A hull shell underwater inspection and cleaning robot and a cleaning method thereof

Abstract

The present invention discloses a robot for inspecting and cleaning the hull below the waterline, comprising a main body, track wheel assemblies are arranged on both sides of the main body, and the main body is provided with an inspection and cleaning assembly; the track wheel assembly comprises a plurality of drive shafts and driven shafts extending from the main body, and the drive shaft and the driven shaft are respectively provided with a drive wheel and a driven wheel; an electrical chamber is arranged in the main body, and a first power machine connected to the drive shaft is arranged in the electrical chamber; a track is sleeved between the drive wheel and the driven wheel, and an adsorption device capable of being adsorbed on the hull is arranged on the track; the inspection and cleaning assembly comprises a working arm connected to the main body, an inspection device is arranged on the working arm, and a cleaning device is arranged at the end of the working arm. The robot for inspecting and cleaning the hull below the waterline proposed by the present invention, in combination with a magnetic track and a multi-stage structure of the main body, can realize that the robot is stably adsorbed on the hull surface throughout the cleaning process to avoid falling off, and has a good cleaning effect, a large range, and high efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning underwater parts of hulls, and in particular to a hull shell underwater inspection and cleaning robot and a cleaning method thereof. Background Art

[0002] The underwater part of the hull surface is in contact with the water for a long time and is easily adsorbed by plants and animals such as seaweed and oysters. If it is not cleaned for a long time, on the one hand, it will destroy the streamline of the hull surface, causing the hull to have greater resistance when running in the water, thereby increasing the fuel consumption of the ship; on the other hand, the secretions of these aquatic plants and animals during the adsorption process will slowly destroy the coating on the hull surface, causing the hull material to directly contact the seawater, which will reduce the working life of the hull. Therefore, the traditional ship industry will use the method of lifting the hull out of the water to clean the hull surface or using divers to clean the hull surface underwater. No matter which method is used, the cleaning is inefficient and costly.

[0003] In recent years, some underwater devices have appeared, which are adsorbed on the surface of the hull and can clean the underwater part of the hull surface through remote control. However, in actual applications, it is found that there are many limitations on their use: for example, when passing through welds or plane corners (for example, when moving to the junction of the side of the hull and the bottom of the hull), the stability of the device adsorption cannot be guaranteed. In addition, if the weight of the device itself is large, the device can easily fall off the hull. Summary of the invention

[0004] In order to solve the shortcomings of the above-mentioned prior art, the present invention provides a robot for inspecting and cleaning the hull below the waterline, and the specific scheme is as follows:

[0005] It comprises a main body, track wheel assemblies are arranged on both sides of the main body, and an inspection and cleaning assembly is arranged on the main body;

[0006] The crawler wheel assembly comprises a plurality of driving shafts and driven shafts extending from the body, wherein the driving shafts and the driven shafts are respectively provided with driving wheels and driven wheels; an electrical chamber is provided in the body, wherein a first power machine drivingly connected to the driving shaft is provided in the electrical chamber; a crawler is sleeved between the driving wheel and the driven wheel, wherein the crawler is provided with an adsorption device capable of being adsorbed on the outer shell of the hull;

[0007] The inspection and cleaning component comprises a working arm connected to the body, an inspection device is arranged on the working arm, and a cleaning device is arranged at the end of the working arm.

[0008] Furthermore, the body includes a plurality of fuselages, one end of each fuselage is provided with a vertically arranged groove, a horizontally arranged hinge shaft is arranged in the groove; the other end of each fuselage is provided with a protrusion matched with the groove, a through hole matched with the hinge shaft is arranged in the protrusion;

[0009] The width of the crawler is greater than the width of the driving wheel and the driven wheel, and a baffle is provided on the inner wall of the crawler at one side of the driving wheel and the driven wheel, the baffle is arranged along the moving direction of the crawler, and the top of the baffle is bent 90 degrees toward the fuselage to form a baffle; a plurality of baffle rods are vertically provided on the side wall of the fuselage to avoid the driving wheel and the driven wheel, and a baffle wheel is sleeved on the baffle rod, and the baffle wheel is arranged between the baffle and the crawler;

[0010] The crawler track is made of non-ferromagnetic material, and the inner wall of the crawler track is located on the other side of the driving wheel and the driven wheel and is provided with a plurality of adsorption cavities; the adsorption device includes a neodymium magnet arranged in the adsorption cavity.

