Boat bottom cleaning brush cleaning robot

Abstract

The present invention relates to the field of underwater mechanical equipment, and specifically refers to a ship bottom cleaning brush cleaning robot, comprising a frame, an electrical cabin, a walking mechanism, a propeller, a cleaning brush cleaning mechanism and an image scanning device are provided on the frame, a control system is provided in the electrical cabin, a cleaning brush cleaning mechanism is provided with a cleaning brush pressing mechanism, the cleaning brush pressing mechanism is connected to the cleaning brush cleaning mechanism and drives the cleaning brush in the cleaning brush cleaning mechanism to always press against the surface of the hull during cleaning, the cleaning brush pressing mechanism comprises a paddle, and the paddle is fixedly connected to the cleaning brush rotating shaft of the cleaning brush, the cleaning brush cleaning mechanism can be composed of a motor, a cleaning brush and a cleaning brush rotating shaft, an adjusting and pressing mechanism is provided on the cleaning brush, the adjusting and pressing mechanism can be composed of a spring, a support rod, a limit plate, a limit rod and a nut, or can be composed of a spring and a support rod. The cleaning brush of the present invention can always press against the surface of the hull, clean comprehensively and efficiently.

Description

Technical Field

[0001] The present invention relates to the field of underwater mechanical equipment, in particular to a ship bottom cleaning robot with a cleaning brush. Background Art

[0002] Whether a ship is sailing or anchored for more than 24 hours, a layer of microorganisms (such as bacteria, algae, protozoa, and microbes) typically grows on its submerged bottom. Even larger organisms can attach to the bottom, causing the ship to become overweight, reducing speed and increasing fuel consumption. Currently, there are two common methods for cleaning the bottom of a ship. One is dock cleaning, which requires the ship to be docked. Docks are limited in number and very expensive to use, especially for large docks. Dock cleaning is generally only used for major inspections and repairs, and is time-consuming, increasing the ship's downtime. The other method is manual cleaning by divers, which is inefficient and requires high diver skills. Divers with qualifications and experience in underwater work are required to carry out underwater cleaning operations only after approval from relevant departments. In addition, underwater cleaning operations are extremely dangerous and belong to high-risk operations. The slightest carelessness will cause loss of life and property. Therefore, using underwater robots to clean the bottom of the ship has become people's first choice. Chinese patent CN102424100A discloses a composite adsorption hull cleaning robot, including a frame, a cleaning brush, a motor, and a walking mechanism. The front part of the frame is provided with a cleaning brush and a motor, and the two sides are provided with a walking mechanism. The characteristic is that the frame also includes a propeller and an anti-overturning magnetic wheel. The propeller is installed in the middle of the frame and connected to the motor. The anti-overturning magnetic wheel It is installed at the rear of the frame, and the walking mechanism consists of two crawler devices, which are driven by a motor. Magnets are provided on the outside of the crawler, magnets are provided on the outer circumference of the anti-overturning magnetic wheel, and a steering bearing is provided on the upper part. Three cleaning brushes are provided. The substantial deficiency of the above patent is that although the robot is reliably adsorbed on the surface of the hull by magnetic adsorption and propeller adsorption, the cleaning brush will be lifted up from time to time when cleaning the surface of the hull due to the attachments on the surface of the hull and the resistance of seawater. The cleaning brush cannot always keep close to the surface of the hull, which will inevitably lead to some places on the surface of the hull not being cleaned or not being cleaned, so the robot needs to be reworked, the cleaning quality is poor, the cleaning efficiency is low, and it is time-consuming and labor-intensive. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the existing technology and provide a bottom cleaning brush cleaning robot with a cleaning brush that can always keep close to the surface of the hull, clean comprehensively, with good cleaning quality, high efficiency, and save time and effort.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A ship bottom cleaning brush cleaning robot comprises a frame, an electrical cabin, a mobile drive mechanism, a cleaning brush cleaning mechanism and an image scanning device are provided on the frame, a control system is provided in the electrical cabin, and the control system is connected to the water control box via a cable, and is characterized in that a cleaning brush sticking mechanism is provided on the cleaning brush cleaning mechanism, and the cleaning brush sticking mechanism is connected to the cleaning brush cleaning mechanism and drives the cleaning brush in the cleaning brush cleaning mechanism to stick to the surface of the hull at all times during cleaning, so as to facilitate the setting of the cleaning brush sticking mechanism, so that when the cleaning brush cleaning mechanism cleans the surface of the hull, the cleaning brush can remain in a state of sticking to the surface of the hull, ensuring comprehensive cleaning, no omissions and high efficiency.

[0006] The cleaning brush pressing mechanism of the present invention includes a paddle blade, and a paddle blade is provided above the cleaning brush. The paddle blade is fixedly connected to the cleaning brush rotating shaft of the cleaning brush, so that when the motor drives the cleaning brush to rotate, the paddle blade also rotates accordingly. In this way, negative pressure can be generated above the cleaning brush, so that the cleaning brush is pressed against the surface of the hull while rotating, and will not tilt up, so that the cleaning is comprehensive and nothing is missed. In addition, the paddle blade also plays a role in drainage while rotating.

