An underwater adaptive adsorption ship cleaning and recovery robot

Abstract

This invention proposes an underwater adaptive adsorption ship cleaning and recycling robot, belonging to the field of ship cleaning technology. It includes: a base with several pairs of outwardly extending support arms; an electronically sealed chamber located on the side of the base closest to the ship; a shell for connecting and securing an umbilical cable; several motion adsorption units for adsorbing onto the curved surface of the ship and moving along the ship's surface; a Bernoulli suction cup adsorption and dirt-gathering unit for providing auxiliary suction and forming a vortex towards the center of the base; a cleaning and recycling integrated unit for generating cavitation water flow, which detaches contaminants from the hull and is then pumped back from the ship's surface by a water pump; and a cable-supply integrated umbilical cable, connected to the electronically sealed chamber to transmit information and electrical energy, and providing water for the cavitation water flow of the cleaning and recycling integrated unit. This robot reliably adsorbs contaminants onto the surface and cleans and recycles them as it moves along the ship's surface.

Description

Technical Field

[0001] This invention relates to the field of ship cleaning technology, and in particular to an underwater adaptive adsorption ship cleaning and recycling robot. Background Technology

[0002] Prolonged voyages can lead to marine organisms attaching to the hull, causing additional fuel consumption and hull damage. Data shows that a 100,000-ton oil tanker with moderate biofouling will experience a 30% increase in drag and a fuel consumption increase of up to 12 tons per day. Simultaneously, the attached organisms release acidic substances that damage the hull coating, causing surface corrosion and creating potential hazards. Therefore, underwater ship cleaning is highly necessary and in high demand, but the cleaning operation itself is quite challenging.

[0003] The main cleaning methods for large ships include dock cleaning, manual underwater cleaning, and robotic underwater cleaning. Dock cleaning involves bringing the ship into a dock-type building for repair and construction for cleaning. The cleaning process requires the dock to go through a process of filling and draining water, which is difficult, time-consuming, and expensive. Manual underwater cleaning has unstable quality, which is greatly affected by the skills and experience of divers, and diving operations have high safety risks. Currently, underwater robotic cleaning is not very flexible.

[0004] Therefore, based on the above situation, it is essential to provide an underwater adaptive adsorption ship cleaning and recycling robot that uses magnetic adsorption, is flexible in operation, and does not pollute the port water environment. Summary of the Invention

[0005] In view of this, the present invention proposes an underwater adaptive adsorption ship cleaning and recycling robot that can perform adsorption on ship surfaces and rust removal on permanent magnet wheels, effectively clean and collect and recycle dirt, and does not pollute water bodies.

[0006] This invention provides an underwater adaptive adsorption ship cleaning and recycling robot, comprising:

[0007] The base has several pairs of outwardly extending support arms, and an electronic sealing compartment is provided on the side surface of the base closest to the ship.

[0008] The housing, located on the side of the base away from the ship, is sealed to the base and used to connect and secure the umbilical cable; the top of the housing is equipped with a UTC connector device for securing the umbilical cable.

[0009] Several motion adsorption units are provided, with any pair of support arms positioned near the side of the ship, for adsorbing onto the curved surface of the ship and moving along the ship's surface;

[0010] The Bernoulli suction cup adsorption and dirt-gathering unit is located on the edge of the base between several moving adsorption units to provide auxiliary suction and form a vortex toward the center of the base;

[0011] The integrated cleaning and recycling unit is located in the center of the base near the ship's side. It is used to generate cavitation water flow to remove pollutants and to recycle dirt shed from the ship's surface.

[0012] The umbilical cable connects to the electronic sealed chamber to transmit information and power, and provides a water source for the cavitation water flow of the integrated cleaning and recycling unit. The electronic sealed chamber is connected to several motion adsorption units, Bernoulli suction cup adsorption and dirt collection units, and the integrated cleaning and recycling unit.

[0013] Based on the above technical solutions, preferably, each of the plurality of motion adsorption units includes a curved surface adaptation device, a cam-limiting magnetic suction wheel, and an encoding motor;

[0014] The cam-limiting magnetic chuck includes a pair of cams, two spokes, several combined columnar permanent magnets, and a hollow rim. Two spokes are symmetrically arranged on both sides of the rim's axial extension direction. Several arc-shaped grooves are formed on the rim and the spokes, with the positions of these grooves identical. A cam is located on the side of each spoke away from the rim. A wheel axle is inserted at the center of the rim, the two spokes, and the pair of cams, and is fixed relative to the wheel axle. Several combined columnar permanent magnets are located inside the rim, passing through it and embedded in the corresponding arc-shaped grooves of the two spokes. The portions of the combined columnar permanent magnets extending beyond the spokes also abut against the contours of the cams. An encoder motor is mounted on the cams and meshes with the wheel axle, driving the wheel axle to rotate the two spokes and the rim together. Curved surface adapters are located at both ends of the wheel axle, one end of which is hinged to the wheel axle, and the other end is connected to the base.

[0015] Preferably, the wheel rim is provided with a plurality of axially penetrating compartments, with adjacent compartments spaced apart; a plurality of combined columnar permanent magnets include a first connecting rod, a permanent magnet slider, and a rocker arm; the permanent magnet slider is disposed in the compartment of the wheel rim, and the outer surface of the permanent magnet slider is provided with a first connecting rod, which is fixedly connected to the permanent magnet slider. The first connecting rod extends outward along the axial direction of the permanent magnet slider, passes through the arc groove of the adjacent spoke-type wheel spoke, and extends outward. The first connecting rod abuts against the surface of the arc groove and the surface of the cam, respectively. The number of first connecting rods corresponds one-to-one with the number of arc grooves; a rocker arm is provided at one end of each first connecting rod, one end of which is fixedly connected to the first connecting rod, and the other end of which extends outward in a direction away from the axial direction of the rocker arm. The rocker arm is hingedly connected to the adjacent spoke-type wheel spoke.

[0016] The cam profile includes a distal segment and a proximal segment. The distal segment is located on the profile of a virtual cylinder, and the distance between the proximal segment and the center of the virtual cylinder is less than the radius of the radial section of the virtual cylinder. The distal segment and the proximal segment transition smoothly. The first connecting rod is constrained by both the cam profile and the arc groove.

[0017] Preferably, the curved surface adaptation device includes a main crossbar, a first spring return rod, a second spring return rod, and a telescopic rod; the main crossbar is mounted on a pair of support arms of the base, the first spring return rod is mounted on the side of the axle closer to the center of the base, and the second spring return rod is mounted on the side of the axle farther from the center of the base; the fixed ends of the first and second spring return rods are respectively hinged to both ends of the axle; the movable end of the first spring return rod is hinged to one end of the telescopic rod, and the other end of the telescopic rod passes radially through the main crossbar; the movable end of the second spring return rod passes radially through the main crossbar; the portion of the movable end of the telescopic rod passing through the main crossbar is provided with a limiting block, the size of which is larger than the size of the telescopic rod; the movable end of the second spring return rod is hinged to the main crossbar.

