A robot-assisted tool for marine vessel maintenance

Abstract

The application discloses a robot-assisted tool for marine ship maintenance and repair, and relates to the field of ship maintenance and repair tools. The robot-assisted tool for marine ship maintenance and repair comprises an auxiliary scraper and a robot main body, the bottom of the robot main body is provided with a cleaning turntable, the front end of the robot main body is provided with a support frame, and the bottom of the support frame is provided with a rotating lever and a sliding push plate. When the cleaning turntable rotates, the rotating connecting rod pulls the driving shaft to move back and forth, so that the auxiliary scraper removes the barnacles and shellfishes attached to the surface of the ship body, and simultaneously drives the sliding rack to move forward and backward; at this time, the rotating lever swings left and right to push the impurities to the two sides, and simultaneously drives the sliding push plates on the two sides to slide left and right to push the impurities to the two sides, so that the shellfishes are cleaned, and the hard shell bodies do not cause damage to the triangular track wheels and the cleaning turntable.

Description

Technical Field

[0001] This invention relates to the field of ship maintenance auxiliary tools, specifically a robotic auxiliary tool for the maintenance of marine vessels. Background Technology

[0002] During the voyage of a ship at sea, once a ship is built and launched, it will generally spend its entire life in the water until it is decommissioned. This means that whether the ship is sailing or docked, its bottom is basically submerged in water. As a result, the bottom of the ship becomes a breeding ground for many marine organisms, including algae and shellfish, which attach to its surface and grow.

[0003] Under normal circumstances, attached shellfish and algae will not cause too much damage to the ship. However, long-term attachment will cause corrosion of the metal hull of the ship. At this time, the surface of the ship needs to be maintained. The maintenance usually involves cleaning the attached substances on the surface and then applying anti-rust paint to the exposed parts.

[0004] Currently, underwater robots are often used to perform this task. By installing negative pressure or magnetic suction mechanisms on the robot, it can attach to the surface of the ship and then perform cleaning by a motor-driven rotating cleaning component.

[0005] However, in actual operation, the rotating cleaning component is generally composed of a combination of metal bristles and plastic bristles. During the cleaning process, when there are large shellfish parasites, it is difficult to remove them, which takes more time and is very easy to damage the cleaning component and reduce its service life. On the other hand, there is also a risk that particularly large shellfish may get stuck in the cleaning component, causing the motor to burn out. Therefore, a robotic auxiliary tool for marine ship maintenance is provided to solve the above problems. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a robotic auxiliary tool for the maintenance of marine vessels. It solves the problem that, in actual operation, rotating cleaning components are generally composed of a combination of metal and plastic bristles. During cleaning, when large shellfish are present, they are difficult to remove, requiring more time and easily damaging the cleaning components, reducing their lifespan. Furthermore, particularly large shellfish pose a risk of jamming the cleaning components, potentially causing the motor to burn out.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: a robotic auxiliary tool for the maintenance of marine vessels, comprising an auxiliary scraper and a robot body, wherein the auxiliary scraper is installed at the front end of the robot body, a cleaning turntable is installed at the bottom of the robot body, and a transmission mechanism is installed at the top of the cleaning turntable;

[0008] A support frame is installed at the front end of the robot body, the auxiliary scraper is movably inserted into the front end of the support frame, a rotating lever is installed at the bottom of the support frame, and sliding push plates are provided on both sides of the rotating lever.

[0009] The transmission mechanism includes a rotating connecting rod mounted on top of the cleaning turntable. A drive shaft is hinged to the front end of the rotating connecting rod. The drive shaft is fixedly connected to an auxiliary scraper. A sliding rack is slidably connected inside the support frame. A transmission bar is hinged to both sides of the sliding rack. The sliding rack is fixedly connected to the auxiliary scraper. The sliding rack is used to push the rotating lever to rotate. The transmission bars push two sets of sliding pusher plates to move.