[0007] The cleaning brush cleaning mechanism of the present invention can be composed of a motor, a cleaning brush, a cleaning brush rotating shaft and a bearing. At least one cleaning brush cleaning mechanism is provided on the frame, a cleaning brush holder is provided at one end of the frame, the cleaning brush holder is fixedly connected to the frame, at least one axial hole is provided on the cleaning brush holder, the cleaning brush rotating shaft passes through the cleaning brush holder and is fixedly connected to the cleaning brush holder via a bearing, the lower end of the cleaning brush rotating shaft is fixedly connected to the cleaning brush, the cleaning brush rotating shaft is driven by a motor, the motor is fixed in a sealed cabin of the cleaning brush holder or the frame, and the motor is connected to a control system to facilitate driving the cleaning brush to rotate by the motor to complete the cleaning of the hull surface.

[0008] The cleaning brush cleaning mechanism of the present invention can also be composed of a motor, a cleaning brush, a first driving rotating shaft, a second driven rotating shaft, a first driving gear, a first transmission gear, a second driving gear, a second transmission gear, a bearing, a synchronous belt, a first cleaning brush rotating shaft, a second cleaning brush rotating shaft, a third cleaning brush rotating shaft, a fourth cleaning brush rotating shaft, a first cleaning brush gear, a second cleaning brush driving gear, a second cleaning brush connecting gear, a third cleaning brush driving gear, a third cleaning brush connecting gear, a fourth cleaning brush gear and a tensioning mechanism, wherein the first driving rotating shaft and the second driven rotating shaft are spaced apart at one end of the frame, and the motor drives the first driving rotating shaft to rotate via a reduction gear, and the first driving rotating shaft The first transmission gear and the second transmission gear are fixedly provided on the shaft from top to bottom, and the second driven rotating shaft is fixedly provided with a second driving gear and a second transmission gear from top to bottom. The first driving rotating shaft and the second driven rotating shaft are fixedly connected to the frame via bearings respectively, and the first transmission gear is transmission-connected to the second transmission gear to facilitate the synchronous rotation of the first driving rotating shaft and the second driven rotating shaft through gear transmission. A cleaning brush holder is fixedly provided at one end of the frame, and cleaning brush rotating shafts are spaced apart on the cleaning brush holder. The cleaning brush rotating shafts on the cleaning brush holder include a first cleaning brush rotating shaft, a second cleaning brush rotating shaft, a third cleaning brush rotating shaft and a fourth cleaning brush rotating shaft. The first The cleaning brush rotating shaft, the second cleaning brush rotating shaft, the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft are respectively fixedly connected to the cleaning brush frame via bearings, and the lower ends of the first cleaning brush rotating shaft, the second cleaning brush rotating shaft, the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft are respectively provided with cleaning brushes and fixedly connected to the cleaning brushes, and the first cleaning brush rotating shaft is fixedly provided with a first cleaning brush gear, and the second cleaning brush rotating shaft is fixedly provided with a second cleaning brush driving gear and a second cleaning brush connecting gear at intervals, and the third cleaning brush rotating shaft is fixedly provided with a third cleaning brush driving gear and a third cleaning brush connecting gear at intervals, and the fourth cleaning brush rotating shaft is fixedly provided with a fourth cleaning brush gear, A cleaning brush gear is connected to the second cleaning brush connecting gear via a synchronous belt, and the second cleaning brush driving gear is connected to the second driving gear via a synchronous belt, so as to facilitate the synchronous rotation of the first cleaning brush rotating shaft and the second cleaning brush rotating shaft through the second driving gear. The third cleaning brush connecting gear is connected to the fourth cleaning brush gear via a synchronous belt, and the third cleaning brush driving gear is connected to the first driving gear via a synchronous belt, so as to facilitate the synchronous rotation of the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft through the first driving gear. Each synchronous belt is tensioned by a tensioning mechanism, and the tensioning mechanism is fixed to the cleaning brush frame, so as to facilitate the tensioning of each synchronous belt through the tensioning mechanism to ensure the safety of transmission.The first driving rotating shaft, the second driven rotating shaft, the first driving gear, the first transmission gear, the second driving gear, the second transmission gear, the first cleaning brush gear, the second cleaning brush driving gear, the second cleaning brush connecting gear, the third cleaning brush driving gear, the third cleaning brush connecting gear, the fourth cleaning brush gear, the tensioning mechanism, the motor, and the reduction gear are sealed and protected by a sealing cover. The sealing cover is fixed to the frame to facilitate the sealing and protection of each transmission component by the sealing cover.

