Crawler-type ship cleaning robot

Abstract

The present application relates to a kind of tracked ship cleaning robot, comprising: tracked walking mechanism, including connecting support and the walking component being separately arranged in the two sides of the connecting support, the inner side of the walking component is equipped with baffle;Cleaning mechanism, including at least one set of one-to-one arrangement cleaning disc component and cleaning drive component;The cleaning disc component is between the walking component, and the cleaning drive component is above the connecting support;The cleaning disc component includes rotating shaft and spray pipe, the rotating shaft is equipped with fluid passage, the fluid passage is configured to be able to guide high-pressure fluid to spray pipe for cleaning surface to be cleaned, the spray pipe is synchronously rotated with the rotating shaft;The cleaning drive component is configured to at least be able to provide part driving force for the rotating shaft, and the rotating speed of the rotating shaft can be controlled;The high-pressure fluid and the cleaning drive component jointly provide rotating power for the rotating shaft.

Description

Technical Field

[0001] This invention relates to the field of ship cleaning technology, and in particular to a tracked ship cleaning robot. Background Technology

[0002] In recent years, with the development of my country's shipping industry, the volume of waterway freight has been rising continuously. Because ships navigate in the water for extended periods, algae, barnacles, and other marine organisms accumulate on their hulls, severely impacting shipping operations. These attached organisms not only damage the hull but also increase drag, leading to higher shipping costs. Therefore, it is necessary to regularly clean the surfaces of ships.

[0003] In China, ship surface cleaning is mostly done manually using handheld shovels and other tools, which is inefficient, easily damages the paint, and cannot be done in inclement weather. In recent years, with technological advancements, ship cleaning robots have emerged. However, previous ship cleaning robots suffered from the following problems: low reliability of the walking mechanism, with tracks easily getting stuck with oysters, affecting normal track operation; inconsistent rotation speeds of the cleaning discs on both sides of the robot, resulting in poor cleaning effects on both sides; and poor adhesion, making it easy for the robot to detach from the ship's surface during movement. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a tracked ship cleaning robot to at least solve one of the above problems.

[0005] This invention provides a tracked ship cleaning robot, comprising:

[0006] The tracked traveling mechanism includes a connecting bracket and traveling components disposed on both sides of the connecting bracket, wherein the inner side of the traveling components is provided with a baffle.

[0007] A cleaning mechanism includes at least one set of corresponding cleaning disc assemblies and cleaning drive assemblies; the cleaning disc assemblies are located between the traveling assemblies, and the cleaning drive assemblies are located above the connecting bracket; each cleaning disc assembly includes a rotating shaft and a nozzle, the rotating shaft having a fluid channel configured to guide high-pressure fluid to the nozzle for cleaning the surface to be cleaned, the nozzle rotating synchronously with the rotating shaft; the cleaning drive assemblies are configured to provide at least a portion of the driving force to the rotating shaft and to control the rotational speed of the rotating shaft; the high-pressure fluid and the cleaning drive assemblies together provide rotational power to the rotating shaft.

[0008] Furthermore, the cleaning mechanism also includes a flow supply component configured to provide at least a high-pressure fluid for cleaning to the cleaning tray assembly;

[0009] The flow supply assembly includes an inlet pipe and at least one connecting pipe, one end of which is connected to the inlet pipe and the other end of which is connected to the fluid channel;

[0010] The number of the connecting pipes is the same as the number of the cleaning tray assemblies, and the connecting pipes correspond one-to-one with the cleaning tray assemblies.

[0011] Furthermore, the cleaning disc assembly also includes a cleaning disc and a connecting cylinder;

[0012] The cleaning disc is mounted on the spray pipe;

[0013] The connecting cylinder is detachably connected to the cleaning disc;

[0014] The rotating shaft is at least partially located within the connecting cylinder, and the rotating shaft is rotatably connected to the connecting cylinder; one end of the rotating shaft is drive-connected to the cleaning drive assembly, and the other end of the rotating shaft extends into the cleaning disc and is connected to the spray nozzle;

[0015] Preferably, the connecting cylinder body is provided with a first cavity and an inlet communicating with the first cavity, and the inlet is connected to the connecting pipe;

[0016] The rotating shaft is provided with at least one fluid inlet, which is connected to the first cavity and the fluid channel;

[0017] Preferably, the position of the inlet corresponds to the position where the rotating shaft has a fluid inlet;

[0018] Preferably, the first cavity is provided with a first connection port and a second connection port through which both ends of the rotating shaft pass, and the sidewalls of the rotating shaft are dynamically sealed to the first connection port and the second connection port respectively;

[0019] Preferably, the cleaning disc assembly includes multiple nozzles; the rotating shaft is provided with multiple fluid outlets, the number of fluid outlets being the same as the number of nozzles, and each nozzle and each fluid outlet corresponding to the other.

[0020] Furthermore, the rotating shaft includes a first rotating part and a second rotating part that are detachably connected. The first rotating part and the second rotating part together define the fluid channel. The fluid inlet is opened on the side wall of the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part.

[0021] The first rotating part is detachably disposed in the first cavity. One end of the first rotating part passes through the first connection port and is connected to the cleaning drive assembly. The other end of the first rotating part passes through the second connection port and extends into the cleaning tray and is detachably connected to the second rotating part.

[0022] The second rotating part is located inside the cleaning tray, and the top end of the second rotating part is detachably connected to the first rotating part. The fluid outlet is opened on the side wall of the second rotating part.

[0023] Preferably, the first rotating part is provided with an assembly hole communicating with the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided on the side wall of the first rotating part at a position corresponding to the assembly hole;

[0024] The top end of the second rotating part mates with the mounting hole, and the top end of the second rotating part can be inserted into the mounting hole; the side wall of the second rotating part is provided with a second connecting protrusion that mates with the first connecting protrusion;

[0025] The second rotating part is inserted into the assembly hole, and the first connecting protrusion and the second connecting protrusion are fitted together and detachably connected.

[0026] Furthermore, the cleaning mechanism also includes a connecting main beam;

[0027] The connecting main beam includes a central assembly section and at least one support assembly section. The support assembly sections are evenly arranged on the outside of the central assembly section, and the distance between the support assembly sections and the central assembly section is the same.

[0028] The flow supply component is detachably installed in the central assembly section;

[0029] The number of support assembly parts is the same as the number of cleaning disc assemblies, and the cleaning disc assemblies and cleaning drive assemblies are respectively arranged one above the other in the support assembly parts.

[0030] Furthermore, the baffle can be projected onto the direction of the walking assembly to completely cover the walking assembly, so as to prevent the debris washed off by the cleaning mechanism from entering the walking assembly.

[0031] Furthermore, the walking assembly includes a drive sprocket, a guide sprocket, a track, and an assembly main beam;

[0032] One end of the assembly main beam is provided with a drive sprocket, and the other end of the assembly main beam is provided with a guide sprocket through a tensioning member. The drive sprocket and the guide sprocket are able to rotate relative to the assembly main beam.

[0033] The track is fitted onto the drive sprocket and the guide sprocket, and the track is connected to the drive sprocket and the guide sprocket in a driving connection.

[0034] The connecting bracket passes through the baffle and connects to the assembly main beam;

[0035] Preferably, the track includes a track section and a track plate section disposed outside the track section, the drive sprocket and the guide sprocket are respectively engaged with the track section, and the track section drives the track plate section to rotate synchronously;

[0036] Preferably, the walking assembly further includes a plurality of support wheel sets located between the drive sprocket and the guide sprocket;

[0037] The support wheel assembly is rotatably connected to the main assembly beam and abuts against the track plate.

[0038] The support wheel assembly includes two oppositely arranged wheel bodies, and the track section passes through the two wheel bodies of the support wheel assembly;

[0039] Preferably, the outer side of the walking assembly is provided with a track float that cooperates with the track;

[0040] The track float is provided with a window at the position opposite to the support wheel assembly to expose the outer wheel body of the support wheel assembly;

[0041] Preferably, the upper and lower sides of the track float do not extend beyond the inner sidewall of the track plate portion.

[0042] Furthermore, the tracked ship cleaning robot also includes a main support frame;

[0043] The main support includes a first frame component and a second frame component arranged in parallel, and a plurality of connecting columns located between the first frame component and the second frame component;

[0044] The main support structure also includes:

[0045] The walking assembly is located at the bottom of the second frame assembly and is configured to detachably assemble the track walking mechanism; the connecting bracket is detachably connected to the bottom of the second frame assembly, and the walking components are respectively disposed on both sides of the second frame assembly;

[0046] A cleaning assembly is located between the first frame assembly and the second frame assembly, and at the center of the main support; the cleaning assembly is configured to detachably assemble the cleaning mechanism; the cleaning tray of the cleaning tray assembly is located below the second frame assembly, the connecting main beam of the cleaning mechanism is detachably disposed in the cleaning assembly, and the cleaning drive assembly extends from the top of the first frame assembly.

[0047] Furthermore, the first frame component includes a first outer frame and a plurality of first connecting beams located within the first outer frame;

[0048] The second frame component includes a second outer frame and a plurality of second connecting beams located within the second outer frame;

[0049] The first outer frame and the second outer frame are arranged parallel to each other vertically, and the first connecting beams, the second connecting beams, and the first connecting beams and the second connecting beams are all arranged parallel to each other.

[0050] The two ends of the connecting column are respectively perpendicularly connected to the first frame component and the second frame component;

[0051] Preferably, the first outer frame and the second outer frame are rectangular frames.

[0052] Furthermore, the tracked ship cleaning robot also includes a main control mechanism, a sensing mechanism, four vertical thrusters, four horizontal thrusters, lighting, and a camera;

[0053] The main support structure also includes:

[0054] The main control assembly is configured to be detachably assembled with the main control mechanism; the main control assembly is located between the first frame assembly and the second frame assembly, and is located in front of the cleaning assembly;

[0055] The sensor assembly is configured to be detachably assembled with the sensor mechanism; the sensor is located between the first frame assembly and the second frame assembly, and is located on the rear side of the cleaning assembly.

[0056] Four vertical propulsion assembly racks are configured to detachably assemble the vertical propellers, with the four vertical propellers located on the inner sides of the four corners of the first outer frame; the opening direction of the vertical propellers is vertically upward.