[0010] Preferably, the robot body is equipped with triangular track wheels on its side, permanent magnets are embedded in the track on the surface of the triangular track wheels, magnetic strips are installed on the bottom of both sides of the robot body, a drive motor is installed inside the robot body, and a transmission belt is installed between the drive motor and the cleaning turntable.

[0011] Preferably, an eccentric turntable is installed on the top of the cleaning turntable, the end of the rotating link is rotatably connected to one side of the top of the eccentric turntable, and fixed arms are integrally formed at both ends of the back of the support frame, and the fixed arms are installed on the outer surface of the robot body by bolts.

[0012] Preferably, a sliding strip is slidably inserted into the inside of the support frame, and a connecting rod is fixedly connected to the end of the sliding strip. The sliding rack is fixedly connected to the inner side of the connecting rod. A connecting member is installed on the top of the rotating lever. The connecting member includes an assembly tube installed on the top of the rotating lever. A gear is installed on the top of the assembly tube, and the gear meshes with the sliding rack.

[0013] Preferably, a horizontal fixing strip is fixedly welded to the top of the front end of the sliding rack, one end of the transmission strip is hinged to the top of the horizontal fixing strip, a horizontal sliding groove is provided at the bottom of the support frame, a column is fixedly welded to the top of the sliding push plate, the column is slidably connected inside the horizontal sliding groove, a sliding frame is fixedly welded to the top of the column, and the other end of the transmission strip is movably hinged to the top of the sliding frame.

[0014] Preferably, a hexagonal connecting shaft is welded to the bottom of the gear, the bottom end of the hexagonal connecting shaft is movably inserted into the inside of the assembly tube, the end of the rotating lever is integrally formed with a connector, the connector is installed at the bottom of the assembly tube, and a memory spring is provided between the hexagonal connecting shaft and the connector.

[0015] Preferably, the inner top of the connector is provided with a hexagonal locking post, which is movably inserted into the inner bottom of the assembly tube. A positioning shaft is installed inside the hexagonal locking post, and a locking spring is movably sleeved in the middle of the positioning shaft. Locking blocks are movably sleeved on the outer surfaces of both ends of the positioning shaft. The bottom end of the locking block passes through the connector, and a locking groove is opened on the outer surface of the bottom end of the assembly tube. The top end of the locking block is movably inserted into the inside of the locking groove.

[0016] Preferably, a positioning seat is welded to the top of the support frame, the drive shaft passes through the positioning seat, a limiting groove is opened inside the support frame, the sliding bar passes through the limiting groove, a connecting block is fixedly welded to the front end of the drive shaft and the sliding bar, a connecting cover is provided on the top of the auxiliary scraper, and the connecting block is installed inside the connecting cover.

[0017] Preferably, a fixing block is welded to the top of the auxiliary scraper, an installation groove is provided on the back of the connecting cover, the connecting block is installed inside the installation groove, and slots are provided at the bottom of both the connecting cover and the connecting block, with the fixing block movably inserted into the slot.

[0018] Preferably, a connecting strip is fixedly installed on the front of the connecting cover by bolts, and positioning pins are welded to the inner sides of both ends of the connecting strip. The positioning pins are movably inserted into the inside of the fixing block.

[0019] This invention discloses a robotic-assisted tool for the maintenance of marine vessels, which has the following beneficial effects:

[0020] 1. This robotic auxiliary tool for marine vessel maintenance uses a drive motor to rotate a cleaning turntable. The turntable, via a rotating linkage, pulls the drive shaft back and forth, causing an auxiliary scraper to remove barnacles and shellfish attached to the hull surface from the front of the robot body. Simultaneously, two sets of sliding strips on the back of the auxiliary scraper drive a sliding rack to move back and forth inside the support frame. The sliding rack drives gears to rotate continuously in both directions, causing the rotating lever at the bottom of the gears to push impurities to the sides to the outside of the sliding pusher plate. During the back-and-forth sliding of the sliding rack, the transmission strips on both sides pull the sliding frame laterally back and forth, causing the sliding pusher plates on both sides to push impurities to the sides, thus cleaning shellfish and preventing damage to the triangular track wheels and cleaning turntable from hard shells.