[0018] Preferably, the Bernoulli suction cup adsorption and dirt-collecting unit includes several bottom differential flow Bernoulli suction cups; each bottom differential flow Bernoulli suction cup includes a filter plate, a cylindrical water inlet channel, a reverse double propeller, an eccentric cone separator, an integrated shell of a negative pressure effect plate, a drive motor, and a second connecting rod; the integrated shell of the negative pressure effect plate is hollow inside and is fixedly connected to a cam via the second connecting rod, and its end away from the ship's surface is fixedly connected to the cylindrical water inlet channel, which also extends away from the ship's surface. The cylindrical water inlet channel contains a reverse double propeller and its drive motor, with the two propellers rotating in opposite directions. A filter plate is located at the end of the cylindrical water inlet channel away from the ship; the eccentric cone separator is embedded at the end of the integrated shell of the negative pressure effect plate near the ship's surface, with a gap between it and the inner wall of the integrated shell, and the apex of the eccentric cone separator points to the center of the reverse double propeller; the gap between the eccentric cone separator and the integrated shell of the negative pressure effect plate forms a water flow differential channel.

[0019] In a further preferred embodiment, the adsorption surface of each bottom differential flow Bernoulli suction cup is tangential to the contact surface of the cam-limiting magnetic suction wheel of the adjacent motion adsorption unit; the focal point of the adsorption surface of each bottom differential flow Bernoulli suction cup is a virtual circle.

[0020] In a further preferred embodiment, the integrated cleaning and recycling unit is located at the center of the base on the side closest to the ship's surface, and the Bernoulli suction cup adsorption and dirt-gathering unit is arranged around the integrated cleaning and recycling unit; the integrated cleaning and recycling unit includes a three-bladed steady-speed rotating flow-starting cleaning disc and a double-layer cleaning and recycling cover, with the double-layer cleaning and recycling cover arranged around the three-bladed steady-speed rotating flow-starting cleaning disc;

[0021] The three-bladed, stable-speed rotating cleaning disc includes a stable-speed supply hollow shaft, a three-bladed hollow spinning jet nozzle, and a jet pump. The jet pump is fixedly mounted on the base and located in the area enclosed by the housing and the base. The stable-speed supply hollow shaft is connected to both the jet pump and the three-bladed hollow spinning jet nozzle, providing water flow to the nozzle. The stable-speed supply hollow shaft includes an annular metal body and a flexible petal-shaped channel. The annular metal body serves as the shaft for the three-bladed hollow spinning jet nozzle, and the flexible petal-shaped channel is located inside the annular metal body, changing its opening degree with the rotational speed of the annular metal body.

[0022] The double-layer cleaning and recovery hood includes an outer anti-diffusion hood, an inner volume-limiting filter hood, and a water pump. Both the outer anti-diffusion hood and the inner volume-limiting filter hood are arranged around a hollow rotating shaft for stable flow. The inner volume-limiting filter hood is located inside the outer anti-diffusion hood. The outer anti-diffusion hood is also connected to the water pump via a flexible corrugated pipe, and the water pump is fixedly mounted on a base. An anti-collision ring is arranged around the end of the outer anti-diffusion hood near the ship's surface. Elastic omnidirectional feedback devices are installed on both the side of the outer anti-diffusion hood near the base and the side near the inner volume-limiting filter hood. The feedback device includes several springs, which are symmetrically arranged with respect to the central axis of the hollow rotating shaft in the constant-speed flow supply. The two ends of each spring are fixedly connected to the outer anti-diffusion outer cover and the inner volume-limiting filter cover, or fixedly connected to the outer anti-diffusion outer cover and the base. The springs are also provided with an anti-corrosion layer. The inner volume-limiting filter cover is provided with several channels for dirt to pass through, and the diameter of the channels is smaller than the diameter of the flexible bellows. The inner volume-limiting filter cover has through holes for the hollow rotating shaft in the constant-speed flow supply to pass through, and the inner volume-limiting filter cover at the through holes is also fixedly connected to the hollow rotating shaft in the constant-speed flow supply.

[0023] More preferably, the three-bladed hollow spin jet nozzle includes several blade-shaped jet channels and accordion-shaped jet ports. The width of the two ends of the blade-shaped jet channels is smaller than the width of the non-end ends. One end of the blade-shaped jet channel is connected to the interior of the annular metal body, and the other end of the blade-shaped jet channel is provided with an accordion-shaped jet port, which bends outward in a direction away from the blade-shaped jet channel.

[0024] More preferably, both the outer anti-diffusion outer cover and the inner volume-limiting filter inner cover are frustum-shaped, and the diameter ratio K2 of the upper base to the lower base of the inner volume-limiting filter inner cover is smaller than the diameter ratio K1 of the upper base to the lower base of the outer anti-diffusion outer cover. The distance between the side of the inner volume-limiting filter inner cover and the outer anti-diffusion outer cover gradually decreases towards the opening of the bottom of the frustum-shaped cover.

[0025] Based on the above technical solutions, preferably, it also includes a fisheye camera and a data acquisition unit. The fisheye camera is located at both ends of the base's length extension direction, and the data acquisition unit is communicatively connected to the encoder motor, the drive motor, and the fisheye camera, respectively. The encoder motor provides feedback on the wheel rim's rotational speed, and the movement speed on the ship's surface is obtained based on the wheel rim's rotational speed. Where υ is the linear velocity, ω is the angular velocity, and v r v is the rotational speed of the wheel rim on the right side of the robot's direction of travel. l The rotational speed of the wheel on the left side of the robot's direction of travel is given by 'l', and the distance between the left and right wheel rims is given by 'l'. The drive motor provides feedback on the speed of the counter-rotating twin propellers and the suction force of the bottom differential flow Bernoulli suction cup. F represents the suction force of the bottom differential flow Bernoulli suction cup, A represents the area of ​​the end of the integrated shell of the negative pressure effect plate closest to the ship's surface, ρ represents the fluid density, and v represents the fluid velocity within the cylindrical inlet channel. k is the proportional coefficient, n is the speed of the drive motor of the reverse twin propeller, and D is the inner diameter of the cylindrical water inlet channel.