[0057] Four horizontal propulsion assembly columns are configured to detachably mount the horizontal propellers, with the four horizontal propellers located below the four corners of the first outer frame. The horizontal propulsion assembly columns are configured such that the angle between the propulsion direction of the horizontal propellers and the front or rear face of the main support is 45°, and the opening direction of the two front horizontal propellers is horizontally forward and inward at 45°, while the opening direction of the two rear horizontal propellers is horizontally backward and inward at 45°.

[0058] Multiple lighting and camera mounts are configured to detachably mount lighting lamps and / or cameras; the lighting and camera mounts are located at the front and rear ends of the main support frame, so that cameras and lighting lamps are installed at both the front and rear ends of the tracked ship cleaning robot. Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0059] (1) By setting a baffle on the side of the walking component close to the cleaning plate component, the debris cleaned by the cleaning mechanism is prevented from spreading directly into the walking component (especially when the ship cleaning robot is located on the side wall of the ship, the debris will fall into the walking component below under the action of gravity), affecting the normal operation of the walking component, and also preventing debris from entering the walking component and damaging its internal parts, thus extending the service life of the track walking mechanism.

[0060] (2) By accurately controlling the rotation speed of the rotating shaft through the cleaning drive component, it is possible to avoid damage to the cleaning surface caused by excessive high pressure fluid pressure leading to excessively fast nozzle rotation speed, and also to avoid poor cleaning effect caused by insufficient high pressure fluid pressure leading to excessively slow nozzle rotation speed, thus ensuring the cleaning effect of the cleaning mechanism.

[0061] (3) By using high-pressure fluid and cleaning drive components to drive the rotation of the rotating shaft, the driving force generated by the high-pressure fluid on the nozzle is rationally utilized. This not only saves energy and reduces emissions, but also makes the cleaning drive components too large, increasing the counterweight and volume of the cleaning mechanism and reducing the scope of use and flexibility of the cleaning mechanism.

[0062] (4) The main control mechanism, cleaning mechanism and sensing mechanism of the tracked ship cleaning robot, which are relatively heavy, are sequentially and detachably arranged between the first frame assembly and the second frame assembly through the main control assembly, cleaning assembly and sensing assembly. The other heavy walking mechanism of the ship cleaning robot is detachably arranged below the second frame assembly through the walking assembly. On the one hand, this makes the structure of the tracked ship cleaning robot more compact and the weight distribution more even and reasonable, which can effectively reduce the volume of the tracked ship cleaning robot and improve its flexibility. On the other hand, it enables the modular disassembly and assembly of each mechanism of the tracked ship cleaning robot, which is convenient for modular management and later maintenance.

[0063] (5) The nozzle speed is precisely controlled by controlling the speed of the motor in the cleaning drive assembly, thereby achieving good adsorption and cleaning effect; in addition, the controller can ensure that the cleaning effect of all cleaning components is consistent, so that the cleaning device has a uniform cleaning effect.

[0064] (6) The present invention has a compact structure and small size. It adopts a modular design, which makes it convenient for each module to be assembled and debugged individually, and also facilitates maintenance and repair. The nozzle speed and adsorption force are controllable, which can ensure a better cleaning effect and improve the reliability of the cleaning disc adsorbing the hull.

[0065] (7) The cleaning component and the cleaning drive component are connected together by the connecting main beam. The cleaning drive component and the high-pressure water jointly drive the rotating shaft in the cleaning component to rotate. The rotation status can be monitored by the controller or / and the host computer, so that the rotation speed can be adjusted according to the set speed. This adjusts the adsorption force between the cleaning component and the surface to be cleaned. It also overcomes the disadvantages of inconsistent rotation speed of the rotating joints on both sides due to the difference in high-pressure water supply pressure and the inconsistent wear of the seals on both sides. This ensures that the cleaning effect of all cleaning components is consistent.

[0066] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0067] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0068] Figure 1 This is a schematic diagram of the tracked ship cleaning robot in a specific implementation (I);

[0069] Figure 2 This is a schematic diagram (II) of the structure of the tracked ship cleaning robot in a specific implementation method;

[0070] Figure 3 This is a structural schematic diagram of the tracked walking mechanism in a specific implementation embodiment;

[0071] Figure 4 This is a schematic diagram of the walking assembly after the track floats have been removed in a specific implementation.

[0072] Figure 5 This is a partial enlarged view of the walking assembly after the track floats have been removed in a specific embodiment;

[0073] Figure 6 This is a schematic diagram of the cleaning mechanism in a specific implementation (I);

[0074] Figure 7 This is a schematic diagram (II) of the cleaning mechanism in a specific implementation method;

[0075] Figure 8 This is a cross-sectional view of the cleaning mechanism in a specific embodiment;

[0076] Figure 9 This is a schematic diagram of the flow supply component in a specific implementation embodiment;

[0077] Figure 10 This is a schematic diagram of the cleaning disc assembly in a specific implementation embodiment;

[0078] Figure 11 This is a cross-sectional view of the cleaning disc assembly in a specific embodiment;

[0079] Figure 12 This is a schematic diagram of the structure of the cleaning disc assembly after the cleaning disc is removed in a specific embodiment;

[0080] Figure 13 This is a schematic diagram of the structure of the first rotating part in a specific embodiment;

[0081] Figure 14 This is a cross-sectional view of the first rotating part in a specific embodiment;

[0082] Figure 15 This is a schematic diagram of the structure of the second rotating part in a specific embodiment;

[0083] Figure 16 This is a cross-sectional view of the second rotating part in a specific embodiment;

[0084] Figure 17 This is a schematic diagram of the structure connecting the cylinder block in a specific implementation embodiment;

[0085] Figure 18 This is a cross-sectional view of the cylinder block in a specific embodiment;

[0086] Figure 19 This is a schematic diagram of the cleaning drive component in a specific implementation embodiment;

[0087] Figure 20 This is a schematic diagram of the drive shaft in a specific implementation embodiment;

[0088] Figure 21 This is a schematic diagram of the structure connecting the main beam in a specific implementation method (I);

[0089] Figure 22 This is a schematic diagram (II) of the structure connecting the main beam in a specific implementation method;

[0090] Figure 23 This is a schematic diagram of the main support frame after assembling some robot components in a specific embodiment.

[0091] Figure 24 This is a top view of the main support structure in a specific implementation embodiment;

[0092] Figure 25 This is a side view of the main support structure in a specific implementation embodiment;

[0093] Figure 26 This is a schematic diagram of the main support structure in a specific implementation.

[0094] Figure label:

[0095] 1- Tracked traveling mechanism; 11- Connecting bracket; 111- Traveling main beam; 111a- Connecting assembly; 111b- Support pad; 12- Traveling component; 121- Baffle; 122- Drive sprocket; 123- Guide sprocket; 124- Track; 124a- Track track; 124b- Track pad; 125- Assembly main beam; 125a- Limiting component; 126- Tensioner; 126a- First tensioner; 126b- Second tensioner; 126c- Connecting slide bar; 126d- Elastic component; 126e- Limiting ring; 127- Support wheel set; 128- Track float; 13- Traveling... 2-Drive assembly; 2-Cleaning mechanism; 21-Cleaning disc assembly; 211-Rotating shaft; 211-1-First rotating part; 211-2-Second rotating part; 211a-Fluid channel; 211b-Fluid inlet; 211c-Fluid outlet; 211d-Assembly hole; 211e-First connecting protrusion; 211f-Second connecting protrusion; 211j-Slot; 212-Nozzle; 213-Cleaning disc; 214-Connecting cylinder; 214a-First cavity; 214b-Inlet; 214c-First connection port; 214d-Second connection port; 22-Cleaning drive assembly; 221- Drive shaft; 221a-Slot; 221b-Plug-in; 222-Drive motor; 222a-Output shaft; 223-Motor compartment; 224-Transmission compartment; 23-Flow supply assembly; 231-Inlet pipe; 232-Connecting pipe; 233-Flow divider; 24-Connecting main beam; 241-Central assembly; 242-Support assembly; 242a-Window; 242b-Connecting protrusion; 242c-Padded block; 243-Main beam frame; 3-Main body support; 301-Walking assembly; 302-Cleaning assembly; 303-Main control assembly; 303a-Pressure element; 303b-Lower drag Components; 304-Sensing assembly; 305-Vertical propulsion assembly frame; 306-Horizontal propulsion assembly column; 307-Lighting and camera support; 31-First frame assembly; 311-First outer frame; 312-First connecting beam; 32-Second frame assembly; 321-Second outer frame; 322-Second connecting beam; 33-Connecting column; 34-Third connecting beam; 341-Connecting extension plate; 35-Lifting part; 36-Wire trough frame; 37-Protective cover; 4-Main control mechanism; 5-Sensing mechanism; 6-Vertical propeller; 7-Horizontal propeller; 8-Lighting lamp; 9-Camera; 10-Floating plate. Detailed Implementation

[0096] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0097] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connected" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0098] Throughout the text, the terms “top,” “bottom,” “above,” “below,” and “on top” refer to the relative positions of components of the device, such as the relative positions of the top and bottom substrates within the device. It is understood that the device is multifunctional and independent of its spatial orientation.

[0099] The working surface of this invention can typically be a plane or a curved surface, and can be inclined or horizontal. For ease of explanation, the embodiments of this invention are placed on a horizontal surface and used on a horizontal surface, thereby defining "height" and "vertical".

[0100] One specific embodiment of the present invention discloses a tracked ship cleaning robot (hereinafter referred to as the robot), such as... Figures 1 to 26 As shown, it includes:

[0101] The tracked walking mechanism 1 includes a connecting bracket 11 and walking components 12 disposed on both sides of the connecting bracket 11. The inner side of the walking component 12 is provided with a baffle 121. Preferably, the two walking components are symmetrically arranged on both sides of the connecting bracket.

