A wheel-type anchor chain cleaning device capable of autonomous docking and return.

Abstract

This invention discloses a wheeled anchor chain cleaning device capable of autonomous docking and return, relating to the field of underwater equipment maintenance technology. The device includes a traveling wheel assembly, a propulsion system, a floating body system, a high-pressure sandblasting device, and a guided lifting device. The traveling assembly employs a cross-shaped arrangement of conical wheels, driven by a hub motor to move along the anchor chain. A six-degree-of-freedom propulsion system, in conjunction with the floating body system, enables autonomous underwater navigation and precise docking. A foldable annular high-pressure sandblasting device achieves all-around cleaning of the anchor chain. The guided lifting device enables automatic retrieval. This invention solves the problems of existing underwater anchor chain cleaning methods that rely on manual labor, involve high operational risks, and are inefficient. It achieves fully automated, unmanned operation with high cleaning efficiency and quality, and is suitable for automated cleaning and maintenance of underwater anchor chains on ships and offshore platforms.

Description

Technical Field

[0001] This invention relates to the field of underwater equipment maintenance technology, specifically to a wheel-type anchor chain cleaning device and method that can autonomously dock and return, applicable to automated rust removal and cleaning operations of large underwater chains such as ship anchor chains and offshore platform mooring chains. Background Technology

[0002] Anchor chains are core mooring equipment for ships and offshore platforms. Prolonged immersion in seawater causes severe corrosion and marine organism buildup, leading to decreased chain strength, shortened lifespan, and even chain breakage. Currently, underwater anchor chain cleaning mainly relies on manual diving operations, which have the following significant technical drawbacks:

[0003] The operation is extremely risky: divers working in underwater environments with high pressure, low temperature and poor visibility are prone to safety accidents such as decompression sickness and drowning.

[0004] Low cleaning efficiency: Manual cleaning is slow and labor-intensive, and cleaning a single anchor chain can take several days;

[0005] Unstable cleaning quality: Manual operation makes it difficult to ensure uniform cleaning and leaves many cleaning dead spots;

[0006] Unable to operate autonomously: Existing mechanical cleaning devices require manual assistance for docking and retrieval, have a low degree of automation, and are difficult to adapt to deep-sea and harsh sea conditions.

[0007] To address the aforementioned problems, this invention proposes a wheel-type anchor chain cleaning device capable of autonomous navigation, autonomous docking of anchor chains, automatic cleaning, and autonomous return for retrieval, thus completely resolving the safety hazards and efficiency issues associated with manual underwater operations. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wheel-type anchor chain cleaning device and cleaning method that can autonomously dock and return. It achieves stable movement along the anchor chain through a conical wheel set, achieves autonomous underwater navigation and precise docking through a six-degree-of-freedom propulsion system and a floating body system, achieves all-round cleaning through a foldable high-pressure sandblasting device, and achieves automatic recovery through a guided lifting device.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0010] A wheeled anchor chain cleaning device capable of autonomous docking and return includes a traveling wheel assembly, a traveling support frame, a propulsion system, a floating system, a high-pressure sandblasting device, and a guided lifting device.

[0011] The walking wheel assembly mechanism includes two sets of conical wheel assemblies, one at the front and one at the rear. Each set of conical wheel assemblies consists of four conical wheel assembly units arranged at 90° around the center line of the anchor chain, forming a cross-shaped channel. Each conical wheel assembly unit includes three conical wheels arranged in a straight line and a wheel assembly synchronous drive shaft. The three conical wheels are connected to the wheel assembly synchronous drive shaft through bevel gears, and the middle conical wheel has a built-in hub motor.

[0012] The propulsion system includes six thrusters, enabling the device to move in six degrees of freedom.

[0013] The floating system includes four floats, each with a built-in submersible pump for buoyancy adjustment and balancing.

[0014] The high-pressure sandblasting device is a foldable ring structure, which is set around the anchor chain and has multiple sandblasting nozzles evenly arranged on the inner side.

[0015] The guided lifting device includes a funnel-shaped guide plate and a conical lifting hook, enabling automatic centering and docking for retrieval.

[0016] Furthermore, the conical surface of the conical wheel contacts the anchor chain link, and the rotation forces adjacent chain links to be in a perpendicular cross state; the synchronous drive shaft of the wheel set makes the three conical wheels in the same unit rotate at the same speed.