[0011] Furthermore, a limit rod is vertically provided on the bottom surface of the adsorption chamber, and a magnet box for placing the neodymium magnet that can be opened and closed is passed through the limit rod; an elastic element cavity is provided on the bottom surface of the adsorption chamber around the limit rod, and an elastic element made of non-ferromagnetic material is provided in the elastic element cavity, and two ends of the elastic element are respectively fixedly connected to the magnet box and the elastic element cavity, and a limit head is provided on the top of the limit rod;

[0012] The magnet box is provided with an adjustment rod on the side of the fuselage facing the magnet box, and an arc-shaped baffle is provided on the fuselage at the end of the moving direction. The curvature of the outer edge of the arc-shaped baffle cooperates with the track, and the curvature of the inner edge of the arc-shaped baffle is smaller than the curvature of the outer edge. When the magnet box moves with the track to the arc-shaped baffle, the adjustment rod can move along the inner edge of the arc-shaped baffle so that the magnet box moves along the limiting rod.

[0013] Furthermore, the inspection device includes an image acquisition device and a lighting device connected to the working arm.

[0014] Furthermore, the cleaning device includes a cleaning disc arranged at the end of the working arm through a cleaning shaft, and the cleaning disc is transmission-connected to a second power machine; a plurality of radially arranged scrapers are provided on the bottom surface of the cleaning disc, and a rubber strip groove is provided on the bottom surface of the cleaning disc between two adjacent scrapers, and a rubber strip is provided in the rubber strip groove, and the distance between the bottom surface of the rubber strip and the bottom surface of the cleaning disc is greater than the distance between the blade surface of the scraper and the bottom surface of the cleaning disc.

[0015] Furthermore, the working arm is connected to the main body via a connecting seat, a vertical connecting shaft is vertically provided on the bottom surface of the connecting seat, the connecting shaft is connected to the main body via a bearing seat, and the connecting shaft is also transmission-connected to a third power machine.

[0016] Furthermore, a sinking and floating cavity is provided on the main body, an air inlet and an outlet are provided at the top of the sinking and floating cavity, and a water inlet and an outlet are provided at the bottom of the sinking and floating cavity.

[0017] Furthermore, the main body is provided with a soft waterproof casing, and the waterproof casing is provided with cables and air pipes. The first power machine, the second power machine, the third power machine, the image acquisition device and the lighting device are connected to the power supply equipment and control equipment on the ship through the cables, and the air inlet and outlet are connected to the air supply equipment on the ship through the air pipe.

[0018] Furthermore, the waterproof casing is connected to a plurality of evenly spaced air bags, the air bags are connected to the air pipe through a pipeline, and the pipeline is provided with a valve connected to the cable.

[0019] A method for cleaning a hull under waterline by using a cleaning robot as described above is characterized by comprising the following steps:

[0020] After connecting the cables and air pipes, the robot is lifted up using the traction equipment on the ship, and its tracks are controlled to face the hull and adhere to the vertical part of the hull;

[0021] After the robot enters the water, the amount of air in the sinking and buoyancy chamber is controlled to balance the buoyancy and weight of the robot;

[0022] Then, the connection between the traction device and the robot is released, and the first power machine is driven to work by the control device, thereby driving the robot to move along the vertical part of the hull, and the robot can be controlled to turn by utilizing the difference in the rotation speed of the driving wheels on both sides;

[0023] At the same time, the control device is used to control the second power machine to work, thereby driving the cleaning disc to rotate and clean the attachments on the surface of the hull;

[0024] When the robot is cleaning dirt, the control device can be used to control the third power machine to work, thereby increasing the working range of the cleaning disc;

[0025] After the vertical part of one side of the hull is cleaned, the robot moves to the bottom of the ship and starts cleaning the bottom of the ship. When the robot is cleaning the bottom of the ship, a certain amount of air needs to be added into the sinking and floating chamber;

[0026] After the bottom of the ship is cleaned, the robot moves to the vertical part of the other side of the hull to clean the dirt. At this time, a certain amount of air is reduced in the sinking and floating chamber.