[0026] The data acquisition unit also generates the current machine posture on the clean surface model established based on the clean surface data features collected and processed by the fisheye camera, determines the motion path, and transmits the data to each encoder motor to achieve differential steering of the wheels. The state space expression for the motion path data transmission is: Where X is the state variable, x is the x-coordinate, and y is the y-coordinate. Let τ be the deflection angle, u be the control variable, and τ be the deflection angle. f The yaw angle is the horizontal axis, which is the robot's direction of movement determined at the initial working stage. The vertical axis is perpendicular to the horizontal axis.

[0027] The underwater adaptive adsorption ship cleaning and recycling robot provided by this invention has the following advantages compared with the prior art:

[0028] (1) This invention designs a demagnetizable motion adsorption system that can adapt to the curvature of a curved surface. When the encoder motor drives the cam limit magnetic chuck to rotate, the machine moves forward. The special shape of the cam controls the position of the permanent magnet. It enters the centroid strong magnetic adsorption zone to enhance the magnetic force and improve the adsorption capacity, or enters the proximal weak magnetic derusting zone to weaken the magnetic force and achieve derusting capacity. Compared with the existing permanent magnet wheel, the adsorption capacity is more stable. The curved surface adaptation device enables each cam limit magnetic chuck to change its inclination in response to changes in the curved surface. The spring reset rod provides effective and rapid feedback on the curvature information of the curved surface during the machine's movement to adapt to the curved surface. In the double bar system, the easily deformable geometric characteristics of the parallelogram are used to achieve the adaptability to curved surfaces that traditional magnetic chuck cannot achieve.

[0029] (2) The design of multiple bottom-differential flow Bernoulli suction cups in the Bernoulli suction cup adsorption and dirt-gathering unit provides auxiliary adsorption capacity for the machine while also playing a role in gathering and collecting dirt. In order to deal with the magnetic adsorption effect on heavily polluted walls with large drops, the power of the double propellers in the Bernoulli suction cup is controlled to form a negative pressure suction between the negative pressure effect plate and the cleaning surface; the water channels in different directions of the bottom-differential flow Bernoulli suction cup have different inclinations, and the water flow speed at the integrated shell of the negative pressure effect plate is different. Through special arrangement to control the direction of the fast and slow water flow, an inward vortex is formed in the center of the machine, which gathers the pollutants that are spreading outward to achieve the effect of gathering and collecting dirt;

[0030] (3) When the environmentally friendly integrated cleaning and recycling unit is working, the jet pump provides high-pressure water flow to the hollow rotating shaft with a steady flow. The water flow generates cavitation bubbles at the accordion-shaped nozzle of the three-bladed hollow self-rotating jet nozzle. When the three-bladed hollow self-rotating jet nozzle rotates, it provides all-round cleaning to the cleaning surface. The rotation of the paddle-shaped jet channel disturbs the water flow and forms a vortex, making the pollutants that have been cleaned and removed in a floating state within the cleaning pan more easily broken by the cavitation bubbles and more easily pumped away from the cleaning and recycling pan by the water pump. During the recycling operation, the water pump creates a negative pressure between the outer anti-diffusion cover and the inner volume-limiting filter cover. The channel opening on the side of the inner volume-limiting filter cover restricts the passage of pollutants of a certain size, thereby achieving the effect of waste recycling.

[0031] (4) This application also provides the calculation relationship between the moving speed on the ship surface and the suction force of the bottom differential flow Bernoulli suction cup, which can be correlated by the rotation speed of the encoder motor and the drive motor, providing a basis for subsequent robot movement path planning. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a perspective view of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention;

[0034] Figure 2 This is a perspective view of another pose of the underwater adaptive adsorption ship cleaning and recycling robot of the present invention;

[0035] Figure 3 This is a top view of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention;

[0036] Figure 4 for Figure 3Enlarged view of the AA section;

[0037] Figure 5 This is a perspective view of the exploded state of the cam-limiting magnetic suction wheel of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention.

[0038] Figure 6 This is a front view of the spoke-type wheel spokes of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention;

[0039] Figure 7 This is a three-dimensional cross-sectional view of the Bernoulli suction cup adsorption and dirt-gathering unit of an underwater adaptive adsorption ship cleaning and recycling robot of the present invention.

[0040] Figure 8 This is a front view of the cam of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention;

[0041] Figure 9 This is a perspective view of the three-bladed hollow spinning jet nozzle of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention.

[0042] Figure 10 This is a three-dimensional cross-sectional view of the accordion-shaped jet nozzle of an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention.

[0043] Figure 11 This is a three-dimensional view of a combined columnar permanent magnet for an underwater adaptive adsorption ship cleaning and recycling robot according to the present invention.

[0044] Reference numerals: 1. Motion adsorption unit; 10. Wheel axle; 11. Curved surface adaptation device; 110. Main crossbar; 111. First spring return rod; 112. Second spring return rod; 113. Telescopic rod; 114. Limiting block; 12. Cam limiting magnetic suction wheel; 121. Cam; 122. Spoke-type wheel spoke; 1221. Arc groove; 1222. Keyway; 123. First connecting rod; 124. Combined columnar permanent magnet; 125. Wheel rim; 100. Compartment; 126. Permanent magnet slider; 127. Swing rod;

[0045] 2. Bernoulli suction cup adsorption and dirt collection unit; 21. Filter plate; 22. Cylindrical water inlet channel; 23. Reverse double propeller; 24. Eccentric cone flow divider; 25. Water flow differential channel; 26. Integrated shell of negative pressure effect plate; 27. Drive motor; 28. Second connecting rod;

[0046] 3. Integrated cleaning and recycling unit; 200. Three-bladed steady-speed rotating cleaning disc; 31. Three-bladed hollow self-spinning jet nozzle; 311. Paddle-shaped jet channel; 312. Accordion-shaped jet nozzle; 35. Steady-speed supply hollow rotating shaft;

[0047] 300. Double-layer cleaning and recycling cover; 32. Outer layer anti-diffusion cover; 33. Inner layer volume-limiting filter cover; 34. Anti-collision ring; 36. Elastic omnidirectional feedback device;

[0048] 4. Base; 5. Housing; 6. Umbilical cable; 7. Pressure-resistant sealed chamber; 8. Fisheye camera; 9. Diverter plate. Detailed Implementation

[0049] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] like Figures 1-3 As shown, this invention provides an underwater adaptive adsorption ship cleaning and recycling robot, including a base 4, a shell 5, several motion adsorption units 1, a Bernoulli suction cup adsorption and dirt-gathering unit 2, a cleaning and recycling integrated unit 3, an umbilical cable 6, and an electronic sealed chamber 7, etc.; wherein:

[0051] The base 4 has several pairs of outwardly extending support arms. An electronic sealing chamber 7 is provided on the side of the base 4 closest to the ship. Preferably, signal processing and communication equipment is installed inside the electronic sealing chamber 7. A support frame can also be further provided on the side of the base, which can be used to assist in the installation of the motion adsorption unit 1. The signal processing and communication equipment inside the electronic sealing chamber 7, such as a DSP or microcontroller, is communicatively connected to several motion adsorption units 1, Bernoulli suction cup adsorption and dirt-gathering units 2, and integrated cleaning and recycling units 3.

