A ship cleaning robot

Abstract

The present invention relates to a ship cleaning robot, which is used to solve the problems that during the cleaning process of existing ship cleaning robots, dirt spreads outward to block the line of sight of the camera and affects the environment. The ship cleaning robot of the present invention includes: a frame; and the following components provided on the frame: a telescopic camera mechanism, including a moving component and a telescopic driving component, at least one camera is provided on the moving component, and the telescopic driving component is matched with the moving component and can drive the moving component to move relative to the frame, so as to drive the camera to extend outward from the frame or contract towards the frame; a cleaning mechanism, including a cleaning disk and a recovery cover, the recovery cover covers the cleaning disk to recover the dirt generated by the cleaning of the cleaning disk.

Description

Technical Field

[0001] The present invention relates to the technical field of ship cleaning, and particularly to a ship cleaning robot. Background Art

[0002] Since ships sail in water for a long time, underwater organisms such as algae and barnacles in the water adhere to the hull in large areas, causing serious adverse effects on ship transportation. The attached underwater organisms not only damage the hull, but also increase the resistance of the ship's navigation, resulting in an increase in shipping costs. Therefore, it is necessary to regularly clean the ship's surface.

[0003] Previously, most of the ship's surface was cleaned manually with tools such as shovels. The operation efficiency was low, and it was easy to damage the ship's paint. In addition, it could not operate in relatively bad weather. In recent years, with the development of technology, ship cleaning robots have emerged. However, existing ship cleaning robots have problems such as the dirt spreading outwards during the cleaning process and blocking the camera's line of sight. In addition, the dirt spreading outwards may also cause environmental pollution. Summary of the Invention

[0004] In view of the above analysis, the embodiments of the present invention aim to provide a ship cleaning robot to solve the problems that the dirt spreads outwards during the cleaning process of existing ship cleaning robots, blocking the camera's line of sight and affecting the environment.

[0005] The present invention provides a ship cleaning robot, including:

[0006] A frame;

[0007] And disposed on the frame:

[0008] A telescopic camera mechanism, including a moving component and a telescopic driving component. At least one camera is disposed on the moving component. The telescopic driving component is matched with the moving component and can drive the moving component to move relative to the frame to drive the camera to extend outward from the frame or contract towards the frame;

[0009] A cleaning mechanism, including a cleaning disk and a recovery cover. The recovery cover covers the cleaning disk to recover the dirt generated by the cleaning of the cleaning disk.

[0010] Further, the telescopic camera mechanism is located at the front of the frame, and the cleaning mechanism is located at the bottom of the frame.

[0011] Further, the moving component includes a connected rack portion and a sliding portion;

[0012] The telescopic drive assembly includes a telescopic drive motor and a gear. The gear is connected to the telescopic output shaft of the telescopic drive motor, and the gear can rotate synchronously with the telescopic output shaft;

[0013] The rack portion meshes with the gear;

[0014] The sliding portion is fixedly connected to the rack portion, and the sliding portion moves synchronously with the rack portion;

[0015] At least a fixing bracket for assembling the camera is provided at the front end of the sliding portion.

[0016] Further, the telescopic camera mechanism further includes a chute fixing bracket. The chute fixing bracket is fixedly connected to the vehicle frame, and the chute fixing bracket can be used to carry the moving component and the telescopic drive component;

[0017] The chute fixing bracket is provided with a chute portion, and the chute portion cooperates with the sliding portion. The sliding portion can slide in the chute portion;

[0018] The chute fixing bracket includes an assembly space. The top wall of the assembly space is provided with the chute portion; the gear is located in the assembly space and meshes with the rack portion;

[0019] The telescopic drive motor is fixedly arranged at the bottom of the chute fixing bracket, and a part of the telescopic output shaft extends into the assembly space to be connected with the gear.

[0020] Further, the telescopic camera mechanism further includes a wiring assembly, and the wiring assembly can at least be used to carry the connection cable of the camera;

[0021] The wiring assembly includes a drag chain and a guide rail bracket that cooperates with the drag chain;

[0022] The guide rail bracket is provided with a track portion that cooperates with the drag chain; the guide rail bracket is connected to the vehicle frame;

[0023] The drag chain includes a mobile end and a fixed end. The mobile end is connected to the fixing bracket, and the fixed end is fixedly connected to the vehicle frame or the guide rail bracket; the mobile end moves synchronously with the fixing bracket;

[0024] The connection cable is arranged along the drag chain, and the connection cable extends at least from the mobile end along the drag chain to the fixed end.

[0025] Further, the recovery cover is provided with a recovery space with an open bottom, and the cleaning tray is covered in the recovery space;

[0026] The recovery cover includes a top plate portion and a ring side plate portion, and the top plate portion and the ring side plate portion define the recovery space; the bottom end of the ring side plate portion contacts the surface to be cleaned;

[0027] The ring side plate portion is provided with at least one inlet, and the inlet is provided with a one-way switch to allow fluid to flow into the recovery space from the inlet.

[0028] Further, the ship cleaning robot further includes components disposed on the vehicle frame:

[0029] A plurality of traveling mechanisms, at least two of which are oppositely disposed on both sides of the vehicle frame;

[0030] A plurality of thrusters, at least three of which are respectively distributed in three directions of the vertical direction, horizontal direction, and perpendicular direction of the vehicle frame;

[0031] A plurality of camera assemblies, at least three of which are respectively disposed on both sides and the rear end of the vehicle frame;

[0032] A lifting mechanism, located between the vehicle frame and the cleaning mechanism, capable of driving the cleaning mechanism to move relative to the vehicle frame to adjust the distance between the cleaning disc and the surface to be cleaned.

[0033] Further, the vehicle frame includes a left beam and a right beam disposed opposite to each other left and right, and a front through beam, a first fixed beam, a first lifting beam, a second lifting beam, a second fixed beam, and a rear through beam sequentially disposed between the left beam and the right beam from front to back;

[0034] The left beam and the right beam are symmetrically disposed left and right with respect to the center of the vehicle frame;

[0035] The front through beam and the rear through beam are symmetrically disposed front and back with respect to the center of the vehicle frame;

[0036] The first fixed beam and the second fixed beam are symmetrically disposed front and back with respect to the center of the vehicle frame;

[0037] The first lifting beam and the second lifting beam are symmetrically disposed front and back with respect to the center of the vehicle frame;

[0038] The chute fixing frame of the telescopic camera mechanism is detachably fixed to the front through beam; the front end of the guide rail frame of the telescopic camera mechanism is detachably fixedly connected to the front through beam, the middle part of the guide rail frame is detachably fixedly connected to the first fixed beam, the rear part of the guide rail frame is detachably fixedly connected to the first lifting beam, and the rear end of the guide rail frame is located between the first lifting beam and the second lifting beam;

[0039] The fixed frame of the lifting mechanism is detachably and fixedly connected to the bottoms of the first lifting beam and the second lifting beam. The moving frame of the lifting mechanism is detachably connected to the cleaning mechanism. The moving frame is located below the guide rail frame and above the cleaning mechanism.

[0040] At least two of the traveling mechanisms are oppositely arranged on the left beam and the right beam.

[0041] Further, the first lifting beam and the second lifting beam are detachably provided with lifting frames.

[0042] Side propulsion fixed seats are respectively provided at the bottoms of the first fixed beam and the second fixed beam.

[0043] Horizontal propulsion fixed seats are respectively provided at the rear ends of the left beam and the right beam.

[0044] Vertical propulsion fixed seats are respectively provided at opposite positions on the outer side walls of the left beam and the right beam.

[0045] Camera fixed seats are respectively provided at opposite positions on the outer side walls of the left beam and the right beam.

[0046] Camera fixed seats are respectively provided at the rear ends of the inner side walls of the left beam and the right beam.

[0047] Further, the ship cleaning robot further includes a controller and a floating board.

[0048] The controller is configured to be able to control the working process of the ship cleaning robot.

[0049] The floating board includes an upper floating board, a lower floating board and side floating boards. The upper floating board covers the vehicle frame. The lower floating board is arranged on the top of the recovery cover. The side floating boards are arranged at the bottoms of the fixed frames of the telescopic camera mechanism.

[0050] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0051] (1) There are two ways to prevent the dirt washed off from blocking the camera's line of sight. One way is the setting of a retractable camera mechanism, which enables the camera to move relative to the vehicle frame, effectively preventing the dirt generated during the robot's cleaning process from affecting the camera's observation, so as to better observe the surface to be cleaned, and to more effectively control the robot to carry out the cleaning work, improving the cleaning effect of the ship cleaning robot. Another way is through the setting of a recovery cover, which covers the cleaning disc. When the cleaning disc is cleaning the surface to be cleaned, the relatively sealed space between the recovery cover and the surface to be cleaned can prevent the dirt washed off by the cleaning head from spreading outwards, resulting in blocking the camera, ensuring that the "line of sight" of the ship cleaning robot is not blocked by dirt, and further ensuring that the robot has a better observation effect;

[0052] (2) The setting of the recovery cover is also beneficial to the recovery of the dirt washed out, beneficial to the recovery of cleaning waste, reducing the generation of marine garbage, and being more environmentally friendly;

[0053] (3) By setting a lifting mechanism, the ship cleaning robot can adjust the distance between the cleaning disc on the moving frame and the surface to be cleaned through the lifting drive component whether it is in the cleaning process or not, enabling the ship cleaning robot to adjust the target distance of the cleaning disc according to the condition of the ship's surface, thereby improving the cleaning effect of the ship cleaning robot;

[0054] (4) The traveling mechanism forms a triangular support structure with adjustable inner angles through the swing arm assembly and the damping assembly and the vehicle frame. On the one hand, the triangular support structure provides a stable supporting force for the traveling wheels, improving the reliability of the traveling mechanism. On the other hand, the swing arm assembly, the damping assembly, and the vehicle frame are rotatably connected to each other, improving the adaptability of the traveling mechanism to the curved surface.