[0009] The cleaning brush of the present invention is provided with an adjusting and pressing mechanism, so that the degree of contact between the cleaning brush and the surface of the hull can be adjusted by adjusting the pressing mechanism during use.

[0010] The adjusting and pressing mechanism of the present invention can be composed of a spring, a support rod, a limit plate, a limit rod and a nut. The lower end of the cleaning brush rotating shaft of the cleaning brush is provided with a limit plate and a support rod, the middle of the limit plate is provided with an axis hole, and the periphery of the limit plate is provided with guide holes at intervals, the cleaning brush rotating shaft passes through the limit plate and is fixedly connected to the limit plate, the lower part of the cleaning brush rotating shaft is provided with a rod hole, the upper end of the support rod is inserted into the cleaning brush rotating shaft and is slidably connected to the cleaning brush rotating shaft, and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush, and the limit rod The outer wall of the upper end is provided with a thread, the upper end of the limit rod passes through the guide hole and is threadedly connected to the nut, and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush. The inner diameter of the guide hole is larger than the outer diameter of the limit rod and smaller than the outer diameter of the nut. The spring is sleeved on the cleaning brush rotating shaft and the support rod at the lower end of the limit plate. The upper end of the spring abuts against the lower end surface of the limit plate, and the lower end abuts against the cleaning brush plate of the cleaning brush, so as to facilitate adjusting the tension of the spring through the nut. The spring is compressed to generate elastic force, so that the cleaning brush fits tightly against the surface of the hull, thereby improving the cleaning quality and efficiency.

[0011] The adjusting and pressing mechanism of the present invention can also be composed of a spring and a support rod, the lower part of the cleaning brush rotating shaft of the cleaning brush is provided with a rod hole, the inner wall of the cleaning brush rotating shaft is provided with a slide, the outer wall of the support rod is provided with a slider, the upper end of the support rod extends into the cleaning brush rotating shaft and is slidably connected with the cleaning brush rotating shaft through the slider and the slide, the lower end of the support rod is fixedly connected to the cleaning brush, and the support rod and the cleaning brush rotating shaft are provided with a spring. The upper end of the spring abuts against the cleaning brush holder, and the lower end abuts against the cleaning brush plate of the cleaning brush, so that the cleaning brush is subjected to the force of the attachments on the hull surface when cleaning, and the spring is squeezed upward, and the spring generates a rebound force, so that the cleaning brush is closely fitted to the surface of the hull, thereby improving the cleaning quality and cleaning efficiency.

[0012] The cleaning brush holder of the present invention is provided with at least one rotating shaft support mechanism, and the rotating shaft support mechanism includes a support plate and a support rod. The support plate is located below the paddle, and the middle of the support plate is fixedly connected to the rotating shaft of the cleaning brush via a bearing. A support rod is provided at the lower end of the support plate, and the upper end of the support rod is fixedly connected to the support plate, and the lower end is fixedly connected to the cleaning brush holder, so as to facilitate supporting the rotating shaft of the cleaning brush through the rotating shaft support mechanism and improve the stability of the entire device.

[0013] The mobile driving mechanism described in the present invention is a walking mechanism and / or a propeller, and the walking mechanism and the propeller are respectively installed on the frame and controlled and driven by the control system. The walking mechanism is a crawler walking mechanism, or a permanent magnet crawler walking mechanism, or a magnetic wheel walking mechanism, so as to facilitate the robot to walk. At the same time, when a permanent magnet crawler or magnetic wheel structure is adopted, the robot can be quickly adsorbed on the bottom of the ship to complete the cleaning operation.

[0014] The front and rear ends of the frame of the present invention are respectively provided with lighting lamps, and the image scanning equipment includes a sonar and a camera. The sonar is connected to the frame via a pan-tilt platform. The lighting lamps and the image scanning equipment are controlled by a control system to facilitate illumination by the lighting lamps and observation of the cleaning surface of the bottom of the ship in front of the robot and the effect after cleaning by the robot through the image scanning equipment.

[0015] Due to the adoption of the structure, the present invention has the advantages that the cleaning brush can always be in close contact with the surface of the hull, the cleaning is comprehensive, the cleaning quality is good, the efficiency is high, and time and labor are saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the present invention without the sealing cover.

[0018] Figure 3 This invention Figure 1 rear view.

[0019] Figure 4 This invention Figure 2 A magnified view of the front end.

[0020] Figure 5 This invention Figure 4 Middle AA section view.

[0021] Figure 6 This invention Figure 4 Middle BB cross-section view.