[0102] The cleaning mechanism 2 includes at least one set of cleaning disc assemblies 21 and cleaning drive assemblies 22, which are arranged in a one-to-one correspondence. Specifically, it includes at least one set of cleaning disc assemblies 21 and at least one set of cleaning drive assemblies 22, with the same number of each set and arranged in a one-to-one correspondence. The number of cleaning disc assemblies 21 and cleaning drive assemblies 22 is N, where N is an integer and N≥1. The cleaning disc assemblies 21 are located between the traveling assemblies 12, and the cleaning drive assemblies 21 are located above the connecting bracket 11. The cleaning disc assembly 21 includes a rotating shaft 211 and a nozzle 212. The rotating shaft 211 has a fluid channel 211a, which is configured to guide high-pressure fluid to the nozzle 212 for cleaning the surface to be cleaned. The nozzle 212 rotates synchronously with the rotating shaft 211. The cleaning drive assemblies 22 are configured to provide at least a portion of the driving force to the rotating shaft 21 and to control the rotational speed of the rotating shaft. The high-pressure fluid and the cleaning drive assemblies together provide rotational power to the rotating shaft.

[0103] This configuration serves two purposes. First, by accurately controlling the rotational speed of the rotating shaft (i.e., the nozzle) through the cleaning drive assembly, it avoids damage to the cleaning surface (such as damaging the paint on a ship's surface) caused by excessively high-pressure fluid pressure leading to excessively fast nozzle rotation, while also preventing poor cleaning results due to insufficient high-pressure fluid pressure causing excessively slow nozzle rotation, thus ensuring the cleaning effect of the cleaning device. Second, by using the high-pressure fluid and the cleaning drive assembly to jointly drive the rotation of the rotating shaft, the driving force generated by the high-pressure fluid on the nozzle is rationally utilized, which not only saves energy and reduces emissions, making it more environmentally friendly, but also avoids increasing the size and weight of the cleaning mechanism by making the cleaning drive assembly too large, thus reducing the scope of use and flexibility of the cleaning mechanism. This is because if the rotating shaft were driven solely by the cleaning drive assembly, a very powerful cleaning drive assembly would be required, resulting in a large weight and size for the cleaning drive assembly.

[0104] The driving effect of the cleaning drive assembly and the high-pressure fluid on the rotating shaft includes two cases: one case is that the driving force of the cleaning drive assembly 22 and the high-pressure fluid on the rotating shaft 211 is in the same direction, and the other case is that the driving force of the cleaning drive assembly 22 and the high-pressure fluid on the rotating shaft 211 is in opposite directions. Specifically, the rotational speed achievable solely by driving the rotating shaft 211 with high-pressure fluid is the fluid-driven rotational speed. When the fluid-driven rotational speed is greater than the preset rotational speed of the rotating shaft 211, the driving forces of the cleaning drive assembly 22 and the high-pressure fluid on the rotating shaft 211 are in opposite directions. That is, the driving effect produced by the cleaning drive assembly 22 should be reverse driving, meaning that the cleaning drive assembly 22 and the high-pressure fluid drive the rotating shaft 211 in opposite directions to avoid damage to the cleaning surface due to excessive nozzle rotational speed caused by excessive pressure of the high-pressure fluid. When the fluid-driven rotational speed is less than or equal to the preset rotational speed of the rotating shaft 211, the driving forces of the cleaning drive assembly 22 and the high-pressure fluid on the rotating shaft 211 are in the same direction. That is, the driving effect produced by the cleaning drive assembly 22 should be forward driving, meaning that the cleaning drive assembly 22 and the high-pressure fluid drive the rotating shaft 211 in the same direction to ensure the cleaning effect of the cleaning disc assembly 21.

[0105] The high-pressure fluid refers to a fluid with a pressure of 5 MPa or higher, which can drive the rotating shaft 211 to rotate the nozzle 212. Preferably, the pressure of the high-pressure fluid is 6 to 300 MPa.

[0106] The fluid can be water, cavitation liquid, or a liquid mixed with cleaning agents to enhance the cleaning effect.

[0107] According to one embodiment of the present invention, the cleaning mechanism 2 further includes a flow supply component 23, which is configured to at least provide high-pressure fluid for cleaning to the cleaning tray assembly 21.

[0108] The flow supply component 23 includes an inlet pipe 231 and N connecting pipes 232 connected to the inlet pipe 231. One end of the connecting pipe 232 is connected to the inlet pipe 231, and the other end of the connecting pipe 232 is connected to the fluid channel 211a of the cleaning disc assembly 21. The high-pressure fluid is distributed from the inlet pipe 231 to the N cleaning disc assemblies 21 (i.e., the connecting pipes 232 and the cleaning disc assemblies 21 correspond one-to-one) through the N connecting pipes 232. The high-pressure fluid enters the fluid channel 211a and drives the rotating shaft 211 to rotate under the combined action of the high-pressure fluid and the cleaning drive component 22. The rotating shaft 211 drives the nozzle 212 to rotate synchronously, so that the rotation speed of the rotating shaft 211 can be precisely controlled, and the cleaning effect of the cleaning disc assembly 21 is controllable.

[0109] The inlet pipe 231 is connected to N connecting pipes 232 via a diverter 233 to evenly distribute the high-pressure fluid into the N connecting pipes 232. That is, the supply assembly 23 includes a diverter 233, which is an N+1-way connector (exemplarily, when N=2, the diverter 233 is a three-way connector). The diverter 233 includes a main inlet and N branch outlets connected to the main inlet. One end of the inlet pipe 231 is connected to the mechanism supplying the high-pressure fluid, and the other end is connected to the main inlet. One end of the connecting pipe 232 is connected to the branch outlets, and the other end is connected to the fluid channel 211a of the cleaning tray assembly 21 to introduce the high-pressure fluid into the cleaning tray assembly 21.

[0110] It should be noted that, ideally, the high-pressure fluid entering from the main inlet of the diverter 233 is divided into N parts, and then introduced into the cleaning tray assembly 21 from the N branch outlets through the connecting pipe 232. However, in actual applications, due to manufacturing processes, the degree of wear of components, and differences in connections, the pressure difference of the high-pressure fluid in the connecting pipe 232 may be different.

[0111] The four components—N branch outlets, N connecting pipes, N cleaning disc assemblies 21, and N cleaning drive assemblies 22—are each adapted and connected to each other.

[0112] Preferably, the main inlet is located on the top end face of the diverter 233, and the branch outlet is located on the side wall of the diverter 233. In this embodiment, N=2, that is, there are two connecting pipes 232, branch outlets, cleaning tray assembly 21, and cleaning drive assembly 22. To make the structure of the supply assembly 23 more compact, the two branch outlets are located on the same side wall, and the connecting pipe 232 transitions from the branch outlet to the cleaning tray assembly 21 in a semi-circular shape, that is, the shape of the connecting pipe 232 is a semi-circular tube. The inlet pipe 231 transitions in a straight line from the main inlet to the mechanism for supplying high-pressure fluid, that is, the shape of the inlet pipe 231 is a straight tube.

[0113] The diverter 233 is provided with a diverter cavity, and the main inlet and the branch outlet are connected to the diverter cavity. After the high-pressure fluid enters the diverter cavity from the main inlet, it flows into the connecting pipe 232 through the N branch outlets. The diverter cavity enables the high-pressure fluid to be diverted into the N connecting pipes 232 more quickly.

[0114] Preferably, the inlet pipe 231 and the connecting pipe 232 are detachably connected to the flow divider 233 for later maintenance and replacement, and to facilitate modularization of the flow supply assembly 23. To prevent leakage of high-pressure fluid, the inlet pipe and the connecting pipe are sealed to the flow divider.

[0115] According to one embodiment of the present invention, the cleaning disc assembly 21 further includes a cleaning disc 213 and a connecting cylinder 214. The cleaning disc 213 is mounted on the nozzle 212. The connecting cylinder 214 is detachably connected to the cleaning disc 213. The rotating shaft 211 is at least partially located within the connecting cylinder 214 and is rotatably connected to the connecting cylinder 214, meaning that the rotating shaft 211 can rotate relative to the connecting cylinder 214. One end of the rotating shaft 211 is drively connected to the cleaning drive assembly 22 so that the cleaning drive assembly 22 can drive the rotating shaft 211 to rotate. The other end of the rotating shaft 211 extends into the cleaning disc 213 and is connected to the nozzle 212 so that the nozzle 212 rotates synchronously with the rotating shaft 211.

[0116] The cleaning disc 213 is provided with an assembly space for assembling the nozzle 212. The rotating shaft 211 drives the nozzle to rotate inside the cleaning disc under the joint drive of the high-pressure fluid and the cleaning drive assembly 22, which can generate negative pressure to make the cleaning disc adhere to the surface to be cleaned.

[0117] Specifically, the connecting cylinder 214 is provided with a first cavity 214a and an inlet 214b communicating with the first cavity 214a. The inlet 214b is connected to the connecting pipe 232, that is, the connecting pipe 232 is connected to the cleaning disc assembly 21 through the inlet 214b, and the high-pressure fluid enters the first cavity 214a through the inlet 214b.

[0118] The rotating shaft 211 is provided with at least one fluid inlet 211b to connect the first cavity 214a and the fluid channel 211a. That is, high-pressure fluid enters the fluid channel 211a from the first cavity 214a through the fluid inlet 211b. In other words, the fluid inlet 211b is connected to both the first cavity 214a and the fluid channel 211a. The fluid inlet 211b is located on the side wall of the rotating shaft 211 and within the first cavity 214a. Preferably, the rotating shaft 211 is provided with multiple fluid inlets 211b, and these multiple fluid inlets 211b are evenly distributed at the same height on the side wall of the rotating shaft 211 to quickly introduce the high-pressure fluid from the first cavity 214a into the fluid channel 211a. In this embodiment, four fluid inlets 211b are provided on the side wall of the rotating shaft 211.

[0119] To ensure that the high-pressure fluid enters the fluid channel of the rotating shaft 211 quickly, the position of the inlet 214b corresponds to the position of the fluid inlet 211b on the rotating shaft 211. That is, the fluid inlet 211b is opened at the position opposite to the inlet 214b on the rotating shaft 211. On the one hand, this facilitates the rapid entry of the high-pressure fluid into the fluid channel 211a, and on the other hand, it facilitates the high-pressure fluid to drive the rotation of the rotating shaft 211.

[0120] The first cavity 214a is provided with a first connection port 214c and a second connection port 214d through which the two ends of the rotating shaft 211 pass. The sidewalls of the rotating shaft 211 are dynamically sealed to the first connection port 214c and the second connection port 214d, respectively, to ensure the sealing of the first cavity 214a and prevent high-pressure fluid leakage without affecting the rotation of the rotating shaft 211. One end (the first end) of the rotating shaft 211 passes through the first connection port 214c and is connected to the cleaning drive assembly 22 for transmission, and the other end (the last end) of the rotating shaft 211 passes through the second connection port 214d and is connected to the nozzle 212.