[0055] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be made obvious from the description, or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the content specifically pointed out in the description and the drawings. Description of the Drawings

[0056] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs represent the same components.

[0057] Figure 1 It is a schematic diagram (one) of the structure of the ship cleaning robot in the specific embodiment;

[0058] Figure 2 It is a schematic diagram (two) of the structure of the ship cleaning robot in the specific embodiment;

[0059] Figure 3 Schematic diagram (III) of the structure of the ship cleaning robot in the specific implementation manner;

[0060] Figure 4 Schematic diagram (IV) of the structure of the ship cleaning robot in the specific implementation manner;

[0061] Figure 5 Partial schematic diagram (I) of the structure of the ship cleaning robot in the specific implementation manner;

[0062] Figure 6 Partial schematic diagram (II) of the structure of the ship cleaning robot in the specific implementation manner;

[0063] Figure 7 Partial schematic diagram (III) of the structure of the ship cleaning robot in the specific implementation manner;

[0064] Figure 8 Schematic diagram (I) of the structure of the vehicle frame in the specific implementation manner;

[0065] Figure 9 Schematic diagram (II) of the structure of the vehicle frame in the specific implementation manner;

[0066] Figure 10 Schematic diagram (III) of the structure of the vehicle frame in the specific implementation manner;

[0067] Figure 11 Schematic diagram (I) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0068] Figure 12 Schematic diagram (II) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0069] Figure 13 Schematic diagram (III) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0070] Figure 14 Partial schematic diagram (I) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0071] Figure 15 Partial schematic diagram (II) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0072] Figure 16 Partial schematic diagram (III) of the structure of the telescopic camera mechanism in the specific implementation manner;

[0073] Figure 17 Partial sectional view of the telescopic camera mechanism in the specific implementation manner;

[0074] Figure 18Schematic diagram (I) of the partial structure of the cleaning mechanism in the specific implementation manner;

[0075] Figure 19 Schematic diagram (II) of the partial structure of the cleaning mechanism in the specific implementation manner;

[0076] Figure 20 Schematic diagram of the cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0077] Figure 21 Schematic diagram (I) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0078] Figure 22 Schematic diagram (II) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0079] Figure 23 Schematic diagram (III) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0080] Figure 24 Schematic diagram (IV) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0081] Figure 25 Schematic diagram (V) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0082] Figure 26 Schematic diagram (VI) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0083] Figure 27 Schematic diagram (VII) of the partial cooperation structure between the cleaning mechanism and the lifting mechanism in the specific implementation manner;

[0084] Figure 28 Schematic diagram of the structure of the traveling mechanism in the specific implementation manner;

[0085] Figure 29 Schematic diagram of the exploded structure of the vibration damping component in the specific implementation manner;

[0086] Figure 30 Schematic diagram of the structure of the swing arm assembly in the specific implementation manner;

[0087] Figure 31 Schematic diagram (I) of the partial structure of the traveling mechanism in the specific implementation manner;

[0088] Figure 32 Schematic diagram (II) of the partial structure of the traveling mechanism in the specific implementation manner;

[0089] Figure 33It is a partial sectional view of the traveling mechanism in the specific implementation manner.

[0090] Reference numerals:

[0091] 1 - Frame; 101 - Hoisting frame; 102 - Lateral propulsion fixed seat; 103 - Horizontal propulsion fixed seat; 104 - Protective cover; 105 - Vertical propulsion fixed seat; 106 - Camera fixed seat; 11 - Left beam; 12 - Right beam; 13 - Front through beam; 14 - Rear through beam; 15 - First fixed beam; 16 - Second fixed beam; 17 - First hoisting beam; 18 - Second hoisting beam;

[0092] 2 - Telescopic camera mechanism; 21 - Moving component; 211 - Rack part; 212 - Sliding part; 22 - Telescopic drive component; 221 - Telescopic drive motor; 221a - Telescopic output shaft; 222 - Gear; 223 - Telescopic watertight cabin; 23 - Camera; 24 - Fixed frame; 25 - Chute fixed frame; 251 - Chute part; 26 - Telescopic transmission component; 261 - Telescopic transmission cabin; 262 - Telescopic transmission shaft; 27 - Wiring component; 271 - Drag chain; 271a - Mobile end; 271b - Fixed end; 272 - Guide rail frame;

[0093] 3 - Cleaning mechanism; 301 - Inlet; 302 - Through hole; 303 - Outlet; 31 - Cleaning disk; 311 - Connecting piece; 312 - Main water inlet pipe; 313 - Water inlet pipe; 32 - Recovery cover; 321 - Top plate part; 322 - Ring side plate part; 322a - Upper plate part; 322b - Lower plate part; 322c - Baffle plate; 322d - Hinge element; 323 - Fixed column; 33 - Recovery pipe;

[0094] 4 - Traveling mechanism; 401 - Through hole; 41 - Traveling drive component; 411 - Traveling watertight cabin; 411 - Traveling drive motor; 412a - Traveling output shaft; 42 - Swing arm component; 421 - Ear part; 421a - Ear plate; 422 - Reinforcing rib; 43 - Vibration damping component; 431 - Vibration damping spring; 432 - Telescopic element; 432a - First connecting part; 432b - Second connecting part; 432c - Telescopic part; 44 - Traveling wheel; 45 - Traveling transmission component; 451 - Traveling transmission cabin; 452 - Bearing group; 453 - Traveling transmission shaft;

[0095] 5 - Thruster; 6 - Camera component;

[0096] 7 - Lifting mechanism; 71 - Fixed frame; 711 - First assembly seat; 712 - Second assembly seat; 713 - Extension column; 714 - First assembly long plate; 715 - Second assembly long plate; 72 - Moving frame; 721 - First fixed seat; 722 - Second fixed seat; 73 - Lifting drive assembly; 731 - Lifting drive motor; 732 - Lead screw assembly; 732a - Worm part; 732b - Nut part; 74 - Guide assembly; 741 - Guide long rod; 742 - Guide cylinder; 75 - Lifting transmission assembly; 751 - Synchronous belt; 752 - Driving pulley; 753 - Driven pulley; 754 - Tensioning pulley; 755 - Fixed support; 76 - Detection assembly; 761 - Upper position detection sensor; 762 - Lower position detection sensor; 763 - Upper limit detection sensor; 764 - Lower limit detection sensor;

[0097] 8 - Controller; 81 - Front controller; 82 - Rear controller;

[0098] 9 - Floating plate; 91 - Upper floating plate; 92 - Lower floating plate; 93 - Side floating plate. Detailed implementation manners

[0099] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings, in which the drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not used to limit the scope of the present invention.

[0100] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.

[0101] The terms "top", "bottom", "above...", "below" and "on..." used throughout the description are relative positions with respect to the components of the device, such as the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional and is independent of its orientation in space.

[0102] The general working surface of the present invention can be a plane or a curved surface, which can be inclined or horizontal. For the convenience of description, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined accordingly.

[0103] A specific embodiment of the present invention discloses a ship cleaning robot, as Figures 1 to 33 shown, including:

[0104] Frame 1;

[0105] and those disposed on the vehicle frame 1:

[0106] A telescopic camera mechanism 2, comprising a moving component 21 and a telescopic driving component 22. At least one camera 23 is provided on the moving component 21. The telescopic driving component 22 is matched with the moving component 21 and can drive the moving component 21 to move relative to the vehicle frame 1, so as to drive the camera 23 to extend outward from the vehicle frame 1 or contract toward the vehicle frame 1;

[0107] A cleaning mechanism 3, comprising a cleaning tray 31 and a recovery cover 32. The recovery cover 32 covers the cleaning tray 31 to recover the dirt generated during the cleaning of the cleaning tray 31.

[0108] The above-mentioned dirt includes any substance washed off by the cleaning tray 31.

[0109] The ship cleaning robot of the present invention (hereinafter referred to as the robot) avoids the dirt washed off from blocking the camera's line of sight through two ways. One way is the setting of the telescopic camera mechanism 2, which enables the camera 23 to move relative to the vehicle frame 1, that is, the camera 23 can move away from the vehicle frame. It can effectively avoid the dirt generated during the robot's cleaning from affecting the observation of the camera 23. That is, the moving component 21 drives the camera 23 through the turbid water area that may affect the line of sight caused by the dirt, so as to better observe the situation of the surface to be cleaned, and to more effectively control the robot to perform the cleaning work, improving the cleaning effect of the ship cleaning robot; Another way is through the setting of the recovery cover 32, which covers the cleaning tray 31. When the cleaning tray 31 cleans the surface to be cleaned, the relatively sealed space between the recovery cover 32 and the surface to be cleaned can prevent the dirt washed off by the cleaning head 31 from spreading outward, resulting in blocking the camera, ensuring that the "line of sight" of the ship cleaning robot is not blocked by the dirt, and further ensuring that the robot has a better observation effect.

