Patent Description:
With the passage of time, the sealing surfaces of a gate of a building structure located at water intake of a large seawater culvert will be bred with a large number of marine life, which will affect the sealing effect between the gate and the building structure when the gate is closed, to bring a potential safety hazard. Therefore, the marine life on the sealing surfaces of the gate must be cleaned regularly. The traditional cleaning method is usually manually performed by divers diving into the water with hand-held cleaning tools. Such a method brings problems such as heavy workload and difficulty in ensuring the personal safety of divers, and this method is greatly affected by weather and ocean conditions.

<CIT>, published as <CIT>, discloses a cleaning robot for cleaning marine life on the outer surface of pipeline, which adopts a magnetic adsorption wheel to position the robot on the outer surface of the pipeline and movable axially to clean the marine life on the outer surface. This method has the following defects however. First, the magnetic adsorption is unsuitable for stainless steel material and the concrete surface. Second, as for the magnetic adsorption wheel driving, the cleaning robot will be difficult to stably move along the pipeline when the surface of the pipeline is uneven due to the large number of marine life attached on the surface. Meanwhile, the underwater carrier with adsorption wheel is unable to adapt to sharp edges and corners, and multi-plane operations. Furthermore, such a cleaning robot is unsuitable for large-scale configuration and has a small cleaning range and limited movement, which leads to an extremely low cleaning efficiency of large vertical gantry steel structure. Chinese application <CIT> discloses an automatic cleaning machine including a frame, a longitudinal cleaning system, a transverse cleaning system, and a control system, to clean the sluice gate. However, the operation stability of the machine is to be improved.

An aspect of the invention is to provide an underwater cleaning device for marine life on sealing surfaces of a gate, which has neither the inefficiency of the traditional cleaning method by divers nor the problems of poor movement stability of the cleaning device.

Another aspect of the invention is to provide an underwater cleaning device combination for marine life on sealing surfaces of a gate, which has neither the inefficiency of the traditional cleaning method by divers nor the problems of poor movement stability of the cleaning device.

Still an aspect of the invention is to provide an underwater cleaning method for marine life on sealing surfaces of a gate, which has neither the inefficiency of the traditional cleaning method by divers nor the problems of poor movement stability of the cleaning device.

To achieve the above-mentioned objectives, the present invention provides an underwater cleaning device for marine life on sealing surfaces of a gate, adapted for cleaning marine life attached to sealing surfaces of a gate of a building structure, the underwater cleaning device including a main structure, a cleaning structure installed on the main structure, and a rigging structure fixed to the main structure. The rigging structure is connected with a lifting device to drive the cleaning structure to move to a corresponding position on the sealing surfaces of the gate, and the cleaning structure is configured to clean the marine life on the sealing surfaces of the gate when the cleaning structure moves to the corresponding position on the sealing surfaces of the gate. The main structure comprises a truss arranged laterally and a moving carrier slidably provided on the truss, the cleaning structure comprises a nozzle structure, a delivery pipe and a reel device, the delivery pipe is configured to provide jetting fluid to the nozzle structure, the nozzle structure comprises a first nozzle for cleaning an upper sealing surface of the sealing surfaces and a second nozzle for cleaning a lower sealing surface of the sealing surfaces, and the first nozzle and the second nozzle are mounted on the moving carrier. The reel device is mounted on the truss and configured to release or rewind the delivery pipe with a movement of the moving carrier, and the reel device comprises a reel body, a left guide wheel and a right guide wheel, the delivery pipe is wound on the reel body and is located between the left guide wheel and the right guide wheel.

Preferably, opposite sides of the main structure are respectively provided with a guide member for slidably matching with a guide rail that is extended in a vertical direction and provided on both sides of the sealing surfaces of the gate.

Preferably, the nozzle structure is configured to jet fluid in a direction angled at <NUM>-<NUM> degrees relative to the sealing surfaces of the gate.

Preferably, the nozzle structure is a cavitation nozzle structure.

Preferably, the nozzle structure further includes a third nozzle and a fourth nozzle respectively for cleaning a left sealing surface and a right sealing surface of the sealing surfaces, and the third nozzle and the fourth nozzle are mounted on left and right sides of the moving carrier respectively.

Preferably, the cleaning structure further includes a first valve for controlling fluid discharge of the first nozzle, a second valve for controlling fluid discharge of the second nozzle, and a third valve for control fluid discharge of the third nozzle and the fourth nozzle.

