjustment of the cavitation cleaning disc 4, thereby achieving obstacle crossing and movement to the cleaning position; the adjustable suspension 2 can be bolted to the power output end of the height adjustment component 1, and the negative pressure seat 3 can be installed on the adjustable suspension 2. Furthermore, the negative pressure seat 3 is rotatably installed on the adjustable suspension 2 to drive the cavitation cleaning disc 4 to rotate, thereby adjusting the angle so that the bottom surface of the cavitation cleaning disc 4 is perpendicular to the normal plane of the outer tangent surface of the wall of the guide frame 6 to be cleaned, to adapt to different guide frames 6, and thus to clean different guide frames 6. The cavitation cleaning disc 4 and the negative pressure seat 3 can be bolted together. In this embodiment, the cavitation cleaning disc 4 and the negative pressure seat 3, as a cleaning disc assembly, can realize adsorption and cleaning functions. The device may also include a sensor module to acquire position information. Figure 2 As shown, the cavitation cleaning disc 4 is equipped with a horizontal proximity sensor 7, which is used to detect whether there are marine organisms directly in front of the cavitation cleaning disc 4 and to obtain the horizontal relative position of the marine organisms in front of the cavitation cleaning disc 4 relative to the cavitation cleaning disc 4. This facilitates obstacle crossing by the device and prevents the device from colliding with the guide frame 6 as it moves forward with the underwater wall-climbing robot body 5. Of course, the cavitation cleaning disc 4 can also be equipped with a vertical proximity sensor 8, which is used to detect the vertical relative position of marine organisms directly below the cavitation cleaning disc 4 relative to the cavitation cleaning disc 4. Based on this, the height of the cavitation cleaning disc 4 can be adjusted so that the cavitation cleaning disc 4 can adhere to the guide frame 6 and clean the guide frame 6.

[0025] In this embodiment, there are two negative pressure seats 3 and two cavitation cleaning discs 4, spaced apart on the adjustable suspension 2. The adjustable suspension 2 can be a length adjuster used to adjust the distance between the two cavitation cleaning discs 4 so that the horizontal distance between the two cavitation cleaning discs 4 after adjustment reaches a preset distance to ensure the cleaning effect. The preset distance can be less than or equal to 20mm, and can also be determined to other values ​​according to the size of the guide frame 6. This embodiment does not impose any limitations on it. In this embodiment, the two negative pressure seats 3 need to be adjusted symmetrically.

[0026] See Figure 5 This is a schematic diagram of the height adjustment component in the cavitation cleaning device provided in this embodiment of the invention. As shown in the figure, the height adjustment component 1 is a guide rail screw structure, which includes: a fixed base 11, a screw 12, a slider 13, and a driving member 14; wherein, the fixed base 11 is used to connect the underwater wall-climbing robot body 5; the screw 12 is rotatably mounted on the fixed base 11, and the screw 12 is connected to the driving member 14 for driving the screw 12 to rotate; the slider 13 is mounted on the screw 12 and threadedly connected to the outer wall of the screw 12, for moving along the axial direction of the screw 12 (e.g., when the screw 12 rotates) Figure 5 The adjustable suspension 2 reciprocates in a straight line in the vertical direction shown, thereby adjusting the height of the adjustable suspension 2.

[0027] Specifically, the height adjustment component 1 can be bolted to the underwater wall-climbing robot body 5 via the fixed base 11. A lead screw 12 is mounted on the fixed base, its top end connected to the drive component 14 via a coupling 15, and its bottom end connected to the fixed base 11 via bearings, allowing the lead screw 12 to rotate relative to the fixed base 11 under the action of the drive component 14. The drive component 14 can be a waterproof motor, bolted to the top end of the fixed base 11. A slider 13 can be threaded to the lead screw 12, and the fixed base 11 can have sliders on both sides of the lead screw 12 (e.g., ...). Figure 5 A guide rail 16 is provided on each of the left and right sides (as shown), which can guide the reciprocating linear motion of the slider 13, so that the slider 13 can move linearly along the axis of the lead screw 12 when the lead screw 12 rotates; of course, there can be one or other numbers of guide rails 16, and no limitation is made in this embodiment. The cross-section of the guide rail 16 can be circular, or it can be other structures such as square, and no limitation is made in this embodiment. In this embodiment, the cavitation cleaning device is mounted on the underwater wall-climbing robot 5. This device is bolted to the underwater wall-climbing robot 5, specifically by the fixing seat 11 of the height adjustment component 1 being bolted to the front of the robot body.

[0028] In this embodiment, a cleaning disc height sensor 9 is also provided on the fixed end of the height adjustment component 1 to obtain the vertical relative position of the cavitation cleaning disc 4 with respect to the fixed end of the height adjustment component 1. Specifically, the cleaning disc height sensor 9 can be mounted on the fixed base 11 via the guide rail 16, and the cleaning disc height sensor 9 is also sleeved on the bottom of the lead screw 12 to sense the vertical relative position of the cavitation cleaning disc 4.