[0022] : Markings in the figure: frame 1, electrical compartment 2, walking mechanism 3, propeller 4, cleaning brush cleaning mechanism 5, image scanning device 6, cleaning brush pressing mechanism 7, motor 8, cleaning brush 9, cleaning brush holder 10, adjustment and pressing mechanism 11, spring 12, support rod 13, first driving rotating shaft 14, second driven rotating shaft 15, first driving gear 16, first transmission gear 17, second driving gear 18, second transmission gear 19, first cleaning brush rotating shaft 20, second cleaning brush rotating shaft 21, third cleaning brush rotating shaft 22, fourth cleaning brush rotating shaft 23, first cleaning brush gear 24, second cleaning brush driving gear 25, second cleaning brush connecting gear 26, third cleaning brush driving gear 27, third cleaning brush connecting gear 28, fourth cleaning brush gear 29, tensioning mechanism 30, paddle 31, rotating shaft supporting mechanism 32, support plate 33, support rod 34, limiting rod 35, sealing cover 36, lighting lamp 37, limiting plate 38, nut 39. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0024] A ship bottom cleaning brush cleaning robot comprises a frame 1, on which is provided an electrical cabin 2, a mobile drive mechanism, a cleaning brush cleaning mechanism 5 and an image scanning device 6. A control system is provided in the electrical cabin 2, and the control system is connected to an above-water control box via a cable. The robot is characterized in that a cleaning brush sticking mechanism 7 is provided on the cleaning brush cleaning mechanism 5, and the cleaning brush sticking mechanism 7 is connected to the cleaning brush cleaning mechanism 5 and drives the cleaning brush 9 in the cleaning brush cleaning mechanism 5 to stick to the surface of the hull at all times during cleaning, so as to facilitate the setting of the cleaning brush sticking mechanism so that the cleaning brush can remain in close contact with the surface of the hull when the cleaning brush cleaning mechanism cleans the surface of the hull, thereby ensuring comprehensive, no omissions and high efficiency cleaning.

[0025] The cleaning brush pressing mechanism 7 described in the present invention includes a paddle 31. The paddle 31 is provided above the cleaning brush 9. The paddle 31 is fixedly connected to the cleaning brush rotating shaft of the cleaning brush 9, so that when the motor drives the cleaning brush to rotate, the paddle also rotates. In this way, negative pressure can be generated above the cleaning brush, so that the cleaning brush is pressed against the surface of the hull while rotating, and will not tilt up, so that the cleaning is comprehensive and nothing is missed. In addition, the paddle also plays a role in drainage while rotating.

[0026] The cleaning brush cleaning mechanism 5 of the present invention can be composed of a motor 8, a cleaning brush 9, a cleaning brush rotating shaft and a bearing. At least one cleaning brush cleaning mechanism 5 is provided on the frame 1, and a cleaning brush holder 10 is provided at one end of the frame 1. The cleaning brush holder 10 is fixedly connected to the frame 1. The cleaning brush holder 10 is provided with at least one axial hole, and the cleaning brush rotating shaft passes through the cleaning brush holder 10 and is fixedly connected to the cleaning brush holder 10 via a bearing. The lower end of the cleaning brush rotating shaft is fixedly connected to the cleaning brush 9, and the cleaning brush rotating shaft is driven by the motor 8. The motor 8 is fixed in the sealed cabin of the cleaning brush holder 10 or the frame 1, and the motor 8 is connected to the control system to facilitate the cleaning brush to rotate by the motor to complete the hull surface cleaning work.