Preferably, the device further includes a vision system, the vision system includes a camera device for collecting underwater image information and at least two fill light devices for providing light sources to the camera device, the fill light devices are respectively installed on left and right sides of the truss; the camera device includes a panoramic camera installed in a middle of the truss, a left camera and a right camera installed on the left and right sides of the truss, and a moving camera installed on the moving carrier.

Preferably, the rigging structure includes a lifting ring for connecting with the lifting device, a plurality of lifting ropes connected with the lifting ring, and a draw rod connected to a lower end of the lifting rope, the draw rod is connected with the main structure and has an adjustable length.

The present invention further provides an underwater cleaning device combination for marine life on sealing surfaces of a gate, adapted for cleaning marine life attached to sealing surfaces of a gate of a building structure, the underwater cleaning device combination including an underwater cleaning device for marine life on sealing surfaces of a gate according to the invention and two guide rails, the guide rails being installed side by side on both sides of the sealing surfaces of the gate. The opposite sides of the main structure are respectively provided with a guide member for matching with the guide rails.

In comparison with the prior art, a new marine life cleaning device is provided in the present invention, the main structure is fixed with the rigging structure, the cleaning structure is installed on the main structure, and the rigging structure is connected to the lifting device. In such an arrangement, the underwater cleaning device can be driven by the lifting device to move along the building structure to the position corresponding to the sealing surfaces of the gate, and then clean the marine life on the sealing surfaces by means of the cleaning structure, which has neither the inefficiency of the traditional cleaning method by divers nor the problems of poor movement stability of the cleaning device, and is applicable to the cleaning of marine life on the sealing surfaces of large gates. In addition, the cleaning device of the present invention is applicable to sealing surfaces of different gates with various sizes and various materials, without any material restriction of the building structure, to obtain good applicability. Furthermore, there is no need to move the main structure on the cleaning structure, which is applicable to perform cleanup on sharp edges and corners, and multiple planes.

The present invention further provides an underwater cleaning method for marine life on sealing surfaces of a gate, adapted for cleaning marine life attached to sealing surfaces of a gate of a building structure. The method includes the following steps:.

The main structure comprises a truss arranged laterally and a moving carrier slidably provided on the truss, the cleaning structure comprises a nozzle structure, a delivery pipe and a reel device, the delivery pipe is configured to provide jetting fluid to the nozzle structure, the nozzle structure comprises a first nozzle for cleaning an upper sealing surface of the sealing surfaces and a second nozzle for cleaning a lower sealing surface of the sealing surfaces, and the first nozzle and the second nozzle are mounted on the moving carrier. The reel device is mounted on the truss and configured to release or rewind the delivery pipe with a movement of the moving carrier, and the reel device comprises a reel body, a left guide wheel and a right guide wheel, the delivery pipe is wound on the reel body and is located between the left guide wheel and the right guide wheel.

Preferably, the method further includes installing two guide rails extended vertically on the building structure, the guide rails being located at two sides of the sealing surfaces of the gate; arranging two guide members at opposite sides of the main structure; and moving the guide members along the guide rails while the underwater cleaning device moves downward along the building structure in step S3.

In comparison with the prior art, a new marine life cleaning method is provided in the present invention, the rigging structure of the underwater cleaning device is connected to a lifting device, and the underwater cleaning device is driven by the lifting device to move along the building structure to a position corresponding to the sealing surfaces of the gate, to clean the marine life on the sealing surfaces of the gate through the cleaning structure. In such a way, it has neither the inefficiency of the traditional cleaning method by divers nor the problems of poor movement stability of the cleaning device, and is applicable to the cleaning of marine life on the sealing surfaces of large gates. In addition, the cleaning device of the present invention is applicable to sealing surfaces of different gates with various sizes and various materials, without any material restriction of the building structure, to obtain good applicability. Furthermore, there is no need to move the main structure on the cleaning structure, which is applicable to perform cleanup on sharp edges and corners, and multiple planes.

In order to describe the technical content, structural features, achieved objects and effects of the present invention in detail, the following detailed description is given in conjunction with the embodiments and the accompanying drawings. Obviously, the embodiments described are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention as defined by the appended claims.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "lateral", etc. is based on that shown in the drawings and is only for the convenience of describing the present invention and simplifying the description, and therefore should not be construed as a limitation on the protection content of the present invention.

