Hull side cleaning device and method

Abstract

The application discloses a ship body outer side surface cleaning device and a cleaning method. The device comprises a support mechanism, a lifting mechanism and a cleaning mechanism connected with the lifting mechanism. The support mechanism comprises two transversely extending slide rods, two slide rail plates arranged on the slide rods, a bottom plate arranged on the slide rail plates, a left block arranged on the left part of the upper surface of the bottom plate, a right block arranged on the right part of the upper surface of the bottom plate and a lifting rod bottom plate arranged between the left block and the right block. The device has the characteristics that the cleaning mechanism can keep a stable distance with the outer side surface of the ship body and the cleaning effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of ship hull cleaning technology, and in particular to a device and method for cleaning the outer surface of a ship hull. Background Technology

[0002] When ships sail on water, garbage adheres to them, increasing their weight and fuel consumption, which affects navigation safety and increases operating costs. Furthermore, garbage can corrode the hull; regularly cleaning garbage from ships can extend their lifespan.

[0003] However, there are currently no specialized tools to remove garbage adhering to the outer surface of ships. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology, which lacks dedicated tools for removing garbage adhering to the outer surface of ships, and to provide a device and method for cleaning the outer surface of ships.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A hull hull cleaning device includes a support mechanism, a lifting mechanism, and a cleaning mechanism connected to the lifting mechanism. The support mechanism includes two laterally extending slide rods, two slide rails on the two slide rods, a base plate on the two slide rails, a left stop block on the left side of the upper surface of the base plate, a right stop block on the right side of the upper surface of the base plate, and a lifting rod base plate between the left and right stop blocks. The lifting rod base plate is connected to the lifting mechanism, which includes a lifting plate. The cleaning mechanism includes an L-shaped fixing plate fixedly connected to the lifting plate, a water supply fixing shaft, a water inlet end cap, and a cleaning drum disposed on the outer circumference of the water supply fixing shaft and slidably connected to the water supply fixing shaft. One end of the water supply fixing shaft is open. The upper part of the L-shaped fixing plate is provided with a circular hole, and the open end of the water supply fixing shaft extends into the circular hole and is fixedly connected to the circular hole; the rear side wall of the inner circumferential surface of the water supply fixing shaft is provided with several horizontally arranged oblique water outlet holes; M rotating wing plates are provided between the outer circumferential surface of the water supply fixing shaft and the inner circumferential surface of the cleaning drum, and the M rotating wing plates divide the space between the water supply fixing shaft and the cleaning drum into M independent spaces, where M≥4; the water inlet end cap is provided with a water inlet channel, and the outer circumferential wall of the cleaning drum corresponding to the independent space is provided with several horizontally arranged water outlet holes, and the water outlet holes are provided with elastic tubes, the outer end of which is provided with a spherical cleaning impact head, and the front end of the cleaning impact head is provided with several water outlet micro-holes.

[0007] Water enters the water storage chamber of the water supply fixed shaft through the water inlet channel, and flows out from each water outlet inclined hole into the corresponding independent space;

[0008] The water flow causes the rotating wing plate at the bottom of the independent space to rotate counterclockwise downwards. The rotating wing plate causes the cleaning drum to rotate counterclockwise, and the cleaning drum causes each cleaning impact head to impact the outer side of the ship's hull.

[0009] At the same time, water is sprayed from the individual water outlet micro-holes of the cleaning impact head of each elastic tube corresponding to the independent space, washing away the garbage that has fallen onto the hull surface.

[0010] After the cleaning drum rotates to a certain angle, the water flowing out from each of the inclined water outlets flows into another independent space, and the above process is repeated to continue cleaning.

[0011] With the flatbed car stationary, the cleaning mechanism of the present invention can clean the outer side of the hull from top to bottom under the drive of the lifting mechanism; by changing the front and rear positions of the two slide rails on the two slide rods, the cleaning mechanism can clean the outer side of the hull from front to back.

[0012] Once the cleaning agency has finished cleaning the area of ​​the hull exterior that it can clean at the current location, the staff will move the flatbed cart a distance and continue cleaning other parts of the hull exterior until the entire hull exterior is cleaned.