[0121] To improve the cleaning effect of the cleaning disc assembly 21, the cleaning disc assembly 21 includes multiple nozzles 212. The end of the rotating shaft 211 (i.e., the end of the rotating shaft 211 that extends into the cleaning disc 213) has multiple fluid outlets 211c on its side wall. The number of fluid outlets 211c is the same as the number of nozzles 212. The nozzles 212 are connected to the fluid channel 211a through the fluid outlets 211c, meaning the fluid outlets 211c are connected to the fluid channel 211a. The nozzles 212 and fluid outlets 211c are matched and correspond one-to-one. High-pressure fluid in the fluid channel 211a is introduced into the nozzles 212 through the fluid outlets 211c. In this embodiment, there are three nozzles 212, and the three fluid outlets 211c are evenly distributed on the side wall of the end of the rotating shaft 211.

[0122] To ensure smooth flow of high-pressure fluid, the fluid channel 211a is a straight channel (preferably cylindrical), and the opening directions of the fluid inlet 211b and the fluid outlet 211c are both perpendicular to the centerline of the fluid channel. The fluid channel 211a coincides with the centerline of the rotating shaft 211.

[0123] To facilitate the assembly, maintenance, and modular design of the cleaning disc assembly 21, the rotating shaft 211 includes a detachably connected first rotating part 211-1 and a second rotating part 211-2. Both the first and second rotating parts 211-1 and 211-2 are provided with channels for fluid passage; that is, the first and second rotating parts 211-1 and 211-2 together define the fluid channel 211a. The fluid inlet 211b is located on the side wall of the first rotating part 211-1, and the fluid outlet 211c is located on the side wall of the second rotating part 211-2. The first rotating part 211-1 is located above the second rotating part 211-2, meaning the lower end of the first rotating part 211-1 is detachably connected to the upper end of the second rotating part 211-2, and their center lines coincide to ensure synchronous rotation of the first rotating part 211-1 and the second rotating part 211-2.

[0124] The first rotating part 211-1 is detachably disposed within the first cavity 214a and is rotatably connected to the first cavity 214a. One end of the first rotating part 211-1 passes through the first connection port 214c and is connected to the cleaning drive assembly 22. The side wall of the first rotating part 211-1 is provided with a fluid inlet 211b communicating with the first cavity. The other end of the first rotating part 211-1 passes through the second connection port 214d and extends into the cleaning tray 213, and is detachably connected to the second rotating part 211-2. The side wall of the first rotating part 211-1 is dynamically sealed to the first connection port 214c and the second connection port 214d respectively. The cleaning drive assembly 22 and the high-pressure fluid jointly drive the first rotating part 211-1 to rotate.

[0125] The second rotating part 211-2 is located inside the cleaning disc 213. The top end of the second rotating part 211-2 is detachably connected to the first rotating part 211-1 so that the second rotating part 211-2 rotates synchronously with the first rotating part 211-1. The fluid outlet 211c is opened on the side wall of the second rotating part so as to connect with the nozzle 212 so that the nozzle 212 rotates synchronously with the second rotating part 211-2.

[0126] The sidewall of the first rotating part 211-1 is rotatably connected to the first connecting port 214c and the second connecting port 214d via bearings to ensure that the first rotating part 211-1 rotates relative to the connecting cylinder 214. The bottom of the connecting cylinder 214 is detachably connected to the top wall of the cleaning disc 213 via a flange.

[0127] To improve the connection performance between the first rotating part 211-1 and the second rotating part 211-2, the first rotating part 211-1 is provided with an assembly hole 211d that communicates with the fluid channel 211a. The diameter of the assembly hole 211d is larger than the diameter of the fluid channel 211a. A first connecting protrusion 211e is provided on the side wall of the first rotating part 211-1 at a position corresponding to the assembly hole 211d. The top end of the second rotating part 211-2 mates with the assembly hole 211d, and the top end of the second rotating part 211-2 can be inserted into the assembly hole 211d. A second connecting protrusion 211f is provided on the side wall of the second rotating part 211-2 that mates with the first connecting protrusion 211e. After the second rotating part 211-2 is inserted into the assembly hole 211d, the first connecting protrusion 211e and the second connecting protrusion 211f fit together and are detachably connected.

[0128] The first connecting protrusion 211e and the second connecting protrusion 211f are provided with detachable connecting parts at corresponding positions. For example, the first connecting protrusion 211e and the second connecting protrusion 211f are respectively provided with threaded holes, and the first connecting protrusion 211e and the second connecting protrusion 211f are detachably fixed by screws or bolts; or, one of the first connecting protrusion 211e and the second connecting protrusion 211f is provided with a locking hole, and the other is provided with a buckle that cooperates with the locking hole. The through-hole buckle and the locking hole detachably fix the first connecting protrusion 211e and the second connecting protrusion 211f.

[0129] In practical applications, the first connecting protrusion 211e and the second connecting protrusion 211f can be any component that can detachably connect the two, and are not limited to the two connection methods mentioned above.

[0130] The structure of the rotating shaft 211 is designed such that the cylinder 214 and the first rotating part 211-1 are connected as one module, the second rotating part 211-2 and the nozzle 212 are connected as one module, and the upper (outer) and lower (inner) cleaning disc 213 are divided into two detachable modules, which facilitates the assembly, maintenance and replacement of the cleaning disc assembly 21.

[0131] The nozzle 212 can be detachably connected to the second rotating part 211-2 for easy maintenance and replacement. Alternatively, the nozzle 212 can be integrally formed with the second rotating part 211-2 to improve the connection strength between the two and ensure the cleaning intensity of the cleaning disc assembly 21.

[0132] To ensure that the high-pressure fluid is not leaked during transportation, all connections between any components at the point where the high-pressure fluid is transported are sealed. For example, the connection between the inlet and the connecting pipe, the connection between the first rotating part and the connecting cylinder, the connection between the first rotating part and the second rotating part, and the connection between the nozzle and the second rotating part are all sealed. The connection between the first rotating part and the connecting cylinder is a dynamic seal to ensure the smooth rotation of the first rotating part.

[0133] To facilitate the driving of the rotating shaft 211 by the cleaning drive assembly 22, the top of the rotating shaft 211 is provided with a groove 211j that mates with the drive shaft 221 of the cleaning drive assembly 22. The groove 211j is non-cylindrical, meaning its cross-section is non-circular, to ensure that the drive shaft can drive the rotating shaft 211 to rotate synchronously. In this embodiment, the groove includes a cylindrical groove and a protruding groove that penetrates the cylindrical groove; that is, the protruding groove is disposed on the side wall of the cylindrical groove.

[0134] The cleaning drive assembly 22 includes a drive motor 222, a motor housing 223, a transmission housing 224, and a drive shaft 221. The drive motor 222 is located inside the motor housing 223, and the drive shaft 221 is located inside the transmission housing 224. The transmission housing 224 is detachably connected to the motor housing 223. The output shaft 222a of the drive motor 222 extends from the motor housing 223 into the transmission housing 224 and is detachably connected to the drive shaft 221. One end of the drive shaft 221 is drivenly connected to the output shaft 222a, so that the drive motor 222 drives the drive shaft 221 to rotate through the output shaft 222a. One end of the drive shaft 222 extends from the transmission housing 224 and is drivenly connected to the rotating shaft 211, so that the rotating shaft 211 rotates synchronously with the drive shaft 222.

[0135] The output shaft 222a is rotatably connected to the motor housing 223. The motor housing 223 is provided with a first communication port through which the output shaft 222a passes. The side wall of the output shaft 222a is rotatably connected to the first communication port. For example, the output shaft 222a is rotatably connected to the motor housing 223 through a bearing.

[0136] The drive shaft 221 is rotatably connected to the transmission compartment 224. The transmission compartment 224 is provided with a second connecting port and a second connecting port through which the two ends of the drive shaft 221 pass. The side wall of the drive shaft 221 is rotatably connected to the first connecting port and the second connecting port respectively. For example, the drive shaft 221 is rotatably connected to the transmission compartment 224 through multiple bearings.

[0137] The motor compartment 223 is located above the transmission compartment 224, meaning that the bottom end of the motor compartment 223 is detachably connected to the top end of the transmission compartment 224. For example, the two are detachably connected via a flange. The centerlines of the output shaft 222a, the first connecting port, the drive shaft 221, the second connecting port, and the third connecting port coincide.

[0138] One end of the drive shaft 221 is provided with a slot 221a that mates with the output shaft 222a, and the other end of the drive shaft 221 is provided with a plug-in portion 221b that mates with the slot 211j. The plug-in portion 221b includes a cylindrical portion and a protrusion. The protrusion is located on the side wall of the cylindrical portion, and the cylindrical portion mates with a cylindrical groove, while the protrusion mates with a protrusion groove, so that the plug-in portion 221b can be inserted into the slot 211j so that the drive shaft 221 can drive the rotating shaft 211 to rotate synchronously.

[0139] The shape of the slot 221a is the same as that of the slot 211j, and the shape of the part of the output shaft 222a inserted into the slot 221a is the same as that of the insertion part 221b, which will not be described in detail here.

[0140] The motor compartment 223 and the transmission compartment 224 are watertight compartments, meaning that the output shaft is connected to the motor compartment by a dynamic seal, and the drive shaft is connected to the transmission compartment by a dynamic seal.

[0141] For example, the present invention uses H-type oil seals or Glyd rings as dynamic seals to ensure that the motor is effectively protected when working underwater and that high-pressure fluid does not leak out.

[0142] To ensure the airtightness of the motor compartment 223, an inflation valve is provided on the top of the motor compartment 223. The inflation valve is configured to inject gas at a preset pressure into the motor compartment 223. When the motor compartment is not properly sealed, the high-pressure gas inside the compartment can reduce the entry of external seawater into the compartment to a certain extent.