[0029] See Figure 6 This illustrates a preferred structure of the adjustable suspension in the cavitation cleaning apparatus provided for an embodiment of the present invention. As shown, the adjustable suspension 2 may include: an outer crossbeam 21, two inner crossbeams 22, a cantilever beam 23, and two connecting clamps 24; wherein, the two inner crossbeams 22 are respectively disposed at both ends of the outer crossbeam 21 (e.g., Figure 6 As shown in the diagram (left and right ends), one end of each inner crossbeam 22 is slidably disposed inside the outer crossbeam 21 to support the two negative pressure seats 3 respectively, and the distance between the two cavitation cleaning discs 4 can be adjusted by sliding the two inner crossbeams 22; a cantilever beam 23 is disposed on the outer crossbeam 21 to connect to the power output end of the height adjustment component 1, so as to adjust the height position according to the power output end of the height adjustment component 1; two connecting clamps 24 are disposed on the ends of the two inner crossbeams 22 outside the outer crossbeam 21, for clamping and adjusting the support angle of the negative pressure seat 3; the connecting clamp 24 is also provided with a locking member 25, for locking the connecting clamp 24 after the support angle of the negative pressure seat 24 is adjusted to the position, so that the negative pressure seat 3 is locked to the connecting clamp 24.

[0030] Specifically, the cantilever beam 23 and the slider 13 can be bolted together, so that the adjustable suspension 2 can move linearly along the lead screw 12 with the slider 13. The outer crossbeam 21 and the inner crossbeam 22 form a length adjustment unit, which can adjust the outward extension length of the inner crossbeam 22, thereby adjusting the distance between the two connecting clamps 24, and thus adjusting the distance between the two negative pressure seats 3 and the cavitation cleaning disc 4 on the negative pressure seats 3. The outward extension end of the inner crossbeam 22 can be welded with a connecting clamp 24, which is connected to the negative pressure seat 3 and can be locked by a locking member 25, so that the negative pressure seat 3 is locked tightly to the connecting clamp 24; wherein, the locking member 25 can be a bolt assembly, including a locking bolt 251 and a locking nut 252. The negative pressure seat 3 and the connecting clamp 24 form a rotation adjustment unit, which can adjust the rotation angle of the negative pressure seat 3.

[0031] See also Figure 6 and Figure 7The adjustable suspension 2 includes a length adjustment unit. An inner crossbeam 22 is inserted into an outer crossbeam 21 along its axis. The inner crossbeam 22 may have a sliding groove 221, and the outer crossbeam 21 may have a fixing groove 211. A locking fastener 26 is provided between the inner crossbeam 22 and the outer crossbeam 21. The locking fastener 26 passes through the fixing groove 211 and slidably passes through the sliding groove 221. After the inner crossbeam 22 slides into place, the locking fastener 26 locks the inner crossbeam 22 and the outer crossbeam 21 together. Specifically, the sliding groove 221 can be a small straight slot, and the outer crossbeam 21 may have two fixing grooves 211, both large straight slots, to secure the inner crossbeam 22 and the outer crossbeam 21 together using the locking fastener 26. The locking fastener 26 can be a bolt assembly, including a fastening bolt 261 and a fastening nut 262. The outer surface of the inner crossbeam 22 is engraved with graduations to facilitate length adjustment. Its extension length can be adjusted by loosening the fastening bolts 261 and fastening nuts 262. The purpose is to maintain a reasonable distance between the two cavitation cleaning discs 4 while fitting the wall of the guide frame 6. There are two inner crossbeams 22, which can be adjusted symmetrically from left to right. The purpose is to ensure that the center of gravity remains unchanged after the device is adjusted, reduce interference with the operation of the underwater robot, and simplify the counterweight procedure.

[0032] See Figure 8 This is a schematic diagram of the structure of the negative pressure seat provided in an embodiment of the present invention. As shown in the figure, the negative pressure seat 3 may include: a seat body 31 and a connecting shaft 32; wherein, the connecting shaft 32 is disposed on the seat body 31, and the two can be connected by welding, and the connecting shaft 32 is used to connect and fasten to the connecting clamp 24.

[0033] Specifically, the connecting shaft 32 can be welded to the base 31. The connecting shaft 32 is inserted into the connecting clamp 24, and its extension length can be adjusted by the locking member 25. The connecting shaft 32 is circumferentially adjusted around the axis of the connecting clamp 24 to keep the bottom surface of the cavitation cleaning disc 4 perpendicular to the normal plane of the guide frame 6 wall, adapting to the curvature of the guide frame 6 wall and ensuring the cleaning effect. The base 31 can rotate circumferentially around the axis of the connecting shaft 32 to keep the bottom surface of the cavitation cleaning disc 4 perpendicular to the normal plane of the guide frame wall, adapting to the curvature of the guide frame wall and ensuring the cleaning effect.