[0013] Preferably, the upper left and upper right rear parts of the water supply fixing shaft are respectively provided with a left limiting U-shaped arm and a right limiting U-shaped arm, and the left limiting U-shaped arm and the right limiting U-shaped arm are respectively provided with a left limiting roller and a right limiting roller that can contact the outer wall of the hull.

[0014] The left and right limit rollers are used to press against the outer side of the ship that needs to be cleaned, so that the elastic tube and the cleaning impact head always maintain a stable cleaning distance from the outer side of the ship, effectively ensuring the cleaning effect.

[0015] Preferably, the lifting rod base plate is provided with two longitudinal pressure plates that protrude beyond the front side of the lifting rod base plate, and a pressure spring is provided between the lower surface of the longitudinal pressure plates and the front part of the upper surface of the base plate; the left and right sides of the lifting rod base plate are rotatably connected to the left stop and the right stop respectively by two rotating shaft screws, the lower surface of the rear part of the lifting rod base plate is in contact with the upper surface of the base plate, and there is a gap between the lower surface of the front part of the lifting rod base plate and the upper surface of the base plate, and the lifting rod base plate can rotate forward 0° to 30° around the two rotating shaft screws.

[0016] The structure of the lifting rod base plate, two longitudinal pressure plates, and two pressure springs of this invention allows the springs, two longitudinal pressure plates, and lifting rod base plate to drive the left upright, lifting screw, right upright, lifting plate, and cleaning mechanism to adaptively swing along with the hull. This ensures that the left and right limit rollers are always pressed against the outer surface of the hull, and that the elastic tube and cleaning impact head maintain a stable distance from the outer surface of the hull. The cleaning mechanism can then stably clean the outer surface of the hull.

[0017] Preferably, the lifting mechanism includes a geared motor, a worm gear connected to the shaft of the geared motor, a turbine gear connected to the worm gear, a vertically extending lifting screw connected to the middle of the turbine gear, a left upright on the lifting rod base plate located to the left of the lifting screw, and a right upright on the lifting rod base plate located to the right of the lifting screw; both the left and right uprights are slidably connected to the lifting plate, the lifting screw is threadedly connected to the lifting plate, and a fixed baffle is provided at the upper end of the left upright, the left upright, and the lifting screw.

[0018] When the shaft of the geared motor rotates clockwise, the shaft drives the worm gear to rotate, the worm gear drives the turbine to rotate, and the turbine drives the lifting plate to rise through the lifting screw; when the shaft of the geared motor rotates counterclockwise, the shaft drives the worm gear to rotate, the worm gear drives the turbine to rotate, and the turbine drives the lifting plate to fall through the lifting screw.

[0019] Preferably, a positioning screw is provided between the L-shaped fixing plate and the water supply fixing shaft, and a fixing nut for tightening the L-shaped fixing plate is provided on the water supply fixing shaft outside the positioning screw; the lifting plate is fixedly connected to the L-shaped fixing plate by the positioning screw pin and the set nut.

[0020] Preferably, the elastic tube is provided with a spring on the outside, and the cleaning impact head is provided with several protrusions.

[0021] Preferably, each rotating blade is arc-shaped.

[0022] A cleaning method for a hull hull cleaning device includes the following steps:

[0023] Step 1: The staff installs two sliding bars on the flatbed truck and moves the flatbed truck to the dock where the ship that needs to be cleaned on the outside is moored, so that the flatbed truck is close to the ship.

[0024] Step 2: Bring the left and right limit rollers close together and press them against the outer side of the hull of the boat that needs to be cleaned.

[0025] Step 3: Open the valve of the water inlet pipe connected to the water inlet channel to allow water to enter the water storage chamber of the water supply fixed shaft from the water inlet channel, and the water flows out from each water outlet oblique hole into the corresponding independent space.

[0026] Step 3-1: The water flow causes the rotating wing plate at the bottom of the independent space to rotate counterclockwise downwards. The rotating wing plate causes the cleaning drum to rotate counterclockwise, and the cleaning drum causes each cleaning impact head to impact the outer side of the ship's hull.

[0027] At the same time, water is sprayed from the individual water outlet micro-holes of the cleaning impact head of each elastic tube corresponding to the independent space, washing away the garbage that has fallen onto the hull surface.

