A climbing robot for cleaning of ship walls

Abstract

This invention discloses a climbing robot for cleaning ship walls, belonging to the field of ship cleaning technology. It includes a cleaning tray and a walking mechanism. The cleaning tray includes a cleaning tray body, which comprises a first shell and a second shell, sealed together by a flexible folding assembly. A rubber sealing gasket is provided at the bottom opening of the cleaning tray body, and a sealing brush is provided at the bottom of the rubber sealing gasket. A rotating nozzle is provided at the top of each of the first and second shells. Adjustment components are provided on the left and right sides of the cleaning tray body. A walking adjustment component is provided between the two walking wheel assemblies. When the adjustment components cause the second shell to descend relative to the first shell, the walking adjustment component causes the walking wheels to descend relative to the first shell. This invention can achieve adaptive fitting to the curvature of the wall, thereby reducing the probability of wastewater splashing between the cleaning tray body and the ship wall, and the probability of the robot's walking mechanism detaching from the ship wall and becoming unstable.

Description

Technical Field

[0001] This invention belongs to the field of high-pressure water cleaning technology for ships, specifically relating to a climbing robot for cleaning ship walls. Background Technology

[0002] When cleaning ship walls, high-pressure water cleaning is typically performed using a wall-climbing robot equipped with a cleaning disc. However, because ship walls are not perfectly flat but have a certain degree of curvature, the cleaning disc and the robot's walking mechanism cannot completely conform to the ship's surface. This results in two problems: firstly, a large amount of wastewater splashes out between the cleaning disc and the ship's surface, causing secondary soiling; secondly, the robot's walking mechanism may detach from the ship's surface, posing a risk of instability.

[0003] Based on the above problems, this application proposes a climbing robot for cleaning ship walls, which can achieve adaptive fitting of the wall curvature, thereby reducing the probability of sewage splashing out between the cleaning disc and the ship wall and the probability of the robot's walking mechanism detaching from the ship wall and becoming unstable. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a climbing robot for cleaning ship walls.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A climbing robot for cleaning ship walls, comprising a cleaning tray and a walking mechanism; The cleaning tray includes a cleaning tray body with an open bottom; the cleaning tray body includes a first shell, and second shells are symmetrically arranged on the front and rear sides of the first shell. The first shell and the second shell are sealed together by a retractable flexible folding component; a rubber sealing gasket is provided at the edge of the open bottom of the cleaning tray body, and a sealing brush is provided at the bottom end of the rubber sealing gasket along the circumferential direction. The top of each of the first and second housings is provided with a rotating nozzle that is inserted into the inner cavity of the cleaning tray body; The cleaning disc body is symmetrically provided with adjustment components on its left and right sides, which enable the second shell to descend relative to the first shell. The walking mechanism includes two sets of walking wheel sets distributed in the left-right direction. Each set of walking wheel sets includes two walking wheel assemblies symmetrically arranged in the front-back direction. Each walking wheel assembly includes an outer walking wheel. The walking wheel is equipped with a stepper motor and a reducer. The stepper motor and reducer are externally equipped with a housing. Several magnets are provided at the bottom of the housing. A walking adjustment component is installed between the two walking wheel assemblies in each walking wheel set; The walking adjustment component is connected to the adjustment component, and the walking adjustment component is connected to the first housing; when the adjustment component causes the second housing to descend relative to the first housing, the walking adjustment component causes the corresponding walking wheel to descend relative to the first housing.

[0006] Preferably, the flexible folding assembly adopts a flexible bellows protective cover.

[0007] Preferably, the rotating nozzle includes an outer tube and an inner tube arranged coaxially. The outer tube is fixedly connected to the cleaning disc body, and the inner tube is rotatably engaged with the outer tube. A spiral blade is fixedly arranged on the inner wall of the inner tube. Several spray pipes are vertically arranged at the bottom end of the inner tube, and the spray pipes are connected to the inner tube. Several nozzles are arranged along the length direction at the bottom end of the spray pipes.

[0008] Preferably, the outer pipe includes an upper outer pipe and a lower outer pipe, and the upper outer pipe and the lower outer pipe are connected by a flange. The inner wall of the outer tube and the outer wall of the inner tube are sealed together. The inner wall of the lower outer tube and the outer wall of the inner tube are rotated together.