[0052] The housing 5 is located on the side of the base 4 away from the ship and is sealed to the base 4 for connecting and securing the umbilical cable 6; the top of the housing 5 is provided with a UTC connector device for securing the umbilical cable, which can be used for the transmission of information, energy or water.

[0053] Several motion adsorption units 1 are provided with any pair of support arms on the side close to the ship, for adsorption onto the arc-shaped surface of the ship. The motion adsorption units 1 are used to move along the ship surface in a preset direction to adapt to the streamlined shape of the ship.

[0054] The Bernoulli suction cup adsorption and dirt-gathering unit 2 is disposed on the edge of the base 4 between several moving adsorption units 1 to provide auxiliary suction and form a vortex toward the center of the base 4.

[0055] The integrated cleaning and recycling unit 3 is located at the center of the base 4 near the side of the ship. It is used to generate cavitation water flow to remove pollutants and to recycle dirt shed from the ship's surface.

[0056] The umbilical cable 6 is connected to the electronic sealed chamber to transmit information and power, and provides water source for the cavitation water flow of the integrated cleaning and recycling unit 3. The electronic sealed chamber is communicatively connected to several motion adsorption units 1, Bernoulli suction cup adsorption and dirt-gathering units 2 and the integrated cleaning and recycling unit 3.

[0057] like Figures 2-6 Combination Figure 8 As shown, each of the several motion adsorption units 1 includes a curved surface adaptation device 11, a cam-limiting magnetic suction wheel 12, and an encoding motor.

[0058] The cam-limiting magnetic wheel 12 includes a pair of cams 121, two spokes 122, several combined columnar permanent magnets 124, and a hollow rim 125. Two spokes 122 are symmetrically arranged on both sides of the rim 125 along its axial extension direction. Several arc-shaped grooves 1221 are formed on the rim 125 and the spokes 122, and the positions of the arc-shaped grooves 1221 on the rim 125 and the two spokes 122 are identical. A cam 121 is provided on the side of each spoke 122 away from the rim 125. A wheel axle 10 is inserted at the center of the rim 125, the two spokes 122, and the pair of cams 121. Each spoke 122 is fixedly disposed relative to the axle 10; several combined columnar permanent magnets 124 are disposed inside the rim 125 and pass through the rim 125 and are embedded in the corresponding arc-shaped grooves 1221 of the two spokes 122, and the portions of the combined columnar permanent magnets 124 extending out of the spokes 122 also abut against the contour of the cam 121; an encoder motor is disposed on the cam 121 and meshes with the axle 10 to drive the axle 10 to rotate the two spokes and the rim together; curved surface adapters 11 are provided at both ends of the axle 10, one end of which is hinged to the axle 10 and the other end is slidably connected to the base 4.

[0059] A pair of cams 121 are fixed relative to the support arms of the base 4, while the rim 125 and two spokes 122 are fixed relative to the axle 10. This means that regardless of whether the axle 10 rotates or how its orientation changes, the cams 121 do not rotate with the axle 10; their orientation is constrained by both the axle 10 and the curved surface fitting device 11. The rim 125 and the two spokes 122, however, always rotate with the axle.

[0060] The four cam-guided magnetic wheels 12 are asymmetrically arranged around the base 4, with a relatively long front overhang, shifting the overall center of gravity rearward. This allows the cleaning and recycling robot to achieve better obstacle-crossing ability and higher stability when moving forward on the cleaning surface. Figure 1As shown, the further configured flow divider 9 is installed above each cam limit magnetic chuck 12 and has a streamlined structure, which can reduce the eddies and turbulence generated during the robot's movement, thereby improving the robot's movement efficiency and performance.

[0061] like Figure 5 and Figure 11 As shown, the rim 125 has several axially penetrating compartments 100, with adjacent compartments 100 spaced apart; several combined columnar permanent magnets 124 include a first connecting rod 123, a permanent magnet slider 126, and a swing rod 127; the permanent magnet slider 126 is disposed within the compartments 100 of the rim 125, and the outer surface of the permanent magnet slider 126 is provided with the first connecting rod 123, which is fixedly connected to the permanent magnet slider 126, and extends outward along the axial direction of the permanent magnet slider 126; the first connecting rod 123 passes through the arcuate groove 1221 of the adjacent spoke-type spoke 122 and extends outward, and the first connecting rod 123 is respectively connected to... The surface of the arc groove 1221 abuts against the surface of the cam 121. The number of first connecting rods 123 corresponds one-to-one with the number of arc grooves 1221. One end of each first connecting rod 123 is provided with a rocker arm 127. One end of the rocker arm 127 is fixedly connected to the first connecting rod 123, and the other end of the rocker arm 127 extends outward in a direction away from the axial direction of the rocker arm 127. The rocker arm 127 is hinged to the adjacent spoke 122. The arc grooves 1221 on the wheel rim 125 and the spoke 122, together with the cam 121, adjust the position of the combined columnar permanent magnet 124. During this process, the position of the cam 121 remains unchanged.

[0062] like Figure 8 As shown, the profile of cam 121 includes a distal segment and a proximal segment. The distal segment lies on the profile of a virtual cylinder, and the distance between the proximal segment and the center of the virtual cylinder is less than the radius of the radial section of the virtual cylinder. The distal and proximal segments transition smoothly. The first connecting rod 123 is constrained by both the profile of cam 121 and the arcuate groove 1221. The shape of cam 121 is irregular, and the proximal segment, i.e. Figure 8Region I is the near-center weak magnetic rust removal zone, and Region II is the far-center strong magnetic adsorption zone. The outline of the cam 121 restricts the position of the combined columnar permanent magnet 124 in the spatial track between the spoke 122 and the rim 125, placing it in the near-center weak magnetic rust removal zone and the far-center strong magnetic adsorption zone, respectively. The near-center weak magnetic rust removal zone is located at the farthest end of the adsorption surface. In this zone, the magnetic force of the columnar permanent magnet decreases as it moves closer to the center and away from the rim 125, causing rust to fall off, achieving a process similar to unloading, which facilitates collection and processing in subsequent steps. When it reaches the far-center strong magnetic adsorption zone, the magnetic force at the rim 125 is enhanced, making it easier to adsorb and peel off rust from the ship's surface. As a preferred embodiment, the outer surface of the rim 125 can be further provided with a wear-resistant rubber layer or covered with tires to improve the wear resistance of the rim 125. The curvature change of the cam 121 surface facilitates a smooth change in the magnetic field magnitude at the rim 125 adjacent to the combined columnar permanent magnet 124.