[0110] In addition, the setting of the recovery cover 32 is beneficial to recovering the dirt washed out, beneficial to the recovery of cleaning garbage, reducing the generation of marine garbage, and being more environmentally friendly.

[0111] Preferably, the telescopic camera mechanism 2 is located at the front of the vehicle frame 1, and the cleaning mechanism 3 is located at the bottom of the vehicle frame 1, so that the robot can better detect the situation of the unknown surface to be cleaned and facilitate the robot to clean the surface to be cleaned.

[0112] According to an embodiment of the vehicle frame of the present invention, the vehicle frame 1 includes a left beam 11 and a right beam 12 arranged oppositely left and right, and a front through beam 13, a first fixed beam 15, a first hoisting beam 17, a second hoisting beam 18, a second fixed beam 16, and a rear through beam 14 arranged in sequence from front to back between the left beam 11 and the right beam 12.

[0113] The left beam 11, the right beam 12, the front through beam 13, the rear through beam 14, the first fixed beam 15, the second fixed beam 16, the first hoisting beam 17, and the second hoisting beam 18 together constitute the main frame structure of the vehicle frame 1. Among them, the left beam 11 and the right beam 12 are the main beams of the vehicle frame 1. The front through beam 13, the first fixed beam 15, the first hoisting beam 17, the second hoisting beam 18, the second fixed beam 16, and the rear through beam 14 between the left beam 11 and the right beam 12 can prevent the left beam 11 and the right beam 12 from twisting and improve the overall strength of the vehicle frame. Preferably, the front through beam 13, the first fixed beam 15, the first hoisting beam 17, the second hoisting beam 18, the second fixed beam 16, and the rear through beam 14 are arranged parallel to each other and are respectively perpendicularly connected to the side walls of the left beam 11 and the right beam 12. Specifically, assembly holes for assembling the two ends of the front through beam 13, the first fixed beam 15, the first hoisting beam 17, the second hoisting beam 18, the second fixed beam 16, and the rear through beam 14 are respectively provided at the relative positions of the left beam 11 and the right beam 12 to improve the connection strength between the left beam 11 and the right beam 12 and the front through beam 13, the first fixed beam 15, the first hoisting beam 17, the second hoisting beam 18, the second fixed beam 16, and the rear through beam 14.

[0114] To improve the structural strength of the vehicle frame 1, the left beam 11 and the right beam 12 are symmetrically arranged left and right with respect to the center of the vehicle frame 1. Preferably, the structures of the left beam 11 and the right beam 12 are similar to an arched structure, that is, the centers of the left beam 11 and the right beam 12 arch upward. On the one hand, the load-bearing capacity of the left beam 11 and the right beam 12 is improved, and thus the stability of the vehicle frame 1 is improved; on the other hand, the arched structures of the left beam 11 and the right beam 12 can provide a larger assembly space for the robot, making the structures of the various components of the robot (components of the robot other than the vehicle frame 1, such as the telescopic camera mechanism 2, the cleaning mechanism 3, the traveling mechanism 4, the thruster 5, the camera assembly 6, the lifting mechanism 7, the controller 8, the floating board 9, etc.) more stable and compact after being assembled to the vehicle frame 1.

[0115] Further preferably, the front through beam 13 and the rear through beam 14 are symmetrically arranged front and back with respect to the center of the vehicle frame 1; the first fixed beam 15 and the second fixed beam 16 are symmetrically arranged front and back with respect to the center of the vehicle frame 1; the first hoisting beam 17 and the second hoisting beam 18 are symmetrically arranged front and back with respect to the center of the vehicle frame 1. With such an arrangement, the structural stability of the vehicle frame can be further improved.

[0116] The frame 1 is provided with a hoisting position and a mounting position. A hoisting frame 101 is provided at the hoisting position for hoisting during the transfer of the robot. The mounting position is used for assembling various components of the robot to bear the overall weight of the robot.

[0117] The hoisting position is located at the tops of the first hoisting beam 17 and the second hoisting beam 18. Specifically, the hoisting frame 101 includes four feet. Two supports cooperating with the hoisting frame 101 are respectively provided at the hoisting positions of the first hoisting beam 17 and the second hoisting beam 18. The feet are rotatably connected to the supports so as to hoist and transport the robot.

[0118] Any position on the frame 1 can be a mounting position to adapt to the assembly of various components of the robot. That is, the left beam 11, the right beam 12, the front through beam 13, the first fixed beam 15, the first hoisting beam 17, the second hoisting beam 18, the second fixed beam 16, and the rear through beam 14 are all provided with mounting positions to cooperate with the installation of various components.

[0119] According to an embodiment of the retractable camera mechanism of the present invention, the retractable camera mechanism 2 includes:

[0120] The moving component 21 is provided with a fixed frame 24 that can at least carry the camera 23;

[0121] The telescopic driving component 22 cooperates with the moving component 21 and can drive the moving component 21 to make a linear reciprocating motion relative to the frame 1 so as to drive the camera 23 to extend outward from the frame 1 or retract toward the frame 1. The camera 23 can move synchronously with the moving component 21.

[0122] The moving component 21 includes a rack portion 211. The telescopic driving component 22 includes a telescopic driving motor 221 and a gear 222. The gear 222 is connected to the telescopic output shaft 221a of the telescopic driving motor 221, and the gear 222 can rotate synchronously with the telescopic output shaft 221a. The rack portion 211 meshes with the gear 222. By the rotation and meshing of the gear 222, the rack portion 211 is driven to make a linear reciprocating motion relative to the frame 1, that is, a tooth pattern cooperating with the gear 222 is provided on the side of the rack portion 211 facing the gear 222.

[0123] In order to improve the movement stability of the moving component 21, the moving component 21 further includes a sliding portion 212. The sliding portion 212 is fixedly connected to the rack portion 211 and moves synchronously with the rack portion 211. Preferably, the sliding portion 212 is detachably fixedly connected to the rack portion 211 for easy replacement and maintenance.

[0124] To further improve the motion stability of the moving component 21, the rack portion 211 is located below the sliding portion 212, and the extending direction of the rack portion 211 is the same as that of the sliding portion 212 (the extending direction is consistent with the reciprocating motion direction of the moving component 21). The tooth pattern on the rack portion 211 covers the side of the rack portion 211 facing the gear 222 along the extending direction. Preferably, the length of the sliding portion 212 is not less than that of the rack portion 211 to protect the rack portion 211 at the same time. The lengths of the sliding portion 212 and the rack portion 211 respectively refer to the distances between their two ends in their extending directions.

[0125] Preferably, the fixing frame 24 is fixedly arranged at the front end of the sliding portion 212, and the fixing frame 24 moves synchronously with the sliding portion 212. With this arrangement, the extending effect of the sliding portion 212 towards the outside of the vehicle frame can be maximally exerted. Further preferably, the fixing frame 24 is detachably arranged at the front end of the sliding portion 212 for later replacement and maintenance.

[0126] To improve the connection stability between the telescopic camera mechanism 2 and the vehicle frame 1, the telescopic camera mechanism further includes a chute fixing frame 25. The chute fixing frame 25 is fixedly arranged on the vehicle frame, that is, the chute fixing frame 25 is fixedly connected to the vehicle frame, and the chute fixing frame 25 can carry the moving component 21 and the telescopic driving component 22, that is, the moving component 21 and the telescopic driving component 22 are installed on the chute fixing frame 25.

[0127] Specifically, the chute fixing frame 25 is provided with a chute portion 251, and the chute portion 251 is matched with the sliding portion 212, and the sliding portion 212 can slide in the chute portion 251. The chute fixing frame 25 includes an assembly space. The top wall of the assembly space is provided with the chute portion 251. The moving component 21 passes through the assembly space and is slidably connected to the chute portion 251, that is, both ends of the rack portion 211 and the sliding portion 212 are located on both sides of the assembly space, and a part of the rack portion 211 and the sliding portion 212 is always located inside the assembly space during the reciprocating motion, that is, the rack portion 211 and the sliding portion 212 reciprocate relative to the assembly space.

[0128] To limit the reciprocating motion range of the moving component 21, a limiting block is provided on the sliding portion 212. Preferably, limiting blocks are respectively provided at the front and rear ends of the sliding portion 212. The limiting block can be in contact with the chute portion 25 to play a limiting role. On the one hand, it limits the sliding range of the sliding portion 212, and further limits the displacement range of the moving component 21. On the other hand, it prevents the sliding portion 212 from falling off from the chute portion 251.

[0129] It should be noted that the length of the chute portion 251 is less than the length of the sliding portion 212. Since the fixing frame 24 provided at the front end of the sliding portion 212 can also play a role in limiting, at this time, a limiting block can be provided only at the rear end of the sliding portion 212 to achieve the front and rear limiting effect of the sliding portion 212.

[0130] The gear 222 is located in the assembly space and meshes with the rack portion 211. The gear 222 is always located in the assembly space, and the position of the rotation axis of the gear 222 in the assembly space is fixed to ensure the movement stability of the moving component 21.