[0009] Preferably, a plurality of rubber sealing sleeves are provided axially between the inner wall of the outer tube and the outer wall of the inner tube.

[0010] Preferably, the adjustment assembly includes an adjustment motor fixedly mounted on the first housing, the output shaft end of the adjustment motor being coaxially fixedly connected to a lead screw, the bottom end of the lead screw being rotatably engaged with a lower fixed plate, and the lower fixed plate being fixedly connected to the first housing; The bottom end of the regulating motor is provided with an upper fixing plate, and the upper fixing plate is provided with a through hole for the lead screw to pass through; Two guide posts parallel to the lead screw are provided between the upper fixed plate and the lower fixed plate. A lifting slider is threaded onto the lead screw, and the lifting slider slides with the guide posts. The end of the lifting slider facing the cleaning tray body is fixedly connected to the connector, and the front and rear ends of the bottom of the connector are respectively provided with a first connecting rod, a second connecting rod, and a spring; One end of the first connecting rod is hinged to the corresponding end of the connecting member, and the other end of the first connecting rod is hinged to the middle of the second connecting rod; the opposing ends of the two second connecting rods are both hinged to the first housing, and the other end of the second connecting rod is connected to one end of the corresponding side spring, and the other end of the spring is connected to the corresponding side second housing; A photoelectric sensor is installed at the bottom of each of the front and rear ends of the cleaning tray body; The photoelectric sensor is electrically connected to the regulating motor.

[0011] Preferably, the walking adjustment assembly includes a walking connector, the two ends of which are respectively hinged to the corresponding outer shells, a connecting rod is vertically fixedly installed in the middle of the walking connector, and an adjusting slider is slidably fitted on the connecting rod; an adjusting connecting rod is hinged to both the front and rear ends of the adjusting slider, and the other end of the adjusting connecting rod is hinged to the outer shell on the corresponding side; a limiting nut is provided at the top of the connecting rod to prevent the adjusting slider from sliding upward. The adjusting slider is fixedly connected to the lifting slider; The walking connector is fixedly connected to the first housing.

[0012] Preferably, a caster wheel is provided at the bottom of each of the left and right sides of the first housing; Two casters are provided at the bottom front end of the second housing on the front side and at the bottom rear end of the second housing on the rear side.

[0013] Preferably, a breather valve is provided at the top of the second housing.

[0014] Preferably, a wastewater recovery pipe is provided at the top of the second housing.