[0017] Furthermore, it also includes a wheel set position control device, which includes a servo motor, a lead screw, a lead screw slider, a wheel set connecting rod, and a spring; the servo motor drives the lead screw to rotate, which in turn moves the lead screw slider, and the wheel set connecting rod adjusts the position of the tapered wheel set; the spring realizes the pressure buffering and control of the wheel set on the anchor chain.

[0018] Furthermore, it also includes a walking section length adjustment device, which includes an optical axis and at least three hydraulic cylinders; the optical axis is fixed to the rear conical wheel assembly, and the front conical wheel assembly is slidably connected to the optical axis through a linear bearing; the hydraulic cylinders synchronously drive the front conical wheel assembly to move along the optical axis to adjust the distance between the front and rear wheel assemblies.

[0019] Furthermore, it also includes a walking section deployment device, which includes a hydraulic cylinder and a linkage mechanism to drive the lower half of the conical wheel assembly unit to unfold outward with the side hinge plate as the axis, thereby achieving anchor chain docking.

[0020] Furthermore, of the six thrusters, four are arranged at ±30° along the front-to-back direction of the device, and the other two are arranged vertically at the middle of both sides of the device.

[0021] Furthermore, the four floats are respectively installed at the four corners of the top of the device, and each float has an independent ballast water tank and a submersible pump inside.

[0022] Furthermore, the funnel-shaped guide plate of the guided lifting device is fixed to the top of the device by a guide plate bracket; the conical lifting hook includes a lifting hook body and four lifting hook lobes with variable angles, which are connected to the lifting hook cable by lifting hook mooring bolts.

[0023] Furthermore, the high-pressure sandblasting device is composed of two semi-rings hinged together and is driven to open and close by a hydraulic cylinder, with a maximum opening and closing angle ≥120°; the sandblasting nozzle spray pressure is adjustable in the range of 5MPa~20MPa.

[0024] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0025] 1. Operational safety: The entire process is unmanned underwater, completely eliminating safety risks for divers and adapting to harsh sea conditions and deep-sea environments;

[0026] 2. Increased efficiency: Automated continuous operation, cleaning speed can reach more than 5m / h, which is more than 10 times more efficient than manual cleaning;

[0027] 3. High cleaning quality: The annular sandblasting device achieves 360° all-round coverage, with a cleaning uniformity of ≥95% and no dead corners;

[0028] 4. High degree of automation: It has autonomous navigation, autonomous docking, automatic cleaning and autonomous return functions, without the need for human intervention;

[0029] 5. High adaptability: It can be adapted to anchor chains of different specifications with diameters of 50mm to 200mm, and is suitable for various types of ships and offshore platforms. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the wheel-type anchor chain cleaning device according to an embodiment of the present invention;

[0031] Figure 2 This is a front view of the wheel-type anchor chain cleaning device according to an embodiment of the present invention;

[0032] Figure 3 This is a side view of the wheel-type anchor chain cleaning device according to an embodiment of the present invention;

[0033] Figure 4 This is a top view of the wheel-type anchor chain cleaning device according to an embodiment of the present invention;

[0034] Figure 5 This is a detailed drawing of the guided lifting device according to an embodiment of the present invention;

[0035] Figure 6 This is a diagram showing the arrangement of the thruster and float in an embodiment of the present invention;