Referring to <FIG>, the present disclosure provides an underwater cleaning device <NUM> for marine life on a sealing surface of a gate, which is adapted for connecting with a lifting device (not shown) and is movable in a vertical direction along a building structure <NUM> under the action of the lifting device, to clean up the marine life adhering to the sealing surface of the gate of the building structure <NUM>. Specifically, the device <NUM> includes a main structure <NUM>, a cleaning structure installed on the main structure <NUM>, and a rigging structure <NUM> fixed to the main structure <NUM>. The rigging structure <NUM> is configured to connect with the lifting device to drive the main structure <NUM> with the cleaning structure supported to move along the building structure <NUM> to a corresponding position on the sealing surface of the gate, and the cleaning structure is configured to clean the marine life on the sealing surface of the gate when the cleaning structure moves to the corresponding position on the sealing surface of the gate.

In an embodiment, the opposite sides of the main structure <NUM> are respectively provided with a guide member <NUM> for slidably matching with a guide rail (not shown) that is extended in a vertical direction and provided on both sides of the sealing surface of the gate. When the underwater cleaning device <NUM> is subjected to the force of the lifting device, the guide member <NUM> can move in the vertical direction along the guide rail, so that the underwater cleaning device <NUM> can stably move in the vertical direction along the building structure <NUM>, without jamming due to the marine life bred on the guide rails. Preferably, the guide member <NUM> is a guide wheel, which is not limited however.

It should be noted that, the lateral dimension of the main structure <NUM> is adapted to those of the building structure <NUM> and the guide rail, so as to ensure that the underwater cleaning device <NUM> can operate in a limited space, and transfer a reaction force generated during the cleaning to the guide rails and the building structure <NUM>. The guides <NUM> are sized to match the guide rails, which is beneficial to transfer the reaction force generated during the cleaning to the guide rails. In specific implementation, the lateral dimension of the main structure <NUM> can be adjusted adaptively according to the lateral dimension of the sealing surface of the gate to be cleaned, so that the underwater cleaning device <NUM> can be suitable for cleaning different sealing surfaces of various lateral dimensions, especially for the sealing surfaces of large vertical gantry gates.

Referring to <FIG>, the rigging structure <NUM> includes a lifting ring <NUM> for connecting with the lifting device, a plurality of lifting ropes <NUM> connected with the lifting ring <NUM>, and a draw rod <NUM> connected to a lower end of the lifting rope <NUM>, the draw rod <NUM> is connected with the main structure <NUM>, and has an adjustable length. By adjusting the length of the draw rod <NUM>, the force balance of the rigging structure <NUM> is ensured, so that the underwater cleaning device <NUM> can move stably along the guide rails under the action of the lifting device. More specifically, the lifting rope <NUM> is a stainless steel wire rope, and the draw rod <NUM> is a basket draw rod.

Referring to <FIG>, the cleaning structure includes a nozzle structure (not shown) and a delivery pipe (not shown) configured to provide jetting fluid to the nozzle structure. Preferably, the nozzle structure is a cavitation nozzle structure, which uses strong force of micro-jet and shock waves generated by cavitation jet technology to remove the marine life. Such a structure is simple, which is suitable to effectively remove large-area marine life on the sealing surfaces of the gate.

Specifically, the sealing surfaces of the gate includes an upper sealing surface <NUM> matching with the lintel of the gate, a lower sealing surface <NUM> matching with the bottom of the gate, and a left sealing surface and a right sealing surface located on opposite sides of the upper sealing surface <NUM> and the lower sealing surface <NUM> (the four surfaces are formed like a door frame structure). Since the upper sealing surface <NUM> (vertical surface), the lower sealing surface <NUM> (horizontal surface), the left sealing surface (vertical surface) and the right sealing surface (vertical surface) are located in different planes, in this embodiment, different nozzles with different spray directions are applied to clean the four sealing surfaces, so that everywhere of the sealing surfaces of the gate may be cleaned without dead corners, thereby ensuring the cleaning effect of the sealing surfaces of the gate. Specifically, the nozzle structure includes a first nozzle <NUM>, a second nozzle <NUM>, a third nozzle <NUM> and a fourth nozzle <NUM>. The first nozzle <NUM> is configured to clean the marine life on the upper sealing surface <NUM>, and the second nozzle <NUM> is configured to clean the marine life on the lower sealing surface <NUM>, the third nozzle <NUM> is configured to clean the marine life on the left sealing surface, and the fourth nozzle <NUM> is configured to clean the marine life on the right sealing surface. Specifically, the first nozzle <NUM> is configured to jet fluid in a direction angled at <NUM>-<NUM> degrees relative to the upper sealing surface <NUM>, the second nozzle <NUM> is configured to jet fluid in a direction angled at <NUM>-<NUM> degrees relative to the lower sealing surface <NUM>, the third nozzle <NUM> is configured to jet fluid in a direction angled at <NUM>-<NUM> degrees relative to the left sealing surface, and the fourth nozzle <NUM> is configured to jet fluid in a direction angled at <NUM>-<NUM> degrees relative to the right sealing surface, so as to optimized the cleaning effect.