[0021] 2. During use, the rotating lever is tightly pressed against the hull surface by the memory spring to ensure cleaning effect. At the same time, by pressing the two sets of locking blocks towards the center, the locking spring is compressed, and the top of the locking block is moved out of the slot. At this time, the connector can be pulled out from the bottom of the assembly tube to facilitate cleaning and maintenance of the rotating lever surface.

[0022] 3. This robotic auxiliary tool for marine vessel maintenance allows for easy grinding, repair, and replacement of the auxiliary scraper by unscrewing the bolts on the outer surface of the connecting strip, pulling out two sets of positioning pins through the connecting strip, pulling the auxiliary scraper downwards, and removing the connecting cover from the outer surface of the connecting block. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall top structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the overall bottom structure of the present invention;

[0026] Figure 3 This is a cross-sectional view of the internal structure of the robot body of the present invention;

[0027] Figure 4 This is a schematic diagram of the outer surface structure of the support frame and auxiliary scraper of the present invention;

[0028] Figure 5 This is a schematic diagram of the bottom structure of the support frame and auxiliary scraper of the present invention;

[0029] Figure 6 This is an exploded view of the outer surface structure of the auxiliary scraper of the present invention;

[0030] Figure 7 This is an exploded view of the bottom structure of the auxiliary scraper of the present invention;

[0031] Figure 8 This is a schematic diagram of the outer surface structure of the support frame of the present invention;

[0032] Figure 9 This is a schematic diagram of the back structure of the support frame of the present invention;

[0033] Figure 10 This is a cross-sectional view of the internal structure of the support frame of the present invention;

[0034] Figure 11 This is a schematic diagram of the outer surface structure of the rotating lever of the present invention;

[0035] Figure 12 This is a cross-sectional view of the internal structure of the connector of the present invention.

[0036] In the diagram: 1. Robot body; 2. Support frame; 3. Auxiliary scraper; 4. Sliding pusher plate; 5. Rotating lever; 6. Cleaning turntable; 7. Magnetic strip; 8. Triangular track wheel; 9. Transmission mechanism; 91. Eccentric turntable; 92. Rotating link; 93. Drive shaft; 94. Sliding bar; 95. Connecting rod; 96. Sliding rack; 10. Drive motor; 11. Connecting cover; 12. Connecting block; 13. Fixing block; 14. Positioning pin; 15. Connecting strip; 16. 17. Mounting slot; 18. Slot; 19. Positioning seat; 20. Limiting slot; 21. Fixing arm; 22. Column; 22. Connector; 221. Assembly tube; 222. Connector head; 223. Gear; 224. Hexagonal connecting shaft; 225. Memory spring; 226. Slot; 227. Hexagonal locking post; 228. Locking block; 229. Positioning shaft; 2210. Locking spring; 23. Transmission bar; 24. Horizontal fixing bar; 25. Horizontal slide; 26. Sliding frame. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] This application provides a robotic auxiliary tool for the maintenance of marine vessels, which solves the problem that in actual operation, the rotating cleaning component is generally composed of a combination of metal and plastic bristles. During the cleaning process, when there are large shellfish, it is difficult to remove them, which takes more time and is very easy to damage the cleaning component, reducing its service life. On the other hand, there is also a risk that particularly large shellfish may jam the cleaning component, causing the motor to burn out.

[0039] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0040] This invention discloses a robotic auxiliary tool for the maintenance of marine vessels.

[0041] According to the appendix Figures 1-12As shown, the robot includes an auxiliary scraper 3 and a robot body 1. The auxiliary scraper 3 is installed at the front end of the robot body 1. A cleaning turntable 6 is installed at the bottom of the robot body 1, and a transmission mechanism 9 is installed at the top of the cleaning turntable 6. The top of the robot body 1 is connected to the circuitry on the ship's hull via a long wire or wireless communication for power supply and signal transmission control. The circuitry on the ship's hull refers to the circuit network composed of various electrical systems and equipment on the ship. The circuitry on the ship's hull includes, but is not limited to, the ship's power system, lighting system, communication system, navigation system, and automated control system. In the robot-assisted tools for marine ship maintenance, the robot needs to be connected to the circuitry on the ship's hull in order to obtain power, transmit signals, and perform remote control.