[0036] Figure 7This is a schematic diagram of the internal structure of the conical wheel assembly unit according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the external structure of the conical wheel assembly unit according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the walking unit support frame structure according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the deployed state of the walking unit according to an embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the operation of the high-pressure sandblasting device according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached drawings: 100 - Wheelset mechanism of the traveling section; 111 - Driven conical wheel; 112 - Driving conical wheel (with hub motor); 113 - Wheelset connecting plate; 114 - Wheelset synchronous transmission shaft; 121 - Lead screw and slider; 122 - Wheelset connecting rod; 123 - Spring; 131 - Lead screw; 132 - Motor bracket; 133 - Servo motor; 200 - Traveling section support frame; 211 - Top rear frame of the traveling section; 212 - Top front frame of the traveling section; 213 - Bottom left rear frame of the traveling section. 214-Right rear frame at the bottom of the traveling section; 215-Right front frame at the bottom of the traveling section; 216-Left front frame at the bottom of the traveling section; 300-Thruster; 311~316-Thrusters 1~6; 400-Float; 411~414-Floaters 1~4; 500-Guided lifting device; 511-Guided disc bracket; 512-Guided disc; 521-Lifting hook body; 522-Lifting hook flap; 523-Lifting hook mooring bolt; 524-Lifting hook cable; 600-High-pressure sandblasting device. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1 , Figure 6As shown in the figure, the wheel-type anchor chain cleaning device of the present invention, which can autonomously dock and return, has a core load-bearing structure of walking support frame 200, which is welded and formed by 6061-T6 aluminum alloy, and the surface is treated with hard anodizing for corrosion protection with a film thickness ≥20μm, an overall weight ≤480kg, and a maximum working depth ≤120m. The walking unit support frame 200 adopts a split modular design, consisting of an upper frame and a lower deployable frame. The upper frame includes the top rear frame 211 and the top front frame 212 of the walking unit, which are connected by two parallel φ40mm optical axes. The lower deployable frame includes the bottom left rear frame 213, the bottom right rear frame 214, the bottom right front frame 215, and the bottom left front frame 216 of the walking unit. The bottom left rear frame 213 is hinged to the left side of the top rear frame 211, the bottom right rear frame 214 is hinged to the right side of the top rear frame 211, the bottom right front frame 215 is hinged to the right side of the top front frame 212, and the bottom left front frame 216 is hinged to the left side of the top front frame 212, forming an outwardly folding opening and closing structure.

[0044] like Figure 4 , Figure 5 As shown, the walking unit wheel assembly 100 is installed inside the walking unit support frame 200, including two independent sets of conical wheel assemblies, front and rear. Each set of conical wheel assemblies consists of four identical conical wheel assembly units arranged in a 90° cross shape around the anchor chain centerline, forming a cross-shaped channel with a side length of 220mm, which can accommodate anchor chains with diameters of 50mm to 200mm. Each conical wheel assembly unit is connected to the walking unit support frame 200 through a wheel assembly connecting plate 113. The unit contains three conical wheels arranged equidistantly along a straight line: driven conical wheels 111 at both ends and a driving conical wheel 112 in the middle (with a built-in 1kW brushless hub motor, rated speed 300r / min). The shafts of the three conical wheels are all meshed with the wheel assembly synchronous drive shaft 114 through bevel gears. The wheel assembly synchronous drive shaft 114 is a φ15mm 40Cr alloy steel shaft with surface hardening treatment and a hardness of HRC45~50, which ensures that the three conical wheels run synchronously at the same speed. The conical wheel adopts a polyurethane coating structure with a coating thickness of 10mm, a Shore hardness of A70, and a conical inclination angle of 45°. It forms line contact with the arc surface of the anchor chain link. Through the guiding effect of the conical surface during rotation, it forces the adjacent chain links to generate relative twist when passing through the wheel set, automatically forming a stable 90° vertical cross state and avoiding chain link jamming.

[0045] Each conical wheel assembly unit is equipped with an independent wheel position control device for adjusting the distance and clamping force between the wheel assembly and the anchor chain. The wheel position control device includes a servo motor 133, a motor bracket 132, a lead screw 131, a lead screw slider 121, wheel assembly connecting rods 122, and a spring 123. The servo motor 133 is a waterproof servo motor with an IP68 protection rating and a rated power of 200W. It is bolted to the outside of the walking unit support frame 200 via the motor bracket 132. The output shaft of the servo motor 133 is connected to the lead screw 131 via a coupling. The lead screw 131 is a T20×4 trapezoidal lead screw with an effective stroke of 100mm. The lead screw slider 121 is threaded into the lead screw 131. Two wheel assembly connecting rods 122 are hinged to both sides of the slider via pins. The other end of the wheel assembly connecting rod 122 is hinged to the wheel assembly connecting plate 113. Spring 123 is a cylindrical compression spring, fitted onto the wheel assembly connecting rod 122, with its two ends abutting against the lead screw slider 121 and the wheel assembly connecting plate 113, respectively, to achieve pressure buffering and adaptive adjustment. When the conical wheel contacts the anchor chain, the control system detects the spring compression through a pressure sensor, switches to pressure closed-loop control mode, and stabilizes the clamping force of the wheel assembly on the anchor chain at a preset value (adjustable from 500N to 2000N) by finely adjusting the position of the lead screw slider 121.