[0027] After the cleaning is completed, the robot will be recovered by the traction equipment.

[0028] The beneficial effects of the present invention are:

[0029] The present invention proposes a hull hull underwater inspection and cleaning robot, which, in conjunction with a magnetic track and a multi-section structure of the main body, can ensure that the robot is stably adsorbed on the hull surface throughout the cleaning process to avoid falling off, and has good cleaning effect, a large range, and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the working state of the present invention,

[0031] Figure 2 It is a structural schematic diagram of the main body of the present invention,

[0032] Figure 3 is a schematic structural diagram of the fuselage of the present invention,

[0033] Figure 4 This is an enlarged structural diagram I (top view) of the crawler wheel assembly of the present invention.

[0034] Figure 5 This is an enlarged structural view II (cross-sectional view) of the crawler wheel assembly of the present invention.

[0035] Figure 6 is a schematic diagram of the structure of the adsorption device of the present invention,

[0036] Figure 7 is a schematic diagram of the position of the arc-shaped baffle of the present invention,

[0037] Figure 8 is a schematic structural diagram of the pollution cleaning device of the present invention,

[0038] Fig. 9 This is a schematic diagram of the structure of the bottom surface of the cleaning plate of the present invention.

[0039] Fig.10 This is a schematic diagram of the connection between the rubber strip and the cleaning disc of the present invention.

[0040] Fig.11 This is a schematic diagram of the connection between the working arm and the body of the present invention.

[0041] Fig.12 It is a schematic diagram of the internal structure of the main body of the present invention,

[0042] Fig.13 It is a schematic diagram of the connection between the waterproof sleeve and the body of the present invention.

[0043] Figure numbers and names: 1. Main body, 11. Fuselage, 12. Groove, 13. Articulated shaft, 14. Protrusion, 15. Sinking and floating chamber, 16. Air inlet and outlet, 17. Water inlet and outlet, 2. Track wheel assembly, 21. Drive shaft, 22. Driven shaft, 23. Drive wheel, 24. Driven wheel, 25. Track, 3. Inspection and cleaning assembly, 31. Working arm, 4. Adsorption device, 41. Adsorption chamber, 42. Neodymium Magnet, 43, limit rod, 44, magnet box, 45, elastic element cavity, 46, elastic element, 47, adjusting rod, 5, inspection device, 6, dirt cleaning device, 61, cleaning shaft, 62, cleaning disk, 63, scraper, 64, rubber strip groove, 65, rubber strip, 7, baffle, 71, baffle, 72, baffle rod, 73, baffle wheel, 8, arc baffle, 9, waterproof casing, 91, airbag, 10, hull. DETAILED DESCRIPTION

[0044] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following embodiments are given by way of example and detailed description with reference to the accompanying drawings.

[0045] Combination Figure 1 and Figure 2 The present invention discloses a hull underwater inspection and cleaning robot, comprising a main body 1, track wheel assemblies 2 are arranged on both sides of the main body 1, and an inspection and cleaning assembly 3 is arranged on the main body 1;

[0046] The crawler wheel assembly 2 includes a plurality of driving shafts 21 and driven shafts 22 extending from the body 1, and driving wheels 23 and driven wheels 24 are respectively provided on the driving shafts 21 and the driven shafts 22; an electrical chamber is provided in the body 1, and a first power machine (not shown in the drawings) is provided in the electrical chamber and is connected to the driving shaft 21 by transmission; a crawler 25 is sleeved between the driving wheel 23 and the driven wheel 24, and an adsorption device 4 capable of being adsorbed on the outer shell of the hull is provided on the crawler 25;

[0047] The inspection and cleaning assembly 3 comprises a working arm 31 connected to the body 1 , an inspection device 5 is arranged on the working arm 31 , and a cleaning device 6 is arranged at the end of the working arm 31 .