[0131] The telescopic drive assembly 22 further includes a telescopic watertight cabin 223. The telescopic drive motor 222 is located in the telescopic watertight cabin 223, and a part of the telescopic output shaft 221a passes through the telescopic watertight cabin 223 and is in transmission connection with the gear 222 in the assembly space. It should be noted that a dynamic seal is adopted between the telescopic output shaft 221a and the telescopic watertight cabin 223. Exemplarily, an H-type oil seal or a Gleitring, etc. is used as the dynamic seal to ensure effective protection of the telescopic drive motor when working underwater.

[0132] The telescopic watertight cabin 223 is fixedly connected to the chute fixing frame 25. Preferably, the telescopic watertight cabin 223 is detachably fixedly connected to the chute fixing frame 25 for later maintenance and replacement.

[0133] In order to improve the driving stability of the telescopic drive motor 221 for the gear 222, the gear 222 and the telescopic output shaft 221a are in transmission connection through a telescopic transmission assembly 26. Specifically, the telescopic transmission assembly 26 includes a telescopic transmission cabin 261 and a telescopic transmission shaft 262. The telescopic transmission cabin 261 is located in the assembly space. One end of the telescopic transmission shaft 262 extends into the telescopic transmission cabin 261, the other end of the telescopic transmission shaft 262 is connected to the gear 222, and one end of the telescopic output shaft 221a extends into the telescopic transmission cabin 261 and is connected to the telescopic transmission shaft 262.

[0134] The telescopic transmission cabin 262 is detachably installed in the assembly space for pre-assembly, later maintenance and replacement. Preferably, the telescopic watertight cabin 223 and the telescopic transmission cabin 262 are respectively detachably fixedly connected to the chute fixing frame 25 through flange plates.

[0135] To avoid phenomena such as cable entanglement and knotting that may affect the telecommunication connection of the camera 23 when the camera 23 moves with the moving component 21, the retractable camera mechanism 2 further includes a wiring component 27, and the wiring component 27 is at least capable of carrying the connection cable of the camera 23. Specifically, the wiring component 27 includes a drag chain 271 and a guide rail frame 272 that cooperates with the drag chain 271. The guide rail frame 272 is provided with a track portion that cooperates with the drag chain 271, and the guide rail frame 272 is fixedly connected to the vehicle frame. Preferably, the guide rail frame 271 is detachably arranged on the vehicle frame for easy installation, later maintenance and replacement.

[0136] The drag chain 271 includes a mobile end 271a and a fixed end 271b. The mobile end 271a is connected to the fixed frame 24, and the mobile end 271a moves synchronously with the fixed frame 24; the fixed end 271b is fixedly connected to the vehicle frame or the guide rail frame 271. The connection cable is arranged along the drag chain 271, and the connection cable extends at least from the mobile end 271a along the drag chain to the fixed end 271b. Preferably, the drag chain 271 is formed by hinging a plurality of chain segments. The chain segments have a certain hardness to ensure the distribution stability of the connection cable attached to the drag chain 271 and prevent entanglement and overlap. The hinged connection method can ensure the flexibility of the entire drag chain 271 and facilitate the movement of the drag chain 271 in cooperation with the fixed frame 24.

[0137] Specifically, the track portion includes an upper guide rail and a lower guide rail that are arranged parallel to each other up and down. The mobile end 271a and the fixed end 271b of the drag chain 271 are located on the same side of the track portion. Preferably, the mobile end 271a and the fixed end 271b of the drag chain 271 are located on the front side of the track portion. The mobile end 271a is located above the fixed end 271b, and the drag chain 272 extends from the upper guide rail to the lower guide rail. Thus, the drag chain 272 always presents a bent shape similar to a "U", and the two ends of the "U" are the mobile end 271a and the fixed end 271b respectively.

[0138] It should be noted that the length of the drag chain 271 is not less than the sum of the lengths of the upper guide rail and the lower guide rail.

[0139] Preferably, the wiring component 27 and the moving component 21 are arranged parallel to each other left and right, that is, the sliding portion 212 and the guide rail frame 272 are arranged parallel to each other left and right. On the one hand, the layout compactness of the structure of the retractable camera mechanism is improved; on the other hand, the telescopic stability of the retractable camera mechanism is improved.

[0140] Further preferably, the fixed frame 24 is located in front of the guide rail frame 272 and the moving component 21, and the telescopic watertight cabin 223 of the telescopic drive component 22 is located below the moving component 21.

[0141] Specifically, the chute fixing frame 25 is detachably and fixedly arranged on the front through beam 13; the front end of the guide rail frame 272 is detachably and fixedly connected to the front through beam 13, the middle part of the guide rail frame 272 is detachably and fixedly connected to the first fixing beam 15, the rear part of the guide rail frame 272 is detachably and fixedly connected to the first lifting beam 17, and the rear end of the guide rail frame 272 is located between the first lifting beam 17 and the second lifting beam 18.

[0142] According to an embodiment of the cleaning mechanism 3 of the present invention, the cleaning mechanism 3 includes:

[0143] A plurality of the cleaning discs 31;

[0144] The recovery cover 32 is connected to the vehicle frame 1, and the recovery cover 32 is provided with a recovery space that can at least cover the cleaning discs 31;

[0145] The recovery pipe 33 is communicated with the recovery space to recover the dirt generated when the cleaning discs 31 clean the surface to be cleaned (such as the surface of a ship to be cleaned).

[0146] The shape of the recovery cover 32 is matched with the shape and distribution of the cleaning discs 31, at least ensuring that the recovery cover 32 can completely surround the cleaning discs 31 from top to bottom, that is, the projection of the recovery cover 32 in the direction where the cleaning discs 31 are located can completely cover the cleaning discs.

[0147] The bottom of the recovery space is provided with an opening, that is, the bottom end of the recovery cover 32 is open, so as to ensure that the cleaning discs 31 can clean the surface to be cleaned without any obstruction. Specifically, the recovery cover 32 includes a top plate portion 321 and a ring side plate portion 322, the top plate portion 321 and the ring side plate portion 322 define the recovery space, the ring side plate portion 322 is disposed around the outside of the top plate portion 321, and the top of the ring side plate portion 322 is connected to the edge of the top plate portion 321.

[0148] To ensure the recovery effect of the dirt, the bottom end of the ring side plate portion 322 contacts the surface to be cleaned, that is, when the ship cleaning robot cleans the surface of the ship, the ring side plate portion 322 contacts the surface to be contacted, so as to improve the sealing effect of the recovery space on the surface to be cleaned and prevent the dirt from leaking out.

[0149] To avoid the recovery cover 32 affecting the cleaning effect of the cleaning discs 31, at least one inlet 301 is provided on the recovery cover 32. On the one hand, it ensures that the water flow can smoothly enter the recovery space without affecting the cleaning process of the cleaning discs 31; on the other hand, it ensures that there is no pressure difference inside and outside the recovery cover 32 to avoid affecting the walking of the ship cleaning robot on the surface of the ship.

[0150] Preferably, the inlet 301 is provided on the annular side plate portion 322. Further, a one-way switch is provided at the inlet 301 to allow fluid to flow into the recovery space from the inlet 301, while the dirt or fluid in the recovery space cannot flow outwards from the inlet 301 to the outside of the recovery cover 32, so as to prevent the dirt from spreading outwards.

[0151] The annular side plate portion 322 includes a connected upper plate portion 322a and a lower plate portion 322b. The upper plate portion 322a is located above the lower plate portion 322b, and the inlet 301 is provided on the lower plate portion 322b. Preferably, the material hardness of the lower plate portion 322b is lower than that of the upper plate portion 322a. On the one hand, the material of the upper plate portion 322a is relatively hard. For example, the material of the upper plate portion 322a can be hard plastic or metal, etc., to ensure the structural strength of the recovery cover 32 and ensure that the recovery cover 32 is not easily deformed. On the other hand, the material of the lower plate portion 322b is relatively soft. For example, the material of the lower plate portion 322b can be nylon or silica gel, etc., which can not only prevent the recovery cover 32 from scratching the ship surface, but also enable the recovery cover 32 to be in interference contact with the ship surface, forming a more sealed recovery space and improving the recovery effect.

[0152] According to an embodiment of the one-way switch of the present invention, the one-way switch is composed of a shielding plate 322c and a hinge element 322d. Specifically, the lower plate portion 322b is provided with a shielding plate 322c that cooperates with the inlet 301, that is, the shielding plate 322c can at least completely cover the inlet 301. The top end of the shielding plate 322c is hinged to the upper plate portion 322a through a hinge element 322d. The hinge element 322d is located inside the annular side plate portion 322, that is, the hinge element 322d is located on the inner wall of the recovery space. Exemplarily, the hinge element 322d is a hinge or a hinge plate. One leaf of the hinge is located inside the upper plate portion 322a, and the other leaf is located inside the lower plate portion 322b. The two leaves are hinged to each other, so that the shielding plate 322c can only rotate towards the recovery space, that is, the fluid can only enter the recovery space from the inlet 301, and the fluid in the recovery space cannot diffuse outwards.

[0153] Preferably, the material of the shielding plate 322c is the same as that of the lower plate portion 322b. In this embodiment, the lower plate portion 322b and the shielding plate 322c are nylon plates.

[0154] In this embodiment, the ship cleaning robot includes three cleaning discs 31, and the three cleaning discs are distributed in a "pin" shape. The shape of the recovery cover 32 is matched with the shape and distribution of the cleaning discs 31 to be able to cover the three cleaning discs distributed in a "pin" shape.