[0046] The device is also equipped with a walking section length adjustment mechanism to adjust the distance between the front and rear sets of conical wheel sets, adapting to anchor chains with different pitches. The walking section length adjustment mechanism includes two parallel φ40mm optical shafts and three double-acting hydraulic cylinders (one at the top, and one on each side of the bottom). The rear end of the optical shaft is fixed to the top rear frame 211 and bottom rear frames 213 and 214 of the walking section via flange fasteners. The top front frame 212 and bottom front frames 215 and 216 of the walking section are slidably connected to the optical shafts via linear bearings. The three hydraulic cylinders are driven synchronously, with the cylinder body fixed to the rear frame and the piston rod fixed to the front frame. The maximum extension stroke is 700mm, allowing stepless adjustment of the distance between the front and rear wheel sets within the range of 800mm to 1500mm.

[0047] The traveling section deployment device drives the lower frame to flip outward, enabling rapid docking of the anchor chain. The device includes two deployment hydraulic cylinders and four sets of linkage mechanisms. The cylinder bodies are hinged to the sides of the top frame, and the piston rods are hinged to the outside of the bottom frame. When the hydraulic cylinders extend, they drive the bottom right front frame 215 and bottom left front frame 216 of the traveling section to flip outward by 90° around the side hinge plates, opening the lower half of the cross-shaped channel to facilitate anchor chain entry. When the hydraulic cylinders retract, the bottom frame returns to its original position and closes, allowing the four conical wheel units to completely surround the anchor chain.

[0048] like Figure 3As shown, the propulsion system comprises six identical thrusters 300 (numbered 311-316). Each thruster uses a waterproof brushless motor to drive the propeller, with a rated power of 1.5kW, a maximum thrust of 200N, and an IP68 protection rating. The thrusters are arranged as follows: thrusters 311 and 312 are symmetrically mounted on the left and right sides of the top front frame 212 of the traveling section, with their axes forming angles of +30° and -30° with the front-rear direction of the device; thrusters 313 and 314 are symmetrically mounted on the left and right sides of the top rear frame 211 of the traveling section, with their axes forming angles of -30° and +30° with the front-rear direction of the device; thrusters 315 and 316 are vertically mounted at the center of the left and right sides of the traveling section support frame 200, with their axes pointing vertically downwards. The six thrusters work together to achieve six degrees of freedom of movement for the device: forward / backward, left / right, up / down, roll, pitch, and yaw, with a maximum speed of 1m / s and a positioning accuracy of ±5cm.

[0049] The buoyancy system comprises four independent floats 400 (numbered 411-414), which are bolted to the four corners of the top rear frame 211 and top front frame 212 of the traveling section. Each float is made of fiberglass and contains an independent ballast water tank and a submersible pump with a flow rate of 50 L / min and a head of 10 m. By controlling the ballast water volume of the four floats, the overall buoyancy and center of gravity of the device can be adjusted to achieve neutral suspension, positive buoyancy ascent, or negative buoyancy descent, while also compensating for attitude deviations and maintaining horizontal stability.

[0050] like Figure 2 As shown, the guided lifting device 500 is installed at the center of the rear frame 211 at the top of the traveling section for automatic retrieval of the device. The guided lifting device includes a guide plate bracket 511, a funnel-shaped guide plate 512, and a matching conical lifting hook. The guide plate bracket 511 consists of four stainless steel support rods, welded to the top frame at the lower end and welded to the funnel-shaped guide plate 512 at the upper end. The guide plate 512 has an upper diameter of 300mm and a lower diameter of 100mm, with a polished inner wall forming a smooth guide slope. The conical lifting hook includes a hook body 521, four hook flaps 522, a hook mooring bolt 523, and a hook cable 524. The hook body 521 has a conical structure, and the four hook flaps 522 are hinged to the lower part of the hook body 521 by pins, allowing them to open outwards or retract inwards. The lifting hook mooring bolt 523 passes through the central hole of the lifting hook body 521, with its upper end connected to the lifting hook cable 524 and its lower end connected to the four lifting hook flaps 522 via a connecting rod. During lifting, the conical lifting hook automatically centers itself along the inclined surface of the guide plate 512 under the action of gravity. After the lifting hook body 521 passes through the lower opening of the guide plate, the lifting hook cable 524 is tightened, causing the lifting hook flaps 522 to open outward and lock into place on the inner side of the lower opening of the guide plate, achieving automatic locking and docking.

