An intelligent cleaning robot for underwater vessels

Abstract

The application relates to the technical field of cleaning robots, in particular to an underwater ship intelligent cleaning robot, which comprises a cleaning robot body, a propeller for controlling movement on the cleaning robot body and a cleaning device for cleaning the surface of a ship below the cleaning robot body, a power cabin and a camera are arranged on the cleaning robot body, a scraping mechanism for scraping barnacles on the surface of the ship is arranged below the cleaning robot body, and a speed reduction mechanism for cleaning the surface of the ship in cooperation with the scraping mechanism is arranged on the cleaning robot body; the underwater ship intelligent cleaning robot can extrude barnacles to loosen the barnacles when the push plate moves forward, the barnacles can be scraped by the scraping plate, the cleaning robot can avoid the difficulty in cleaning the barnacles with strong adhesion and even the difficulty in cleaning some barnacles around the barnacles with strong adhesion, and the cleaning effect of the surface of the ship is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to an intelligent underwater cleaning robot for ships. Background Technology

[0002] Ship cleaning robots are mainly used to clean barnacles, tube worms, and other polluting organisms attached to the surface of ships underwater, solving the problems of heavy manual labor, low efficiency, and high cost of traditional cleaning methods. They can also inspect the quality of parts of ships below the waterline to ensure that the ship surface is clean, reducing fuel consumption and carbon emissions. They can also be used for underwater cleaning and inspection of marine facilities that are susceptible to pollution by organisms, such as deep-sea aquaculture cages, marine engineering structures, offshore oil and gas platforms, and offshore wind power generation facilities.

[0003] Currently, when cleaning robots are used underwater to remove barnacles from ship surfaces, they often encounter barnacles with strong adhesion that are difficult to remove. This can even lead to some barnacles around the strong-adhesive barnacles also being difficult to remove, thus affecting the cleaning effect on the ship surface. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent underwater ship cleaning robot that can loosen barnacles by squeezing them as the pusher moves forward, thus assisting the shovel in removing the barnacles. This avoids the problem of barnacles with strong adhesion being difficult to clean, and even making it difficult to clean some barnacles around the strong-adhesive barnacles, thereby affecting the cleaning effect on the ship surface.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent underwater ship cleaning robot, comprising a cleaning robot body, a propeller located on the cleaning robot body for controlling its movement, and a cleaning device located below the cleaning robot body for cleaning the ship's surface. The cleaning robot body is equipped with a power supply compartment and a camera. A barnacle removal mechanism is located below the cleaning robot body for removing barnacles from the ship's surface. A deceleration mechanism is also provided on the cleaning robot body to assist the removal mechanism in cleaning the ship's surface. The removal mechanism includes a collection box installed at the bottom of the cleaning robot body. A motor is fixed inside the collection box. A threaded rod is provided at the output end of the motor. A push plate slides on the threaded rod. When the threaded rod rotates, the push plate reciprocates along the threaded rod. When the threaded rod reciprocates, it pushes the barnacles scraped off by the shovel plate to move. The shovel plate is fixed to one side of the collection box, and the threaded rod is located inside the shovel plate. A filter plate is opened inside the collection box, and a hydraulic rod is fixed to one side of the filter plate. A filter plate is installed at the output end of the hydraulic rod, and a sealing rod that penetrates through the filter plate is installed on one side of the filter plate. When the output end of the hydraulic rod drives the filter plate to move, the filter plate penetrates through the sealing rod, and at the same time, the filter plate compresses the garbage collected inside the collection box. The deceleration mechanism includes a push rod connected to the filter plate, and a sealing plate is fixed to one side of the push rod. The sealing plate is located on one side of the propeller. When the filter plate moves, it drives the sealing plate to move, causing the sealing plate to gradually approach the propeller. The gradual approach of the sealing plate to the propeller changes the propulsive force of the propeller.

[0006] Preferably, the cleaning robot body is equipped with a lighting lamp.

[0007] Preferably, the collection box is fixedly installed at the bottom of the cleaning robot body, and the shovel is fixedly installed on one side of the collection box, with one side of the shovel having a sloping design.

[0008] Preferably, the push plate is provided with a bearing seat, and the bearing seat is connected to the threaded rod through a ball nut pair.

[0009] Preferably, the shovel plate has discharge troughs on both sides.

[0010] Preferably, a drain hole is provided on one side of the filter plate. When the filter plate moves to squeeze the garbage, the water inside the collection box is discharged through the drain hole while the filter plate squeezes and compresses the garbage.