[0042] A support frame 2 is installed at the front end of the robot body 1. An auxiliary scraper 3 is movably inserted into the front end of the support frame 2. A rotating lever 5 is installed at the bottom of the support frame 2. Sliding push plates 4 are provided on both sides of the rotating lever 5.

[0043] The transmission mechanism 9 includes a rotating link 92 mounted on the top of the cleaning turntable 6. A drive shaft 93 is hinged to the front end of the rotating link 92. The drive shaft 93 is fixedly connected to the auxiliary scraper 3. A sliding rack 96 is slidably connected inside the support frame 2. A transmission bar 23 is hinged to both sides of the sliding rack 96. The sliding rack 96 is fixedly connected to the auxiliary scraper 3. The sliding rack 96 is used to push the rotating lever 5 to rotate. The transmission bar 23 pushes the two sets of sliding pusher plates 4 to move.

[0044] The advantages of the above technical solution are:

[0045] The robotic-assisted tool combines components such as an auxiliary scraper 3, a cleaning turntable 6, and a sliding pusher 4 to perform comprehensive cleaning of the ship's surface. The auxiliary scraper 3 removes impurities adhering to the hull surface, the cleaning turntable 6 provides cleaning power, and the sliding pusher 4 helps push the impurities to both sides of the ship, thereby achieving a thorough cleaning effect.

[0046] Through the design of the support frame 2, the rotating lever 5 and the sliding rack 96, the robot-assisted tool can move and rotate flexibly on the hull surface, adapting to hull surfaces of different shapes and curvatures, thereby covering a wider cleaning area and improving cleaning efficiency.

[0047] The transmission mechanism 9 enables the cleaning turntable 6 to rotate stably, while the fixed connection between the drive shaft 93 and the auxiliary scraper 3 ensures the stability and reliability of the cleaning effect. Simultaneously, the design of the sliding rack 96 and the transmission bar 23 allows the rotating lever 5 to maintain stable movement during the cleaning process, ensuring consistent cleaning results.

[0048] The top of the robot body 1 is connected to the ship's electrical circuitry via a long wire for power supply and signal transmission control. Operators can remotely control the robot's auxiliary tools, enabling remote monitoring and operation of ship maintenance work, thus improving operational convenience and safety.

[0049] Triangular tracked wheels 8 are mounted on the sides of the robot body 1. Permanent magnets are embedded in the tracks of the triangular tracked wheels 8. Magnetic strips 7 are installed on the bottom sides of the robot body 1. A drive motor 10 is installed inside the robot body 1, and a transmission belt connects the drive motor 10 to the cleaning turntable 6. The triangular tracked wheels 8 are driven by independent motors. Compared to rollers, the triangular tracked wheels 8 increase the contact area with the hull surface, increasing adsorption capacity. Furthermore, compared to front and rear tracked wheels, they facilitate turning. The permanent magnets embedded in the tracks enhance the magnetic attraction between the robot body and the hull, ensuring stable attachment of the robot to the hull surface for maintenance work even in complex marine environments. The magnetic strips 7 on the bottom sides of the robot body 1 further enhance the robot's adsorption force on the hull surface, ensuring stability during cleaning or inspection tasks. The drive motor 10 is connected to the cleaning turntable 6 via a transmission belt. This design effectively transmits the power of the drive motor 10 to the cleaning turntable 6, achieving efficient cleaning operations. Since each triangular track wheel 8 is driven by an independent motor, precise speed and direction control can be achieved for each wheel, improving the robot's operational accuracy. The independently driven tracks can better adapt to different shapes and inclinations of the hull surface, enhancing the robot's adaptability in complex environments.