[0015] The beneficial effects of this invention are: (1) When the climbing robot for cleaning ship walls is used, the photoelectric sensor detects the distance between the bottom of the front and rear ends of the cleaning disc body and the ship wall in real time. When the distance is greater than the set value, the adjustment motor starts and controls the second shell to move down under the stretchable characteristics of the flexible folding component, so that the sealing brush always contacts the ship wall, and the cleaning disc adapts to the curvature of the wall, so that a relatively sealed space is formed between the cleaning disc body and the ship wall, thereby reducing the probability of sewage splashing out between the cleaning disc body and the ship wall; at the same time, when the lifting slider moves down, it drives the adjustment slider to move down. When the adjustment slider moves down, it will cause the walking wheel assembly to rotate downward around the end connected to the walking connector, that is, the walking wheel rotates downward, realizing the contact between the walking mechanism and the ship wall, thereby reducing the probability of the robot walking mechanism detaching from the ship wall and walking unsteadily; (2) In the present invention, the rotating nozzle structure allows high-pressure water to enter the inner tube and generate a swirling flow under the action of the internal spiral blades. The swirling impact of the high-pressure water causes the inner tube to drive the nozzle to rotate autonomously, so that the jet energy ejected from the nozzle is evenly distributed, achieving all-round impact cleaning of the ship's wall. The rotating nozzle structure in the present invention realizes autonomous rotation, replacing the existing electric rotation and reducing energy consumption. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0017] Figure 1 This is a three-dimensional schematic diagram of the climbing robot for cleaning ship walls according to the present invention; Figure 2 This is a schematic perspective view of the structure of the climbing robot for cleaning ship walls after removing the U-shaped connector; Figure 3 This is a three-dimensional schematic diagram of the cleaning disc in this invention. Figure 1 ; Figure 4 This is a three-dimensional schematic diagram of the cleaning disc in this invention. Figure 2 ; Figure 5 This is a schematic front view of the cleaning disc structure in this invention; Figure 6 This is a bottom view illustrating the structure of the cleaning disc in this invention; Figure 7 This is a schematic perspective view of the rotating nozzle structure in this invention; Figure 8 This is a schematic front view of the rotating nozzle structure in this invention; Figure 9 yes Figure 8 Sectional view along axis AA; Figure 10 This is a three-dimensional schematic diagram of the walking wheel assembly in this invention; Figure 11 This is a schematic perspective view of the structure of the walking wheel assembly after removing the outer shell in this invention; in: 1-Cleaning tray; 11-Cleaning disc body, 111-First housing, 112-Second housing, 113-Flexible folding assembly, 114-Sealing brush, 115-Breathing valve, 116-Sewage recovery pipe, 117-Rubber sealing gasket; 12-Rotary nozzle, 121-Outer tube, 1211-Upper outer tube, 1212-Lower outer tube, 122-Inner tube, 123-Helical blade, 124-Spray pipe, 125-Nozzle, 126-Rubber sealing sleeve, 127-Bearing; 13-Adjustment assembly, 131-Adjustment motor, 132-Lead screw, 133-Lower fixed plate, 134-Upper fixed plate, 135-Guide column, 136-Lifting slider, 137-Connector, 138-First connecting rod, 139-Second connecting rod, 1310-Spring, 1311-Photoelectric sensor; 14-Swivel wheels; 2-Walking wheel assembly; 21-Walking wheel, 211-Stepper motor, 212-Reducer, 213-Housing shell, 214-Magnet; 22-Walking adjustment assembly, 221-Walking connector, 222-Connecting rod, 223-Adjusting slider, 224-Limit nut, 225-Adjusting link; 3-U-shaped connector. Detailed Implementation

[0018] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] In this invention, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, and should not be construed as limiting this invention.

[0021] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] like Figures 1-2 As shown, a climbing robot for cleaning ship walls includes a cleaning tray 1 and a walking mechanism. The cleaning tray 1 includes a cleaning tray body 11 with an open bottom; as shown in the example Figures 3-6As shown, the cleaning tray body 11 includes a first housing 111, and second housings 112 are symmetrically arranged on the front and rear sides of the first housing 111. The first housing 111 and the second housing 112 are sealed together by a retractable flexible folding component 113. A rubber sealing gasket 117 is provided at the edge of the open bottom of the cleaning tray body 11, and a sealing brush 114 is provided at the bottom of the rubber sealing gasket 117 along the circumferential direction. In use, the sealing brush 117 contacts the ship wall and plays a certain sealing role in the inner cavity of the cleaning tray body 11. At the same time, the sealing brush 114 has bendable compressibility, which allows the cleaning tray 1 to adapt to the bumps caused by the robot due to the unevenness of the ship wall, so that the sealing brush 114 always contacts the ship wall. In addition, the setting of the sealing brush 114 can also prevent the cleaning tray body 11 from having violent collisions and friction with the ship wall. The top of each of the first housing 111 and the second housing 112 is provided with a rotating nozzle 12 that is inserted into the inner cavity of the cleaning tray body 11; The cleaning tray body 11 is symmetrically provided with adjustment components 13 on the left and right sides, which can lower the second housing 112 relative to the first housing 111. The walking mechanism includes two sets of walking wheel sets distributed in the left-right direction. Each set of walking wheel sets includes two walking wheel assemblies 2 symmetrically arranged in the front-back direction, such as... Figure 10-11 As shown, the walking wheel assembly 2 includes a walking wheel 21 located on the outer side. The walking wheel 21 is equipped with a stepper motor 211 and a reducer 212. The stepper motor 211 and the reducer 212 are provided with a housing 213. Several magnets 214 are provided at the bottom of the housing 213 to achieve adsorption on the ship wall, so that the robot has better grip. A walking adjustment component 22 is provided between the two walking wheel assemblies 2 in each walking wheel set; The walking adjustment component 22 is connected to the adjustment component 13 and is connected to the first housing 111. When the adjustment component 13 causes the second housing 112 to descend relative to the first housing 111, the walking adjustment component 22 causes the corresponding walking wheel 21 to descend relative to the first housing 111.