[0143] Preferably, the motor compartment 223 is also equipped with a temperature and humidity sensor. The temperature and humidity sensor is configured to detect the temperature and humidity inside the motor compartment 223 and upload the detected temperature and humidity data to the robot's main control mechanism and / or the robot's host computer. The main control mechanism determines whether the motor compartment is leaking based on the detected temperature and humidity data. When it is determined that the motor compartment is leaking, the main control mechanism promptly issues an alarm signal to remind the staff to stop the cleaning work of the cleaning mechanism 2 for maintenance.

[0144] Preferably, the drive motor 222 is a servo motor, or the drive motor 222 is equipped with a speed feedback encoder, which can feed back the output shaft speed to the robot's main control mechanism and / or the robot's host computer. When the feedback speed differs from the preset speed by more than a preset difference, it indicates that foreign objects or other abnormalities may have entered the cleaning tray, and the user needs to perform timely maintenance to avoid normal cleaning operations.

[0145] According to a preferred embodiment of the present invention, the cleaning mechanism 2 further includes a connecting main beam 24. The cleaning tray assembly 21, the cleaning drive assembly 22, and the flow supply assembly 23 are detachably mounted on the connecting main beam 24. The cleaning mechanism 2 is detachably mounted on the main support of the robot via the connecting main beam 24, so that the cleaning mechanism 2 can be detachably mounted on the main support as a whole, thereby realizing the modular management of the cleaning mechanism 2.

[0146] Specifically, the connecting main beam 24 includes a central assembly part 241 and N support assembly parts 242. The support assembly parts 242 are evenly arranged on the outside of the central assembly part 241, and the N support assembly parts 242 are at the same distance from the central assembly part 241.

[0147] The flow supply component 23 is detachably installed on the central assembly part 241. N sets of cleaning disc assemblies 21 and N sets of cleaning drive assemblies 22 are respectively arranged opposite to each other on N support assembly parts 242. That is, a set of cleaning disc assemblies 21 and a set of cleaning drive assemblies 22 are respectively installed on the upper and lower ends of each support assembly part 242, and the drive shaft 221 passes through the support assembly part 242 and is connected to the rotating shaft 211 for transmission. Therefore, the support assembly part 242 is provided with a window 242a for the transmission connection between the cleaning drive assembly 22 and the cleaning disc assembly 21.

[0148] Preferably, the diverter 233 of the flow supply component 23 is detachably disposed below the central assembly 241. The cleaning drive component 22 and the cleaning disc component 21 are respectively disposed on the upper and lower sides of the support assembly 242, that is, the transmission chamber 224 of the cleaning drive component 22 is detachably disposed above the support assembly 242, and the connecting cylinder 214 of the cleaning disc component 21 is detachably disposed below the support assembly 242. The insertion part 221b of the drive shaft 221 passes through the window 242a and is inserted into the slot 211j of the rotating shaft 211, so as to realize the driving of the cleaning drive component 22 on the cleaning disc component 21. Exemplarily, the bottom of the transmission chamber 224 and the top of the connecting cylinder 214 are detachably connected to the support assembly 242 through flanges.

[0149] Preferably, the transmission compartment 224, the connecting cylinder 214, and the support assembly 242 are connected in a sealed manner.

[0150] The central assembly 241 and N supporting assemblies 242 are connected by the main beam frame 243 to make the structure of the cleaning mechanism 2 more stable. For example, when N=2, the main beam frame 243 is a straight frame, with two supporting assemblies 242 located at both ends of the main beam frame 243, and the central assembly 241 located below the center of the main beam frame 243. When N=3, the outer contour of the main beam frame 243 is an equilateral triangle frame, and the inner skeleton includes three reinforcing ribs. The reinforcing ribs connect the center of the equilateral triangle to a certain corner, extending from the center to the three corners to form the inner skeleton. The central assembly 241 is located at the center point, and the supporting assemblies 242 are located at the three corners. Similarly, the outer contour of the main beam frame 243 is a regular N-sided polygon frame, and the inner skeleton includes N reinforcing ribs connecting the center to a certain corner. The central assembly 241 is located at the center point, and the supporting assemblies 242 are located at the N corners. Preferably, N = ∈ [2, 4].

[0151] In this embodiment, the cleaning mechanism 2 is detachably mounted to the main body support of the robot via a support assembly 242. Specifically, the support assembly 242 is detachably connected to the main body support, and the support assembly 242 extends connecting protrusions 242b on both sides of the window 242a, achieving a detachable connection with the main body support through the connecting protrusions 242b. To control the distance between the cleaning disc 213 and the surface to be cleaned, at least one pad 242c is provided between the connecting protrusion 242b and the main body support. The pads 242c can be of the same thickness, and the distance between the cleaning disc 213 and the surface to be cleaned can be adjusted by adjusting the number of pads 242c between the two sides; the pads 242c can also be of different thicknesses, and the distance between the cleaning disc 213 and the surface to be cleaned can be adjusted by adjusting the number and / or thickness of the pads 242c between the two sides. In this embodiment, the pads 242c have three thicknesses: 2mm, 5mm, and 10mm. Different heights can be obtained by combining different pads, thereby adjusting the cleaning target distance.

[0152] Compared to cleaning mechanisms driven solely by high-pressure water, the cleaning mechanism of this invention offers at least one beneficial effect: Relying solely on high-pressure water to drive the nozzle rotation requires increasing the nozzle diameter to achieve higher speeds, thus increasing the power and size of the pump unit. Increasing the nozzle diameter to improve the nozzle rotation speed not only wastes energy but also increases the overall size and weight of the equipment. The cleaning mechanism of this invention is small in size, lightweight, and energy-saving. Using high-pressure water to drive the nozzle rotation as the primary driving force overcomes mechanical friction and water resistance during nozzle rotation. A drive motor with speed feedback serves as an auxiliary driving force, allowing for higher nozzle rotation speeds. Higher nozzle rotation speeds result in greater adsorption force and better cleaning performance during cleaning. In contrast, relying solely on high-pressure water to drive the spray bar rotation can lead to inconsistent nozzle rotation speeds in the two cavitation cleaning disc assemblies due to potential differences in water supply pressure and seal wear, resulting in varying adsorption forces and cleaning effects. The cleaning mechanism 2 of this invention uses a drive motor to balance the driving forces of the two nozzles, ensuring their rotational speeds are relatively consistent, thereby guaranteeing consistent adsorption force and cleaning effect. Simply relying on high-pressure water to drive the nozzle rotation provides no feedback on the nozzle's underwater status; for example, if foreign objects such as oysters become stuck between one nozzle and the cavitation disc, the nozzle cannot rotate, affecting the cleaning effect. The cleaning mechanism of this invention, because the drive motor can provide rotational speed feedback, can monitor the nozzle rotation speed in real time in conjunction with a host computer and / or controller, allowing for timely handling of abnormal situations and preventing disruption to normal cleaning operations.

[0153] The connecting bracket 11 is detachably mounted on the bottom of the robot's main support. The cleaning tray 213 is positioned between the connecting bracket 11 and the walking assembly 12. A baffle 121 is located on the inner side of the walking assembly 12 (the side closest to the connecting bracket 11, i.e., the side where the two walking assemblies 12 are positioned opposite each other, is the inner layer), effectively preventing debris washed off by the cleaning mechanism from entering the walking assembly. The debris includes at least any substance washed off the ship's surface by the cleaning mechanism, such as seaweed and oysters.

[0154] To ensure the baffle 121 effectively blocks debris, the projection of the baffle 121 onto the direction of the walking assembly 12 should completely cover the walking assembly 12, meaning that the edge of any component of the walking assembly 12 should not extend beyond the edge of the baffle.

[0155] According to one embodiment of the present invention, the walking assembly 12 includes a drive sprocket 122, a guide sprocket 123, a track 124, and an assembly main beam 125. The assembly main beam 125 serves as the main skeleton structure of the walking assembly 12. On the one hand, other components are directly or indirectly assembled to the assembly main beam. On the other hand, the walking assembly 12 is connected to the connecting bracket 11 through the assembly main beam 125.

[0156] Specifically, one end of the main assembly beam 125 is provided with a drive sprocket 122, and the other end of the main assembly beam 125 is provided with a guide sprocket 123 through a tensioner 126, and the drive sprocket 122 and the guide sprocket 123 can rotate relative to the main assembly beam 125.

[0157] The track 124 is fitted on the drive sprocket 122 and the guide sprocket 123, and the track 124 is connected to the drive sprocket 122 and the guide sprocket 123 in a transmission connection. That is, the rotation of the drive sprocket 122 and the guide sprocket 123 drives the track 124 to rotate, thereby enabling the walking assembly 12 to move forward or backward.

[0158] The connecting bracket 11 passes through the baffle 121 and is connected to the main assembly beam 125. That is, the two opposite sides of the connecting bracket 11 pass through the baffle 121 of the walking assembly 12 and are connected to the main assembly beam 125, so as to ensure that the track walking mechanism has a certain mechanical strength, that is, to improve the structural stability of the track walking mechanism.

[0159] The track 124 includes a track section 124a and a track plate section 124b disposed outside the track section 124a. The drive sprocket 122 and the guide sprocket 123 are respectively engaged with the track section 124a, and the track section 124a drives the track plate section 124b to rotate synchronously.

[0160] Preferably, the track 124 is a ring connected end to end, and correspondingly, the track rail portion 124a and the track plate portion 124b are also rings connected end to end. The track rail portion 124a is located inside the track plate portion 124b, that is, the track rail portion 124a is connected to the inner ring wall of the track plate portion 124b, so that the track rail portion 124a can drive the track plate portion 124b to rotate synchronously.

[0161] The width of the track plate portion 124b is greater than the width of the track rail portion 124a, so as to improve the driving stability of the tracked walking mechanism.

[0162] The guide sprocket 123 is mounted on one end of the main assembly beam 125 via a tensioner 126, so that the track 124 can be tensioned on the drive sprocket 122 and the guide sprocket 123, thereby minimizing the risk of the track 124 accidentally falling off and affecting the normal operation of the track travel mechanism.