[0050] An eccentric turntable 91 is mounted on the top of the cleaning turntable 6. The end of the rotating link 92 is rotatably connected to one side of the top of the eccentric turntable 91. Fixed arms 20 are integrally formed at both ends of the back of the support frame 2, and the fixed arms 20 are bolted to the outer surface of the robot body 1. The design of the eccentric turntable 91 allows the cleaning turntable 6 to generate eccentric motion when rotating. This motion increases the mechanical action during the cleaning process, thereby improving cleaning efficiency, especially when removing stubborn dirt or biological attachments from the hull surface. By changing the eccentric distance of the eccentric turntable 91, the cleaning force and range can be adjusted, allowing the robot to adapt to different cleaning needs. The design of the rotating link 92 ensures the stability of the cleaning turntable 6 during eccentric motion, preventing mechanical failures caused by excessive eccentric force. The fixed arms integrally formed at both ends of the back of the support frame 2 improve the strength and durability of the entire support structure, especially in harsh marine environments, where this design helps resist seawater corrosion and physical impact. The bolted connection also allows for adjustment of the position of the fixed arm 20 when necessary to adapt to different working environments or task requirements.

[0051] A sliding strip 94 is slidably inserted inside the support frame 2. A connecting rod 95 is fixedly connected to the end of the sliding strip 94. A sliding rack 96 is fixedly connected to the inner side of the connecting rod 95. A connector 22 is installed on the top of the rotating lever 5. The connector 22 includes an assembly tube 221 installed on the top of the rotating lever 5. A gear 223 is installed on the top of the assembly tube 221. The gear 223 meshes with the sliding rack 96.

[0052] A horizontal fixing bar 24 is fixedly welded to the top of the front end of the sliding rack 96. One end of the transmission bar 23 is hinged to the top of the horizontal fixing bar 24. A horizontal groove 25 is provided at the bottom of the support frame 2. A column 21 is fixedly welded to the top of the sliding pusher plate 4. The column 21 is slidably connected inside the horizontal groove 25. A sliding frame 26 is fixedly welded to the top of the column 21. The other end of the transmission bar 23 is movably hinged to the top of the sliding frame 26. The two sets of sliding bars 94 on the back of the auxiliary scraper 3 drive the connecting rod 95 to move, so that the sliding rack 96 moves back and forth inside the support frame 2. At this time, the sliding rack 96 drives the gear 223 to rotate continuously in both directions, so that the rotating lever 5 at the bottom of the gear 223 pushes the impurities to the outside of the sliding pusher plate 4. At the same time, during the back and forth sliding process of the sliding rack 96, the transmission bars 23 on both sides pull the sliding frame 26 to move back and forth laterally, so that the sliding pusher plates 4 on both sides push the impurities to the sides. Through the aforementioned mechanical motion chain, the robot can effectively clean the surface of the ship's hull. It can not only remove impurities but also push them to the sides, thereby keeping the cleaning area tidy. This improves the automation and efficiency of the cleaning process, making marine ship maintenance robot auxiliary tools more efficient and reliable when performing cleaning tasks.

[0053] A hexagonal connecting shaft 224 is welded to the bottom of gear 223. The bottom end of the hexagonal connecting shaft 224 is movably inserted into the interior of assembly tube 221. A connector 222 is integrally formed at the end of the rotating lever 5. The connector 222 is installed at the bottom of assembly tube 221. A memory spring 225 is provided between the hexagonal connecting shaft 224 and the connector 222. The memory spring 225 keeps the rotating lever 5 in close contact with the hull surface, preventing it from spinning freely. The memory spring 225 also allows the rotating lever 5 to adapt to slight unevenness on the hull surface, maintaining a stable working state.