[0034] In this embodiment, the base 31 is provided with a guide hole 311, and a support part can be provided inside the guide hole 311. The support part is welded to the guide hole 311. A guide rod 33 can be provided at the guide hole 311. The connecting end of the guide rod 33 can be provided with an external thread, that is, the guide rod 33 can be used as a fixing bolt to connect the fixing nut 34 so that the connection between the base 31 and the cavitation cleaning disc 4 can be realized through the guide rod 33 and the fixing nut 34. In other words, the guide rod 33 and the fixing nut 34 can be connected and can also provide guidance to guide the floating of the cavitation cleaning disc 4. The fixing nut 35 can be installed on the inner surface of the cavitation cleaning disc 4 and threadedly connected to the guide rod 33. The purpose is to fasten the negative pressure seat 3 and the cavitation cleaning disc 4 to form the cleaning disc assembly. In this embodiment, the guide rod 33 may also be provided with an elastic adjusting member 35. The elastic adjusting member 35 can be clamped on the head of the guide rod 33 and the seat 31, allowing the cavitation cleaning disc 4 to move downward relative to the seat 31 under the negative pressure inside the cavitation cleaning disc 4, so that the cavitation cleaning disc 4 can be adsorbed onto the guide tube frame 6, thereby cleaning the marine organisms on the guide tube frame 6. That is, the purpose is to make the cavitation cleaning disc 4 move linearly along the guide hole 311. The elastic adjusting member 35 can be a spring, which is placed in the guide hole 311 along with the guide rod 33. In this embodiment, the seat 31 also has a water pipe hole 312 for connecting an external water pipe to the cavitation cleaning disc 4.

[0035] See Figures 9 to 12 This figure illustrates a preferred structure of the cleaning tray assembly provided in an embodiment of the present invention. As shown, the cavitation cleaning tray 4 includes: a cleaning hood 41, a water inlet shaft 42, a rotary joint 43, a water inlet pipe 44, and a cavitation nozzle 45; wherein, the bottom end of the cleaning hood 41 is provided with an elastic support wire 46 along its circumference, which is used to elastically deform according to the wall surface of the guide tube frame 6 to relatively seal the inside of the cleaning hood 41; the water inlet shaft 42 is rotatably inserted through the cleaning hood 41, and the water inlet end (e.g., outside the cleaning hood 41) is located outside the cleaning hood 41. Figure 12 The right end shown is connected to the water pipe hole 312 on the negative pressure seat 3; the rotary joint 43 is connected to the water outlet end of the water inlet shaft 42 located inside the cleaning cover 41 (as shown). Figure 12 The two are connected (shown on the left end) and can be connected by threads. The inlet of the rotary joint 43 is connected to the inlet shaft 42 and is used to guide water through the inlet pipe 44 into the cavitation nozzle 45. The inlet of the inlet pipe 44 is connected to the outlet of the rotary joint 43 and is used to rotate with the rotary joint 43 and generate speed so that the velocity of the flow field inside the cleaning hood 41 is higher than the velocity of the flow field outside the cleaning hood 41. According to Bernoulli's principle, a negative pressure can be generated so that the cleaning hood 41 is adsorbed onto the guide frame 6. The cavitation nozzle 45 is set at the outlet of the inlet pipe 44 and is used to spray a high-speed cavitation water jet to clean the marine organisms on the guide frame 6.

[0036] Specifically, the cleaning hood 41 may be equipped with a flange 47. The two ends of the flange 47 are connected to the base 31 and the cleaning hood 41 respectively via guide rods 33 and fixing nuts 34. That is, the flange 47 and the cleaning hood 23 are threadedly connected by guide rods 33 and fixing nuts 34. The fixing nuts 34 are fitted against the inner surface of the cleaning hood 41, the purpose of which is to secure the cavitation cleaning disc 4 to the negative pressure base 3. Figure 12 As shown, a fixing nut 34 is installed on the inner surface of the cleaning cover 41. An end cap 48 is provided at the end of the flange cover 47 extending into the cleaning cover 41, and the two can be connected by screws. A water inlet shaft 42 passes through the cleaning cover 41 and is located inside the flange cover 47. There is a gap between the flange cover 47 and the water inlet shaft 42, allowing the water inlet shaft 42 to rotate within the flange cover 47 to rotate synchronously with the rotary joint 43. A first radial bearing 49 and a second radial bearing 40 can be provided between the flange cover 47 and the water inlet shaft 42, respectively located on the upper and lower sides of the outer step of the water inlet shaft 42. In this embodiment, a damper 51 is provided on the outer periphery of the water inlet shaft 42 to mitigate the impact during cleaning and improve the stability of the cleaning device; the damper 51 can be located between the second radial bearing 40 and the end cap 48, and the damper 51 is connected to the water inlet shaft 42. A first O-ring 52 is provided between the damper 51 and the end cover 48 arranged at the bottom of the flange 47 along the axial direction of the water inlet shaft 42. A second O-ring 53 may also be provided between the first radial bearing 49 and the inner top wall of the flange 47 along the axial direction of the water inlet shaft 42. Figure 13 As shown, a shaft end retaining ring 54 may be provided on the water inlet shaft 42 below the end cover 48.