[0155] The cleaning disk is connected to the vehicle frame 1 through a connecting member 311. A through hole 302 for the connecting member to pass through is provided at the top of the recovery cover 32, so that the connecting member can pass through the recovery cover 32 to be connected to the vehicle frame 1. Preferably, the connecting member is sealingly connected to the through hole 302 to prevent dirt from spreading outwards through the through hole 302.

[0156] The ring side plate 322 portion includes a left front plate, a left side plate, a rear side plate, a right side plate, and a right front plate connected in sequence. The front end of the left front plate is arc-connected to the right front plate. Preferably, the left front plate, the left side plate, the rear side plate, the right side plate, and the right front plate each include an upper plate portion 322a and a lower plate portion 322b connected up and down. To facilitate the entry of external fluid into the recovery space, the left front plate is provided with the inlet 301 and the baffle plate 322c; the right front plate is provided with the inlet 301 and the baffle plate 322c; the rear side plate is provided with at least one set of the inlet 301 and the baffle plate 322c. In this embodiment, the rear side plate is provided with two rear inlets and rear baffle plates to ensure that there is sufficient water in the recovery cover 32 to avoid affecting the adsorption of the hull by the ship cleaning robot.

[0157] To improve the connection stability of the recovery cover, at least one fixing column 323 is provided at the top of the recovery cover 32. One end of the fixing column 323 is connected to the top end face of the recovery cover 32, and the other end of the fixing column 323 is detachably connected to the vehicle frame. In this embodiment, five fixing columns 323 are provided at the top of the recovery cover 32, and the five fixing columns 323 are arranged around the outside of the recovery pipe 33.

[0158] An outlet 303 for connecting the recovery pipe 33 and the recovery space is opened at the top of the recovery cover 32, that is, one end of the recovery pipe 33 is communicated with the outlet 303, and the other end is communicated with the suction source of the ship cleaning robot, so as to pump the fluid mixed with dirt in the recovery space into the filtering component of the ship cleaning robot. The filtering component stores the dirt (such as solid debris) in the fluid and guides the filtered clean fluid back to the outside (such as rivers, oceans). The filtering component plays a role in recovery and filtration, improves the environmental protection performance of the ship cleaning robot, and effectively protects the marine environment.

[0159] The ship cleaning robot further includes the following provided on the vehicle frame 1:

[0160] A plurality of traveling mechanisms 4, at least two of the traveling mechanisms 4 are oppositely arranged on both sides of the vehicle frame, so the number of traveling mechanisms 4 ≥ 2. In this embodiment, the robot includes four traveling mechanisms 4, which are arranged in pairs and respectively at the front and rear ends of the left beam 11 and the right beam 12, that is, one traveling mechanism 4 is provided at the front end and the rear end of the left beam 11 respectively, and one traveling mechanism 4 is provided at the front end and the rear end of the right beam 12 respectively;

[0161] Multiple thrusters 5, at least three of the thrusters 5 are respectively distributed in three directions of the vertical direction, the horizontal direction and the perpendicular direction of the vehicle frame 1. Therefore, the number of thrusters 5 ≥ 3. In this embodiment, the robot includes eight thrusters 5. Among them, four thrusters 5 are arranged in the vertical direction of the vehicle frame 1 to push the robot to move up and down; two thrusters are arranged in the horizontal direction of the vehicle frame 1 to push the robot to move forward and backward; two thrusters are arranged in the perpendicular direction of the vehicle frame 1 to push the robot to perform flipping and twisting;

[0162] Multiple camera assemblies 6, at least three of the camera assemblies are respectively arranged on both sides and the rear end of the vehicle frame 1. Therefore, the number of camera assemblies 6 ≥ 3. In this embodiment, the robot includes four camera assemblies 6. A camera assembly 6 is respectively arranged at the relative positions on the outer side walls of the left beam 11 and the right beam 12, and a camera assembly 6 is respectively arranged at the rear ends of the left beam 11 and the right beam 12. The robot observes the front through the telescopic camera mechanism 2, observes the left through the camera assembly 6 on the side wall of the left beam 11, observes the right through the camera assembly 6 on the side wall of the right beam 12, and observes the rear through the camera assemblies 6 at the rear ends of the left beam 11 and the right beam 12, so as to observe the situation of the surface to be cleaned in all directions and better control the robot to carry out the cleaning process;

[0163] The lifting mechanism 7 is located between the vehicle frame 1 and the cleaning mechanism 3 and can drive the cleaning mechanism 3 to move relative to the vehicle frame 1 to adjust the distance between the cleaning disc 31 and the surface to be cleaned, that is, to adjust the target distance of the cleaning disc 31. The recovery cover 32 moves synchronously with the cleaning disc 31 to ensure timely treatment of the dirt generated during the cleaning process of the cleaning disc 31.

[0164] It should be noted that the three directions of the vertical direction, the horizontal direction and the perpendicular direction of the vehicle frame correspond to the z-axis, the x-axis and the y-axis of the coordinate axes, that is, the vertical direction is perpendicular to the horizontal plane, the horizontal direction and the perpendicular direction are two mutually perpendicular directions of the horizontal plane, where the front-back movement direction of the vehicle frame is the horizontal direction, and the left-right corresponding direction of the vehicle frame is the vertical direction.

[0165] Specifically, side propulsion fixing seats 102 are respectively provided at the bottoms of the first fixing beam 15 and the second fixing beam 16 for assembling thrusters 5 in the vertical direction. Preferably, the side propulsion fixing seats 102 are located at the centers of the bottoms of the first fixing beam 15 and the second fixing beam 16. Horizontal propulsion fixing seats 103 are respectively provided at the rear ends of the left beam 11 and the right beam 12 for assembling thrusters 5 in the horizontal direction. Preferably, the horizontal propulsion fixing seats 103 are further provided with protective covers 104 for protecting the thrusters 5 from being damaged. Vertical propulsion fixing seats 105 are respectively provided at opposite positions on the outer side walls of the left beam 11 and the right beam 12 for assembling thrusters 5 in the vertical direction. In this embodiment, vertical propulsion fixing seats 105 are respectively provided at the front and rear parts of the left beam 11 and the right beam 12. Camera fixing seats 106 are respectively provided at opposite positions on the outer side walls of the left beam 11 and the right beam 12, and camera fixing seats 106 are respectively provided at the rear ends of the inner side walls of the left beam 11 and the right beam 12 for assembling camera assemblies 6. Preferably, the camera fixing seats on the outer side walls of the left beam 11 and the right beam 12 are located at the centers of the outer side walls of the left beam 11 and the right beam 12.

[0166] To improve the detection effect of the ship cleaning robot, the ship cleaning robot further includes a plurality of lighting lamps. Preferably, the lighting lamps are arranged near the camera 31 and the camera assembly 6. Further preferably, the lighting lamps are arranged side by side with the camera 31 and the camera assembly 6.

[0167] According to an embodiment of the lifting mechanism of the present invention, the lifting mechanism 7 includes:

[0168] A fixed frame 71, connected to the vehicle frame of the ship cleaning robot;

[0169] A moving frame 72, provided with a cleaning mechanism 3 of the ship cleaning robot;

[0170] A lifting drive assembly 73, configured to be able to at least drive the moving frame 72 to reciprocate relative to the fixed frame 71 to adjust the distance between the cleaning disc 31 and the surface to be cleaned (such as the surface of the ship to be cleaned), that is, to adjust the target distance of the cleaning disc 31. The target distance refers to the distance between the cleaning disc 31 and the surface to be cleaned.

[0171] The lifting drive assembly 73 includes a lifting drive motor 731 and at least one lead screw assembly 732. The lifting output shaft of the lifting drive motor 731 is in transmission connection with the lead screw assembly 732, that is, the lifting output shaft of the lifting drive motor 731 drives the lead screw assembly 732 to perform a linear reciprocating motion to drive the moving frame 72 to be able to perform a linear reciprocating motion relative to the fixed frame 71 to achieve the adjustment of the target distance of the cleaning disc 74.

[0172] Specifically, the screw assembly 732 includes a worm portion 732a and a nut portion 732b, the nut portion 732b is sleeved on the worm portion 732a, and the nut portion 732b cooperates with the worm portion 732a, and the worm portion 732a rotates synchronously with the lifting output shaft to drive the nut portion 732b to move on the worm portion 732a.

[0173] The worm portion 732a is located on the fixed frame 71, the nut portion 732b is connected to the movable frame 72, and the movable frame 72 moves synchronously with the nut portion 732b.

[0174] Exemplarily, a thread is provided on the side wall of the worm portion 732a, a threaded through hole matching the worm portion 732a is provided in the center of the nut portion 732b, and the nut portion 732b is sleeved on the side wall of the worm portion 732a through the threaded through hole.

[0175] Preferably, the worm portion 732a is rotationally connected to the fixed frame 71, and the nut portion 732b is fixedly connected to the movable frame 72, so that the movable frame 72 moves synchronously with the nut portion 732b, and the movable frame 72 performs linear reciprocating motion along the extension direction of the screw portion 321.