[0027] The cleaning brush cleaning mechanism 5 of the present invention can also be composed of a motor 8, a cleaning brush 9, a first driving rotating shaft 14, a second driven rotating shaft 15, a first driving gear 16, a first transmission gear 17, a second driving gear 18, a second transmission gear 19, a bearing, a synchronous belt, a first cleaning brush rotating shaft 20, a second cleaning brush rotating shaft 21, a third cleaning brush rotating shaft 22, a fourth cleaning brush rotating shaft 23, a first cleaning brush gear 24, a second cleaning brush driving gear 25, a second cleaning brush connecting gear 26, a third cleaning brush driving gear 27, a third cleaning brush connecting gear 28, a fourth cleaning brush gear 29 and a tensioning mechanism 30. The first driving rotating shaft 14 and the second driven rotating shaft 15 are spaced apart at one end of the frame 1, and the motor 8 The first driving rotating shaft 14 is driven to rotate by the reduction gear box. The first driving rotating shaft 14 is fixed with a first driving gear 16 and a first transmission gear 17 from top to bottom. The second driven rotating shaft 15 is fixed with a second driving gear 18 and a second transmission gear 19 from top to bottom. The first driving rotating shaft 14 and the second driven rotating shaft 15 are fixedly connected to the frame 1 via bearings respectively. The first transmission gear 17 is transmission-connected with the second transmission gear 19 to facilitate the synchronous rotation of the first driving rotating shaft and the second driven rotating shaft through gear transmission. A cleaning brush holder 10 is fixed at one end of the frame 1. Cleaning brush rotating shafts are spaced apart on the cleaning brush holder 10. The cleaning brush rotating shafts on the cleaning brush holder 10 include a first cleaning brush rotating shaft The rotating shaft 20, the second cleaning brush rotating shaft 21, the third cleaning brush rotating shaft 22 and the fourth cleaning brush rotating shaft 23, the first cleaning brush rotating shaft 20, the second cleaning brush rotating shaft 21, the third cleaning brush rotating shaft 22 and the fourth cleaning brush rotating shaft 23 are respectively fixedly connected to the cleaning brush frame 10 via bearings, the lower ends of the first cleaning brush rotating shaft 20, the second cleaning brush rotating shaft 21, the third cleaning brush rotating shaft 22 and the fourth cleaning brush rotating shaft 23 are respectively provided with cleaning brushes 9 and fixedly connected to the cleaning brushes 9, a first cleaning brush gear 24 is fixedly provided on the first cleaning brush rotating shaft 20, a second cleaning brush driving gear 25 and a second cleaning brush connecting gear 26 are fixedly provided at intervals on the second cleaning brush rotating shaft 21, and the third cleaning brush rotating shaft 2 2, a third cleaning brush driving gear 27 and a third cleaning brush connecting gear 28 are fixedly provided at intervals on the fourth cleaning brush rotating shaft 23, a fourth cleaning brush gear 29 is fixedly provided on the fourth cleaning brush rotating shaft 23, the first cleaning brush gear 24 is connected to the second cleaning brush connecting gear 26 via a synchronous belt, and the second cleaning brush driving gear 25 is connected to the second driving gear 18 via a synchronous belt, so as to facilitate the synchronous rotation of the first cleaning brush rotating shaft and the second cleaning brush rotating shaft through the second driving gear, the third cleaning brush connecting gear 28 is connected to the fourth cleaning brush gear 29 via a synchronous belt, and the third cleaning brush driving gear 27 is connected to the first driving gear 16 via a synchronous belt, so as to facilitate the synchronous rotation of the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft through the first driving gear.Each synchronous belt is tensioned by a tensioning mechanism 30, which is fixed to the cleaning brush frame 10. This helps maintain the tension of each synchronous belt through the tensioning mechanism, ensuring transmission safety. The first driving rotating shaft 14, the second driven rotating shaft 15, the first driving gear 16, the first transmission gear 17, the second driving gear 18, the second transmission gear 19, the first cleaning brush gear 24, the second cleaning brush driving gear 25, the second cleaning brush connecting gear 26, the third cleaning brush driving gear 27, the third cleaning brush connecting gear 28, the fourth cleaning brush gear 29, the tensioning mechanism 30, the motor 8, and the reduction gear are sealed and protected by a sealing cover 36. The sealing cover 36 is fixed to the frame 1. The motor 8 is connected to the control system to facilitate the sealing and protection of each transmission component through the sealing cover.

[0028] The cleaning brush 9 of the present invention is provided with an adjusting and pressing mechanism 11, so that the degree of contact between the cleaning brush and the surface of the hull can be adjusted by adjusting the pressing mechanism during use.

[0029] The adjusting and pressing mechanism 11 of the present invention can be composed of a spring 12, a support rod 13, a limit plate 38, a limit rod 35 and a nut 39. The lower end of the cleaning brush rotating shaft of the cleaning brush 9 is provided with a limit plate 38 and a support rod 13. The middle of the limit plate 38 is provided with an axis hole, and the periphery of the limit plate 38 is provided with guide holes at intervals. The cleaning brush rotating shaft passes through the limit plate 38 and is fixedly connected to the limit plate 38. The lower part of the cleaning brush rotating shaft is provided with a rod hole. The upper end of the support rod 13 is inserted into the cleaning brush rotating shaft and is slidably connected to the cleaning brush rotating shaft, and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush 9. The outer wall of the upper end of the limiting rod 35 is provided with a thread, the upper end of the limiting rod 35 passes through the guide hole and is threadedly connected to the nut 39, and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush 9. The inner diameter of the guide hole is larger than the outer diameter of the limiting rod 35 and smaller than the outer diameter of the nut. The spring 12 is sleeved on the cleaning brush rotating shaft and the support rod 13 at the lower end of the limiting plate 38. The upper end of the spring 12 abuts against the lower end surface of the limiting plate 38, and the lower end abuts against the cleaning brush plate of the cleaning brush 9, so as to facilitate the adjustment of the tension of the spring by the nut. The spring is compressed to generate elastic force, so that the cleaning brush fits tightly against the surface of the hull, thereby improving the cleaning quality and efficiency.