[0163] Any tensioning structure that can tighten the track 124 onto the drive sprocket 122 and the guide sprocket 123 can serve as the tensioning member 126. For example, the tensioning member 126 includes a first tensioning part 126a and a second tensioning part 126b. The first tensioning part 126a is connected to the end of the assembly main beam 125 and has at least one slide rail. One end of the second tensioning part 126b is rotatably connected to the guide sprocket 123, and the other end of the second tensioning part 126b has at least one connecting slide rod 126c. An elastic element 126d is sleeved on the outside of the connecting slide rod 126c. The connecting slide rod 126c is slidably connected to the first tensioning part 126a through the slide rail, and both ends of the elastic element 126d abut against the first tensioning part 126a and the second tensioning part 126b, respectively. The first tensioning part 126a and the second tensioning part 126b are connected by a connecting slide rod, an elastic element, and a slide rail. The distance between the first tensioning part 126a and the second tensioning part 126b is adjusted by the elastic element and the connecting slide rod.

[0164] The number of slide rails, connecting slide rods 126c, and elastic elements 126d are the same, and the three are set in a one-to-one correspondence. In this embodiment, there are two slide rails, two connecting slide rods 126c, and two elastic elements 126d, which can be divided into two groups and are respectively set on both sides of the main assembly beam 125 and the guide sprocket 123 to ensure the transmission stability of the guide sprocket 123.

[0165] It should be noted that the elastic element 126d is always kept in a compressed state to ensure that the track 124 is always kept in a taut state. For example, the elastic element 126d is a spring.

[0166] Preferably, the end of the connecting slide rod 126c (i.e. the end away from the second tensioning part) extends out of the slide rail, and a limiting ring 126e is provided on the part of the connecting slide rod 126c that passes through the slide rail to prevent the connecting slide rod 126c from falling off the slide rail.

[0167] To further prevent track detachment, at least one limiting member 125a is provided at one end of the main assembly beam 125 near the guide sprocket 123. The limiting member 125a is located between the main assembly beam 125 and the second tensioning part 126b. In this embodiment, the main assembly beam 125 is provided with two limiting members 125a, one of which is located above the first tensioning part 126a, and the other is located opposite and below the first tensioning part 126a.

[0168] The traveling assembly 12 also includes multiple support wheel sets 127 located between the drive sprocket 122 and the guide sprocket 123 to better support the track and improve the traveling stability of the tracked traveling mechanism. The support wheel sets 127 are rotatably connected to the mounting main beam 125 and abut against the track plate portion 124b. Specifically, each support wheel set 127 includes two opposing wheel bodies, and the track rail portion 124a passes between the two wheel bodies of the support wheel set. In this embodiment, the traveling assembly 12 includes eight support wheel sets 127, with two support wheel sets 127 located above the mounting main beam 125 and six support wheel sets 127 located below the mounting main beam 125.

[0169] To further prevent debris from entering the walking assembly 12, a track float 128 is provided on the outer side of the walking assembly 12 to cooperate with the track 2. The track float 128 has a window opposite to the support wheel assembly 127 to expose the outer wheel of the support wheel assembly 127. This design serves two purposes: firstly, the track float 128 provides partial buoyancy to the tracked walking mechanism, enabling it to move underwater; secondly, if debris accidentally enters the walking assembly, it can be discharged through the window 281, preventing wear and tear on the walking assembly, or even affecting its normal operation.

[0170] Preferably, the upper and lower sides of the track float 128 do not extend beyond the inner wall of the track plate portion 124b. That is, the upper wall of the track float 128 is located below the upper inner wall of the track plate portion 124b, and the lower wall of the float 28 is located above the lower inner wall of the track plate portion 124b. In other words, there is a certain gap between the upper and lower sides of the track float 128 and the inner wall of the track plate portion 124b. This arrangement not only does not affect the rotation of the track 124, but also facilitates the discharge of debris entering the traveling assembly through the upper and lower gaps between the track float 128 and the track plate portion 124b as the track rotates.

[0171] To facilitate the assembly and subsequent maintenance of the walking assembly 12, the track float 128 is detachably mounted on the main assembly beam 125. Specifically, the track float 128 is detachably connected to the side wall of the main assembly beam 125 via at least one float connecting element. In this embodiment, the track float 128 is detachably connected to the side wall of the main assembly beam 125 via two float connecting elements.

[0172] According to one embodiment of the present invention, the connecting bracket 11 includes a plurality of parallel walking main beams 111, and the two ends of the walking main beams 111 pass through the baffles 121 of two sets of walking components 12 and are connected to the assembly main beams 125 of the walking components 12.

[0173] The traveling main beam 111 is perpendicular to the assembly main beam 125. The traveling main beam 111 and the assembly main beam 125 can be connected by welding to improve the stability of the tracked traveling mechanism. The traveling main beam 111 and the assembly main beam 125 can also be assembled and connected in a detachable manner to improve the assembly performance of the tracked traveling mechanism and facilitate later maintenance and replacement.

[0174] The baffle 121 is provided with a through hole for the traveling main beam 111 to pass through.

[0175] For ease of assembly, the baffle 121 includes multiple detachably connected blocks, which together form a baffle capable of covering the outside of the walking assembly 12. Specifically, the baffle 121 includes a central block and edge blocks surrounding the central block. The central block 211 is detachably connected to the walking main beam 111 and / or the assembly main beam 125, and the central block has a through hole for the walking main beam 111 to pass through. The edge blocks are detachably connected to the central block 211. In this embodiment, the central block 211 is detachably connected to the walking main beam 111 via a triangular iron.

[0176] The main walking beam 111 is provided with multiple connecting assembly parts 111a, which are configured to be detachably connected to at least the bottom of the main support. Specifically, the connecting assembly parts 111a are located on the upper end face of the main walking beam 111. In this embodiment, each main walking beam 111 is provided with two connecting assembly parts 111a, and the two connecting assembly parts 111a are respectively close to the walking components on both sides, so as to distribute the weight of the robot to the walking components more quickly and improve the walking stability of the robot.

[0177] Preferably, the main walking beam 111 is provided with multiple support pads 111b. During robot maintenance, the support pads 111b contact the robot maintenance platform, supporting the overall weight of the robot. Specifically, the support pads 111b are located on the lower end face of the main walking beam 111. In this embodiment, each main walking beam 111 is provided with two support pads 111b, and the support pads 111b are closer to the walking components on both sides than the connecting assembly 111a, thereby improving the stability of the ship cleaning robot on the maintenance platform.

[0178] The tracked walking mechanism 1 further includes two sets of walking drive components 13, which correspond one-to-one with the walking components 12. The walking drive components 13 are configured to provide driving force to at least the drive sprockets 122 of the walking components 12, thereby driving the track to rotate, that is, to provide power to the tracked walking mechanism through the walking drive components 13.

[0179] Preferably, the walking drive assembly 13 is located inside the baffle 121 (the side away from the track), and one end of the side wall of the walking drive assembly 13 passes through the baffle 121 and is connected to the main assembly beam 125 of the walking assembly 12.

[0180] Specifically, the walking drive assembly 13 includes a watertight chamber and a motor. The watertight chamber passes through a baffle 121 and is connected to the main assembly beam 125. The motor is located inside the watertight chamber to prevent leakage from affecting the operation of the drive motor, thus serving a waterproof function. The output shaft of the motor passes through the watertight chamber and is connected to the drive sprocket 122 for transmission, causing the drive sprocket 122 to rotate synchronously with the output shaft. The output shaft is dynamically sealed to the watertight chamber.

[0181] The tracked ship cleaning robot also includes a main support frame 3, which comprises a first frame assembly 31 and a second frame assembly 32 arranged parallel to each other, and a plurality of connecting columns 33 located between the first frame assembly 31 and the second frame assembly 32. Preferably, the two ends of the connecting columns 33 are perpendicularly connected to the first frame assembly 31 and the second frame assembly 32, respectively.

[0182] The main support 3 also includes:

[0183] The walking assembly 301 is located at the bottom of the second frame assembly 32, and is configured to detachably assemble the tracked walking mechanism 1. The connecting assembly 111a of the connecting bracket 11 is detachably connected to the bottom of the second frame assembly 2, and the walking components 12 are respectively disposed on both sides of the second frame assembly 2;

[0184] The cleaning assembly 302 is located between the first frame assembly 1 and the second frame assembly 2, and is located at the center of the main support 3; the cleaning assembly 302 is configured to detachably assemble the cleaning mechanism 2; the cleaning disc 213 is located below the second frame assembly 2, the connecting protrusion 242b of the connecting main beam 24 is detachably disposed on the cleaning assembly 302, and the cleaning drive assembly 23 extends out from the top of the first frame assembly 1.

[0185] The first frame assembly 31 includes a first outer frame 311 and a plurality of first connecting beams 312 located within the first outer frame 311. The second frame assembly 32 includes a second outer frame 321 and a plurality of second connecting beams 322 located within the second outer frame 321. The first connecting beams 312, the second connecting beams 322, and the first connecting beams 312 and the second connecting beams 322 are all arranged in parallel; that is, the plurality of first connecting beams 312 within the first outer frame 311 are arranged in parallel, the plurality of second connecting beams 322 within the second outer frame 321 are arranged in parallel, and any first connecting beam 312 within the first outer frame 311 and any second connecting beam 322 within the second outer frame are parallel.

[0186] The tracked ship cleaning robot also includes a main control mechanism 4, a sensing mechanism 5, four vertical thrusters 6, four horizontal thrusters 7, a lighting lamp 8, and a camera 9.

[0187] The main control mechanism 4 is configured to control the entire working process of the robot, such as walking direction and speed, cleaning status, data acquisition status, etc. The main control mechanism 4 is electrically connected to the walking drive component 13, the cleaning drive component 22, the sensing mechanism 5, the vertical thruster 6, the horizontal thruster 7, the lighting lamp 8 and the camera 9, and controls the working process of these components and mechanisms.

[0188] The main support 3 also includes:

[0189] The main control assembly 303 is configured to be detachably assembled with the main control mechanism 4; the main control assembly is located between the first frame assembly 31 and the second frame assembly 32, and is located in front of the cleaning assembly;

[0190] The sensor assembly 304 is configured to be detachably assembled with the sensor mechanism 5; the sensor assembly 304 is located between the first frame assembly and the second frame assembly, and is located on the rear side of the cleaning assembly.

[0191] Four vertical propulsion assembly racks 305 are configured to detachably assemble the vertical propellers 6, such that the four vertical propellers are respectively located on the inner sides of the four corners of the first outer frame 311; the opening direction of the vertical propellers is vertically upward.