[0028] Step 3-2: After the cleaning drum rotates to a certain angle, the water flowing out from each of the inclined water outlets flows into another independent space, returning to step 3-1;

[0029] Step 4: During the cleaning of the outer side of the hull, while the flatbed is stationary, the staff uses the lifting mechanism to raise and lower the cleaning mechanism, so that the cleaning mechanism can clean the outer side of the hull from top to bottom; by changing the front and back positions of the two slide rails on the two slide rods, the cleaning mechanism can clean the outer side of the hull from front to back.

[0030] Step 5: Once the cleaning mechanism has finished cleaning the area of ​​the hull exterior that it can clean at the current position, the staff will close the valve, move the flatbed truck a short distance, and return to Step 2 to continue cleaning the other parts of the hull exterior until the entire hull exterior is cleaned.

[0031] Preferably, the lifting rod base plate has two longitudinal pressure plates protruding beyond the front side of the lifting rod base plate, and a pressure spring is provided between the lower surface of the longitudinal pressure plates and the front part of the upper surface of the base plate; the left and right sides of the lifting rod base plate are rotatably connected to the left and right stops respectively by two rotating shaft screws; the lower surface of the rear part of the lifting rod base plate is in contact with the upper surface of the base plate; a gap is provided between the lower surface of the front part of the lifting rod base plate and the upper surface of the base plate; the lifting rod base plate can rotate forward 0° to 30° around the two rotating shaft screws; the following steps are also included:

[0032] When the hull sways under the influence of waves, the pressure on the outer side of the hull is transmitted sequentially to the cleaning mechanism, lifting plate, left upright, lifting screw, right upright, lifting rod base plate, two longitudinal pressure plates, and two pressure springs through the left and right limit rollers. The two pressure springs are compressed. When the pressure decreases, the elastic force of the two pressure springs sequentially drives the lifting rod base plate, left upright, lifting screw, right upright, lifting plate, and cleaning mechanism to reset.

[0033] Therefore, the spring, the two longitudinal pressure plates, and the base plate of the lifting rod can drive the left upright, the lifting screw, the right upright, the lifting plate, and the cleaning mechanism to swing adaptively with the hull. The swing amplitude is within 30°. During the swing, the cleaning mechanism cleans the outer surface of the hull.

[0034] Therefore, the present invention has the following beneficial effects: it can adaptively swing with the hull, and the cleaning mechanism can always maintain a stable distance from the outer surface of the hull, ensuring the stability of the cleaning effect; the cleaning mechanism can also be raised, lowered and moved longitudinally, with a large cleaning range. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention;

[0036] Figure 2 yes Figure 1 A cross-sectional view at point AA;

[0037] Figure 3 This is a schematic diagram of the structure of the elastic tube and the cleaning impact head of the present invention. Detailed Implementation

[0038] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-3 The illustrated embodiment is a hull hull cleaning device, including a support mechanism, a lifting mechanism, and a cleaning mechanism connected to the lifting mechanism. The support mechanism includes two laterally extending slide rods 101, two slide rail plates 102 on the two slide rods, a base plate 103 on the two slide rail plates, a left stop block 1031 on the left side of the upper surface of the base plate, a right stop block 1032 on the right side of the upper surface of the base plate, and a lifting rod base plate 104 between the left and right stop blocks. The lifting rod base plate is connected to the lifting mechanism, which includes a lifting plate 201. The cleaning mechanism includes an L-shaped fixing plate 301 fixedly connected to the lifting plate, a water supply fixing shaft 302, a water inlet seal 303, and a cleaning drum 304 disposed on the outer circumferential surface of the water supply fixing shaft and slidably connected to the water supply fixing shaft. One end of the water supply fixed shaft is open, and the upper part of the L-shaped fixed plate is provided with a circular hole. The open end of the water supply fixed shaft extends into the circular hole and is fixedly connected to the circular hole. Multiple horizontally arranged oblique water outlet holes 3021 are provided on the rear side wall of the inner circumferential surface of the water supply fixed shaft. Eight rotating blades 3022 are provided between the outer circumferential surface of the water supply fixed shaft and the inner circumferential surface of the cleaning drum. The eight rotating blades divide the space between the water supply fixed shaft and the cleaning drum into eight independent spaces 3023. A water inlet channel 3031 is provided on the water inlet head. Multiple horizontally arranged water outlet holes 3041 are provided on the outer circumferential wall of the cleaning drum corresponding to the independent space. An elastic tube 3042 is provided on the water outlet hole. A spherical cleaning impact head 3043 is provided at the outer end of the elastic tube. Three water outlet micro-holes 3044 are provided at the front end of the cleaning impact head.