[0030] The adjusting and pressing mechanism 11 of the present invention can also be composed of a spring 12 and a support rod 13. The lower part of the cleaning brush rotating shaft of the cleaning brush 9 is provided with a rod hole, the inner wall of the cleaning brush rotating shaft is provided with a slide, and the outer wall of the support rod 13 is provided with a slider, the upper end of the support rod 13 extends into the cleaning brush rotating shaft and is slidably connected to the cleaning brush rotating shaft through the slider and the slide. The lower end of the support rod 13 is fixedly connected to the cleaning brush 9, and a spring 12 is sleeved on the support rod 13 and the cleaning brush rotating shaft. The upper end of the spring 12 abuts against the cleaning brush holder 10, and the lower end abuts against the cleaning brush plate of the cleaning brush 9, so that the cleaning brush is subjected to the force of attachments on the hull surface when cleaning, and the spring is squeezed upward. The spring generates a rebound force, so that the cleaning brush fits tightly against the hull surface, thereby improving the cleaning quality and cleaning efficiency.

[0031] The cleaning brush holder 10 of the present invention is provided with at least one rotating shaft support mechanism 32, and the rotating shaft support mechanism 32 includes a support plate 33 and a support rod 34. The support plate 33 is located below the paddle 31, and the middle of the support plate 33 is fixedly connected to the cleaning brush rotating shaft via a bearing. The lower end of the support plate 33 is spaced apart with a support rod 34. The upper end of the support rod 34 is fixedly connected to the support plate 33, and the lower end is fixedly connected to the cleaning brush holder 10, so as to facilitate supporting the cleaning brush rotating shaft through the rotating shaft support mechanism and improve the stability of the entire device.

[0032] The mobile driving mechanism described in the present invention is a walking mechanism 3 and / or a propeller 4. The walking mechanism 3 and the propeller 4 are respectively installed on the frame 1 and are controlled and driven by the control system. The walking mechanism 3 is a crawler walking mechanism, or a permanent magnet crawler walking mechanism, or a magnetic wheel walking mechanism, so as to facilitate the robot to walk. At the same time, when a permanent magnet crawler or magnetic wheel structure is adopted, the robot can be quickly adsorbed on the bottom of the ship to complete the cleaning operation.

[0033] The front and rear ends of the frame 1 of the present invention are respectively provided with lighting lamps 37, and the image scanning device 6 includes a sonar and a camera. The sonar is connected to the frame via a pan-tilt platform. The lighting lamps and the image scanning device are controlled by a control system to facilitate illumination by the lighting lamps and observation of the cleaning surface of the bottom of the ship in front of the robot and the effect after cleaning by the robot through the image scanning device.

[0034] As attached Figure 1 -Attached Figure 6Before using the present invention, first connect the present invention to the water control box through a cable on the shore or on the ship, or connect the cable to the cable car and then connect to the water control box, and then put the robot into the working area. The front and rear ends of the robot are equipped with cameras and lighting, which can observe the condition of the bottom cleaning surface in front of the robot and the effect after the robot cleans. The present invention adopts a crawler walking mechanism, and a propeller is installed in the middle to generate thrust to make the robot adsorb on the bottom of the ship. After adsorption, the crawler walking mechanism drives the robot to walk, and at the same time, the rear end cleaning brush cleaning mechanism is operated to start the cleaning operation. The cleaning brush cleaning mechanism of the present invention can adopt the cleaning brush in the prior art, and then fix the blades on the upper end of the cleaning brush rotating shaft. While the cleaning brush rotates, the blades can rotate to generate downward thrust, ensuring that the cleaning brush can always stick to the cleaning surface while cleaning the surface of the hull. In addition, the cleaning brush cleaning mechanism can also adopt an attached Figure 2 -Attached Figure 6 The cleaning brush holder is provided at the rear end of the frame, and the cleaning brush holder is fixedly connected to the frame. The cleaning brush holder can be fixedly connected to the frame or can be integrally formed with the frame. Four cleaning brush cleaning mechanisms are arranged on the cleaning brush holder to increase the cleaning area. The four cleaning brush cleaning mechanisms are synchronously driven by gear transmission. Figure 6 In the embodiment, the first transmission gear and the second transmission gear can be meshed or connected by a belt to achieve synchronous rotation. The first driving rotating shaft and the second driven rotating shaft drive the four cleaning brush rotating shafts to rotate synchronously through gears and synchronous belts respectively, thereby driving the cleaning brushes at the lower ends of the four cleaning brush rotating shafts to rotate synchronously. The tensioning mechanism adopts the tensioning mechanism known in the prior art to adjust the tension of the synchronous belt. For the convenience of distinction and marking, the four cleaning brush rotating shafts are named the first cleaning brush rotating shaft, the second cleaning brush rotating shaft, the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft. In essence, they are all cleaning brush rotating shafts that drive the cleaning brushes to rotate. A paddle is provided above each cleaning brush, namely the first cleaning brush rotating shaft. The upper ends of the shaft, the second cleaning brush rotating shaft, the third cleaning brush rotating shaft and the fourth cleaning brush rotating shaft are all provided with paddles. When the paddles rotate, they generate downward thrust to ensure that the cleaning brush will not tilt while cleaning, and at the same time, the water around the cleaning brush can be discharged; the connection part with the cleaning brush adopts an adjustable clamping mechanism; when working, the spring in the adjustable clamping mechanism is compressed to generate elastic force, so that the cleaning brush fits tightly to the bottom of the ship, ensuring the quality and efficiency of cleaning. The present invention is cleverly designed and simple in structure. By arranging paddles that can generate negative pressure above the cleaning brush, the problem of the cleaning brush tilting during cleaning in the prior art, resulting in incomplete cleaning and low cleaning efficiency, is solved, and the cleaning quality and efficiency of the bottom of the ship can be greatly improved.