[0011] Preferably, the deceleration mechanism further includes a filter box installed on the cleaning robot body, the filter box being located on one side of the propeller, and the propeller filtering impurities in the water through the filter box when it is working.

[0012] Preferably, while the output end of the hydraulic rod drives the filter plate to compress the waste, the filter plate moves the sealing plate closer to the propeller via the push rod. As the sealing plate moves closer to the propeller, the propulsion efficiency of the propeller is reduced, thereby affecting its moving speed.

[0013] Preferably, a suction cup is provided at the bottom of the collection box, one end of the suction cup is connected to a piston cylinder, the piston cylinder is installed inside the collection box, a piston rod slides at one end of the piston cylinder, and one end of the piston rod is connected to the filter plate.

[0014] Preferably, the piston rod moves while the filter plate moves, and the piston rod moves inside the piston cylinder and pushes the gas inside the piston cylinder to move. The gas inside the piston cylinder moves to the inside of the suction cup, and the pressure inside the suction cup changes, thereby changing the connection state between the suction cup and the hull.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. In this invention, when the threaded rod rotates, the push plate reciprocates along the threaded rod. When the push plate moves forward, it squeezes the barnacles, loosening them and assisting the shovel plate in removing the barnacles, thus improving the cleaning effect. Additionally, when the push plate returns to its original position, it pulls the removed barnacles back into the collection box, where they come into contact with the filter plate. The barnacles flow out of the discharge chute, while the debris mixed in with the barnacles, as well as debris from the ship's surface, is filtered through the filter plate and enters the collection box. Thus, by squeezing and loosening the barnacles as the push plate moves forward, it assists the shovel plate in removing the barnacles, preventing the difficulty in cleaning barnacles with strong adhesion, which can even lead to difficulty in cleaning surrounding barnacles with strong adhesion, thereby affecting the cleaning effect on the ship's surface. Simultaneously, when the push plate returns to its original position, some debris is collected inside the collection box, preventing it from re-adhering to the ship's surface or even flowing into the water, thus avoiding environmental impact.

[0017] 2. As the sealing plate gradually approaches the filter box, it gradually closes one side of the propeller, obstructing the water flow into the propeller. This reduces the propulsive force generated by the propeller, thus reducing the propulsive force of the propeller on one side of the cleaning robot body. This allows the cleaning robot body to stop quickly, preventing the propulsive force from failing to dissipate quickly when the cleaning robot body needs to adjust its direction. This avoids the inertia of the cleaning robot body or the residual propulsive force of the propeller causing the stopping position of the cleaning robot body to deviate from the preset position, resulting in the cleaning path of the cleaning robot body being inconsistent with the preset path, affecting the cleaning effect and efficiency.

[0018] 3. In this invention, when the filter plate pulls the sealing plate, the filter plate simultaneously drives the piston rod to move. This causes the piston rod to move inside the piston cylinder, pushing the gas inside the piston cylinder into the suction cup. After the gas rushes into the suction cup, the suction cup no longer adheres to the ship's surface. This reduces the adhesion force between the cleaning robot and the ship's surface, preventing the robot from being too tightly adhered and affecting its flexibility when changing direction. Furthermore, after the change of direction is completed, the filter plate drives the piston rod to reverse and reset. The piston rod then causes the gas inside the suction cup to return to the piston cylinder, allowing the suction cup to re-adhere to the ship's surface. This maintains the stability of the connection between the cleaning robot and the ship's surface, improving the cleaning effect of the robot on the ship's surface. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a cross-sectional view of the present invention;

[0021] Figure 3 This is a partial cross-sectional view of the present invention;

[0022] Figure 4 This is a partial cross-sectional view of the removal mechanism of the present invention;

[0023] Figure 5 This is a second cross-sectional view of the removal mechanism of the present invention;

[0024] Figure 6 One of the partial cross-sectional views of the connection between the shovel mechanism and the deceleration mechanism of the present invention;

[0025] Figure 7 This is a second partial cross-sectional view of the connection between the shovel mechanism and the deceleration mechanism of the present invention;

[0026] Figure 8 This is a third partial cross-sectional view of the connection between the shovel mechanism and the deceleration mechanism of the present invention.