[0040] The upper left and upper right rear parts of the water supply fixed shaft are respectively provided with a left limiting U-shaped arm 3024 and a right limiting U-shaped arm 3025. The left limiting U-shaped arm and the right limiting U-shaped arm are respectively provided with a left limiting roller 3026 and a right limiting roller 3027 that can contact the outer wall 400 of the hull.

[0041] The lifting rod base plate has two longitudinal pressure plates 105 that protrude beyond the front side of the lifting rod base plate. A pressure spring 106 is provided between the lower surface of the longitudinal pressure plates and the front part of the upper surface of the base plate. The left and right sides of the lifting rod base plate are rotatably connected to the left stop and the right stop respectively by two rotating shaft screws 107. The lower surface of the rear part of the lifting rod base plate is in contact with the upper surface of the base plate. There is a gap between the lower surface of the front part of the lifting rod base plate and the upper surface of the base plate. The lifting rod base plate can rotate forward from 0° to 30° around the two rotating shaft screws.

[0042] The lifting mechanism includes a geared motor 208, a worm gear 202 connected to the shaft of the geared motor, a turbine gear 203 connected to the worm gear, a vertically extending lifting screw 204 connected to the middle of the turbine gear, a left upright 205 on the lifting rod base plate on the left side of the lifting screw, and a right upright 206 on the lifting rod base plate on the right side of the lifting screw. The left and right uprights are slidably connected to the lifting plate, and the lifting screw is threadedly connected to the lifting plate. The left upright, the left upright, and the upper end of the lifting screw are provided with a fixed baffle 207.

[0043] A positioning screw 3011 is provided between the L-shaped fixing plate and the water supply fixing shaft. A fixing nut 3028 for squeezing the L-shaped fixing plate is provided on the water supply fixing shaft outside the positioning screw. The lifting plate is fixedly connected to the L-shaped fixing plate by the positioning screw pin 2011 and the set nut 2012.

[0044] A spring 3045 is provided on the outside of the elastic tube, and several protrusions 3046 are provided on the cleaning impact head. Each rotating blade is arc-shaped.

[0045] A cleaning method for a hull hull cleaning device includes the following steps:

[0046] Step 1: The staff installs two sliding bars on the flatbed truck and moves the flatbed truck to the dock where the ship that needs to be cleaned on the outside is moored, so that the flatbed truck is close to the ship.

[0047] Step 2: Bring the left and right limit rollers close together and press them against the outer side of the hull of the boat that needs to be cleaned.

[0048] Step 3: Open the valve of the water inlet pipe connected to the water inlet channel to allow water to enter the water storage chamber 3000 of the water supply fixed shaft from the water inlet channel, and the water flows out from each water outlet oblique hole into the corresponding independent space.

[0049] Step 3-1: The water flow causes the rotating wing plate at the bottom of the independent space to rotate counterclockwise downwards. The rotating wing plate causes the cleaning drum to rotate counterclockwise, and the cleaning drum causes each cleaning impact head to impact the outer side of the ship's hull.

[0050] At the same time, water is sprayed from the micro-holes of the cleaning impact head of each elastic tube corresponding to the independent space, washing away the debris that has fallen onto the hull surface.

[0051] Step 3-2: After the cleaning drum rotates to a certain angle, the water flowing out from each of the inclined water outlets flows into another independent space, returning to step 3-1;

[0052] Step 4: During the cleaning of the outer side of the hull, while the flatbed is stationary, the staff uses the lifting mechanism to raise and lower the cleaning mechanism, so that the cleaning mechanism can clean the outer side of the hull from top to bottom; by changing the front and back positions of the two slide rails on the two slide rods, the cleaning mechanism can clean the outer side of the hull from front to back.

[0053] Step 5: Once the cleaning mechanism has finished cleaning the area of ​​the hull exterior that it can clean at the current position, the staff will close the valve, move the flatbed truck a short distance, and return to Step 2 to continue cleaning the other parts of the hull exterior until the entire hull exterior is cleaned.