Please refer to <FIG> and <FIG>, the main structure <NUM> includes a truss <NUM> arranged laterally and a moving carrier <NUM> slidably arranged on the truss <NUM>. The first nozzle <NUM> and the second nozzle <NUM> are installed on the moving carrier <NUM>. When the main body structure <NUM> is driven by an external lifting device to reach the upper sealing surface <NUM> or the lower sealing surface <NUM>, the first nozzle <NUM> and the second nozzle <NUM> carried by the moving carrier <NUM> to move laterally along the truss <NUM>, so that the upper sealing surface <NUM> and the lower sealing surface <NUM> can be cleaned fully, to ensure the cleaning effect. The truss <NUM> includes a truss beam <NUM>, a left end beam <NUM> installed on the left side of the truss beam <NUM>, and a right end beam <NUM> installed on the right side of the truss beam <NUM>. The third nozzle <NUM> is installed on the left end beam <NUM>, and the fourth nozzle <NUM> is installed on the right end beam <NUM>, when the underwater cleaning device <NUM> moves in the vertical direction along the guide rail under the action of the lifting device, the third nozzle <NUM> and the fourth nozzle <NUM> clean marine life on the left sealing surface and the left sealing surface respectively.

It is worth noting that, in this embodiment, the moving carrier <NUM> will simultaneously drive the first nozzle <NUM> and the second nozzle <NUM> to move laterally along the truss <NUM> when moving laterally along the truss <NUM>. In other embodiments, the moving carrier <NUM> may also include a plurality of independent moving parts that can move laterally along the truss <NUM>, and the first nozzle <NUM> and the second nozzle <NUM> are independently installed on different moving parts, in such an arrangement, the first nozzle <NUM> and the second nozzle <NUM> can be driven by the moving parts respectively, so as to move laterally along the truss <NUM>.

More specifically, the moving carrier <NUM> includes a main body <NUM>, a wheel <NUM> mounted on the main body <NUM>, a driving assembly <NUM>, a lateral limiting wheel <NUM> and a vertical limiting wheel <NUM>. The main body <NUM> is a welded structure, which is connected to the first nozzle <NUM> and the second nozzle <NUM> by bolts. The wheel <NUM> is connected to the output end of the drive assembly <NUM> and driven to move laterally along the truss beam <NUM>. In this embodiment, in the drive assembly <NUM>, dynamic and static technology is adopted, a motor is wrapped in the sealed cavity, and at the same time, compressed air is input into the sealed cavity, so that the sealed cavity maintains a slight positive pressure relative to the external environment. In such a way, the motor in the driving assembly <NUM> is ensured to be worked normally in an environment with a water depth of <NUM> meters, to drive the wheels <NUM> normally. The lateral limiting wheel <NUM> is configured to realize the lateral limit of the wheel <NUM>, and the vertical limit wheel <NUM> is configured to realize the vertical limit of the wheel <NUM>. In this embodiment, moving carrier, <NUM> is engaged with the truss beam <NUM> by gear rack, which is not limited thereto.