[0176] Exemplarily, the fixed frame 71 is provided with a first assembly seat 711 and a second assembly seat 712 which cooperate with the two ends of the worm portion 732a, the first assembly seat 711 is provided with a first bearing portion, and the second assembly seat 712 is provided with a second bearing portion, one end of the worm portion 732a is connected to the first bearing portion, the other end of the worm portion 732a is connected to the second bearing portion, and the end extends from the second bearing portion and is transmission-connected to the lifting output shaft of the lifting drive motor 731. Such an arrangement enables the worm portion 732a to be rotationally connected to the fixed frame 71 while being able to rotate synchronously with the lifting output shaft so as to drive the nut portion 732b to perform linear reciprocating motion along the extension direction of the worm portion 732a.

[0177] Exemplarily, the movable frame 72 is provided with a first fixed seat 721 cooperating with the nut portion 732b, and the nut portion 732b is detachably fixed in the first fixed seat 721. On the one hand, it is convenient for assembly and subsequent maintenance, and on the other hand, it improves the stability of the movable frame 72 moving synchronously with the nut portion 732b.

[0178] To improve the running stability and structural strength of the lifting mechanism, the lifting drive assembly 73 includes two oppositely arranged screw rod assemblies 732. Correspondingly, two groups of first mounting seats 711 and second mounting seats 712 are provided on the fixed frame 71, and two first fixing seats 721 are provided on the moving frame 72 for mounting the two screw rod assemblies 732.

[0179] Preferably, the fixed frame 71 is a cuboid frame, and the moving frame 72 is a rectangular frame. The moving frame 72 surrounds the outside of the fixed frame 71, that is, the fixed frame 71 is located inside the moving frame 72, which means the moving frame 72 is framed outside the fixed frame 71.

[0180] More preferably, the screw rod assembly 732 is located in the gap between the fixed frame 71 and the moving frame 72, and the lifting drive motor 732 is located in the central assembly space of the fixed frame 71 to reasonably utilize the space of the fixed frame 71 and the moving frame 72, making the mechanism of the lifting mechanism more compact.

[0181] In this embodiment, the two screw rod assemblies 732 are located on two opposite sides of the fixed frame 71, that is, the two worm parts 732a are respectively arranged on two opposite sides of the fixed frame 71, which means a group of first mounting seats 711 and second mounting seats 712 are located on two prisms that are vertically opposite on one side of the fixed frame 71, and the other group of first mounting seats 711 and second mounting seats 712 are located on two prisms that are vertically opposite on the opposite side of the fixed frame 71.

[0182] It should be noted that the extending direction of the worm part 732a is consistent with the vertical center line direction of the fixed frame 71, that is, the extending direction of the worm part 732a is perpendicular to the bottom of the vehicle frame to adjust the distance between the cleaning disk and the bottom of the vehicle frame.

[0183] To improve the connection stability of the lifting mechanism 7 on the ship cleaning robot, four extension columns 713 extend upward from the four side edges of the fixed frame 71, and the four extension columns 713 are detachably and fixedly connected to the vehicle frame. Specifically, the tops of the four extension columns 13 are detachably and fixedly connected to the vehicle frame.

[0184] In order to further improve the movement stability of the mobile frame 73, at least one guide assembly 74 is provided between the fixed frame 71 and the mobile frame 72. Specifically, the guide assembly 74 includes a guide long rod 741 and a guide cylinder 742. The guide long rod 741 is located on the fixed frame 71, and the guide cylinder 742 is sleeved on the guide long rod 741, and the guide cylinder 742 is connected to the mobile frame 72. Specifically, both ends of the guide long rod 741 are fixedly arranged on the upper and lower edges of the fixed frame 71 that are relatively arranged, and the guide cylinder 742 is fixedly arranged on the mobile frame 72, and the extension direction of the guide long rod 741 is parallel to the extension direction of the worm portion 732a.

[0185] Preferably, the lifting mechanism includes two relatively arranged guide assemblies 74. Furthermore, the screw rod assemblies 732 and the guide assemblies 74 are alternately arranged on the four sides of the fixed frame 71, that is, the two screw rod assemblies 732 are relatively arranged on two relatively arranged sides of the fixed frame 71, and the two guide assemblies 74 are relatively arranged on the other two relatively arranged sides of the fixed frame 71.

[0186] Preferably, the guide assembly 74 and the screw assembly 732 are located on the vertical center line of the side of the fixed frame 71 .

[0187] Such positioning of the guide assembly 74 and the screw assembly 32 can prevent the mobile frame 72 from tilting during movement, improve the guiding effect on the mobile frame 72, and improve the mobile frame 72's ability to withstand lateral forces, thereby improving the operating stability of the lifting mechanism.

[0188] In order to improve the synchronization effect of the lifting drive motor driving the multiple screw rod assemblies and to improve the movement stability of the mobile frame 72, the lifting drive motor 31 is connected to the screw rod assembly 32 through the lifting transmission assembly 75. Specifically, the lifting transmission assembly 75 includes a synchronous belt 751, a driving wheel 752 and a driven wheel 753 with the same number as the screw rod assembly. The synchronous belt 751 is connected to the driving wheel 752 and the driven wheel 753 so that the driving wheel 752 can synchronously drive the driven wheel 752, that is, the synchronous belt 751 is looped between the driving wheel 752 and the driven wheel 753 to play a role of synchronous transmission.

[0189] The driving wheel 752 is connected to the lifting output shaft of the lifting drive motor 731, and the driving wheel 752 rotates synchronously with the lifting output shaft; the driven wheel 753 is connected to the worm part 732a, and the worm part 732a rotates synchronously with the driven wheel 753, thereby realizing that the lifting drive motor 31 synchronously drives the rotation of all worm parts 732a, and then stably drives the moving frame 72 to perform linear reciprocating motion.

[0190] Preferably, the lifting transmission assembly 75 further includes a tensioning pulley 754, which functions to tension the timing belt 751 to ensure the driving force of the lifting drive motor 731 on the lead screw assembly 732. The timing belt 751 is drivingly connected to the driving pulley 752, the driven pulley 753, and the tensioning pulley 754.

[0191] In this embodiment, the lifting transmission assembly 75 includes two driven pulleys 753, which are respectively connected to the two worm parts 732a, and the distances between the two driven pulleys 753 and the driving pulley 752 are equal.

[0192] The tensioning pulley 754 is detachably and fixedly arranged on the fixed frame 71 through a fixed support 755.

[0193] The outer casing of the lifting drive motor 731 is provided with a second watertight cabin, and the lifting output shaft passes through the top of the second watertight cabin and is connected to the driving pulley 752. It should be noted that a dynamic seal is adopted between the lifting output shaft and the second watertight cabin. Exemplarily, an H-type oil seal or a Gleitring, etc. is used as the dynamic seal to ensure effective protection of the lifting drive motor when working underwater.

[0194] Three cleaning disks 31 are arranged on three adjacent prisms of the moving frame 72. In this embodiment, the cleaning disk 31 is connected to the moving frame 72 through a connecting member 311, and the moving frame 72 is provided with a second fixing seat 22 for detachably and fixedly installing the connecting member 311. It should be noted that the center line of the connecting member 311 is parallel to the extending directions of the worm part 732a and the guiding long rod 741. The arrangement of the connecting member 311 can avoid the influence of the cleaning disk 31 on the movement of the moving frame 72.

[0195] To facilitate the supply of high-pressure water to the cleaning disk 31 and ensure the consistency of the cleaning effects of each cleaning disk 31, a four-way pipe 714 is provided on the fixed frame 71. One end of the four-way pipe 714 is connected to the main water inlet pipe 312, and the three joints at the other end of the four-way pipe 714 are respectively connected to the water inlet pipes 313 of the three cleaning disks 31. The four-way pipe 714 can ensure that the water supply pressure and flow rate at the three joints are equal, thereby ensuring the consistency of the cleaning effects of the three cleaning disks. Preferably, the main water inlet pipe 312, the four-way pipe 714, and the water inlet pipes 313 are all high-pressure water, and the pressure can reach 10 MPa - 30 Mpa.

[0196] To more intelligently control the movement of the moving frame 72, the lifting mechanism further includes a detection component 76. The detection component 76 includes an upper position detection sensor 761 and a lower position detection sensor 762 for detecting the displacement distance of the moving frame 762. The detection component 76 also includes an upper limit detection sensor 763 and a lower limit detection sensor 764 for detecting whether the moving frame 762 reaches the limit position. If the moving frame 762 reaches the limit position, the lifting drive motor 731 is powered off to prevent the moving frame from exceeding its displacement limit in case of an accident and damaging the lifting drive motor 731.

[0197] In the present invention, the detection group 76 is arranged on the fixed frame 761. Specifically, a first assembly long plate 714 for assembling the upper position detection sensor 761 and the lower position detection sensor 762, and a second assembly long plate 715 for the upper limit detection sensor 763 and the lower limit detection sensor 764 are provided on one side of the fixed frame. The first assembly long plate 714 and the second assembly long plate 715 are arranged in parallel, and the extension directions of both are parallel to the extension direction of the worm part 732a. It should be noted that the upper position detection sensor 761 is located above the lower position detection sensor 762, the upper limit detection sensor 763 is located above the lower limit detection sensor 764, and the distance between the upper position detection sensor 761 and the lower position detection sensor 762 is less than the distance between the upper limit detection sensor 763 and the lower limit detection sensor 764. Further, the upper limit detection sensor 763 is located above the upper position detection sensor 761, and the lower limit detection sensor 764 is located below the lower position detection sensor 762.