[0063] The curved surface adaptation device 11 includes a main crossbar 110, a first spring return rod 111, a second spring return rod 112, and a telescopic rod 113. The main crossbar 110 is mounted on a pair of support arms of the base 4. The first spring return rod 111 is mounted on the side of the axle 10 near the center of the base 4, and the second spring return rod 112 is mounted on the side of the axle 10 away from the center of the base 4. The fixed ends of the first spring return rod 111 and the second spring return rod 112 are respectively hinged to both ends of the axle 10. The movable end of the first spring return rod 111 is hinged to one end of the telescopic rod 113, and the other end of the telescopic rod 113 passes radially through the main crossbar 110. The movable end of the second spring return rod 112 passes radially through the main crossbar 110. Limiting blocks 114 are respectively provided on the portion of the movable end of the telescopic rod 113 that passes through the main crossbar 110. The size of the limiting blocks 114 is larger than the size of the telescopic rod 113. The movable end of the second spring return rod 112 is hinged to the main crossbar 110.

[0064] In the above scheme, the curved surface adapting device 11 and the axle shape 10 of the cam-limiting magnetic chuck 12 form a deformable and unstable quadrilateral. The cam-limiting magnetic chuck 12 adapts to the curvature of the ship's surface: when adapting to a convex surface, the inner first spring return rod 111 is compressed, and the outer second spring return rod 112 is stretched to make the wheel rim 125 as tangent as possible to the ship's surface; when adapting to a concave surface, the inner first spring return rod 111 is stretched, and the outer spring return rod 112 is compressed to make the wheel rim 125 as tangent as possible to the ship's surface. This achieves the effect of adapting to the curved surface of the ship.

[0065] like Figure 1 and Figure 7As shown, the Bernoulli suction cup adsorption and dirt-collecting unit 2 includes several bottom differential flow Bernoulli suction cups; the bottom differential flow Bernoulli suction cup includes a filter plate 21, a cylindrical water inlet channel 22, a reverse double propeller 23, an eccentric cone splitter 24, a negative pressure effect plate integrated shell 26, a drive motor 27, and a second connecting rod 28; the negative pressure effect plate integrated shell 26 is hollow inside, and is fixedly connected to the cam 121 through the second connecting rod 28, and one end away from the ship surface is fixedly connected to the cylindrical water inlet channel 22, the cylindrical water inlet channel (22) also extends in a direction away from the ship surface, the cylindrical inlet... The water channel 22 is equipped with a counter-rotating twin propeller 23 and its drive motor 27. The two propellers of the counter-rotating twin propeller 23 rotate in opposite directions. A filter plate 21 is provided at the end of the cylindrical water inlet channel 22 away from the ship. An eccentric cone fluid divider 24 is embedded in the end of the integrated shell 26 of the negative pressure effect plate near the ship surface and is separated from the inner wall of the integrated shell 26 of the negative pressure effect plate. The apex of the eccentric cone fluid divider 24 points to the center of the counter-rotating twin propeller 23. The gap between the eccentric cone fluid divider 24 and the integrated shell 26 of the negative pressure effect plate forms a water flow differential channel 25.

[0066] In a preferred embodiment, the adsorption surface of each bottom differential flow Bernoulli suction cup is tangentially arranged to the contact surface of the cam-limiting magnetic suction wheel 12 of the adjacent motion adsorption unit 1; the focal points of the adsorption surfaces of each bottom differential flow Bernoulli suction cup share a common virtual circle. In this embodiment, four bottom differential flow Bernoulli suction cups are preferably used, wherein the focal points corresponding to the projection of the eccentric cone fluid in two bottom differential flow Bernoulli suction cups and another focal point on the bottom surface of the other two Bernoulli suction cups are located on the same positioning circle, and the two sets of Bernoulli suction cups are arranged at intervals on the same side of the circumference with an angular distance of 125 degrees, distributed on both sides of the base 4. The major axis of the ellipse at the bottom of each bottom differential flow Bernoulli suction cup is tangent to the virtual circle.

[0067] In the above scheme, the bottom surface of the bottom differential flow Bernoulli suction cup is preferably elliptical, but it can also be circular or polygonal. When the bottom differential flow Bernoulli suction cup works alone, the water flow is pushed from the cylindrical water inlet channel 22 through the reverse double propeller 23 to the apex of the eccentric cone splitter 24 at the bottom of the ellipse and then split. Because the inclination of the splitter side is inconsistent and the water flow path length is different, the flow velocity of the water flow is different in different directions. At the inner circumference of the bottom negative pressure effect plate integrated shell 26, due to the flow channel guiding effect, the water flow is parallel to the negative pressure effect plate integrated shell 26 and flows out. Because the flow velocity is fast and the pressure is low, a negative pressure is generated, which makes the bottom differential flow Bernoulli suction cup close to the ship surface, enhancing the robot's adsorption force on the ship surface. When the Bernoulli suction cup adsorption and dirt collection unit 2 is working, the special arrangement of the four bottom differential flow Bernoulli suction cups forms an inward vortex at the center of the base 4 by controlling the direction of fast and slow flow, so as to achieve the effect of collecting and gathering pollutants, so that the subsequent process can further collect dirt.

[0068] See attached document Figure 1 , Figure 2 , Figure 9 and Figure 10 The integrated cleaning and recycling unit 3 is located at the center of the base 4 on the side near the ship's surface. The Bernoulli suction cup adsorption and collection unit 2 is arranged around the integrated cleaning and recycling unit 3. The integrated cleaning and recycling unit 3 includes a three-bladed steady-speed rotating flow-starting cleaning disc 200 and a double-layer cleaning and recycling cover 300, which is arranged around the three-bladed steady-speed rotating flow-starting cleaning disc 200.

[0069] The three-bladed, stable-speed rotating cleaning disc 200 includes a stable-speed supply hollow shaft 35, a three-bladed hollow spinning jet nozzle 31, and a jet pump. The jet pump is fixedly mounted on the base 4 and located in the area enclosed by the housing 5 and the base 4. The stable-speed supply hollow shaft 35 is connected to both the jet pump and the three-bladed hollow spinning jet nozzle 31, providing water flow to the nozzle. The stable-speed supply hollow shaft 35 includes an annular metal body and a flexible petal-shaped channel. The annular metal body serves as the shaft for the three-bladed hollow spinning jet nozzle 31, and the flexible petal-shaped channel is located inside the annular metal body, changing its opening degree with the rotational speed of the annular metal body, thereby achieving flow regulation. The water required by the jet pump can be supplied by an external water source connected to the umbilical cable 6.