[0051] like Figure 8 As shown, the high-pressure sandblasting device 600 is mounted on the walking support frame 200 between the front and rear sets of conical wheel sets. It has a foldable ring structure, consisting of two semi-circular rings hinged together by a pin. It is driven to open and close by a double-acting hydraulic cylinder, with a maximum opening angle of 150°. Each semi-ring contains 12 evenly spaced tungsten carbide sandblasting nozzles, each with a 30° spray angle towards the center of the ring, forming a 360° full-coverage spraying area. The sandblasting device has an internal annular high-pressure water-sand mixing chamber, connected to an external sand tank and high-pressure water pump via a high-pressure hose. The spraying pressure is adjustable from 5MPa to 20MPa, the abrasive material is 80-mesh brown corundum, and the flow rate is adjustable from 20kg / h to 100kg / h.

[0052] The device also includes an integrated electrical control system, employing an underwater sealed PLC controller (IP68 protection rating), and incorporating an inertial navigation module, a multi-beam sonar positioning module, an underwater high-definition visual recognition module, and pressure sensors, attitude sensors, and tension sensors. The system has a built-in 48V / 100Ah lithium battery pack, providing a runtime of ≥10 hours, and supports underwater wireless communication and surface remote control operation.

[0053] The specific steps of the wheel-type anchor chain cleaning method in this embodiment are as follows:

[0054] Deployment in water: The device is lowered to the water surface by a deck crane. The submersible pump of the floating body system is started to inject a certain amount of seawater into the ballast water tanks of floating bodies 411, 412, 413 and 414 respectively. The water volume of the four floating bodies is adjusted to make the whole device reach a neutral suspension state. The attitude sensor detects a horizontality error of ≤±1°.

[0055] Autonomous navigation and positioning: The propulsion system is activated, and through the inertial navigation module and multi-beam sonar positioning system, the thrusters 311-316 work together to propel the device toward the target anchor chain at a speed of 0.5 m / s. When the device is 50 m away from the anchor chain, the underwater high-definition visual recognition module is activated to capture images of the anchor chain in real time, fine-tune the device's attitude, and gradually approach the anchor chain.

[0056] Anchor chain autonomous docking: Upon reaching the target position, the hydraulic cylinder of the traveling unit deployment device is activated, driving the bottom right front frame 215 and bottom left front frame 216 of the traveling unit to rotate outward by 90°, opening the lower half of the cross-shaped channel. The position of the pusher fine-tuning device is then adjusted to align the anchor chain with the opening of the cross-shaped channel. The deployment hydraulic cylinder is retracted, the bottom frame returns to its original position and closes, and the four conical wheel units completely surround the anchor chain.

[0057] Wheelset clamping preload: The servo motors 133 of the four wheelset position control devices are activated, driving the lead screw 131 to rotate, which in turn moves the lead screw slider 121 toward the anchor chain. Through the wheelset connecting rod 122, the four conical wheelsets are pushed to simultaneously approach the anchor chain. When the driven conical wheel 111 and the driving conical wheel 112 contact the anchor chain surface, the pressure sensor detects that the compression force of the spring 123 has reached the preset value (1000N), and switches to the pressure closed-loop control mode to maintain stable clamping force.

[0058] Anchor chain tensioning: Activate the three hydraulic cylinders of the travel section length adjustment device to synchronously drive the top front frame 212 and bottom front frames 215 and 216 of the travel section to move forward along the optical axis, increase the distance between the front and rear sets of conical wheel sets, straighten the anchor chain section between them, and control the tension force at about 5000N to eliminate the slack and swing of the anchor chain.

[0059] Cleaning Operation: The hub motor of the active conical wheel 112 is started, driving the driven conical wheels 111 at both ends to rotate synchronously via the wheel set synchronous transmission shaft 114. The drive device moves upward along the anchor chain at a speed of 3 m / h. Simultaneously, the high-pressure sandblasting device 600 is started, with the spraying pressure adjusted to 15 MPa and the sand flow rate to 50 kg / h. 24 sandblasting nozzles simultaneously spray a sand-water mixture to perform all-round rust removal and cleaning on the anchor chain surface. During the cleaning process, the vision system monitors the cleaning quality in real time, automatically reducing the walking speed to 1 m / h for severely rusted areas and repeating the cleaning.