[0037] In this embodiment, the end cap 48, inlet shaft 42, damper 51, first O-ring 52, first radial bearing 49, second O-ring 53, shaft end retaining ring 54, and second radial bearing 40 are installed inside the flange cover 47. The first O-ring 52 fits against the flange cover 47 and the first radial bearing 49; the first radial bearing 49 and the second radial bearing 40 fit against the shoulder of the inlet shaft 42; the second radial bearing 40 fits against the damper 51; and the second O-ring 53 fits against the damper 51 and the end cap 48. The damper 51 is screwed to the inner surface of the flange cover 47, and the flange cover 47 is screwed to the end cap 48. The inlet pipe 44 and the cavitation nozzle 45 are threaded together. The shaft end retaining ring 45 is installed on the inlet shaft 42, located between the rotary joint 43 and the end cover 27, to withstand vibration and impact during cleaning, especially axial impact load. The inlet shaft 42 is statically sealed to the flange cover 47 and the end cover 48 with sealing rings. The inlet of the rotary joint 43 is threaded to the outlet of the inlet shaft 42 and sealed with packing. The flange cover 47 is dynamically sealed to the inlet shaft 42 with a first O-ring 52, and the end cover 48 is dynamically sealed to the inlet shaft 42 with a second O-ring 53. In this embodiment, the cavitation cleaning disc 4 has two inlet pipes 44 and two cavitation nozzles 45.

[0038] In this embodiment, the horizontal proximity sensor 7 is screwed to the front of the outer surface of the cleaning hood 41, near the bottom surface 411 of the cleaning hood, and is used to sense the horizontal relative position between the cavitation cleaning disc 4 and the marine organisms directly in front of it during the cleaning operation; the vertical proximity sensor 8 is screwed to the front of the outer surface of the cleaning hood 41, with its working surface coinciding with the bottom surface 411 of the cleaning hood, and is used to sense the vertical relative position between the cleaning disc and the marine organisms directly below it. The bottom surface 411 of the cleaning hood serves as the bottom surface of the cavitation cleaning disc 4.

[0039] See also Figure 10 The cleaning hood 41 may also be provided with a water inlet 412 so that when a negative pressure is formed inside the cleaning hood 41, water can flow into the interior of the cleaning hood 4 from the water inlet 412, which can further enhance the negative pressure effect. The elastic support wire 46 is used to make the cavitation cleaning disc 4 fit tightly against the pipe rack wall, enhancing the adaptability to the curved surface of the pipe rack.

[0040] See Figure 14 This is a schematic diagram of the damping structure provided in an embodiment of the present invention. As shown in the figure, the damper 51 is provided with a damping shaft 511, and the damping shaft 511 is provided with a mounting hole 5111, wherein the mounting hole 5111 can be a hexagonal hole structure, such as... Figure 15As shown, the water inlet shaft 42 is provided with a hexagonal fixing part 421, and the mounting hole 5111 is adapted to the hexagonal fixing part 421. The damping rotating shaft 511 is connected to the water inlet shaft 42 through the mounting hole 5111. The damping rotating shaft 511 and the water inlet shaft 42 rotate together to mitigate the impact during cleaning and improve the stability of the cleaning device.

[0041] See Figures 16 to 17 The figure illustrates a preferred structure of the rotary joint provided in an embodiment of the present invention. As shown, the rotary joint 43 may contain a vortex chamber 431, and may also contain a rotary inlet 432 and two guide ports 433, both communicating with the vortex chamber 431. Specifically, as shown... Figure 17 As shown, the two guide ports 433 are staggered, and the two cavitation nozzles 45 are also staggered, so that the two water inlet pipes 44 are staggered on the outer periphery of the rotary joint 43. This allows the cavitation nozzles 45 to generate a counter-torque when spraying water, thereby driving the rotary joint 43 to rotate, and in turn driving the water inlet pipes 44 and the cavitation nozzles 45 to rotate. The vortex chamber 431 is a cylindrical cavity, and two guide holes 433 are evenly distributed on the wall of the vortex chamber 44, which are threadedly connected to the water inlet pipes 44. This is to avoid pressure loss from the high-speed water flow and simultaneously drive the rotary joint 43 to rotate, thus realizing the rotary cleaning function of this invention.