[0070] The double-layer cleaning and recovery hood 300 includes an outer anti-diffusion hood 32, an inner volume-limiting filter hood 33, and a water pump. Both the outer anti-diffusion hood 32 and the inner volume-limiting filter hood 33 are arranged around a hollow rotating shaft 35 for stable flow supply. The inner volume-limiting filter hood 33 is located inside the outer anti-diffusion hood 32. The outer anti-diffusion hood 32 is also connected to the water pump through a flexible corrugated pipe, and the water pump is fixedly mounted on the base 4. An anti-collision ring 34 is arranged around the end of the outer anti-diffusion hood 32 near the ship's surface. Elastic omnidirectional feedback devices are provided on both the side of the outer anti-diffusion hood 32 near the base 4 and the side of the outer anti-diffusion hood 32 near the inner volume-limiting filter hood 33. 36. The elastic omnidirectional feedback device 36 includes several springs, which are symmetrically arranged with respect to the central axis of the hollow rotating shaft 35 in the stabilizing flow supply. The two ends of each spring are fixedly connected to the outer anti-diffusion cover 32 and the inner volume-limiting filter cover 33, or fixedly connected to the outer anti-diffusion cover 32 and the base 4. The springs are also provided with an anti-corrosion layer. The inner volume-limiting filter cover 33 is provided with several channels for dirt to pass through, and the diameter of the channels is smaller than the diameter of the flexible bellows. The inner volume-limiting filter cover 33 has through holes for the hollow rotating shaft 35 in the stabilizing flow supply to pass through, and the inner volume-limiting filter cover 33 at the through holes is also fixedly connected to the hollow rotating shaft 35 in the stabilizing flow supply. The jet pump provides a high-pressure water flow to the hollow rotating shaft for a stable flow. The water flow generates cavitation bubbles at the accordion-shaped nozzle of the three-bladed hollow self-rotating jet nozzle. As the nozzle rotates, it provides all-around cleaning of the cleaning surface. The rotation of the paddle-shaped jet channel disturbs the water flow, creating vortices that cause the cleaned contaminants to float within the cleaning pan, making them easier to break up by the cavitation bubbles and more readily removed from the cleaning recovery pan by the pump. During recovery operations, the pump creates negative pressure between the outer anti-diffusion casing and the inner volume-limiting filter casing. The channels on the side of the inner volume-limiting filter casing restrict the passage of contaminants of a certain size, thus achieving the effect of contaminant recovery.

[0071] like Figure 9 and 10 As shown, the three-bladed hollow spinning jet nozzle 31 includes several blade-shaped jet channels 311 and accordion-shaped jet ports 312. The widths at both ends of the blade-shaped jet channels 311 are smaller than the widths at the non-end ends. One end of the blade-shaped jet channel 311 is connected to the interior of the annular metal body, and the other end of the blade-shaped jet channel 311 is provided with an accordion-shaped jet port 312, which bends outward away from the blade-shaped jet channel 311. The jet channels are connected to the annular metal body and the accordion-shaped jet port 312 respectively, forming a complete jet path. Figure 10 As shown, the accordion-shaped jet nozzle 312 has a stepped structure, and the diameter of its outlet gradually increases.

[0072] Both the outer anti-diffusion cover 32 and the inner volume-limiting filter cover 33 are frustum-shaped. The diameter ratio K2 of the upper and lower bases of the inner volume-limiting filter cover 33 is smaller than that of the outer anti-diffusion cover 32. The distance between the side of the inner volume-limiting filter cover 33 and the outer anti-diffusion cover 32 gradually decreases towards the opening at the bottom of the frustum. When the water pump is working, the water flow between the outer anti-diffusion cover 32 and the inner volume-limiting filter cover 33 is pumped out, and water fills the side of the outer anti-diffusion cover 32 and the inner volume-limiting filter cover 33 that is in contact with the ship's surface, forming a temporarily sealed space that makes it difficult for dirt to spread. The diameter ratio constraint between the outer anti-diffusion cover 32 and the inner volume-limiting filter cover 33 ensures that the inner volume-limiting filter cover 33 will not exceed the outer anti-diffusion cover 32.

[0073] To better adapt to the aquatic environment, this solution also includes a fisheye camera 8 and a data acquisition unit. The fisheye camera 8 is positioned at both ends along the length extension of the base 4. The data acquisition unit is communicatively connected to the encoder motor, drive motor 27, and fisheye camera 8, respectively. The encoder motor provides feedback on the rotational speed of the wheel rim 125, and the speed of movement on the ship's surface is obtained based on the rotational speed of the wheel rim 125. Where υ is the linear velocity, ω is the angular velocity, and v r v is the rotational speed of the wheel rim on the right side of the robot's direction of travel, which is 125. l The rotational speed of the left wheel rim 125 in the robot's direction of travel is given by l, and l is the distance between the left and right wheel rims 125; the drive motor 27 provides feedback on the speed of the counter-rotating twin propellers 23 and the suction force of the bottom differential flow Bernoulli suction cup. F represents the suction force of the bottom differential flow Bernoulli suction cup, A represents the area of ​​the end of the integrated shell 26 of the negative pressure effect plate near the ship's surface, ρ represents the fluid density, and v represents the fluid velocity within the cylindrical inlet channel 22. k is the proportional coefficient, n is the rotational speed of the drive motor of the reverse twin propeller 23, and D is the inner diameter of the cylindrical water inlet channel 22.

[0074] The two fisheye cameras 8 can also determine the current level of water turbidity and adaptively adjust the robot's waste collection strategy. The two fisheye cameras 8 avoid the blind spots that can easily occur with a single perspective. Both the fisheye cameras and the data acquisition unit are housed inside the pressure-resistant sealed chamber 7, which is fixedly mounted on the base 4 and communicates with the umbilical cable.

[0075] The data acquisition unit categorizes water pollution levels into three categories: light pollution, moderate pollution, and heavy pollution, and movement conditions into passable and detour required. Details are as follows:

[0076] When the data acquisition unit determines that the water body is generally polluted, the encoder motor moves normally and the overall speed is normal when passing through the area to be cleaned. The power of the reverse double propeller drive motor 27 in the bottom differential flow Bernoulli suction cup is normal, and the auxiliary adsorption capacity is normal.

[0077] When the data acquisition unit determines that the water body is slightly polluted, the encoder motor moves faster and passes through the area to be cleaned at a faster overall speed. The reverse double propeller drive motor 27 in the bottom differential flow Bernoulli suction cup works at a lower power or does not work, which weakens or stops the adsorption capacity. At this time, the adsorption capacity for dirt is mostly provided by the permanent magnet wheel.