Specifically, the cleaning structure further includes a first valve <NUM> and a second valve <NUM> installed on the moving carrier <NUM>, and a third valve <NUM> installed on the truss <NUM>. More specifically, the first valve <NUM> is configured to control the liquid outlet of the first nozzle <NUM>, the second valve <NUM> is configured to control the fluid discharge of the second nozzle <NUM>, and the third valve <NUM> is configured to control the fluid discharge of the third nozzle <NUM> and the fourth nozzle <NUM>. That is to say, the first nozzle <NUM> and the second nozzle <NUM> are separately controlled by the first valve <NUM> and the second valve <NUM>, and the third nozzle <NUM> and the fourth nozzle <NUM> are simultaneously controlled by the third valve <NUM>, which is convenient for cleaning the left and the right sealing surfaces. Preferably, the first valve <NUM>, the second valve <NUM> and the third valve <NUM> are all electromagnetic valves, which is not limited thereto however.

Referring to <FIG>, the cleaning structure further includes a reel device <NUM> mounted on the truss beam <NUM>, and the reel device <NUM> is configured to release or rewind the delivery pipe with the movement of the moving carrier <NUM>. Specifically, the reel device <NUM> uses a spring drive mechanism to realize the retraction of the delivery pipe. According to the invention, the reel device <NUM> includes a reel body <NUM>, a left guide wheel <NUM> and a right guide wheel <NUM>. The delivery pipe is wound on the reel body <NUM> and is located between the left guide wheel <NUM> and the right guide wheel <NUM>. In such a way, a desired delivery pipe can be ensured due to the reel body <NUM>, and the delivery pipe can be bent to the left or right with a proper bending radius by means of the left guide wheel <NUM> and the right guide wheel <NUM>, and further the delivery pipe will not interfere with the main structure <NUM>.

Please continue to refer to <FIG>, specifically, the underwater cleaning device <NUM> further includes a vision system having a camera device and a fill light device <NUM> for providing a light source to the camera device. More specifically, the camera device includes a panoramic camera <NUM> mounted on the middle position of the truss beam <NUM>, a left camera <NUM> mounted on the left end beam <NUM>, a right camera <NUM> mounted on the right end beam <NUM>, and a moving camera <NUM> mounted on the moving carrier <NUM>. The moving camera <NUM> is configured to move laterally on the truss beam <NUM> with the moving carrier <NUM>, collect underwater image information by each camera <NUM>, <NUM>, <NUM>, <NUM>, and transmit such information to an onshore monitor (not shown) through network cables, so that the operator can judge the underwater position of the underwater cleaning device <NUM>, observe the marine life on the sealing surfaces of the gate, and check the jet state of the underwater cleaning device <NUM>. Two fill light devices <NUM> is provided on the left end beam <NUM> and the right end beam <NUM> respectively, so as to establish a full coverage light field, thereby realizing all-round high-definition monitoring of each sealing surface of the gate. Of course, in other embodiments, the two fill light devices <NUM> may also be installed at other positions of the truss <NUM>, and the left camera <NUM> and the right camera <NUM> are not limited to be installed on the left end beam <NUM> and the right end beam <NUM>.

The present invention also provides an underwater cleaning device combination for marine life on the sealing surfaces of the gate, which is adapted for cleaning the marine life attached to the sealing surfaces of the gate of the building structure <NUM>. The device combination includes the underwater cleaning device <NUM> according to the invention and two guide rails installed side by side on both sides of the sealing surfaces of the gate. The underwater cleaning device <NUM> includes a main structure <NUM>, a cleaning structure installed on the main structure <NUM> for cleaning marine life, and a rigging structure fixed to the main structure <NUM>. Two guide members <NUM> are arranged at opposite sides of the main structure <NUM> for matching with the guide rails. The rigging structure <NUM> is configured to connect with a lifting device to drive the cleaning structure to move to a corresponding position on the sealing surfaces of the gate, and the cleaning structure <NUM> is configured to clean the marine life on the sealing surfaces when the cleaning structure moves to the corresponding position on the sealing surfaces of the gate. The structures of the underwater cleaning device <NUM> are as described above, and are not repeated here.

Hereinafter, the operation process of the underwater cleaning device <NUM> for marine life on the sealing surfaces of the gate according to the present invention will be described with reference to the specific embodiments shown in <FIG>.