[0192] Four horizontal propulsion assembly columns 306 are configured to detachably mount the horizontal propellers 7, with the four horizontal propellers located below the four corners of the first outer frame 311 respectively; the horizontal propulsion assembly columns are configured such that the angle between the propulsion direction of the horizontal propeller and the front or rear face of the main support is 45°, and the opening direction of the two front horizontal propellers is horizontally forward and inward at 45°, and the opening direction of the two rear horizontal propellers is horizontally backward and inward at 45°;

[0193] Multiple lighting and camera supports 307 are configured to detachably mount lighting lamps 8 and / or cameras 9; the lighting and camera supports are located at the front and rear ends of the main support 3 so that cameras and lighting lamps are provided at both the front and rear ends of the tracked ship cleaning robot.

[0194] To facilitate the installation of multiple mechanisms on the main support 3, the first outer frame 311 and the second outer frame 321 are rectangular frames, and the centers of the first outer frame 311 and the second outer frame 321 are both located on the center line AA of the main support 3. That is, the center line AA passes through the center of the first outer frame 311 and the center of the second outer frame 321 from top to bottom, so as to ensure the stability of the center of gravity of the main support 3.

[0195] To make the ship cleaning robot more compact and stable, the width of the first outer frame 311 is equal to the width of the second outer frame 321 (the side in the front-to-back direction is the wide side), and the length of the first outer frame 311 is greater than the length of the second outer frame 321 (the side in the left-to-right direction is the long side). That is, the long side of the first outer frame 311 is located directly above the long side of the second outer frame 321, meaning that when projected from top to bottom, the long side of the first outer frame completely covers the long side of the second outer frame, and the wide side of the first outer frame 311 is located outside the wide side of the second outer frame 321.

[0196] Preferably, one end of the connecting column 33 is perpendicularly connected to the first outer frame 311 or the first connecting crossbeam 12, and the other end of the connecting column 33 is perpendicularly connected to the second outer frame 321. That is, the two ends of a portion of the connecting column 33 are perpendicularly connected to the first outer frame 311 and the second outer frame 321 respectively, and the two ends of the other portion of the connecting column 33 are perpendicularly connected to the first connecting crossbeam 312 and the second outer frame 321 respectively.

[0197] Preferably, the first frame assembly 31 includes two first connecting beams 312, and the first connecting beams 312 are parallel to the long side of the first outer frame 311. The second frame assembly 32 includes two second connecting beams 322, and the second connecting beams 322 are parallel to the long side of the second outer shell 321. The two first connecting beams 312 and the two second connecting beams 322 are respectively disposed on both sides of the center line AA of the main body support 3, and the second connecting beams 322 are located outside the first connecting beams 312 (the side away from the center line AA is the outside).

[0198] In this embodiment, there are eight connecting columns 33. Two connecting columns 33 are provided on each side of the second outer frame 321 (with the two connecting columns located on opposite sides of the side). The upper ends of the two connecting columns on the long side of the second outer frame 321 are perpendicularly connected to the long side of the first outer frame 311. The upper ends of the two connecting columns on the wide side of the second outer frame 321 are perpendicularly connected to two first connecting beams 312, respectively. That is, the ends of the first and second connecting beams are aligned with the two connecting columns on the wide side of the second outer frame 321. This arrangement roughly divides the space between the first frame assembly 31 and the second frame assembly 32 into three areas. From front to back, these three areas are used to assemble the main control mechanism, the cleaning mechanism, and the sensing mechanism, respectively. The size of the three areas is matched to the volume of the main control mechanism, the cleaning mechanism, and the sensing mechanism. In other words, the positions of the first and second connecting beams on the first outer frame 311 are matched to the width of the main control mechanism, the cleaning mechanism, and the sensing mechanism.

[0199] The main control assembly 303 includes at least one clamping element 303a and at least one lowering element 303b. The clamping element 303a is disposed between the first connecting beam 312 and the first outer frame 311 to clamp the main control mechanism. The lowering element 303b is disposed on the second connecting beam 322 to support the main control mechanism. The second connecting beam 322 and the first connecting beam 312 connected to the lowering element 303b and the clamping element 303a are located on the same side, that is, the lowering element 303b is disposed on the second connecting beam 322 located on the front side. The two ends of the clamping element 303a are respectively connected to the front long side of the first outer frame and the front first connecting beam 312.

[0200] Preferably, the number of clamping elements 303a and the number of lower dragging elements 303b are the same, and the two are arranged in a one-to-one correspondence.

[0201] To ensure the assembly stability of the main control mechanism, the lower drag element 303b is V-shaped with the V-shaped opening facing upwards to better support the main control mechanism. The clamping element 303a is linear in shape, with one end perpendicularly connected to the first connecting beam and the other end perpendicularly connected to the first outer frame. Preferably, both ends of the clamping element 303a are detachably connected to the first connecting beam and the first outer frame, respectively, to facilitate the assembly and disassembly of the main control mechanism.

[0202] Because the ship cleaning robot generates vibrations during cleaning operations, a buffer pad is provided on the side of the lower towing element 303b facing the main control mechanism to reduce vibration and prevent damage to the components inside the main control mechanism. In addition, a buffer pad is also provided on the side of the clamping element 303a facing the main control mechanism, which, while reducing vibration, works with the lower towing element 303b to clamp and fix the main control mechanism.

[0203] In this embodiment, there are two clamping elements 303a and two dragging elements 303b, which are respectively set at both ends of the bulkhead of the main control mechanism. The second connecting beam 322 is located directly below the main control mechanism, that is, the front second connecting beam is located at the center of the front first connecting beam and the front long side of the first outer frame.

[0204] The sensing assembly 304 includes a sensing mounting base, which is disposed above the second connecting beam 322. The sensing mechanism is detachably mounted on the sensing mounting base. The second connecting beam 322 with the sensing mounting base is located on the opposite side of the second connecting beam with the lower supporting element, that is, the sensing mounting base is located on the rear side of the second connecting beam 322, which is behind the lower supporting element 303b.

[0205] The walking assembly 301 includes four walking mounting elements, which are located below the connection between the second connecting beam 322 and the second outer frame 321, that is, below the intersection of the second connecting beam 322 and the second outer frame 321. The connecting assembly 111a is detachably connected to the walking mounting elements so that the two sets of walking components of the track walking mechanism are respectively arranged on both sides of the second outer frame 321.

[0206] The main support 3 also includes two third connecting beams 34, which are located between the first frame assembly 31 and the second frame assembly 32. The third connecting beams 34 are located directly below the first connecting beam 312, and are parallel to the first connecting beam 312 and the second connecting beam 322. The two ends of the third connecting beams 34 are perpendicularly connected to two oppositely arranged connecting columns 33, and the downward projection of the first connecting beam 312 can completely cover the third connecting beams 34.

[0207] The cleaning assembly is detachably mounted on two third connecting beams 34, so that the cleaning drive assembly 22 is located between the main control mechanism 4 and the sensing mechanism 5, and the cleaning disc 213 is located between the two sets of walking assemblies.

[0208] Specifically, the third connecting beam 34 is provided with a plurality of connecting extension pieces 341 that can be detachably connected to the connecting protrusion 242b (the plurality of connecting extension pieces constitute the cleaning assembly part). The connecting extension pieces 341 extend from the outer side wall (the side wall away from the center line AA) of the third connecting beam 34 to the inner side wall (the side wall close to the center line AA) of the third connecting beam 34 to enhance the connection strength with the cleaning mechanism. In this embodiment, each third connecting beam 34 is provided with a connecting extension piece 341 near both ends, that is, each third connecting beam 34 is provided with two connecting extension pieces 341, and the position of the connecting extension pieces cooperates with the cleaning mechanism.

[0209] The horizontal propulsion assembly column 306 is configured such that the angle between the propulsion direction of the horizontal propeller 6 and the front or rear face of the main support 3 is 45°. This configuration allows all four propellers to move simultaneously to generate thrust when the robot moves forward, backward, left, or right in the horizontal direction. Compared to the scheme where the four horizontal propellers are arranged in pairs orthogonal, the horizontal propeller 7 layout of the present invention can ensure that the ship cleaning robot has stronger power with the same model and number of horizontal propellers, thus having stronger resistance to current.

[0210] The four vertical thrusters 6 include two thrusters equipped with positive propellers and two thrusters equipped with negative propellers. The thrusters with the same blades are arranged diagonally to resist the lateral forces generated during rotation.

[0211] In this embodiment, horizontal propulsion assembly columns 306 are respectively provided at the four corners of the first outer frame 311, and two vertical propulsion assembly frames 305 are respectively provided on the two wide sides of the first outer frame 311. The vertical frame propulsion frames are located near the two ends of the wide sides and inside the horizontal propulsion assembly columns 306. This staggered arrangement allows both the horizontal and vertical propulsion units to have suitable assembly space, making the structure of the ship cleaning robot more compact.

[0212] Specifically, the front and / or rear ends of the main support 3 are provided with lighting and camera supports 307. In this embodiment, a reinforcing beam is provided between the two connecting columns on the front and rear wide sides of the second outer frame. The two ends of the reinforcing beam are perpendicularly connected to the two connecting columns, and the lighting and camera support 307 is provided in the center of the reinforcing beam. The lighting and camera support on the front reinforcing beam extends forward and is equipped with two cameras. One camera is used to observe the situation at a distance from the front of the ship cleaning robot, and the other camera is used to observe the situation at a distance from the front of the ship cleaning robot. The lighting and camera support on the rear reinforcing beam extends backward and is equipped with a lamp and a camera. In addition, two lighting and camera supports extend forward from below the front wide side of the first outer frame. Each of these two lighting and camera supports is equipped with a lamp. These two lighting and camera supports are located on both sides of the lighting and camera support on the front reinforcing beam to provide illumination for the two cameras on the front side.

[0213] The main support 3 also includes:

[0214] The lifting part 35 is located at the center of the two first connecting crossbeams, and the lifting part includes a lifting ring located above the first housing.

[0215] Cable tray 36 is set outside the first outer frame to accommodate the cables of the ship cleaning robot.