[0048] like Figure 3 The body 1 includes a plurality of fuselages 11, one end of which is provided with a vertically arranged groove 12, in which a horizontally arranged hinge shaft 13 is arranged; the other end of the fuselage 11 is provided with a protrusion 14 matched with the groove 12, in which a through hole matched with the hinge shaft 13 is arranged;

[0049] Combination Figure 4 and Figure 5The width of the crawler 25 is greater than the width of the driving wheel 23 and the driven wheel 24. The outer edge of the crawler 25 extends toward the inner wall to form a baffle 7. The baffle 7 is arranged along the movement direction of the crawler 25. The top of the baffle 7 is bent ninety degrees toward the fuselage 11 to form a baffle 71; a number of baffle rods 72 are vertically provided on the side wall of the fuselage 11 to avoid the driving wheel 23 and the driven wheel 24. The baffle rods 72 are sleeved with baffle wheels 73, and the baffle wheels 73 are arranged between the baffle plates 71 and the crawler 25; the interaction between the baffle wheels and the baffle plates is used to ensure that the relative position of the baffle rod and the crawler remains stable, so that the posture of the fuselage can always be quickly adjusted according to the shape of the crawler.

[0050] like Figure 6 The crawler 25 is made of non-ferromagnetic material, and the inner wall of the crawler 25 is provided with a plurality of adsorption chambers 41 on the other side of the driving wheel 23 and the driven wheel 24; the adsorption device 4 includes a neodymium magnet 42 disposed in the adsorption chamber 41. The crawler of the present application is made of polymer material, and under the premise of ensuring that the crawler is non-ferromagnetic, the baffle can be deformed with the movement of the crawler and has a certain strength to play the role of limiting the baffle wheel.

[0051] The tracks themselves do not have suction power, and the neodymium magnets in the adsorption chamber are used to stick the tracks tightly to the hull.

[0052] A limit rod 43 is vertically provided on the bottom surface of the adsorption chamber 41, and a magnet box 44 for placing the neodymium magnet 42 is provided on the limit rod 43. An elastic element cavity 45 is provided on the bottom surface of the adsorption chamber 41 around the limit rod 43, and an elastic element 46 (a tension spring in the accompanying drawings) made of non-ferromagnetic material is provided in the elastic element cavity 45. The two ends of the elastic element 46 are fixedly connected to the magnet box 44 and the elastic element cavity 45 respectively, and a limit head is provided on the top of the limit rod 43.

[0053] Combination Figure 6 and Figure 7 An adjusting rod 47 is provided on the side of the magnet box 44 facing the fuselage 11, and an arc-shaped baffle 8 is provided on the fuselage 11 at the end of the traveling direction. The curvature of the outer edge of the arc-shaped baffle cooperates with the track, and the curvature of the inner edge of the arc-shaped baffle is smaller than the curvature of the outer edge. When the magnet box 44 moves along the track 27 to the arc-shaped baffle 8, the adjusting rod can move along the inner edge of the arc-shaped baffle so that the magnet box moves along the limiting rod.

[0054] The inspection device 5 includes an image acquisition device and an illumination device (not shown in the drawings) connected to the working arm 31 .

[0055] Combination Figure 8-Figure 10The cleaning device 6 includes a cleaning disc 62 arranged at the end of the working arm 31 through a cleaning shaft 61, and the cleaning disc 62 is transmission-connected to a second power machine (not shown in the attached drawings); a plurality of radially arranged scrapers 63 are provided on the bottom surface of the cleaning disc 62, and a rubber strip groove 64 is also provided on the bottom surface of the cleaning disc 62 between two adjacent scrapers 63, and a rubber strip 65 is provided in the rubber strip groove 64, and a distance between the bottom surface of the rubber strip 65 and the bottom surface of the cleaning disc 62 is greater than a distance between the blade surface of the scraper 63 and the bottom surface of the cleaning disc 62.