[0042] In this embodiment, as Figure 3 and Figure 4 As shown, after the underwater wall-climbing robot is mounted on the device and fits against the wall of the guide frame, it performs cleaning work along the wall. This invention, through length and circumferential adjustments, can conform to the curvature of the guide frame 6 wall and seal the gap between the cavitation cleaning disc 4 and the guide frame 6 wall. The underwater wall-climbing robot body 5 can also be equipped with a binocular vision system, an underwater vision system, and other sensor systems to enhance the obstacle-crossing capability of the device and further observe the cavitation cleaning effect.

[0043] In this embodiment, the inner crossbeam 22, cantilever beam 23, and connecting shaft 32 are all hollow structures, and buoyancy materials can be added at appropriate positions or cavities can be retained to balance the weight of the cleaning device underwater. The present invention can also add buoyancy materials at appropriate positions on the outside of the inner crossbeam 22, cantilever beam 23, connecting shaft 32, and cleaning cover 41 to further balance the device and keep it in a zero buoyancy state.

[0044] In summary, the cavitation cleaning device for jacket 6 provided in this embodiment achieves height adjustment of the adjustable suspension 2, negative pressure seat 3, and cavitation cleaning disc 4 through the height adjustment component 1, especially the height adjustment of the cavitation cleaning disc 4. This enables obstacle crossing and positioning for cleaning. The obstacle crossing mechanism eliminates the need for traditional cleaning discs with guide wheels, simplifying the cleaning disc structure and improving reliability. The adjustable suspension 2 allows for adjustment of the distance between the two negative pressure seats 3, thereby adjusting the distance between the two cavitation cleaning discs 4. This allows the distance between them to be adapted to the jacket 6, enabling cleaning of jacket 6 of different specifications. The device performs cleaning; the rotation of the negative pressure seat 3 drives the cavitation cleaning disc 4 to rotate, making the bottom surface of the cavitation cleaning disc 4 perpendicular to the normal plane of the jacket support 6 wall, adapting to the curvature of the jacket support 6 wall and ensuring cleaning effect. It has good adaptability to the curvature of the jacket support wall, and is especially suitable for application on jacket support walls with large curvature radii such as MOPU pile legs. The high-speed cavitation water jet generated by the cavitation cleaning disc 4 cleans marine organisms on the jacket support wall. Furthermore, the cavitation cleaning disc 4 can form a negative pressure and generate an adsorption force, so that the cavitation cleaning disc 4 can be adsorbed on the wall surface of the jacket support 6. This device cleans marine organisms through high-speed cavitation water jets, and the cleaning effect is obvious for excessively thick marine organisms. At the same time, the device has self-adsorption capability, good operability and practicality. The cavitation cleaning disc 4 is a self-rotating cleaning disc, and the hydrocyclone cavity of its rotating joint does not significantly hinder water flow, resulting in small pressure loss during cleaning.

[0045] Method Implementation Examples: See Figures 18 to 20 This is a flowchart of a method for cleaning marine organisms from a trachea provided in an embodiment of the present invention. As shown in the figure, the method for cleaning marine organisms from a trachea includes the following steps: Step S1: The cavitation cleaning device is pre-installed on the underwater wall-climbing robot body, and the underwater wall-climbing robot body is controlled to move the cavitation cleaning device toward the guide frame until the horizontal relative position of the marine organisms in front of the cavitation cleaning plate obtained by the horizontal proximity sensor is a preset horizontal proximity distance, and then the underwater wall-climbing robot body is controlled to stop moving forward.

[0046] Specifically, the negative pressure seat 3 can be rotated in advance, the length of the adjustable suspension 2 can be adjusted, and the height adjustment component 1 can be adjusted. The rotation angle of the negative pressure seat 3 is preset by the operator based on the curvature of the guide rail 6 to be cleaned, aiming to ensure that the bottom surface 411 of the cleaning cover of the cavitation cleaning disc 4 is perpendicular to the normal plane of the outer tangent of the guide rail wall to be cleaned. The length of the adjustable suspension 2 is preset by the operator to ensure that the horizontal distance between the two adjusted cavitation cleaning discs 4 does not exceed 20mm, thus guaranteeing the cleaning effect. The preset height of the bottom surface 411 of the cleaning cover of the cavitation cleaning disc 4 relative to the outer tangent of the guide rail wall is preset by the operator. This preset height ensures that the bottom surface 411 of the cleaning cover of the adjusted cavitation cleaning disc 4 maintains a normal distance of 10-20mm from the outer tangent of the guide rail wall to be cleaned. Then, the cavitation cleaning device is installed on the underwater wall-climbing robot, which is mounted on the robot so that it can adhere to the guide rail wall during cleaning operations. Finally, the underwater wall-climbing robot body is controlled to move the cavitation cleaning device toward the guide frame until the horizontal relative position of the marine organisms in front of the cavitation cleaning plate, as obtained by the horizontal proximity sensor, is within a preset horizontal proximity distance. At this point, the underwater wall-climbing robot body is controlled to stop moving forward. The preset horizontal proximity distance can be one-fifth of the diameter of the cleaning hood 41, or it can be other values. In this embodiment, no limitation is made on it.