[0198] The fixed frame 71 is detachably and fixedly connected to the bottoms of the first hoisting beam 17 and the second hoisting beam 18. The moving frame 72 is detachably connected to the cleaning mechanism 3. The moving frame 72 is located below the guide rail frame 272 and above the cleaning mechanism 3.

[0199] According to an embodiment of the traveling mechanism of the present invention, the traveling mechanism 4 includes:

[0200] A traveling drive component 41, including a traveling output shaft 412a, for providing driving force for the traveling mechanism;

[0201] A swing arm component 42, one end of the swing arm component 42 is connected to the traveling drive component 41, and the other end of the swing arm component 42 is rotatably connected to the vehicle frame 1;

[0202] A vibration reduction assembly 43, one end of which is rotationally connected to the swing arm assembly 42, and the other end of which is rotationally connected to the vehicle frame 1;

[0203] The travel wheel 44 is connected to the travel output shaft 412a and rotates synchronously with the travel output shaft 412a;

[0204] The swing arm assembly 42, the vibration reduction assembly 43 and the frame 1 form a triangular support structure, and the inner angle of the triangular support structure can be adjusted according to the shape of the surface to be cleaned by the ship cleaning robot, so that the distance between the rotation center of the walking wheel 44 and the frame is adjustable, that is, the distance between the walking output shaft 412a and the frame is adjustable, so that the ship cleaning robot has good surface adaptability.

[0205] The ship cleaning robot walks on the ship surface via the walking wheels of the walking mechanism, which can effectively avoid the influence of oyster shells and the like on the walking mechanism, and solves the problem that hard objects such as oyster shells are caught in the crawler and affect the walking of the robot.

[0206] The vibration reduction assembly 43 is arranged between the swing arm assembly 42 and the frame 1, which can enhance the obstacle-crossing capability of the traveling mechanism, enable the traveling mechanism to adapt to a larger curved surface, and improve the overall operation level of the ship cleaning robot.

[0207] Preferably, the swing arm assembly 42 and the vibration reduction assembly 43 form an initial angle α, 15°≤α≤75°, preferably, 30°≤α≤60°.

[0208] It should be noted that α refers to the angle between the center line of the swing arm assembly 42 and the center line of the shock absorbing assembly 43 when the device equipped with the walking mechanism walks on a plane. When the device equipped with the walking mechanism walks on a curved surface, the angle between the swing arm assembly 42 and the shock absorbing assembly 43 will vary within the range of α±β (the angle β is related to the shape of the curved surface) to adapt to the curved surface and improve the walking stability of the device equipped with the walking mechanism on the curved surface.

[0209] The vibration reduction assembly 43 includes a vibration reduction spring 431 and a telescopic element 432 . The vibration reduction spring 431 is sleeved outside the telescopic element 432 . The telescopic element 432 is rotatably connected to the swing arm assembly 42 and the vehicle frame 1 .

[0210] Specifically, the telescopic element 432 includes a first connecting portion 432a, a telescopic portion 432c, and a second connecting portion 432b which are connected in sequence. The first connecting portion 432a is rotatably connected to the frame of the ship cleaning robot, and the second connecting portion 432b is rotatably connected to the swing arm assembly 42;

[0211] The telescopic part 432c is located between the first connecting part 432a and the second connecting part 432b. That is, one end of the telescopic part 432c is connected to the first connecting part 432a, and the other end of the telescopic part 432c is connected to the second connecting part 432b. The telescopic part 432c can telescopically adjust the distance between the first connecting part 432a and the second connecting part 432b. Preferably, the telescopic part 432c is a telescopic rod, so that the damping component is as strip-shaped as possible to form a stable support structure. Further preferably, the telescopic rod is a three-stage telescopic rod to increase the adjustable range of the telescopic part 432c.

[0212] The damping spring 431 is sleeved outside the telescopic part 432c, and the damping spring 431 is limited between the first connecting part 432a and the second connecting part 432b. The damping spring 431 can deform as the telescopic part 432c expands and contracts. Specifically, one end of the damping spring 431 is connected to the first connecting part 432a, and the other end of the damping spring 431 is connected to the second connecting part 432b. Preferably, the damping spring 431 is a compression spring.

[0213] The setting of the damping spring 431 can improve the buffering force of the damping component 43. Without affecting the telescopic effect of the telescopic element 432, it can improve the compressive capacity of the telescopic element 432, and further improve the stability and buffering force of the traveling mechanism, so as to make the ship cleaning robot adaptable to curved surfaces while taking into account the stable reliability of the traveling mechanism.

[0214] To better form an angle with the damping component 43, a support ear part 421 is provided on the side of the swing arm component 42 close to the damping component 43, and the second connecting part 432b is rotatably connected to the support ear part 421.

[0215] Preferably, the support ear part 421 is close to the end of the swing arm component 42 connected to the traveling drive component 41.

[0216] Specifically, the support ear part 421 includes two relatively parallel support ear plates 421a. The two support ear plates 421a are perpendicular to the center line of the swing arm component 42, and the second connecting part 432b is partially located between the two support ear plates 421a.

[0217] To improve the stability of the swing arm component 42, the swing arm component 42 is provided with a plurality of reinforcing ribs 422. Exemplarily, four reinforcing ribs are provided. The four reinforcing ribs are arranged in pairs on two opposite side walls of the swing arm component 42. Preferably, the reinforcing ribs 422 on the two opposite side walls are arranged oppositely.

[0218] According to an embodiment of the present invention, the traveling drive assembly 41 includes a traveling watertight cabin 411 and a traveling drive motor 412 located within the traveling watertight cabin 411. The traveling drive motor 412 is provided with a traveling output shaft 412a, and the traveling output shaft 412a extends out of the traveling watertight cabin and is connected to the traveling wheel 44. The swing arm assembly 42 is connected to the traveling watertight cabin 411.

[0219] To improve the power transmission stability between the traveling drive assembly 41 and the traveling wheel 44, the traveling mechanism further includes a traveling transmission assembly 45. The traveling drive assembly 41 and the traveling wheel 44 are connected through the traveling transmission assembly 45, that is, the driving force of the traveling drive assembly 41 is transmitted to the traveling wheel 44 through the traveling transmission assembly 45 to drive the traveling wheel 44 to travel.

[0220] Specifically, the traveling transmission assembly 45 includes a traveling transmission cabin 451 and a bearing group 452 located within the traveling transmission cabin 451. The traveling output shaft 412a extends into the transmission cabin 451 and is connected to the bearing group 452.

[0221] The traveling transmission assembly 45 further includes a traveling transmission shaft 453. One end of the traveling transmission shaft 453 extends into the traveling transmission cabin 451 and is connected to the bearing group 452, and the other end of the traveling transmission shaft 453 is connected to the traveling wheel 44. The traveling wheel 44 rotates synchronously with the traveling transmission shaft 453.

[0222] The traveling output shaft 412a is connected to the traveling transmission shaft 453 through the bearing group 452 to drive the traveling transmission shaft 453 to rotate synchronously with the traveling output shaft 412a, and further drive the traveling wheel 44 to rotate synchronously.

[0223] The traveling transmission cabin 451 is detachably connected to the traveling watertight cabin 411. Exemplarily, the traveling transmission cabin 451 is detachably connected to one end of the traveling watertight cabin 411 through a flange.

[0224] It should be noted that a dynamic seal is adopted between the traveling output shaft 412a and the traveling watertight cabin 411. Exemplarily, an H-type oil seal or a Gleitring, etc. is used as the dynamic seal to ensure effective protection of the traveling drive motor when working underwater.

[0225] One end of the swing arm assembly 42 is provided with a through hole 401, and the swing arm assembly 42 is sleeved and fixed on the traveling transmission cabin 451 of the traveling transmission assembly through the through hole 401. The support ear portion 421 is close to one end where the through hole 401 is located.

[0226] Preferably, the first connecting portion 432a of the damping assembly 443 is hinged to the frame of the ship cleaning robot through a first hinge shaft, the second connecting portion 321 of the damping assembly 43 is hinged to the convex ear portion 421 of the swing arm assembly 42 through a second hinge shaft, and the swing arm assembly 42 is hinged to the frame of the ship cleaning robot through a third hinge shaft. Further, the first connecting portion 432a is provided with a rotating hole matching with the first hinge shaft, the second connecting portion 432b and the convex ear portion 421 are provided with rotating holes matching with the second hinge shaft, and one end of the swing arm assembly 42 away from the through hole 401 is provided with a rotating hole matching with the third hinge shaft.

[0227] To improve the anti-slip performance of the traveling mechanism 4, the rolling surface of the traveling wheel 44 is provided with anti-slip patterns.

[0228] The ship cleaning robot further includes a controller 8, which is configured to be able to control the working process of the ship cleaning robot, and the working process at least includes:

[0229] Controlling the moving distance and moving direction of the moving component 21 of the retractable camera mechanism 2 and receiving the signal collected by the camera 31;

[0230] Controlling the pressure of the cavitation water flow of the cleaning disc 31 of the cleaning mechanism 3 and the suction force of the recovery pipe 33;

[0231] Controlling the speed and direction of the traveling mechanism 4;

[0232] Controlling the rotation speed and direction of the thrusters 5 in each direction;

[0233] Receiving the signal collected by the camera assembly 6;

[0234] Controlling the lifting speed and direction of the lifting mechanism 7 and receiving the detection signal of the detection component 76;

[0235] Controlling the brightness of the lighting component.