[0054] A hexagonal locking post 227 is provided on the inner top of the connector 222. The hexagonal locking post 227 is movably inserted into the inner bottom of the assembly tube 221. A positioning shaft 229 is installed inside the hexagonal locking post 227. A locking spring 2210 is movably sleeved in the middle of the positioning shaft 229. Locking blocks 228 are movably sleeved on the outer surfaces of both ends of the positioning shaft 229. The bottom end of the locking block 228 passes through the connector 222. A slot 226 is opened on the outer surface of the bottom end of the assembly tube 221. The top end of the locking block 228 is movably inserted into the inside of the slot 226. The design of the hexagonal locking post 227 and the locking spring 2210 allows for quick loading and unloading of the rotating lever 5, facilitating maintenance and replacement, and improving the efficiency and convenience of using robot tools. The design of the positioning shaft 229 and the locking blocks 228 ensures a stable connection between the rotating lever 5 and the connector 222, preventing loosening during operation.

[0055] A positioning seat 18 is welded to the top of the support frame 2, through which the drive shaft 93 passes. A limiting groove 19 is formed inside the support frame 2, through which the sliding bar 94 passes. A connecting block 12 is fixedly welded to the front ends of the drive shaft 93 and the sliding bar 94. A connecting cover 11 is provided on the top of the auxiliary scraper 3, and the connecting block 12 is installed inside the connecting cover 11. The positioning seat 18 and the limiting groove 19 are designed to precisely position the drive shaft 93 and the sliding bar 94, ensuring their correct position and stable movement, thereby guaranteeing the accuracy and stability of the entire mechanism.

[0056] A fixing block 13 is welded to the top of the auxiliary scraper 3. A mounting groove 16 is provided on the back of the connecting cover 11, and the connecting block 12 is installed inside the mounting groove 16. Slots 17 are provided at the bottom of both the connecting cover 11 and the connecting block 12, and the fixing block 13 is movably inserted into the slot 17. The connecting block 12 is installed inside the connecting cover 11 and is combined with the fixing block 13 through the mounting groove 16 and the slot 17. This design provides a robust connection, ensuring the stability of the auxiliary scraper 3 during operation. This connection method also supports modular design, facilitating assembly and disassembly, and improving the efficiency of maintenance and replacement.

[0057] A connecting strip 15 is bolted to the front of the connecting cover 11. Positioning pins 14 are welded to the inner sides of both ends of the connecting strip 15, and these pins 14 are movably inserted into the interior of the fixing block 13. This design, where the connecting strip 15 is bolted to the front of the connecting cover 11 and the positioning pins 14 are inserted into the fixing block 13, enhances the strength and stability of the entire connection structure. This design also simplifies the assembly process, making connection faster and more convenient, and also allows for quick disassembly when needed.

[0058] The working principle of the device is as follows: When in use, the robot body 1 is slowly lowered along the outer wall of the ship and viewed underwater through the visual lens on the robot body 1. When the robot body 1 moves, it is attracted to the outer surface of the ship through the magnetic strip 7 at its bottom and the permanent magnet inside the triangular track wheel 8. Then it moves through the triangular track wheel 8. During the movement, the drive motor 10 is started, which drives the cleaning turntable 6 to rotate and clean.

[0059] Furthermore, during the aforementioned process, when the cleaning turntable 6 rotates, it causes the eccentric turntable 91 on top of it to rotate, which in turn causes the rotating connecting rod 92 to pull the drive shaft 93 back and forth. At this time, the front end of the drive shaft 93 pulls the auxiliary scraper 3 to move back and forth. Meanwhile, the auxiliary scraper 3 removes barnacles and shellfish attached to the surface of the hull from the front side of the robot body 1. At the same time, the two sets of sliding strips 94 on the back of the auxiliary scraper 3 drive the connecting rod 95 to move, which causes the sliding rack 96 to move back and forth inside the support frame 2. At this time, the sliding rack 96 drives the gear 223. The continuous forward and reverse rotation causes the rotating lever 5 at the bottom of gear 223 to push impurities to the outside of the sliding push plate 4. At the same time, during the forward and backward sliding of the sliding rack 96, the sliding frame 26 is pulled back and forth laterally by the transmission bars 23 on both sides, so that the sliding push plates 4 on both sides push the impurities to the sides. This achieves the cleaning of shellfish and avoids damage to the triangular track wheel 8 and cleaning turntable 6 caused by hard shells. Then, the cleaning turntable 6 at the rear cleans algae, moss and other soft-bodied plants and some rust spots on the surface of the hull.