[0024] Preferably, the flexible folding assembly 113 adopts a flexible bellows cover.

[0025] Preferred, such as Figures 7-9As shown, the rotating nozzle 12 includes an outer tube 121 and an inner tube 122 coaxially arranged. The outer tube 121 is fixedly connected to the cleaning disc body 11, and the inner tube 122 is rotatably engaged with the outer tube 11. A spiral blade 123 is fixedly arranged on the inner wall of the inner tube 122. A plurality of spray pipes 124 are vertically arranged at the bottom end of the inner tube 122, and the spray pipes 124 are connected to the inner tube 122. A plurality of nozzles 125 are arranged along the length of the bottom end of each spray pipe 124. Specifically, as shown... Figure 6 As shown, three nozzles 124 are vertically arranged at the bottom end of the inner tube 122.

[0026] Preferred, such as Figure 9 As shown, the outer pipe 121 includes an upper outer pipe 1211 and a lower outer pipe 1212, and the upper outer pipe 1211 and the lower outer pipe 1212 are connected by a flange. The inner wall of the outer tube 1211 and the outer wall of the inner tube 122 are sealed together. The inner wall of the lower outer tube 1212 and the outer wall of the inner tube 122 are rotated together.

[0027] Preferably, a plurality of rubber sealing sleeves 126 are provided axially between the inner wall of the outer tube 1211 and the outer wall of the inner tube 122.

[0028] Specifically, the inner wall of the lower outer tube 1212 and the outer wall of the inner tube 122 are rotated together by a bearing 127.

[0029] Preferred, such as Figure 5 As shown, the adjustment assembly 13 includes an adjustment motor 131 fixedly mounted on the first housing 111. The output shaft end of the adjustment motor 131 is coaxially fixedly connected to the lead screw 132. The bottom end of the lead screw 132 is rotatably engaged with the lower fixing plate 133. The lower fixing plate 133 is fixedly connected to the first housing 111. The bottom end of the regulating motor 131 is provided with an upper fixing plate 134, and the upper fixing plate 134 is provided with a through hole for the lead screw 132 to pass through. Two guide posts 135 parallel to the lead screw 132 are provided between the upper fixed plate 134 and the lower fixed plate 133. A lifting slider 136 is threaded onto the lead screw 132, and the lifting slider 136 slides with the guide posts 135. The lifting slider 136 is fixedly connected to the connector 137 at one end facing the cleaning tray body 11. The connector 137 is provided with a first connecting rod 138, a second connecting rod 139, and a spring 1310 at the front and rear ends of its bottom, respectively. One end of the first connecting rod 138 is hinged to the corresponding end of the connector 137, and the other end of the first connecting rod 138 is hinged to the middle of the second connecting rod 139; the opposing ends of the two second connecting rods 139 are both hinged to the first housing 111, and the other end of the second connecting rod 139 is connected to one end of the corresponding side spring 1310, and the other end of the spring 1310 is connected to the corresponding side second housing 112; A photoelectric sensor 1311 is provided at the bottom of each of the front and rear ends of the cleaning tray body 11; The photoelectric sensor 1311 is electrically connected to the regulating motor 131.

[0030] Preferred, such as Figure 2 As shown, the walking adjustment assembly 22 includes a walking connector 221. Both ends of the walking connector 221 are hinged to corresponding housings 213. A connecting rod 222 is vertically fixed upwards in the middle of the walking connector 221. An adjusting slider 223 is slidably fitted onto the connecting rod 222. An adjusting connecting rod 225 is hinged to both the front and rear ends of the adjusting slider 223. The other end of the adjusting connecting rod 225 is hinged to the corresponding side of the housing 213. A limiting nut 224 is provided at the top of the connecting rod 222 to prevent the adjusting slider 223 from sliding upwards. The adjusting slider 223 is fixedly connected to the lifting slider 136; The walking connector 221 is fixedly connected to the first housing 111.

[0031] Specifically, the two walking connectors 221 on the left and right sides are fixedly connected by a U-shaped connector 3, and the U-shaped connector 3 is fixedly connected to the first housing 111.