[0054] It also includes the following steps:

[0055] When the hull sways under the influence of waves, the pressure on the outer side of the hull is transmitted sequentially to the cleaning mechanism, lifting plate, left upright, lifting screw, right upright, lifting rod base plate, two longitudinal pressure plates, and two pressure springs through the left and right limit rollers. The two pressure springs are compressed. When the pressure decreases, the elastic force of the two pressure springs sequentially drives the lifting rod base plate, left upright, lifting screw, right upright, lifting plate, and cleaning mechanism to reset.

[0056] Therefore, the spring, the two longitudinal pressure plates, and the base plate of the lifting rod can drive the left upright, the lifting screw, the right upright, the lifting plate, and the cleaning mechanism to swing adaptively with the hull. The swing amplitude is within 30°. During the swing, the cleaning mechanism cleans the outer surface of the hull.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for cleaning the outer surface of a ship's hull, characterized in that, The system includes a support mechanism, a lifting mechanism, and a cleaning mechanism connected to the lifting mechanism. The support mechanism includes two laterally extending slide rods (101), two slide rails (102) on the two slide rods, a base plate (103) on the two slide rails, a left stop block (1031) on the left side of the upper surface of the base plate, a right stop block (1032) on the right side of the upper surface of the base plate, and a lifting rod base plate (104) between the left and right stop blocks. The lifting rod base plate is connected to the lifting mechanism, which includes a lifting plate (201). The cleaning mechanism includes an L-shaped fixing plate (301) fixedly connected to the lifting plate, a water supply fixing shaft (302), a water inlet end cap (303), and a cleaning drum (304) located on the outer circumference of the water supply fixing shaft and slidably connected to the water supply fixing shaft. One end of the water supply fixing shaft is open, and the L-shaped fixing plate is closed. The upper part of the fixed plate is provided with a circular hole, and the open end of the water supply fixed shaft extends into the circular hole and is fixedly connected to the circular hole; the rear side wall of the inner circumferential surface of the water supply fixed shaft is provided with several horizontally arranged oblique water outlet holes (3021); M rotating wing plates (3022) are provided between the outer circumferential surface of the water supply fixed shaft and the inner circumferential surface of the cleaning drum, and the M rotating wing plates divide the space between the water supply fixed shaft and the cleaning drum into M independent spaces (3023), M≥4; the water inlet end cap is provided with a water inlet channel (3031), and the outer circumferential wall of the cleaning drum corresponding to the independent space is provided with several horizontally arranged water outlet holes (3041), the water outlet holes are provided with elastic tubes (3042), the outer end of the elastic tube is provided with a spherical cleaning impact head (3043), and the front end of the cleaning impact head is provided with several water outlet micro-holes (3044).

2. The hull hull cleaning device according to claim 1, characterized in that, The upper left and upper right rear parts of the water supply fixed shaft are respectively provided with a left limiting U-shaped arm (3024) and a right limiting U-shaped arm (3025), and the left limiting U-shaped arm and the right limiting U-shaped arm are respectively provided with a left limiting roller (3026) and a right limiting roller (3027) that can contact the outer wall (400) of the hull.

3. The hull hull cleaning device according to claim 2, characterized in that, The lifting rod base plate is provided with two longitudinal pressure plates (105) that protrude beyond the front side of the lifting rod base plate. A pressure spring (106) is provided between the lower surface of the longitudinal pressure plate and the front part of the upper surface of the base plate. The left and right sides of the lifting rod base plate are rotatably connected to the left stop and the right stop respectively by two rotating shaft screws (107). The lower surface of the rear part of the lifting rod base plate is in contact with the upper surface of the base plate. There is a gap between the lower surface of the front part of the lifting rod base plate and the upper surface of the base plate. The lifting rod base plate can rotate forward from 0° to 30° around the two rotating shaft screws.

4. The hull hull cleaning device according to claim 3, characterized in that, The lifting mechanism includes a geared motor (208), a worm gear (202) connected to the shaft of the geared motor, a turbine gear (203) connected to the worm gear, a vertically extending lifting screw (204) connected to the middle of the turbine gear, a left upright (205) on the lifting rod base plate on the left side of the lifting screw, and a right upright (206) on the lifting rod base plate on the right side of the lifting screw; both the left and right uprights are slidably connected to the lifting plate, and the lifting screw is threadedly connected to the lifting plate; a fixed baffle (207) is provided at the upper end of the left upright, the left upright, and the lifting screw.