[0060] After the device is used, the bolts on the outer surface of the connecting strip 15 are unscrewed, and then the two sets of positioning pins 14 are pulled out through the connecting strip 15. Then the auxiliary scraper 3 is pulled out downwards, and then the connecting cover 11 is removed from the outer surface of the connecting block 12, so that the auxiliary scraper 3 can be polished, repaired and replaced.

[0061] During use, the rotating lever 5 is pressed tightly against the hull surface by the memory spring 225 to ensure cleaning effect. At the same time, by pressing the two sets of locking blocks 228 towards the center, the locking spring 2210 is compressed, and the top of the locking block 228 is removed from the slot 226. At this time, the connector 222 can be pulled out from the bottom of the assembly tube 221 for easy cleaning and maintenance of the surface of the rotating lever 5.

[0062] In this embodiment, the visual lens provides underwater visual information to the operator, enabling remote monitoring of the robot's movement and cleaning operations on the vessel's exterior. The visual lens needs to operate under high pressure and low light conditions underwater; therefore, it can be equipped with a high-strength waterproof housing and underwater-compatible optical components. Images captured by the visual lens need to be transmitted back to the control console in real time, which can be achieved via wired (e.g., fiber optic cable) or wireless (e.g., underwater wireless communication technology). To ensure image clarity, the visual lens can be equipped with high-resolution sensors and image enhancement technologies such as optical image stabilization, autofocus, and night vision capabilities. Due to the harsh underwater environment, the design of the visual lens needs to consider the use of corrosion-resistant materials and ease of maintenance and replacement. Since the underwater environment can be very dark, the visual lens can be equipped with LED lights or other types of lighting equipment to provide sufficient light for clear video capture. In addition to video functionality, the visual lens system can also integrate other sensors, such as depth sensors and temperature sensors, to provide more information about the underwater environment.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robotic auxiliary tool for the maintenance of marine vessels, comprising an auxiliary scraper (3) and a robot body (1), wherein the auxiliary scraper (3) is mounted on the front end of the robot body (1), characterized in that, A cleaning turntable (6) is installed at the bottom of the robot body (1), and a transmission mechanism (9) is installed at the top of the cleaning turntable (6). The robot body (1) has a support frame (2) installed at the front end. The auxiliary scraper (3) is movably inserted into the front end of the support frame (2). The bottom of the support frame (2) has a rotating lever (5). Sliding push plates (4) are provided on both sides of the rotating lever (5). The transmission mechanism (9) includes a rotating connecting rod (92) set on the top of the cleaning turntable (6). The front end of the rotating connecting rod (92) is hinged to a drive shaft (93). The drive shaft (93) is fixedly connected to the auxiliary scraper (3). The support frame (2) is slidably connected to a sliding rack (96). The two sides of the sliding rack (96) are hinged to transmission bars (23). The sliding rack (96) is fixedly connected to the auxiliary scraper (3). The sliding rack (96) is used to push the rotating lever (5) to rotate. The transmission bars (23) push the two sets of sliding push plates (4) to move. The robot body (1) is equipped with a triangular track wheel (8) on its side. A permanent magnet is embedded in the track on the surface of the triangular track wheel (8). Magnetic strips (7) are installed on the bottom of both sides of the robot body (1). A drive motor (10) is installed inside the robot body (1). A transmission belt is installed between the drive motor (10) and the cleaning turntable (6). An eccentric turntable (91) is installed on the top of the cleaning turntable (6), and the end of the rotating link (92) is rotatably connected to one side of the top of the eccentric turntable (91). Fixed arms (20) are integrally formed on both ends of the back of the support frame (2), and the fixed arms (20) are installed on the outer surface of the robot body (1) by bolts. The support frame (2) has a sliding strip (94) slidably inserted inside. The end of the sliding strip (94) is fixedly connected to a connecting rod (95). The sliding rack (96) is fixedly connected to the inside of the connecting rod (95). The top of the rotating lever (5) is equipped with a connector (22). The connector (22) includes an assembly tube (221) installed at the top of the rotating lever (5). The top of the assembly tube (221) is equipped with a gear (223). The gear (223) meshes with the sliding rack (96). A horizontal fixing bar (24) is fixedly welded to the top of the front end of the sliding rack (96). One end of the transmission bar (23) is hinged to the top of the horizontal fixing bar (24). A horizontal sliding groove (25) is provided at the bottom of the support frame (2). A column (21) is fixedly welded to the top of the sliding pusher plate (4). The column (21) is slidably connected inside the horizontal sliding groove (25). A sliding frame (26) is fixedly welded to the top of the column (21). The other end of the transmission bar (23) is movably hinged to the top of the sliding frame (26). The auxiliary scraper (3) removes barnacles and shellfish attached to the surface of the hull on the front side of the robot body (1). The sliding rack (96) drives the gear (223) to rotate continuously in both directions, so that the rotating lever (5) at the bottom of the gear (223) pushes the impurities to the outside of the sliding push plate (4) on both sides. At the same time, during the sliding process of the sliding rack (96), the sliding frame (26) is pulled back and forth by the transmission bars (23) on both sides, so that the sliding push plates (4) on both sides push the impurities to the sides.