[0047] Step S2: Control the height adjustment component to lift the adjustable suspension, negative pressure seat, and cavitation cleaning disc along the height direction with the power output end of the height adjustment component until the horizontal proximity sensor can no longer detect marine life directly in front, so as to achieve obstacle crossing.

[0048] Specifically, a lifting process can be implemented. First, when the horizontal proximity sensor 7 detects that the horizontal proximity distance between the cavitation cleaning disc 4 and the marine organism directly in front is a preset horizontal proximity distance, or is lower than the preset horizontal proximity distance, the data is transmitted to the controller of the underwater wall-climbing robot or the controller of the device via the transmission bus. The controller then controls the drive component 14, i.e., the waterproof motor, to rotate, thereby lifting the cavitation cleaning disc 4 until the horizontal proximity sensor 7 no longer detects the marine organism directly in front, thus achieving the obstacle-crossing function.

[0049] Step S3: Control the underwater wall-climbing robot to move the cavitation cleaning device forward a preset distance so that the cavitation cleaning disc covers the marine organisms that need to be cleaned.

[0050] Specifically, the underwater wall-climbing robot body is controlled to drive the cavitation cleaning device to continue moving forward a preset distance. The preset forward distance can be less than or equal to two-thirds of the diameter of the cleaning hood 41, with the purpose of covering the cavitation cleaning disc 4 over the marine organisms to be cleaned.

[0051] Step S4: After the coverage is completed, control the height adjustment component so that the adjustable suspension, negative pressure seat and cavitation cleaning disc descend along the height direction with the power output end of the height adjustment component until the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the adjustable suspension, as obtained by the vertical proximity sensor, is a preset vertical approach distance.

[0052] Specifically, after the coverage is completed, the cavitation cleaning disc 4 begins the process of cleaning marine organisms. First, the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the adjustable suspension is sensed by the vertical proximity sensor 8 and transmitted to the controller. The controller then controls the drive component 14, i.e., the waterproof motor, to rotate. The purpose is to adjust the vertical distance between the cavitation cleaning disc 4 and the marine organisms in the vertical direction to a preset vertical approach distance. The preset vertical approach distance can be within 10-20mm and less than the isotropic core length of the high-speed cavitation jet, so as to realize the floating of the cleaning hood and the cleaning of the guide frame.

[0053] Step S5: A high-speed cavitation water jet is generated by the cavitation cleaning disc to clean the biofilm on the guide frame wall. The adsorption force generated by the cavitation cleaning disc allows it to adhere to the guide frame wall. During the cleaning process, the thickness of the biofilm on the guide frame wall gradually decreases. The height adjustment component is controlled to ensure that the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the adjustable suspension is always at a preset vertical approach distance.

[0054] Specifically, a high-speed cavitation water jet is generated by the cavitation cleaning disc to clean marine organisms on the pipe rack wall. The adsorption force generated by the cavitation cleaning disc allows it to adhere to the pipe rack wall. The thickness of the marine organisms attached to the pipe rack 6 decreases when cleaned by the high-speed cavitation water jet. When the vertical proximity sensor 8 detects that the distance between the marine organisms and the bottom surface 411 of the cleaning cover of the cavitation cleaning disc 4 is greater than the preset vertical approach distance, the controller will control the waterproof motor to rotate, causing the cavitation cleaning disc 4 to move downward to maintain a certain vertical approach distance between the bottom surface 411 of the cleaning cover and the surface of the marine organisms. During the descent of the cavitation cleaning disc, the controller does not execute the approach obstacle command issued by the horizontal proximity sensor 7.

[0055] In this embodiment, the controller can calculate the relative position of the cavitation cleaning disc 4 based on the data transmitted by the cleaning disc height sensor 9, so that the bottom surface 411 of the cleaning cover of the cavitation cleaning disc 4 maintains a certain vertical proximity distance with the outer tangent surface of the guide frame wall. This is to avoid the cavitation cleaning disc from descending excessively and colliding with the guide frame. The displacement of the cavitation cleaning disc 4 due to buoyancy is negligible. The distance between the bottom surface 411 of the cleaning cover and the outer tangent surface of the guide frame wall, that is, the distance between the bottom surface of the cavitation cleaning disc and the outer tangent surface of the guide frame wall, is calculated according to the following formula: in: This represents the total upward displacement distance of the cavitation cleaning disc; y is the total downward displacement distance of the cavitation cleaning disc; y is the downward displacement distance of the cavitation cleaning disc due to negative pressure; L is the distance between the bottom surface of the cavitation cleaning disc and the outer tangent surface of the guide frame wall.