[0032] During the use of the robot in this application, two photoelectric sensors 1311 detect the distance between the bottom of the front and rear ends of the cleaning tray body 11 and the ship wall in real time. When the distance is greater than the set value, the control adjustment motor 131 is started, causing the lead screw 132 to rotate and drive the lifting slider 136 to move down. Then, the connecting piece 137 drives the second housing 112 to move down through the first connecting rod 138, the second connecting rod 139, and the spring 1310, so that the sealing brush 114 always contacts the ship wall, realizing the adaptive fit of the cleaning tray according to the curvature of the wall, thereby reducing the probability of sewage splashing out between the cleaning tray body and the ship wall. At the same time, when the lifting slider 136 moves down, it drives the adjustment slider 223 to move down. When the adjustment slider 223 moves down, it will cause the walking wheel assembly 2 to rotate downward around the end connected to the walking connector 221, that is, the walking wheel 21 rotates downward, realizing the fit between the walking mechanism and the ship wall, thereby reducing the probability of the robot walking mechanism detaching from the ship wall and becoming unstable.

[0033] Specifically, in this application, the connector 137 has an inverted T-shaped structure.

[0034] Preferably, a caster wheel 14 is provided at the bottom of each of the left and right sides of the first housing 111; Two casters 14 are provided at the bottom front end of the second housing 112 located on the front side and at the bottom rear end of the second housing 112 located on the rear side.

[0035] The casters 14 provide some support for the cleaning disc 1.

[0036] Preferably, a breather valve 115 is provided at the top of the second housing 112. Adjusting the opening degree of the breather valve 115 can change the internal negative pressure value of the cleaning disc body 11, thus avoiding excessive negative pressure.

[0037] Preferably, a sewage recovery pipe 116 is provided at the top of the second housing 112.

[0038] A climbing robot for cleaning ship walls, the specific implementation of which is as follows: Before using the robot in this application, the inner pipe 122 is connected to the high-pressure water supply system, and the sewage recovery pipe 116 is connected to the recovery system. During robot movement, photoelectric sensor 1311 detects the distance between the bottom of the front and rear ends of the cleaning tray body 11 and the ship wall in real time. When the distance is greater than the set value, the adjusting motor 131 starts and controls the second shell 112 to move down under the stretchable characteristics of the flexible folding component 113, so that the sealing brush 114 always contacts the ship wall, realizing the adaptive fit of the cleaning tray 1 according to the curvature of the wall, so that a relatively sealed space is formed between the cleaning tray body 11 and the ship wall, thereby reducing the probability of sewage splashing out from between the cleaning tray body and the ship wall. At the same time, when the lifting slider 136 moves down, it drives the adjusting slider 223 to move down. When the adjusting slider 223 moves down, it will cause the walking wheel assembly 2 to rotate downward around the end connected to the walking connector 221, that is, the walking wheel 21 rotates downward, realizing the fit between the walking mechanism and the ship wall. Combined with the attraction of magnet 214 to the ship wall, the probability of the robot walking mechanism detaching from the ship wall and becoming unstable is reduced.

[0039] During cleaning, the high-pressure water supply system provides high-pressure water to the inner tube 122. After the high-pressure water enters the inner tube 122, it generates a swirling flow under the action of the internal spiral blades 123. The impact of the swirling flow of the high-pressure water causes the inner tube 122 to drive the nozzle 124 to rotate autonomously, so that the jet energy ejected from the nozzle 125 is evenly distributed, achieving all-round impact cleaning of the ship's wall. When wastewater needs to be recycled, the wastewater inside is pumped out through the recycling system.