[0035] Due to the adoption of the structure, the present invention has the advantages that the cleaning brush can always be in close contact with the surface of the hull, the cleaning is comprehensive, the cleaning quality is good, the efficiency is high, and time and labor are saved.

Claims

1. A ship bottom cleaning brush cleaning robot, comprising a frame (1), wherein the frame (1) is provided with an electrical compartment (2), a mobile drive mechanism, a cleaning brush cleaning mechanism (5) and an image scanning device (6), wherein the electrical compartment (2) is provided with a control system, and the control system is connected to an above-water control box via a cable, and is characterized in that: The cleaning brush cleaning mechanism (5) is provided with a cleaning brush pressing mechanism (7), the cleaning brush pressing mechanism (7) is connected to the cleaning brush cleaning mechanism (5) and drives the cleaning brush (9) in the cleaning brush cleaning mechanism (5) to always press against the surface of the hull during cleaning. The cleaning brush cleaning mechanism (5) is composed of a motor (8), a cleaning brush (9), a first driving rotating shaft (14), a second driven rotating shaft (15), a first driving gear (16), a first transmission gear (17), a second driving gear (18), a second transmission gear (19), a bearing, a synchronous belt, a first cleaning brush rotating shaft (20), a second cleaning brush rotating shaft (21), a third cleaning brush rotating shaft (22), a fourth cleaning brush rotating shaft (23), a first cleaning brush gear (24 ...6), a first driving gear (17), a second ), a second cleaning brush driving gear (25), a second cleaning brush connecting gear (26), a third cleaning brush driving gear (27), a third cleaning brush connecting gear (28), and a fourth cleaning brush gear (29), wherein a first driving rotating shaft (14) and a second driven rotating shaft (15) are spaced apart at one end of the frame (1), the motor (8) drives the first driving rotating shaft (14) to rotate, the first driving rotating shaft (14) is fixed with a first driving gear (16) and a first transmission gear (17) from top to bottom, the second driven rotating shaft (15) is fixed with a second driving gear (18) and a second transmission gear (19) from top to bottom, the first driving rotating shaft (14) and the second driven rotating shaft (15) are respectively fixed with a first driving gear (16) and a first transmission gear (17) from top to bottom, The bearing is fixedly connected to the frame (1), the first transmission gear (17) is transmission-connected to the second transmission gear (19), a cleaning brush frame (10) is fixedly provided at one end of the frame (1), and cleaning brush rotating shafts are arranged on the cleaning brush frame (10) at intervals, and the cleaning brush rotating shafts on the cleaning brush frame (10) include a first cleaning brush rotating shaft (20), a second cleaning brush rotating shaft (21), a third cleaning brush rotating shaft (22) and a fourth cleaning brush rotating shaft (23), the first cleaning brush rotating shaft (20), the second cleaning brush rotating shaft (21), the third cleaning brush rotating shaft (22) and the fourth cleaning brush rotating shaft (23) are respectively fixedly connected to the cleaning brush frame (10) via bearings, the first cleaning brush rotating shaft (20), the second cleaning brush rotating shaft (21), the third cleaning brush rotating shaft (22) and the fourth cleaning brush rotating shaft (23) are respectively fixedly connected to the cleaning brush frame (10) via bearings, The lower ends of the shaft (21), the third cleaning brush rotating shaft (22) and the fourth cleaning brush rotating shaft (23) are respectively provided with cleaning brushes (9) and fixedly connected to the cleaning brushes (9); the first cleaning brush rotating shaft (20) is fixedly provided with a first cleaning brush gear (24); the second cleaning brush rotating shaft (21) is fixedly provided with a second cleaning brush driving gear (25) and a second cleaning brush connecting gear (26); the third cleaning brush rotating shaft (22) is fixedly provided with a third cleaning brush driving gear (27) and a third cleaning brush connecting gear (28); the fourth cleaning brush rotating shaft (23) is fixedly provided with a fourth cleaning brush gear (29); the first cleaning brush gear (24) is connected to the second cleaning brush connecting gear (26) via a synchronous belt;The second cleaning brush driving gear (25) is connected to the second driving gear (18) via a synchronous belt, the third cleaning brush connecting gear (28) is connected to the fourth cleaning brush gear (29) via a synchronous belt, and the third cleaning brush driving gear (27) is connected to the first driving gear (16) via a synchronous belt. The cleaning brush pressing mechanism (7) includes a paddle (31), and a paddle (31) is provided above the cleaning brush (9). The paddle (31) is fixedly connected to the cleaning brush rotating shaft of the cleaning brush (9).