[0056] In this embodiment, the cavitation cleaning method of the duct frame in the cleaning device involves a horizontal approach distance of less than one-fifth of the diameter of the cleaning hood 23, in order to avoid collision between the cavitation cleaning disc 4 and marine organisms. When the underwater robot stops lifting with the waterproof motor (after the cavitation cleaning disc 3 has passed the obstacle directly in front), it moves forward a certain distance of one-half to two-thirds of the length of the cavitation cleaning disc, in order to cover the marine organisms with the cavitation cleaning disc 3 as much as possible. The bottom surface 46 of the cavitation cleaning disc has a certain vertical approach distance of 10-20mm relative to the marine organisms, in order to ensure that the distance between the cavitation nozzle 29 and the marine organisms is less than the length of the isotropic core of the cavitation water jet.

[0057] In summary, the method for cleaning marine organisms from a pipe rack provided in this embodiment achieves height adjustment of the adjustable suspension 2, negative pressure seat 3, and cavitation cleaning disc 4 through the height adjustment component 1, especially the height adjustment of the cavitation cleaning disc 4. This enables obstacle crossing and positioning for cleaning. The obstacle crossing mechanism eliminates the need for traditional cleaning discs with guide wheels, simplifying the cleaning disc structure and improving reliability. The adjustable suspension 2 allows for adjustment of the distance between the two negative pressure seats 3, thereby adjusting the distance between the two cavitation cleaning discs 4. This allows the distance between them to be adapted to the pipe rack 6, enabling cleaning of pipe racks 6 of different specifications. Cleaning: The rotation of the negative pressure seat 3 drives the cavitation cleaning disc 4 to rotate, making the bottom surface of the cavitation cleaning disc 4 perpendicular to the normal plane of the jacket support 6 wall. This adapts to the curvature of the jacket support 6 wall, ensuring cleaning effectiveness and providing good adaptability to the curvature of the jacket support wall. It is especially suitable for applications on jacket support walls with large curvature radii, such as MOPU pile legs. The high-speed cavitation water jet generated by the cavitation cleaning disc 4 cleans marine organisms from the jacket support wall. Furthermore, the cavitation cleaning disc 4 can generate negative pressure and adsorption force, allowing it to adhere to the jacket support 6 wall. This device cleans marine organisms using high-speed cavitation water jets, showing significant cleaning effect on excessively thick layers of marine organisms. Simultaneously, the device has self-adsorption capability, good operability and practicality. The cavitation cleaning disc 4 is a self-rotating cleaning disc, and the hydrocyclone chamber of its rotating joint does not significantly obstruct water flow, resulting in minimal pressure loss during cleaning.

[0058] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0059] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A cavitation cleaning device, characterized in that, include: Height adjustment components for mounting onto the underwater wall-climbing robot body; An adjustable suspension is provided on the power output end of the height adjustment component for height adjustment under the action of the height adjustment component; The negative pressure seat is rotatably connected to the adjustable suspension and is used to adjust the support angle of the negative pressure seat. A cavitation cleaning disc, mounted on the negative pressure seat, is used to generate a high-speed cavitation water jet to clean marine organisms from the pipe rack wall. The cavitation cleaning disc creates negative pressure, generating adsorption force so that it can adhere to the pipe rack wall. The angle of the cavitation cleaning disc is adjusted with the negative pressure seat to ensure it is perpendicular to the normal plane of the pipe rack wall. Furthermore, the height of the cavitation cleaning disc and the negative pressure seat can be adjusted with the adjustable suspension to allow it to overcome obstacles when marine organisms are detected, enabling the cavitation cleaning disc to move to the pipe rack where the marine organisms are located, adhere to the pipe rack wall, and thus clean the marine organisms on the pipe rack.

2. The cavitation cleaning device according to claim 1, characterized in that, The cavitation cleaning disc includes: A cleaning hood, wherein the bottom end of the cleaning hood is provided with elastic support wires along its circumference, which are used to elastically deform according to the wall surface of the guide frame to relatively seal the inside of the cleaning hood; The water inlet shaft is rotatably inserted through the cleaning hood, and the water inlet end located outside the cleaning hood is connected to the water pipe hole on the negative pressure seat. A rotary joint is connected to the water outlet end of the water inlet shaft located inside the cleaning hood, and the water inlet of the rotary joint is connected to the water inlet shaft; The water inlet pipe, the water inlet and the water outlet of the rotary joint are used to rotate with the rotary joint and generate speed so that the speed of the flow field inside the cleaning hood is higher than the speed of the flow field outside the cleaning hood. According to Bernoulli's principle, negative pressure can be generated so that the cleaning hood is adsorbed onto the guide frame. A cavitation nozzle, located at the outlet of the inlet pipe, is used to spray a high-speed cavitation water jet to clean marine organisms on the guide frame.

3. The cavitation cleaning device according to claim 2, characterized in that, The rotary joint has two staggered and oppositely arranged guide ports. There are two water inlet pipes and two cavitation nozzles, so that the two cavitation nozzles are staggered. When the cavitation nozzles spray water, they generate a counter-torque to rotate, thereby driving the rotary joint to rotate and causing the water inlet pipe and the cavitation nozzles to rotate.