[0236] Since the controller 8 is relatively heavy, in order to make the weight distribution of the robot more uniform, preferably, the controller 8 is divided into two parts, a front controller 81 and a rear controller 82. The front controller 81 is located before the center of the frame. Specifically, the front controller 81 is detachably and fixedly arranged between the front through beam 13 and the first fixed beam 15, and is located on the right side of the chute fixing frame 25. The fixing frame 24 is located in front of the front controller 81. The rear controller 82 is located after the center of the frame. Specifically, the rear controller 82 is detachably and fixedly arranged after the second fixed beam 16, and is located on the rear through beam 14. The camera fixing seat 106 at the rear ends of the left beam 11 and the right beam 12 is located behind the rear controller 81.

[0237] Four photoelectric switches are provided on the vehicle frame 1, including a front position detection switch and a rear position detection switch for detecting the displacement distance of the moving component 21, and a front limit detection switch and a rear limit detection switch for detecting whether the moving component 21 reaches the limit position and needs to perform power-off protection. The four photoelectric switches are connected to the controller 8 to better control the movement of the moving component 21.

[0238] To improve the running stability of the ship cleaning robot, the ship cleaning robot further includes a floating plate 9. The floating plate 9 includes an upper floating plate 91, a lower floating plate 92 and side floating plates 93. The upper floating plate 91 covers the vehicle frame 1, the lower floating plate 92 is arranged on the top of the recovery cover 32, and the side floating plates 93 are arranged at the bottom of the fixed frame 24 of the telescopic camera mechanism.

[0239] The top end face of the upper floating plate 91 is provided with a through hole that matches the lifting frame 101 and the vertical propulsion fixing seat 105 to avoid affecting the normal use of the lifting frame 101 and the thruster 5. The front side wall of the upper floating plate 91 is located above the fixed frame 24 to avoid affecting the use of the telescopic camera mechanism 2. The left side wall, right side wall and rear side wall of the upper floating plate 91 are provided with grooves that match the camera fixing seat 106 to avoid affecting the use of the camera assembly 6.

[0240] To facilitate the fixation of the upper floating material 91, floating material fixing beams are provided on the outer side walls of the left beam 11 and the right beam 12. To further improve the fixing effect of the upper floating material 91, fixing holes for fixing the upper floating material 91 are also provided on the outer side walls of the left beam 11 and the right beam 12. The upper floating material 91 is fixed to the vehicle frame 1 by screws. Preferably, the upper floating material 91 is divided into front and rear parts to facilitate the assembly of the upper floating material 91 to the vehicle frame 1.

[0241] The center of the lower floating plate 92 is provided with an installation hole for assembling the lifting mechanism 7, the recovery cover 32 and the cleaning disc 31. The installation hole ensures that it does not affect the displacement of the moving frame 72, and the lower floating plate 92 moves synchronously with the moving frame 72.

[0242] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A ship cleaning robot, characterized in that, it includes: a vehicle frame; and the following components arranged on the vehicle frame: a telescopic camera mechanism, including a moving component and a telescopic driving component. At least one camera is provided on the moving component, and the telescopic driving component cooperates with the moving component to drive the moving component to move relative to the vehicle frame, so as to drive the camera to extend outward from the vehicle frame or contract toward the vehicle frame; a cleaning mechanism, including a cleaning disk and a recovery cover. The recovery cover covers the cleaning disk to recover the dirt generated by the cleaning of the cleaning disk; It also includes the following components arranged on the vehicle frame: a plurality of traveling mechanisms, and at least two of the traveling mechanisms are oppositely arranged on both sides of the vehicle frame; a lifting mechanism, located between the vehicle frame and the cleaning mechanism, capable of driving the cleaning mechanism to move relative to the vehicle frame to adjust the distance between the cleaning disk and the surface to be cleaned; The vehicle frame includes a left beam and a right beam arranged opposite to each other left and right, and a front through beam, a first fixed beam, a first hoisting beam, a second hoisting beam, a second fixed beam, and a rear through beam arranged in sequence between the left beam and the right beam from front to back; The left beam and the right beam are symmetrically arranged left and right with respect to the center of the vehicle frame; The front through beam and the rear through beam are symmetrically arranged front and back with respect to the center of the vehicle frame; The first fixed beam and the second fixed beam are symmetrically arranged front and back with respect to the center of the vehicle frame; The first hoisting beam and the second hoisting beam are symmetrically arranged front and back with respect to the center of the vehicle frame; The chute fixing frame of the telescopic camera mechanism is detachably and fixedly arranged on the front through beam; the front end of the guide rail frame of the telescopic camera mechanism is detachably and fixedly connected to the front through beam, the middle part of the guide rail frame is detachably and fixedly connected to the first fixed beam, the rear part of the guide rail frame is detachably and fixedly connected to the first hoisting beam, and the rear end of the guide rail frame is located between the first hoisting beam and the second hoisting beam; The fixed frame of the lifting mechanism is detachably and fixedly connected to the bottoms of the first hoisting beam and the second hoisting beam, the moving frame of the lifting mechanism is detachably connected to the cleaning mechanism, the moving frame is located below the guide rail frame, and the moving frame is located above the cleaning mechanism; At least two of the traveling mechanisms are oppositely arranged on the left beam and the right beam.

2. The ship cleaning robot according to claim 1, characterized in that, the telescopic camera mechanism is located at the front of the vehicle frame, and the cleaning mechanism is located at the bottom of the vehicle frame.

3. The ship cleaning robot according to claim 2, characterized in that, the moving component includes a connected rack part and a sliding part; the telescopic driving component includes a telescopic driving motor and a gear. The gear is connected to the telescopic output shaft of the telescopic driving motor, and the gear can rotate synchronously with the telescopic output shaft; the rack part meshes with the gear; the sliding part is fixedly connected to the rack part, and the sliding part moves synchronously with the rack part; a fixing frame for at least assembling the camera is provided at the front end of the sliding part.

4. The ship cleaning robot according to claim 3, It is characterized in that the telescopic camera mechanism further includes a chute fixing frame, which is fixedly connected to the vehicle frame and can be used to carry the moving component and the telescopic driving component; the chute fixing frame is provided with a chute portion, which is matched with the sliding portion, and the sliding portion can slide in the chute portion; the chute fixing frame includes an assembly space, and the top wall of the assembly space is provided with the chute portion; the gear is located in the assembly space and meshes with the rack portion; the telescopic driving motor is fixedly arranged at the bottom of the chute fixing frame, and a part of the telescopic output shaft extends into the assembly space and is connected to the gear.

5. The ship cleaning robot according to claim 4, It is characterized in that the telescopic camera mechanism further includes a wiring component, which can be used at least to carry the connection cable of the camera; the wiring component includes a drag chain and a guide rail frame matched with the drag chain; the guide rail frame is provided with a track portion matched with the drag chain; the guide rail frame is connected to the vehicle frame; the drag chain includes a mobile end and a fixed end, the mobile end is connected to the fixed frame, and the fixed end is fixedly connected to the vehicle frame or the guide rail frame; the mobile end moves synchronously with the fixed frame; the connection cable is arranged along the drag chain, and the connection cable extends at least from the mobile end along the drag chain to the fixed end.

6. The ship cleaning robot according to claim 2, It is characterized in that the recovery cover is provided with a recovery space with an open bottom, and the cleaning disc is covered in the recovery space; the recovery cover includes a top plate portion and a ring side plate portion, and the top plate portion and the ring side plate portion define the recovery space; the bottom end of the ring side plate portion contacts the surface to be cleaned; at least one inlet is opened on the ring side plate portion, and the inlet is provided with a one-way switch for fluid to flow into the recovery space from the inlet.

7. The ship cleaning robot according to any one of claims 1 to 6, It is characterized in that it further includes the following provided on the vehicle frame: a plurality of thrusters, at least three of which are respectively distributed in three directions of the vertical direction, horizontal direction and perpendicular direction of the vehicle frame; a plurality of camera assemblies, at least three of which are respectively arranged on both sides and the rear end of the vehicle frame.

8. The ship cleaning robot according to claim 7, It is characterized in that the first lifting beam and the second lifting beam are detachably provided with a lifting frame; side propulsion fixing seats are respectively provided at the bottoms of the first fixing beam and the second fixing beam; horizontal propulsion fixing seats are respectively provided at the rear ends of the left beam and the right beam; vertical propulsion fixing seats are respectively provided at opposite positions on the outer side walls of the left beam and the right beam; camera fixing seats are respectively provided at opposite positions on the outer side walls of the left beam and the right beam; camera fixing seats are respectively provided at the rear ends of the inner side walls of the left beam and the right beam.

9. The ship cleaning robot according to claim 1, It is characterized in that it further includes a controller and a floating board; the controller is configured to be able to control the working process of the ship cleaning robot; The floating board includes an upper floating board, a lower floating board and side floating boards. The upper floating board is covered on the vehicle frame. The lower floating board is arranged at the top of the recovery cover. The side floating boards are arranged at the bottom of the fixing frame of the retractable camera mechanism.

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