[0078] When the data acquisition unit determines that the water body is heavily polluted, the movement of the encoder motor is reduced and the overall speed through the area to be cleaned is slowed down. The reverse double propeller drive motor 27 in the bottom differential flow Bernoulli suction cup works at high power to assist in strengthening the adsorption capacity; in order to cope with the potential risk that the adsorption capacity of the magnetic suction wheel will be reduced due to the excessive thickness of the pollutant coverage on the cleaning surface.

[0079] The data acquisition unit also generates the current machine posture on the clean surface model established based on the clean surface data features collected and processed by the fisheye camera 8, determines the motion path, and transmits the data to each encoder motor to achieve differential steering of the wheels. The state space expression for the motion path data transmission is: Where X is the state variable, x is the x-coordinate, and y is the y-coordinate. The deflection angle is τ, u is the control variable, and τ is the deflection angle. f The yaw angle is the horizontal axis, which is the robot's direction of movement determined at the initial working stage. The vertical axis is perpendicular to the horizontal axis.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An underwater adaptive adsorption ship cleaning and recycling robot, characterized in that, include: The base (4) has several pairs of outwardly extending support arms, and an electronic sealing compartment is provided on the side surface of the base near the ship. The housing (5) is located on the side of the base (4) away from the ship and is sealed to the base (4) for connecting and securing the umbilical cable (6). Several motion adsorption units (1) are provided, with any pair of support arms on one side of the ship, for adsorbing onto the arc-shaped surface of the ship and moving along the surface of the ship; The Bernoulli suction cup adsorption and dirt-gathering unit (2) is set at the edge of the base (4) between several moving adsorption units (1) to provide auxiliary suction and form a vortex toward the center of the base (4); The integrated cleaning and recycling unit (3) is located at the center of the base (4) near the side of the ship. It is used to generate cavitation water flow to remove pollutants and recycle the dirt stripped from the ship surface. The umbilical cable (6) is connected to the electronic sealed chamber to transmit information and power, and provides water source for the cavitation water flow of the integrated cleaning and recycling unit (3). The electronic sealed chamber is connected to several motion adsorption units (1), Bernoulli suction cup adsorption and collection units (2) and the integrated cleaning and recycling unit (3) respectively. Each of the aforementioned motion adsorption units (1) includes a curved surface adaptation device (11), a cam-limiting magnetic suction wheel (12), and an encoding motor; The cam-limiting magnetic chuck (12) includes a pair of cams (121), two spokes (122), several combined columnar permanent magnets (124), and a hollow rim (125). Two spokes (122) are symmetrically arranged on both sides of the rim (125) along its axial extension direction. Several arc-shaped grooves (1221) are provided on the rim (125) and the spokes (122), and the positions of the arc-shaped grooves (1221) on the rim (125) and the two spokes (122) are identical. Cams (121) are provided on the side of each spoke (122) away from the rim (125). A wheel axle (10) is correspondingly inserted at the center of the rim (125), the two spokes (122), and the pair of cams (121). Two spokes (122) are fixed relative to the axle (10); several combined columnar permanent magnets (124) are disposed inside the rim (125) and are embedded in the corresponding arc grooves (1221) of the two spokes (122) through the rim (125). The part of the several combined columnar permanent magnets (124) extending out of the spokes (122) also abuts against the contour of the cam (121); the encoder motor is disposed on the cam (121) and meshes with the axle (10) to drive the axle (10) to rotate the rim (125) and the two spokes (122); curved surface adapters (11) are provided at both ends of the axle (10). The curved surface adapters (11) are hinged to the axle (10) on one side and connected to the base (4) on the other side. The Bernoulli suction cup adsorption and dirt-collecting unit (2) includes several bottom differential flow Bernoulli suction cups; the bottom differential flow Bernoulli suction cup includes a filter plate (21), a cylindrical water inlet channel (22), a reverse double propeller (23), an eccentric cone splitter (24), an integrated shell of a negative pressure effect plate (26), a drive motor (27), and a second connecting rod (28); the integrated shell of the negative pressure effect plate (26) is hollow inside, and is fixedly connected to a cam (121) through the second connecting rod (28), and the end away from the ship surface is fixedly connected to the cylindrical water inlet channel (22), the cylindrical water inlet channel (22) also extends in a direction away from the ship surface, the cylindrical water inlet channel... The channel (22) is equipped with a counter-rotating twin propeller (23) and its drive motor (27). The two propellers of the counter-rotating twin propeller (23) rotate in opposite directions. A filter plate (21) is provided at the end of the cylindrical water inlet channel (22) away from the ship. An eccentric cone separator (24) is embedded in the end of the integrated shell of the negative pressure effect plate (26) near the ship surface and is separated from the inner wall of the integrated shell of the negative pressure effect plate (26). The apex of the eccentric cone separator (24) points to the center of the counter-rotating twin propeller (23). The gap between the eccentric cone separator (24) and the integrated shell of the negative pressure effect plate (26) forms a water flow differential channel (25). The integrated cleaning and recycling unit (3) is located at the center of the base (4) near the surface of the ship. The Bernoulli suction cup adsorption and collection unit (2) is arranged around the integrated cleaning and recycling unit (3). The integrated cleaning and recycling unit (3) includes a three-bladed steady-speed rotating flow cleaning disc (200) and a double-layer cleaning and recycling cover (300). The double-layer cleaning and recycling cover (300) is arranged around the three-bladed steady-speed rotating flow cleaning disc (200). The three-bladed steady-speed rotating cleaning disc (200) includes a steady-speed supply hollow rotating shaft (35), a three-bladed hollow self-rotating jet nozzle (31), and a jet pump. The jet pump is fixedly mounted on the base (4) and located in the area enclosed by the housing (5) and the base (4). The steady-speed supply hollow rotating shaft (35) is connected to the jet pump and the three-bladed hollow self-rotating jet nozzle (31) respectively, providing water flow to the three-bladed hollow self-rotating jet nozzle (31). The steady-speed supply hollow rotating shaft (35) includes an annular metal body and a flexible petal-shaped channel. The annular metal body serves as the rotating shaft of the three-bladed hollow self-rotating jet nozzle (31), and the flexible petal-shaped channel is located inside the annular metal body and changes its opening degree with the rotation speed of the annular metal body. The double-layer cleaning and recovery hood (300) includes an outer anti-diffusion hood (32), an inner volume-limiting filter hood (33), and a water pump. Both the outer anti-diffusion hood (32) and the inner volume-limiting filter hood (33) are arranged around a hollow rotating shaft (35) for stable flow supply. The inner volume-limiting filter hood (33) is located inside the outer anti-diffusion hood (32). The outer anti-diffusion hood (32) is also connected to the water pump through a flexible corrugated pipe. The water pump is fixedly mounted on the base (4). An anti-collision ring (34) is arranged around the end of the outer anti-diffusion hood (32) near the ship's surface. Elastic omnidirectional elastic rings are arranged on the side of the outer anti-diffusion hood (32) near the base (4) and the side of the outer anti-diffusion hood (32) near the inner volume-limiting filter hood (33). The feedback device (36) includes several springs. The springs are symmetrically arranged with respect to the central axis of the hollow rotating shaft (35) of the constant speed supply flow. The two ends of each spring are fixedly connected to the outer anti-diffusion cover (32) and the inner volume limiting filter cover (33), or fixedly connected to the outer anti-diffusion cover (32) and the base (4). The springs are also provided with an anti-corrosion layer. The inner volume limiting filter cover (33) is provided with several channels for dirt to pass through. The diameter of the channel is smaller than the diameter of the flexible bellows. The inner volume limiting filter cover (33) has a through hole for the constant speed supply flow hollow rotating shaft (35) to pass through. The inner volume limiting filter cover (33) at the through hole is also fixedly connected to the constant speed supply flow hollow rotating shaft (35).

2. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, The rim (125) is provided with a plurality of axially penetrating compartments (100), with adjacent compartments (100) spaced apart; a plurality of combined columnar permanent magnets (124) include a first connecting rod (123), a permanent magnet slider (126), and a swing rod (127); the permanent magnet slider (126) is disposed in the compartment (100) of the rim (125), and the outer surface of the permanent magnet slider (126) is provided with the first connecting rod (123), the first connecting rod (123) is fixedly connected to the permanent magnet slider (126), and the first connecting rod (123) extends outward along the axial direction of the permanent magnet slider (126); the first connecting rod (123) passes through The first connecting rod (123) extends outward through the arc groove (1221) of the adjacent spoke (122), and abuts against the surface of the arc groove (1221) and the surface of the cam (121) respectively. The number of the first connecting rod (123) corresponds to the number of the arc groove (1221). One end of each of the first connecting rods (123) is provided with a rocker arm (127). One end of the rocker arm (127) is fixedly connected to the first connecting rod (123), and the other end of the rocker arm (127) extends outward in a direction away from the axial direction of the rocker arm (127). The rocker arm (127) is hinged to the adjacent spoke (122). The profile of the cam (121) includes a distal segment and a proximal segment. The distal segment is located on the profile of a virtual cylinder. The distance between the proximal segment and the center of the virtual cylinder is less than the radius of the radial section of the virtual cylinder. The distal segment and the proximal segment are smoothly transitioned. The first connecting rod (123) is simultaneously constrained by the profile of the cam (121) and the arc groove (1221).

3. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, The curved surface adaptation device (11) includes a main crossbar (110), a first spring return rod (111), a second spring return rod (112), and a telescopic rod (113). The main crossbar (110) is mounted on a pair of support arms of the base (4). The first spring return rod (111) is mounted on the side of the axle (10) near the center of the base (4), and the second spring return rod (112) is mounted on the side of the axle (10) away from the center of the base (4). The fixed ends of the first spring return rod (111) and the second spring return rod (112) are respectively connected to the axle (10). The two ends are hinged; the movable end of the first spring return rod (111) is hinged to one end of the telescopic rod (113), and the other end of the telescopic rod (113) passes through the main body crossbar (110) radially; the movable end of the second spring return rod (112) passes through the main body crossbar (110) radially; the part of the movable end of the telescopic rod (113) that passes through the main body crossbar (110) is provided with a limit block (114), the size of the limit block (114) is larger than the size of the telescopic rod (113); the movable end of the second spring return rod (112) is hinged to the main body crossbar (110).

4. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, The adsorption surface of each bottom differential flow Bernoulli suction cup is tangential to the contact surface of the cam limiting magnetic suction wheel (12) of the adjacent motion adsorption unit (1); the focal point of the adsorption surface of each bottom differential flow Bernoulli suction cup is a virtual circle.

5. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, The three-bladed hollow spin jet nozzle (31) includes several blade-shaped jet channels (311) and accordion-shaped jet ports (312). The width of the blade-shaped jet channels (311) at both ends is smaller than the width of the non-end ends. One end of the blade-shaped jet channel (311) is connected to the interior of the annular metal body, and the other end of the blade-shaped jet channel (311) is provided with an accordion-shaped jet port (312). The accordion-shaped jet port (312) bends outward in a direction away from the blade-shaped jet channel (311).

6. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, Both the outer anti-diffusion cover (32) and the inner volume-limiting filter cover (33) are frustum-shaped. The ratio of the diameter of the upper bottom to the lower bottom of the inner volume-limiting filter cover (33) is smaller than that of the diameter of the upper bottom to the lower bottom of the outer anti-diffusion cover (32) by K1. The distance between the side of the inner volume-limiting filter cover (33) and the outer anti-diffusion cover (32) gradually decreases towards the opening of the bottom of the frustum-shaped cover.

7. The underwater adaptive adsorption ship cleaning and recycling robot according to claim 1, characterized in that, It also includes a fisheye camera (8) and a data acquisition unit. The fisheye camera (8) is located at both ends of the base (4) along its length extension direction. The data acquisition unit is communicatively connected to the encoder motor, the drive motor (27), and the fisheye camera (8), respectively. The encoder motor feeds back the rotational speed of the wheel rim (125) and obtains the moving speed on the ship's surface based on the rotational speed of the wheel rim (125). ,in Linear velocity, Angular velocity, Let 125 be the rotational speed of the wheel rim (125) on the right side of the robot's direction of travel. Let 125 be the rotational speed of the wheel rim (125) on the left side of the robot's direction of travel. The distance between the left and right wheel rims (125); the drive motor (27) provides feedback on the speed of the reverse twin propellers (23) and the suction force of the bottom differential flow Bernoulli suction cup: , The suction force of the Bernoulli suction cup is determined by the differential flow. The area of ​​the integrated shell (26) of the negative pressure effect panel near the surface of the ship. For fluid density, Let be the flow velocity of the fluid within the cylindrical inlet channel (22). , This is the proportionality coefficient. The rotational speed of the drive motor for the counter-rotating twin propellers (23) The inner diameter of the cylindrical water inlet channel (22); The data acquisition unit also generates the current machine posture on the clean surface model established based on the clean surface data characteristics collected and processed by the fisheye camera (8), determines the motion path, and transmits the data to each encoder motor to realize differential steering of the wheels. The state space expression of the motion path data transmission is: , ,in For state variables, The x-axis is... The vertical axis is , It is an angle of deflection. To control variables, The yaw angle is the horizontal axis, which is the robot's direction of movement determined at the initial working stage. The vertical axis is perpendicular to the horizontal axis.

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