[0216] The protective cover 37, connected to the two first connecting beams 312, is configured to at least cover the outer side of the top of the cleaning drive assembly 22, that is, to partially surround the outer side of the portion of the cleaning drive assembly exposed by the first outer frame, in order to protect the cleaning drive assembly. The number of protective covers 37 is the same as the number of cleaning drive assemblies 22, and the two are arranged in a one-to-one correspondence.

[0217] The lifting unit 35 includes a lifting ring and a lifting frame. The lower end of the lifting ring is connected to the lifting frame, which is positioned between two first connecting beams 312. The lifting ring is located at the center of the two first connecting beams 312. Specifically, the lifting frame is I-shaped, with the two ends of its two horizontal bars perpendicularly connected to the two first connecting beams, and the lifting ring located above the center of the vertical bar of the lifting frame. The lifting unit facilitates the deployment and retrieval of the ship cleaning robot.

[0218] The cable tray 36 is installed around the outside of the first outer frame 311. Most of the cables used for electrical connection between the camera, lighting, thruster, sensing mechanism, cleaning mechanism, track walking mechanism and main control mechanism are routed through the cable tray to avoid the robot's connection cables from getting tangled together and to improve the use effect of the ship cleaning robot.

[0219] To ensure the structural stability of the main support 3, the first outer frame 311, the first connecting beam 312, the connecting column 33, the second outer frame 321, and the second connecting beam 322 are integrally cast or / and welded together; preferably, the third connecting beam, the reinforcing beam, the hoisting part, and the cable tray are also integrally cast or / and welded together; furthermore, the material of these components is 316L stainless steel.

[0220] To ensure sufficient buoyancy for the robot in water, float plates 10 are provided at the front, back, left, right, and bottom of the robot to match its structure. The float plates 10 serve to protect the internal components of the robot.

[0221] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A tracked ship cleaning robot, characterized in that, include: The tracked traveling mechanism includes a connecting bracket and traveling components disposed on both sides of the connecting bracket, wherein the inner side of the traveling components is provided with a baffle. A cleaning mechanism includes at least one set of corresponding cleaning disc assemblies and cleaning drive assemblies; the cleaning disc assemblies are located between the traveling assemblies, and the cleaning drive assemblies are located above the connecting bracket; each cleaning disc assembly includes a rotating shaft and a nozzle, the rotating shaft having a fluid channel configured to guide high-pressure fluid to the nozzle for cleaning the surface to be cleaned, the nozzle rotating synchronously with the rotating shaft; the cleaning drive assemblies are configured to provide at least a portion of the driving force to the rotating shaft and to control the rotational speed of the rotating shaft; the high-pressure fluid and the cleaning drive assemblies together provide rotational power to the rotating shaft.

2. The tracked ship cleaning robot according to claim 1, characterized in that, The cleaning mechanism also includes a flow supply component configured to provide at least a high-pressure fluid for cleaning to the cleaning tray assembly; The flow supply assembly includes an inlet pipe and at least one connecting pipe, one end of which is connected to the inlet pipe and the other end of which is connected to the fluid channel; The number of the connecting pipes is the same as the number of the cleaning tray assemblies, and the connecting pipes correspond one-to-one with the cleaning tray assemblies.

3. The tracked ship cleaning robot according to claim 2, characterized in that, The cleaning disc assembly also includes a cleaning disc and a connecting cylinder; The cleaning disc is mounted on the spray pipe; The connecting cylinder is detachably connected to the cleaning disc; The rotating shaft is at least partially located within the connecting cylinder, and the rotating shaft is rotatably connected to the connecting cylinder; one end of the rotating shaft is drive-connected to the cleaning drive assembly, and the other end of the rotating shaft extends into the cleaning disc and is connected to the spray nozzle; The connecting cylinder is provided with a first cavity and an inlet communicating with the first cavity, and the inlet is connected to the connecting pipe; The rotating shaft is provided with at least one fluid inlet, which is connected to the first cavity and the fluid channel; The position of the inlet corresponds to the position where the rotating shaft has a fluid inlet; The first cavity is provided with a first connection port and a second connection port for the two ends of the rotating shaft to pass through, and the side wall of the rotating shaft is dynamically sealed to the first connection port and the second connection port respectively; The cleaning disc assembly includes multiple nozzles; the rotating shaft is provided with multiple fluid outlets, the number of fluid outlets being the same as the number of nozzles, and each nozzle and each fluid outlet corresponding to the other.

4. The tracked ship cleaning robot according to claim 3, characterized in that, The rotating shaft includes a first rotating part and a second rotating part that are detachably connected. The first rotating part and the second rotating part together define the fluid channel. The fluid inlet is opened on the side wall of the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part. The first rotating part is detachably disposed in the first cavity. One end of the first rotating part passes through the first connection port and is connected to the cleaning drive assembly. The other end of the first rotating part passes through the second connection port and extends into the cleaning tray and is detachably connected to the second rotating part. The second rotating part is located inside the cleaning tray, and the top end of the second rotating part is detachably connected to the first rotating part. The fluid outlet is opened on the side wall of the second rotating part. The first rotating part is provided with an assembly hole that communicates with the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided on the side wall of the first rotating part at a position corresponding to the assembly hole; The top end of the second rotating part mates with the mounting hole, and the top end of the second rotating part can be inserted into the mounting hole; the side wall of the second rotating part is provided with a second connecting protrusion that mates with the first connecting protrusion; The second rotating part is inserted into the assembly hole, and the first connecting protrusion and the second connecting protrusion are fitted together and detachably connected.

5. The tracked ship cleaning robot according to claim 4, characterized in that, The cleaning mechanism also includes a connecting main beam; The connecting main beam includes a central assembly section and at least one support assembly section. The support assembly sections are evenly arranged on the outside of the central assembly section, and the distance between the support assembly sections and the central assembly section is the same. The flow supply component is detachably installed in the central assembly section; The number of support assembly parts is the same as the number of cleaning disc assemblies, and the cleaning disc assemblies and cleaning drive assemblies are respectively arranged one above the other in the support assembly parts.

6. The tracked ship cleaning robot according to claim 1, characterized in that, The baffle, projected in the direction of the walking assembly, can completely cover the walking assembly to prevent debris washed off by the cleaning mechanism from entering the walking assembly.

7. The tracked ship cleaning robot according to claim 1, characterized in that, The walking assembly includes a drive sprocket, a guide sprocket, tracks, and an assembly main beam; One end of the assembly main beam is provided with a drive sprocket, and the other end of the assembly main beam is provided with a guide sprocket through a tensioning member. The drive sprocket and the guide sprocket are able to rotate relative to the assembly main beam. The track is fitted onto the drive sprocket and the guide sprocket, and the track is connected to the drive sprocket and the guide sprocket in a driving connection. The connecting bracket passes through the baffle and connects to the assembly main beam; The track includes a track section and a track plate section disposed on the outside of the track section. The drive sprocket and the guide sprocket are respectively engaged with the track section, and the track section drives the track plate section to rotate synchronously. The walking assembly also includes a plurality of support wheel sets located between the drive sprocket and the guide sprocket; The support wheel assembly is rotatably connected to the main assembly beam and abuts against the track plate. The support wheel assembly includes two oppositely arranged wheel bodies, and the track section passes through the two wheel bodies of the support wheel assembly; The outer side of the walking assembly is provided with track floats that cooperate with the tracks; The track float is provided with a window at the position opposite to the support wheel assembly to expose the outer wheel body of the support wheel assembly; The upper and lower sides of the track float do not extend beyond the inner wall of the track plate portion.

8. The tracked ship cleaning robot according to any one of claims 1 to 7, characterized in that, The tracked ship cleaning robot also includes a main support frame; The main support includes a first frame component and a second frame component arranged in parallel, and a plurality of connecting columns located between the first frame component and the second frame component; The main support structure also includes: The walking assembly is located at the bottom of the second frame assembly and is configured to detachably assemble the track walking mechanism; the connecting bracket is detachably connected to the bottom of the second frame assembly, and the walking components are respectively disposed on both sides of the second frame assembly; A cleaning assembly is located between the first frame assembly and the second frame assembly, and at the center of the main support; the cleaning assembly is configured to detachably assemble the cleaning mechanism; the cleaning tray of the cleaning tray assembly is located below the second frame assembly, the connecting main beam of the cleaning mechanism is detachably disposed in the cleaning assembly, and the cleaning drive assembly extends from the top of the first frame assembly.

9. The tracked ship cleaning robot according to claim 8, characterized in that, The first frame component includes a first outer frame and a plurality of first connecting beams located within the first outer frame; The second frame component includes a second outer frame and a plurality of second connecting beams located within the second outer frame; The first outer frame and the second outer frame are arranged parallel to each other vertically, and the first connecting beams, the second connecting beams, and the first connecting beams and the second connecting beams are all arranged parallel to each other. The two ends of the connecting column are respectively perpendicularly connected to the first frame component and the second frame component; The first outer frame and the second outer frame are both rectangular frames.

10. The tracked ship cleaning robot according to claim 9, characterized in that, The tracked ship cleaning robot also includes a main control mechanism, a sensing mechanism, four vertical thrusters, four horizontal thrusters, lighting, and a camera; The main support structure also includes: The main control assembly is configured to be detachably assembled with the main control mechanism; the main control assembly is located between the first frame assembly and the second frame assembly, and is located in front of the cleaning assembly; The sensor assembly is configured to detachably assemble the sensor mechanism; the sensor assembly is located between the first frame assembly and the second frame assembly, and is located behind the cleaning assembly. Four vertical propulsion assembly racks are configured to detachably assemble the vertical propellers, with the four vertical propellers located on the inner sides of the four corners of the first outer frame; the opening direction of the vertical propellers is vertically upward. Four horizontal propulsion assembly columns are configured to detachably mount the horizontal propellers, with the four horizontal propellers located below the four corners of the first outer frame. The horizontal propulsion assembly columns are configured such that the angle between the propulsion direction of the horizontal propellers and the front or rear face of the main support is 45°, and the opening direction of the two front horizontal propellers is horizontally forward and inward at 45°, while the opening direction of the two rear horizontal propellers is horizontally backward and inward at 45°. Multiple lighting and camera mounts are configured to detachably mount lighting lamps and / or cameras; the lighting and camera mounts are located at the front and rear ends of the main support, so that cameras and lighting lamps are provided at both the front and rear ends of the tracked ship cleaning robot.

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