5. The hull hull cleaning device according to claim 4, characterized in that, A positioning screw (3011) is provided between the open end of the L-shaped fixing plate and the water supply fixing shaft. A fixing nut (3028) for squeezing the L-shaped fixing plate is provided on the water supply fixing shaft outside the positioning screw. The lifting plate is fixedly connected to the L-shaped fixing plate by the positioning screw pin (2011) and the set nut (2012).

6. The hull hull cleaning device according to claim 5, characterized in that, A spring (3045) is provided on the outside of the elastic tube, and several protrusions (3046) are provided on the cleaning impact head.

7. The hull hull cleaning device according to claim 2, 3, 4, 5, or 6, characterized in that, Each rotating blade is arc-shaped.

8. A cleaning method based on the hull hull cleaning device according to claim 2, characterized in that, Includes the following steps: Step 1: The staff installs two sliding bars on the flatbed truck and moves the flatbed truck to the dock where the ship that needs to be cleaned on the outside is moored, so that the flatbed truck is close to the ship. Step 2: Bring the left and right limit rollers close together and press them against the outer side of the hull of the boat that needs to be cleaned. Step 3: Open the valve of the water inlet pipe connected to the water inlet channel to allow water to enter the water storage chamber (3000) of the water supply fixed shaft from the water inlet channel, and the water flows out from each water outlet oblique hole into the corresponding independent space; Step 3-1: The water flow causes the rotating wing plate at the bottom of the independent space to rotate counterclockwise downwards. The rotating wing plate causes the cleaning drum to rotate counterclockwise, and the cleaning drum causes each cleaning impact head to impact the outer side of the ship's hull. At the same time, water is sprayed from the individual water outlet micro-holes of the cleaning impact head of each elastic tube corresponding to the independent space, washing away the garbage that has fallen onto the hull surface. Step 3-2: After the cleaning drum rotates to a certain angle, the water flowing out from each of the inclined water outlets flows into another independent space, returning to step 3-1; Step 4: During the cleaning of the outer side of the hull, while the flatbed is stationary, the staff uses the lifting mechanism to raise and lower the cleaning mechanism, so that the cleaning mechanism can clean the outer side of the hull from top to bottom; by changing the front and back positions of the two slide rails on the two slide rods, the cleaning mechanism can clean the outer side of the hull from front to back. Step 5: Once the cleaning mechanism has finished cleaning the area of ​​the hull exterior that it can clean at the current position, the staff will close the valve, move the flatbed truck a short distance, and return to Step 2 to continue cleaning the other parts of the hull exterior until the entire hull exterior is cleaned.

9. The cleaning method of the hull hull cleaning device according to claim 8, characterized in that, The lifting rod base plate has two longitudinal pressure plates protruding beyond the front side of the base plate. A pressure spring is installed between the lower surface of the longitudinal pressure plates and the front part of the upper surface of the base plate. The left and right sides of the lifting rod base plate are rotatably connected to a left stop and a right stop respectively via two pivot screws. The lower surface of the rear part of the lifting rod base plate contacts the upper surface of the base plate, and a gap is provided between the lower surface of the front part of the lifting rod base plate and the upper surface of the base plate. The lifting rod base plate can rotate forward 0° to 30° around the two pivot screws. The process also includes the following steps: When the hull sways under the influence of waves, the pressure on the outer side of the hull is transmitted sequentially to the cleaning mechanism, lifting plate, left upright, lifting screw, right upright, lifting rod base plate, two longitudinal pressure plates, and two pressure springs through the left and right limit rollers. The two pressure springs are compressed. When the pressure decreases, the elastic force of the two pressure springs sequentially drives the lifting rod base plate, left upright, lifting screw, right upright, lifting plate, and cleaning mechanism to reset. Therefore, the spring, the two longitudinal pressure plates, and the base plate of the lifting rod can drive the left upright, the lifting screw, the right upright, the lifting plate, and the cleaning mechanism to swing adaptively with the hull. The swing amplitude is within 30°. During the swing, the cleaning mechanism cleans the outer surface of the hull.

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