[0060] Disengagement and Return: After cleaning the entire anchor chain, the travel section length adjustment device is reset, releasing the anchor chain tension. The travel section deployment device is activated, opening the lower wheel assembly to detach the conical wheel from the anchor chain. The submersible pumps of the buoy system discharge the ballast water from the four buoys, giving the system positive buoyancy. The propulsion system drive unit autonomously returns to the water surface near the work vessel at a speed of 1 m / s.

[0061] Automatic Recovery: After the device surfaces, the crew operates a crane to lower the conical lifting hook. The hook descends under gravity, automatically centering itself along the inclined surface of the funnel-shaped guide plate 512. After the hook body 521 passes through the lower opening of the guide plate, the hook cable 524 tightens, causing the four hook flaps 522 to open outwards and lock into place inside the lower opening of the guide plate. The crane then lifts the device smoothly back onto the deck, completing the entire operation.

[0062] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0063] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment have been appropriately combined to form other embodiments that are easy for those skilled in the art to understand.

Claims

1. A wheel-type anchor chain cleaning device capable of autonomous docking and return, characterized in that, It includes a running gear wheel assembly (100), a running gear support frame (200), a propulsion system, a floating body system, a high-pressure sandblasting device (600), and a guided lifting device (500); The walking wheel assembly (100) includes two sets of conical wheel assemblies, one at the front and one at the rear. Each set of conical wheel assemblies consists of four conical wheel assemblies arranged at 90° around the center line of the anchor chain, forming a cross-shaped channel. Each conical wheel assembly unit includes three conical wheels arranged in a straight line and a wheel assembly synchronous drive shaft (114). The three conical wheels are connected to the wheel assembly synchronous drive shaft (114) through bevel gears, and the middle conical wheel has a built-in hub motor. The propulsion system includes six thrusters (300) to achieve six degrees of freedom of motion for the device; The floating system includes four floats (400) with built-in submersible pumps for buoyancy adjustment and balancing; The high-pressure sandblasting device (600) has a foldable ring structure, which is arranged around the anchor chain, and multiple sandblasting nozzles are evenly arranged on the inner side. The guided lifting device (500) includes a funnel-shaped guide plate (512) and a conical lifting hook, which enables automatic centering docking and recovery.

2. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, The conical surface of the conical wheel contacts the anchor chain ring, and the rotation forces the adjacent chain rings to be in a perpendicular cross state; the synchronous drive shaft (114) of the wheel set makes the three conical wheels of the same unit rotate at the same speed.

3. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, It also includes a wheel set position control device, which includes a servo motor (133), a lead screw (131), a lead screw slider (121), a wheel set connecting rod (122), and a spring (123). The servo motor (133) drives the lead screw (131) to rotate, which in turn moves the lead screw slider (121). The position of the conical wheel set is adjusted through the wheel set connecting rod (122). The spring (123) realizes the pressure buffering and control of the wheel set on the anchor chain.

4. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, It also includes a walking section length adjustment device, which includes an optical axis and at least three hydraulic cylinders; the optical axis is fixed to the rear conical wheel set, and the front conical wheel set is slidably connected to the optical axis through a linear bearing; the hydraulic cylinders synchronously drive the front conical wheel set to move along the optical axis to adjust the distance between the front and rear wheel sets.

5. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, It also includes a walking section deployment device, which includes a hydraulic cylinder and a linkage mechanism to drive the lower half of the conical wheel assembly unit to unfold outward with the side hinge plate as the axis, so as to realize the anchor chain docking.

6. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, Of the six thrusters (300), four thrusters are arranged at ±30° along the front-to-back direction of the device, and the other two are arranged vertically on the middle of the two sides of the device.

7. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, The four floats (400) are respectively installed at the four corners of the top of the device, and each float (400) has an independent ballast water tank and a submersible pump.

8. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, The funnel-shaped guide plate (512) of the guided lifting device (500) is fixed to the top of the device by the guide plate bracket (511).

9. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, The conical lifting hook includes a lifting hook body (521) and four lifting hook flaps (522) with variable angles, which are connected to the lifting hook cable (524) by lifting hook mooring bolts (523).

10. The wheel-type anchor chain cleaning device capable of autonomous docking and return as described in claim 1, characterized in that, The high-pressure sandblasting device (600) is composed of two semi-rings hinged together and is driven to open and close by a hydraulic cylinder. The maximum opening and closing angle is ≥120°. The sandblasting nozzle spray pressure is adjustable in the range of 5MPa~20MPa.

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