2. The robotic auxiliary tool for marine vessel maintenance according to claim 1, characterized in that: The bottom of the gear (223) is welded with a hexagonal connecting shaft (224), the bottom end of which is movably inserted into the inside of the assembly tube (221). The end of the rotating lever (5) is integrally formed with a connector (222), which is installed at the bottom of the assembly tube (221). A memory spring (225) is provided between the hexagonal connecting shaft (224) and the connector (222).

3. The robotic auxiliary tool for marine vessel maintenance according to claim 2, characterized in that: The connector (222) has a hexagonal locking post (227) at its inner top. The hexagonal locking post (227) is movably inserted into the inner bottom of the assembly tube (221). A positioning shaft (229) is installed inside the hexagonal locking post (227). A locking spring (2210) is movably sleeved in the middle of the positioning shaft (229). Locking blocks (228) are movably sleeved on the outer surfaces of both ends of the positioning shaft (229). The bottom end of the locking block (228) passes through the connector (222). A slot (226) is opened on the outer surface of the bottom end of the assembly tube (221). The top end of the locking block (228) is movably inserted into the inside of the slot (226).

4. The robotic auxiliary tool for marine vessel maintenance according to claim 1, characterized in that: The support frame (2) has a positioning seat (18) welded to its top. The drive shaft (93) passes through the positioning seat (18). A limiting groove (19) is opened inside the support frame (2). The sliding bar (94) passes through the limiting groove (19). A connecting block (12) is fixedly welded to the front end of the drive shaft (93) and the sliding bar (94). A connecting cover (11) is provided on the top of the auxiliary scraper (3). The connecting block (12) is installed inside the connecting cover (11).

5. The robotic auxiliary tool for marine vessel maintenance according to claim 4, characterized in that: The auxiliary scraper (3) has a fixing block (13) welded to its top. The back of the connecting cover (11) has an installation groove (16). The connecting block (12) is installed inside the installation groove (16). The bottom of the connecting cover (11) and the connecting block (12) both have slots (17). The fixing block (13) is movably inserted into the slot (17).

6. The robotic auxiliary tool for marine vessel maintenance according to claim 5, characterized in that: The front of the connecting cover (11) is fixedly installed with a connecting strip (15) by bolts. The inner sides of both ends of the connecting strip (15) are welded with positioning pins (14), and the positioning pins (14) are movably inserted into the inside of the fixing block (13).

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