[0040] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not intended to limit the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A climbing robot for cleaning ship walls, characterized in that, Includes the cleaning plate and the walking mechanism; The cleaning tray includes a cleaning tray body with an open bottom; the cleaning tray body includes a first shell, and second shells are symmetrically arranged on the front and rear sides of the first shell. The first shell and the second shell are sealed together by a retractable flexible folding component; a rubber sealing gasket is provided at the edge of the open bottom of the cleaning tray body, and a sealing brush is provided at the bottom end of the rubber sealing gasket along the circumferential direction. The top of each of the first and second housings is provided with a rotating nozzle that is inserted into the inner cavity of the cleaning tray body; The cleaning disc body is symmetrically provided with adjustment components on its left and right sides, which enable the second shell to descend relative to the first shell. The walking mechanism includes two sets of walking wheel sets distributed in the left-right direction. Each set of walking wheel sets includes two walking wheel assemblies symmetrically arranged in the front-back direction. Each walking wheel assembly includes an outer walking wheel. The walking wheel is equipped with a stepper motor and a reducer. The stepper motor and reducer are externally equipped with a housing. Several magnets are provided at the bottom of the housing. A walking adjustment component is installed between the two walking wheel assemblies in each walking wheel set; The walking adjustment component is connected to the adjustment component, and the walking adjustment component is connected to the first housing; when the adjustment component causes the second housing to descend relative to the first housing, the walking adjustment component causes the corresponding walking wheel to descend relative to the first housing.

2. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, The flexible folding assembly uses a flexible bellows-like protective cover.

3. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, The rotating nozzle includes an outer tube and an inner tube arranged coaxially. The outer tube is fixedly connected to the cleaning disc body, and the inner tube is rotatably connected to the outer tube. A spiral blade is fixedly arranged on the inner wall of the inner tube. Several spray pipes are vertically arranged at the bottom end of the inner tube and are connected to the inner tube. Several nozzles are arranged along the length direction at the bottom end of the spray pipes.

4. The climbing robot for cleaning ship walls as described in claim 3, characterized in that, The outer pipe includes an upper outer pipe and a lower outer pipe, and the upper outer pipe and the lower outer pipe are connected by a flange. The inner wall of the outer tube and the outer wall of the inner tube are sealed together. The inner wall of the lower outer tube and the outer wall of the inner tube are rotated together.

5. The climbing robot for cleaning ship walls as described in claim 4, characterized in that, Several rubber sealing sleeves are provided axially between the inner wall of the outer tube and the outer wall of the inner tube.

6. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, The adjustment assembly includes an adjustment motor fixedly mounted on the first housing. The output shaft of the adjustment motor is coaxially fixedly connected downward to a lead screw. The bottom end of the lead screw is rotatably engaged with a lower fixed plate. The lower fixed plate is fixedly connected to the first housing. The bottom end of the regulating motor is provided with an upper fixing plate, and the upper fixing plate is provided with a through hole for the lead screw to pass through; Two guide posts parallel to the lead screw are provided between the upper fixed plate and the lower fixed plate. A lifting slider is threaded onto the lead screw, and the lifting slider slides with the guide posts. The end of the lifting slider facing the cleaning tray body is fixedly connected to the connector, and the front and rear ends of the bottom of the connector are respectively provided with a first connecting rod, a second connecting rod, and a spring; One end of the first connecting rod is hinged to the corresponding end of the connecting member, and the other end of the first connecting rod is hinged to the middle of the second connecting rod; the opposing ends of the two second connecting rods are both hinged to the first housing, and the other end of the second connecting rod is connected to one end of the corresponding side spring, and the other end of the spring is connected to the corresponding side second housing; A photoelectric sensor is installed at the bottom of each of the front and rear ends of the cleaning tray body; The photoelectric sensor is electrically connected to the regulating motor.

7. The climbing robot for cleaning ship walls as described in claim 6, characterized in that, The walking adjustment assembly includes a walking connector, with both ends of the walking connector hinged to corresponding housings. A connecting rod is vertically fixed upward in the middle of the walking connector, and an adjusting slider is slidably fitted on the connecting rod. An adjusting link is hinged to both ends of the adjusting slider, and the other end of the adjusting link is hinged to the housing on the corresponding side. A limiting nut is provided at the top of the connecting rod to prevent the adjusting slider from sliding upward. The adjusting slider is fixedly connected to the lifting slider; The walking connector is fixedly connected to the first housing.

8. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, A caster wheel is provided on the bottom of each of the left and right sides of the first housing; Two casters are provided at the bottom front end of the second housing on the front side and at the bottom rear end of the second housing on the rear side.

9. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, A breather valve is provided at the top of the second housing.

10. The climbing robot for cleaning ship walls as described in claim 1, characterized in that, A wastewater recovery pipe is provided at the top of the second housing.

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