Firstly, the lifting ring <NUM> of the underwater cleaning device <NUM> is hung on the hook of the lifting device, so that the underwater cleaning device <NUM> is lifted and transferred above (on the water) the gate of the building structure <NUM> to be cleaned. Next, the structural integrity of the underwater cleaning device <NUM> is checked, after that, the underwater cleaning device <NUM> is lowered into the water at a low speed, and the vision system is turned on to monitor the underwater image information; sequentially, the underwater cleaning device <NUM> is continued to be lowered at a low speed to reach the bottom of the gate, during such a process, the growth of marine life on the sealing surfaces of the gate may be observed by the visual system. Then, the underwater cleaning device <NUM> is lifted to the upper sealing surface <NUM> and stopped, the first valve <NUM> is turned on to control the moving carrier <NUM> to move laterally on the truss <NUM>, and the first nozzle <NUM> sprays to clean the marine life on the upper sealing surface <NUM>. Then, the moving carrier <NUM> is controlled to rest in the middle of the truss <NUM>, and the first valve <NUM> is turned off. Then, the third valve <NUM> is turned on, and the underwater cleaning device <NUM> is lowered down at a low speed, and the third nozzle <NUM> and the fourth nozzle <NUM> spray to clean the marine life on the left sealing surface and the right sealing surface until the underwater cleaning device <NUM> is moved down to the lower sealing surface <NUM>. Then, the third valve <NUM> is turned off, and the second valve <NUM> is turned on to control the moving carrier <NUM> to move laterally on the truss <NUM>, so that the second nozzle <NUM> spray to clean the marine life on the lower sealing surface <NUM>. After the cleaning is completed, the second valve <NUM> is turned off and the moving carrier <NUM> is controlled to rest in the middle of the truss <NUM>. Finally, the underwater cleaning device <NUM> is lifted to move up the water surface along the track. Once the marine life are formed for a period of time, the underwater cleaning device <NUM> will be lowered down into the water again to clean and the visual system will check the cleaning effect.

Referring to <FIG>, the present invention also discloses an underwater cleaning method for marine life on the sealing surfaces of the gate, for cleaning the marine life attached to the sealing surfaces of the gate of the building structure, including the following steps:.

Specifically, the underwater cleaning method further includes: installing two guide rails extended vertically on the building structure, the guide rails being located at two sides of the sealing surfaces of the gate; arranging two guide members <NUM> at opposite sides of the main structure <NUM>; and moving the guide members <NUM> along the guide rails while the underwater cleaning device <NUM> moves downward along the building structure <NUM> in step S3. With the cooperation of the guide rail and the guiding member, the underwater cleaning device <NUM> can stably move in the vertical direction along the building structure <NUM>, without jamming due to the marine life bred on the guide rails. Preferably, the guide member <NUM> is a guide wheel, which is not limited thereto however.

Claim 1:
An underwater cleaning device (<NUM>) for marine life on sealing surfaces of a gate, adapted for cleaning marine life attached to sealing surfaces of a gate of a building structure (<NUM>), the underwater cleaning device (<NUM>) comprising a main structure (<NUM>), a cleaning structure installed on the main structure (<NUM>), and a rigging structure (<NUM>) fixed to the main structure (<NUM>), wherein the rigging structure (<NUM>) is connected with a lifting device to drive the cleaning structure to move to a corresponding position on the sealing surfaces of the gate, and the cleaning structure is configured to clean the marine life on the sealing surfaces of the gate when the cleaning structure moves to the corresponding position on the sealing surfaces of the gate;
wherein the main structure (<NUM>) comprises a truss (<NUM>) arranged laterally and a moving carrier (<NUM>) slidably provided on the truss (<NUM>), the cleaning structure comprises a nozzle structure, a delivery pipe and a reel device (<NUM>), the delivery pipe is configured to provide jetting fluid to the nozzle structure, the nozzle structure comprises a first nozzle (<NUM>) for cleaning an upper sealing surface (<NUM>) of the sealing surfaces and a second nozzle (<NUM>) for cleaning a lower sealing surface (<NUM>) of the sealing surfaces, and the first nozzle (<NUM>) and the second nozzle (<NUM>) are mounted on the moving carrier (<NUM>);
the reel device (<NUM>) is mounted on the truss (<NUM>) characterized in that the reel device (<NUM>) is configured to release or rewind the delivery pipe with a movement of the moving carrier (<NUM>), and the reel device (<NUM>) comprises a reel body (<NUM>), a left guide wheel (<NUM>) and a right guide wheel (<NUM>), the delivery pipe is wound on the reel body (<NUM>) and is located between the left guide wheel (<NUM>) and the right guide wheel (<NUM>) .