[0056] like Fig.11 The working arm 31 is connected to the body 1 through a connecting seat 32. A vertical connecting shaft 33 is vertically provided on the bottom surface of the connecting seat 32. The connecting shaft 33 is connected to the body 1 through a bearing seat. The connecting shaft 33 is also transmission-connected to a third power machine (not shown in the attached drawings).

[0057] like Fig.12 The main body 1 is also provided with a sinking and floating chamber 15, the top of the sinking and floating chamber 15 is provided with an air inlet and outlet 16, and the bottom of the sinking and floating chamber 15 is provided with a water inlet and outlet 17. Part of the air is blown in or out through the air inlet and outlet to achieve the change of the buoyancy of the main body.

[0058] like Fig.13 The main body is provided with multiple sets of cleaning devices to improve the cleaning efficiency. The main body 1 is also provided with a soft waterproof casing 9 that avoids the working range of the working arm. The waterproof casing 9 is provided with cables and air pipes. The first power machine, the second power machine, the third power machine, the image acquisition equipment and the lighting equipment are connected to the power supply equipment and the control equipment on the ship through cables, and the air inlet and outlet are connected to the air supply equipment on the ship through the air pipe.

[0059] The waterproof sleeve 9 is connected with a plurality of air bags 91 at even intervals, and the air bags 91 are communicated with the trachea through a pipeline, and a valve connected with the cable is arranged on the pipeline. The air inlet and outlet and the air intake or exhaust of the air bags can be realized through the trachea and the cable.

[0060] A method for cleaning a hull under waterline by using a cleaning robot as described above comprises the following steps:

[0061] After connecting the cables and air pipes, the robot is lifted by the traction equipment on the ship, and its tracks are controlled to face the hull and adsorbed on the vertical part of the hull; the tracks are firmly adsorbed on the vertical surface of the hull by the neodymium magnets in the adsorption chamber. Under normal circumstances, the magnet box with neodymium magnets is located in the adsorption chamber under the action of the tension spring, and the magnetic attraction generated between the track and the hull can firmly fix the robot on the surface of the hull; in this process, the track is driven by the driving wheel to start working, and when the magnet box moves to the end with the track, the adjustment rod on the outer wall of the magnet box will move along the inner circle of the arc-shaped baffle, thereby forcing the magnet box to move upward along the limit rod, and at this time, the distance between the neodymium magnet and the hull increases, resulting in a decrease in the suction force at the end of the robot track, thereby facilitating the track to be separated from the hull shell as the driving wheel rotates; when the magnet box moves over the arc-shaped baffle, it enters the adsorption chamber again under the action of the tension spring, facilitating the track to move to the next circle of adsorption (that is, it moves to the contact surface with the hull with the track again).

[0062] After the robot enters the water, the amount of air in the sinking and floating chamber is controlled to balance the buoyancy and weight of the robot, thereby ensuring the robot's adsorption stability while improving its flexibility in moving underwater.

[0063] Then the connection between the traction device and the robot is released, and the first power motor is driven by the control device to drive the robot to move along the vertical part of the hull. The different rotation speeds of the driving wheels on both sides can be used to control the robot to turn; at the same time, the control device is used to control the second power motor to drive the cleaning disc to rotate, so as to clean the attachments on the surface of the hull; as the cleaning disc rotates, the scraper on the bottom of the cleaning disc can quickly and effectively remove animals (such as oysters) attached to the surface of the hull like a razor; the role of the rubber strip is, on the one hand, to clean the plants (such as seaweed) attached to the surface of the hull as the cleaning disc rotates and assist the scraper to remove oysters, and on the other hand, it can effectively prevent the scraper from directly contacting the surface of the hull and damaging the coating.

[0064] When the robot is cleaning dirt, the control device can be used to control the third power machine to work, thereby increasing the working range of the robot cleaning the disc on a predetermined movement route.