4. The cavitation cleaning device according to claim 3, characterized in that, The outer periphery of the water inlet shaft is equipped with damping to mitigate the impact during cleaning.

5. The cavitation cleaning apparatus according to any one of claims 1 to 4, characterized in that, There are two negative pressure seats and two cavitation cleaning discs, which are spaced apart on the adjustable suspension. The adjustable suspension is a length adjustment component used to adjust the distance between the two cavitation cleaning discs.

6. The cavitation cleaning apparatus according to claim 5, characterized in that, The adjustable suspension includes: Outer crossbeam; Two inner crossbeams are respectively disposed at both ends of the outer crossbeam, and one end of each inner crossbeam is slidably disposed inside the outer crossbeam to support the two negative pressure seats respectively, and the distance between the two cavitation cleaning discs can be adjusted by sliding the two inner crossbeams. A cantilever beam, mounted on the outer crossbeam, is used to connect the power output end of the height adjustment assembly; Two connecting clamps are provided at the ends of the two inner crossbeams outside the outer crossbeams, for clamping and adjusting the support angle of the negative pressure seat; the connecting clamps are also provided with locking components, for locking the connecting clamps after the support angle of the negative pressure seat is adjusted to the correct position, so that the negative pressure seat is locked onto the connecting clamps.

7. The cavitation cleaning apparatus according to any one of claims 1 to 4, characterized in that, The height adjustment component is a guide rail and lead screw structure, which includes: Mounting base, used to connect the underwater wall-climbing robot body; A lead screw is rotatably mounted on the fixed base, and the lead screw is connected to a driving member for driving the lead screw to rotate; A slider, mounted on the lead screw and threaded to the outer wall of the lead screw, is used to reciprocate linearly along the axial direction of the lead screw when the lead screw rotates, thereby driving the adjustable suspension to adjust its height.

8. The cavitation cleaning apparatus according to any one of claims 1 to 4, characterized in that, A cleaning disc height sensor is provided on the fixed end of the height adjustment assembly to obtain the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the height adjustment assembly; and / or, The cavitation cleaning disc is equipped with a horizontal proximity sensor to detect whether there are marine organisms directly in front of the cavitation cleaning disc, and to obtain the horizontal relative position of the marine organisms in front of the cavitation cleaning disc relative to the cavitation cleaning disc; and / or, The cavitation cleaning plate is equipped with a vertical proximity sensor to sense the vertical relative position of marine organisms directly below the cavitation cleaning plate.

9. A method for cleaning duct-structure marine organisms, characterized in that, The cavitation cleaning apparatus according to any one of claims 1 to 8 includes the following steps: The cavitation cleaning device is pre-installed on the underwater wall-climbing robot body, and the underwater wall-climbing robot body is controlled to move the cavitation cleaning device toward the guide frame until the horizontal relative position of the marine organisms in front of the cavitation cleaning plate relative to the cavitation cleaning plate, as obtained by the horizontal proximity sensor, is a preset horizontal proximity distance. Then the underwater wall-climbing robot body is controlled to stop moving forward. Control the height adjustment component to lift the adjustable suspension, negative pressure seat and cavitation cleaning disc along the height direction with the power output end of the height adjustment component until the horizontal proximity sensor can no longer detect marine life directly in front, so as to achieve obstacle crossing; The underwater wall-climbing robot body is controlled to drive the cavitation cleaning device to continue moving forward a preset distance, so that the cavitation cleaning disc covers the marine organisms that need to be cleaned. After the coverage is completed, the height adjustment component is controlled so that the adjustable suspension, negative pressure seat and cavitation cleaning disc descend along the height direction with the power output end of the height adjustment component until the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the adjustable suspension, as obtained by the vertical proximity sensor, is a preset vertical approach distance. A high-speed cavitation water jet is generated by the cavitation cleaning disc to clean the biofilm on the guide frame wall. The adsorption force generated by the cavitation cleaning disc allows it to adhere to the guide frame wall. During the cleaning process, the thickness of the biofilm on the guide frame wall gradually decreases. The height adjustment component is controlled to ensure that the vertical relative position of the cavitation cleaning disc with respect to the fixed end of the adjustable suspension is always at a preset vertical approach distance.

10. The method for cleaning marine organisms from tracheal stents according to claim 9, characterized in that, The distance between the bottom surface of the cavitation cleaning disc and the outer tangent surface of the guide frame wall is calculated using the following formula: in: This represents the total upward displacement distance of the cavitation cleaning disc; y is the total downward displacement distance of the cavitation cleaning disc; y is the downward displacement distance of the cavitation cleaning disc due to negative pressure; L is the distance between the bottom surface of the cavitation cleaning disc and the outer tangent surface of the guide frame wall.

Images