2. The ship bottom cleaning brush cleaning robot according to claim 1, characterized in that: Each synchronous belt is tensioned by a tensioning mechanism (30), the tensioning mechanism (30) is fixed on the cleaning brush frame (10), the first driving rotating shaft (14), the second driven rotating shaft (15), the first driving gear (16), the first transmission gear (17), the second driving gear (18), the second transmission gear (19), the first cleaning brush gear (24), the second cleaning brush driving gear (25), the second cleaning brush connecting gear (26), the third cleaning brush driving gear (27), the third cleaning brush connecting gear (28), the fourth cleaning brush gear (29), the tensioning mechanism (30), the motor (8) and the reduction gear are sealed and protected by a sealing cover (36), the sealing cover (36) is fixed on the frame (1), and the motor (8) is connected to the control system.

3. A ship bottom cleaning brush cleaning robot according to claim 1 or 2, characterized in that: The cleaning brush (9) is provided with an adjusting and pressing mechanism (11).

4. The ship bottom cleaning brush cleaning robot according to claim 3, characterized in that: The adjusting and pressing mechanism (11) is composed of a spring (12), a support rod (13), a limit plate (38), a limit rod (35) and a nut (39). The lower end of the cleaning brush rotating shaft of the cleaning brush (9) is provided with a limit plate (38) and a support rod (13). The middle of the limit plate (38) is provided with an axis hole. The periphery of the limit plate (38) is provided with guide holes at intervals. The cleaning brush rotating shaft passes through the limit plate (38) and is fixedly connected to the limit plate (38). The lower part of the cleaning brush rotating shaft is provided with a rod hole. The upper end of the support rod (13) is inserted into the cleaning brush rotating shaft and is connected to the cleaning brush rotating shaft. The rotating shaft is slidably connected, and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush (9). The outer wall of the upper end of the limiting rod (35) is provided with a thread. The upper end of the limiting rod (35) passes through the guide hole and is threadedly connected to the nut (39), and the lower end is fixedly connected to the cleaning brush plate of the cleaning brush (9). The inner diameter of the guide hole is larger than the outer diameter of the limiting rod (35) and smaller than the outer diameter of the nut. The spring (12) is sleeved on the cleaning brush rotating shaft and the support rod (13) at the lower end of the limiting plate (38). The upper end of the spring (12) abuts against the lower end surface of the limiting plate (38), and the lower end abuts against the cleaning brush plate of the cleaning brush (9).

5. The ship bottom cleaning brush cleaning robot according to claim 3, characterized in that: The adjusting and pressing mechanism (11) is composed of a spring (12) and a support rod (13). The lower part of the cleaning brush rotating shaft of the cleaning brush (9) is provided with a rod hole. The inner wall of the cleaning brush rotating shaft is provided with a slideway. The outer wall of the support rod (13) is provided with a slider. The upper end of the support rod (13) extends into the cleaning brush rotating shaft and is slidably connected to the cleaning brush rotating shaft through the slider and the slideway. The lower end of the support rod (13) is fixedly connected to the cleaning brush (9). The support rod (13) and the cleaning brush rotating shaft are covered with a spring (12). The upper end of the spring (12) abuts against the cleaning brush frame (10), and the lower end abuts against the cleaning brush plate of the cleaning brush (9).

6. A ship bottom cleaning brush cleaning robot according to claim 1, 2, 4 or 5, characterized in that: At least one rotating shaft support mechanism (32) is provided on the cleaning brush holder (10), and the rotating shaft support mechanism (32) includes a support plate (33) and a support rod (34). The support plate (33) is located below the paddle (31). The middle of the support plate (33) is fixedly connected to the rotating shaft of the cleaning brush via a bearing. The support rod (34) is spaced apart at the lower end of the support plate (33). The upper end of the support rod (34) is fixedly connected to the support plate (33), and the lower end is fixedly connected to the cleaning brush holder (10).

7. The ship bottom cleaning brush cleaning robot according to claim 1, 2, 4 or 5, characterized in that: The mobile driving mechanism is a walking mechanism (3) and / or a propeller (4); the walking mechanism (3) and the propeller (4) are respectively mounted on the frame (1) and driven by a control system; the walking mechanism (3) is a crawler-type walking mechanism or a magnetic wheel-type walking mechanism.

8. The ship bottom cleaning brush cleaning robot according to claim 1, 2, 4 or 5, characterized in that: The front and rear ends of the frame (1) are respectively provided with lighting lamps (37), the image scanning device (6) includes a sonar and a camera, the sonar is connected to the frame (1) via a pan-tilt platform, and the lighting lamps (37) and the image scanning device (6) are controlled by a control system.

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