[0065] After the vertical part of one side of the hull is cleaned, the robot moves to the bottom of the ship and starts cleaning the bottom of the ship. Since the main body is a multi-section structure, with the function of the baffle and the baffle wheel, when the crawler moves from the side of the hull to the bottom of the hull (at the junction, due to the neodymium magnet on the crawler, the crawler is closely attached to the hull throughout the whole process), it will drive the main body to produce adaptive deformation, preventing the main body from being separated from the robot due to the structure of the main body not fitting at the junction;

[0066] When the robot is cleaning the bottom of the ship, a certain amount of air needs to be added to the sinking and flotation chamber to increase the buoyancy of the robot. On the one hand, it prevents the robot from falling due to insufficient suction during movement, and on the other hand, it increases the contact pressure between the cleaning disc and the bottom of the hull to improve the cleaning effect.

[0067] After the bottom of the ship is cleaned, the robot moves to the vertical part of the other side of the hull to clean the dirt. At this time, a certain amount of air is reduced in the sinking and floating chamber, which ensures the robot's adsorption stability while improving its flexibility in moving under the water.

[0068] After the cleaning is completed, the robot will be recovered by the towing equipment. The robot will first be moved to the water surface and then lifted off the hull by the towing equipment.

[0069] In summary, the above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. All equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification are within the scope covered by the patent of the present invention.

Claims

1. A robot for inspecting and cleaning the hull below the waterline, comprising a main body (1), characterized in that: Track wheel assemblies (2) are provided on both sides of the body (1), and an inspection and cleaning assembly (3) is provided on the body (1); The crawler wheel assembly (2) comprises a plurality of drive shafts (21) and driven shafts (22) extending from the body (1), and the drive shafts (21) and the driven shafts (22) are respectively provided with drive wheels (23) and driven wheels (24); an electrical chamber is provided in the body (1), and a first power machine drivingly connected to the drive shaft (21) is provided in the electrical chamber; a crawler (25) is sleeved between the drive wheel (23) and the driven wheel (24), and an adsorption device (4) capable of being adsorbed on the outer shell of the hull is provided on the crawler (25); The inspection and cleaning assembly (3) comprises a working arm (31) connected to the body (1), an inspection device (5) being provided on the working arm (31), and a cleaning device (6) being provided at the end of the working arm (31); The body (1) comprises a plurality of fuselages (11), one end of each fuselage (11) being provided with a vertically arranged groove (12), and a horizontally arranged hinge shaft (13) being arranged in the groove (12); the other end of each fuselage (11) being provided with a protrusion (14) cooperating with the groove (12), and a through hole cooperating with the hinge shaft (13) being arranged in the protrusion (14); The width of the crawler (25) is greater than the width of the driving wheel (23) and the driven wheel (24); a baffle (7) is provided on the inner wall of the crawler (25) at one side of the driving wheel (23) and the driven wheel (24); the baffle (7) is arranged along the moving direction of the crawler (25); the top end of the baffle (7) is bent 90 degrees toward the direction of the machine body (11) to form a baffle plate (71); a plurality of baffle rods (72) are vertically provided on the side wall of the machine body (11) to avoid the driving wheel (23) and the driven wheel (24); a baffle wheel (73) is sleeved on the baffle rod (72); and the baffle wheel (73) is arranged between the baffle plate (71) and the crawler (25); The crawler (25) is made of non-ferromagnetic material, and the inner wall of the crawler (25) is provided with a plurality of adsorption cavities (41) on the other side of the driving wheel (23) and the driven wheel (24); the adsorption device (4) comprises a neodymium magnet (42) provided in the adsorption cavity (41); A limiting rod (43) is vertically provided on the bottom surface of the adsorption chamber (41), and an openable and closable magnet box (44) for placing the neodymium magnet (42) is passed through the limiting rod (43); an elastic element cavity (45) is provided on the bottom surface of the adsorption chamber (41) around the limiting rod (43), and an elastic element (46) made of non-ferromagnetic material is provided in the elastic element cavity (45), and two ends of the elastic element (46) are respectively fixedly connected to the magnet box (44) and the elastic element cavity (45), and a limiting head is provided on the top of the limiting rod (43); The magnet box (44) is provided with an adjustment rod (47) on the side facing the fuselage (11); the fuselage (11) at the end in the direction of travel is provided with an arc-shaped baffle (8); the curvature of the outer edge of the arc-shaped baffle matches the track, and the curvature of the inner edge of the arc-shaped baffle is smaller than the curvature of the outer edge; The inspection device (5) comprises an image acquisition device and a lighting device connected to the working arm (31).

2. The robot for inspecting and cleaning the hull below the waterline according to claim 1, characterized in that: The cleaning device (6) comprises a cleaning disc (62) arranged at the end of the working arm (31) via a cleaning shaft (61), the cleaning disc (62) being transmission-connected to a second power machine; a plurality of scrapers (63) arranged radially are provided on the bottom surface of the cleaning disc (62), a rubber strip groove (64) is provided on the bottom surface of the cleaning disc (62) between two adjacent scrapers (63), a rubber strip (65) is provided in the rubber strip groove (64), and the distance between the bottom surface of the rubber strip (65) and the bottom surface of the cleaning disc (62) is greater than the distance between the blade surface of the scraper (63) and the bottom surface of the cleaning disc (62).

3. The robot for inspecting and cleaning the hull below the waterline according to claim 2, characterized in that: The working arm (31) is connected to the body (1) via a connecting seat (32); a vertical connecting shaft (33) is vertically provided on the bottom surface of the connecting seat (32); the connecting shaft (33) is connected to the body (1) via a bearing seat; the connecting shaft (33) is also transmission-connected to a third power machine.

4. The robot for inspecting and cleaning the hull below the waterline according to claim 3, characterized in that: The body (1) is also provided with a sinking and floating chamber (15), the top of the sinking and floating chamber (15) is provided with an air inlet and outlet (16), and the bottom of the sinking and floating chamber (15) is provided with a water inlet and outlet (17).

5. The robot for inspecting and cleaning the hull below the waterline according to claim 4, characterized in that: The main body (1) is provided with a soft waterproof casing (9), and a cable and an air pipe are arranged inside the waterproof casing (9); the first power machine, the second power machine, the third power machine, the image acquisition device and the lighting device are connected to the power supply device and the control device on the ship through the cable, and the air inlet and outlet are connected to the air supply device on the ship through the air pipe.

6. The robot for inspecting and cleaning the hull below the waterline according to claim 5, characterized in that: The waterproof casing (9) is connected to a plurality of evenly spaced air bags (91), the air bags (91) being in communication with the air pipe via a pipeline, and the pipeline is provided with a valve connected to the cable.

7. A method for cleaning pollution using a robot for inspecting and cleaning pollution below the waterline of a hull according to any one of claims 1 to 6, characterized in that: The following steps are involved: After connecting the cables and air pipes, the robot is lifted up using the traction equipment on the ship, and its tracks are controlled to face the hull and adhere to the vertical part of the hull; After the robot enters the water, the amount of air in the sinking and buoyancy chamber is controlled to balance the buoyancy and weight of the robot; Then, the connection between the traction device and the robot is released, and the first power machine is driven to work by the control device, thereby driving the robot to move along the vertical part of the hull, and the robot can be controlled to turn by utilizing the difference in the rotation speed of the driving wheels on both sides; At the same time, the control device is used to control the second power machine to work, thereby driving the cleaning disc to rotate and clean the attachments on the surface of the hull; When the robot is cleaning dirt, the control device can be used to control the third power machine to work, thereby increasing the working range of the cleaning disc; After the vertical part of one side of the hull is cleaned, the robot moves to the bottom of the ship and starts cleaning the bottom of the ship. When the robot is cleaning the bottom of the ship, a certain amount of air needs to be added into the sinking and floating chamber; After the bottom of the ship is cleaned, the robot moves to the vertical part of the other side of the hull to clean the dirt. At this time, a certain amount of air is reduced in the sinking and floating chamber. After the cleaning is completed, the robot will be recovered by the traction equipment.

Images