[0027] In the diagram: 1. Cleaning robot body; 2. Propeller; 3. Shovel mechanism; 31. Collection box; 32. Shovel plate; 33. Threaded rod; 34. Push plate; 35. Motor; 36. Filter plate; 37. Blocking rod; 38. Filter plate; 39. Discharge chute; 4. Reduction mechanism; 41. Sealing plate; 42. Filter box; 43. Push rod; 44. Hydraulic rod; 45. Piston cylinder; 46. Suction cup; 47. Piston rod; 5. Cleaning device. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] The present invention provides an intelligent underwater ship cleaning robot, including a cleaning robot body 1, a propeller 2 located on the cleaning robot body 1 for controlling movement, and a cleaning device 5 located below the cleaning robot body 1 for cleaning the ship surface. The cleaning robot body 1 is equipped with a power compartment and a camera. The cleaning robot body 1 is equipped with a barnacle removal mechanism 3 for removing barnacles from the ship surface below the cleaning robot body 1. The cleaning robot body 1 is also equipped with a deceleration mechanism 4 that works in conjunction with the removal mechanism 3 to clean the ship surface.

[0030] The removal mechanism 3 includes a collection box 31 installed at the bottom of the cleaning robot body 1. A motor 35 is fixed inside the collection box 31. A threaded rod 33 is provided at the output end of the motor 35. A push plate 34 slides on the threaded rod 33. When the threaded rod 33 rotates, the push plate 34 reciprocates along the threaded rod 33. This reciprocating movement of the threaded rod 33 pushes the barnacles scraped off by the scraper plate 32. A scraper plate 32 is fixed to one side of the collection box 31, and the threaded rod 33 is located inside the scraper plate 32. A filter plate 36 is provided inside the collection box 31. A hydraulic rod 44 is fixed to one side of the filter plate 36. A filter plate 38 is installed at the output end of the hydraulic rod 44. A blocking rod 37, penetrating the filter plate 38, is installed on one side of the filter plate 36. When the output end of 44 drives the filter plate 38 to move, the filter plate 38 passes through the sealing rod 37, and at the same time, the filter plate 38 compresses the garbage collected in the collection box 31; the cleaning robot body 1 is equipped with a light, the collection box 31 is fixedly installed at the bottom of the cleaning robot body 1, and the shovel plate 32 is fixedly installed on one side of the collection box 31. One side of the shovel plate 32 is designed with a slope. The push plate 34 is equipped with a bearing seat, and the bearing seat is connected to the threaded rod 33 through a ball nut pair. The two sides of the shovel plate 32 are provided with discharge grooves 39, and one side of the filter plate 36 is provided with a water leakage hole. When the filter plate 38 moves to squeeze the garbage, the filter plate 38 squeezes and compresses the garbage while the water inside the collection box 31 is discharged through the water leakage hole.

[0031] See Figures 1 to 4As shown, during the process of the cleaning robot body 1 entering the water to clean the surface of the ship, after the propeller 2 is started, the propeller 2 can propel the cleaning robot body 1 to move and clean the ship surface. At the same time, during the movement of the cleaning robot body 1, the scraper plate 32 can remove barnacles on the ship surface. Simultaneously, the motor 35 is started, and the output end of the motor 35 drives the threaded rod 33 to rotate. Since the push plate 34 is equipped with a bearing seat, and the bearing seat is connected to the threaded rod 33 through a ball nut pair, when the threaded rod 33 rotates, the push plate 34 moves back and forth along the threaded rod 33. When the push plate 34 moves forward, it will squeeze the barnacles, loosening them, which can assist the scraper plate 32 in removing the barnacles and improve the cleaning effect. In addition, when the push plate 34 returns to its original position, it can make the scraper plate 32 move back and forth. The barnacles are pulled back into the collection box 31 and come into contact with the filter plate 38 inside the collection box 31. The barnacles flow out from the discharge chute 39, while the garbage mixed in with the barnacles, as well as the garbage on the ship's surface, are filtered through the filter plate 38 and enter the collection box 31. As the push plate 34 moves forward, it squeezes the barnacles to loosen them, which assists the shovel plate 32 in removing the barnacles. This avoids the difficulty in cleaning barnacles with strong adhesion, which may even make it difficult to clean some barnacles around the barnacles with strong adhesion, thus affecting the cleaning effect on the ship's surface. At the same time, when the push plate 34 resets, some garbage is collected inside the collection box 31 to prevent garbage from adhering to the ship's surface again or even flowing into the water and affecting the environment.

[0032] The deceleration mechanism 4 includes a push rod 43 connected to the filter plate 38. A sealing plate 41 is fixed to one side of the push rod 43. The sealing plate 41 is located on one side of the propeller 2. When the filter plate 38 moves, it drives the sealing plate 41 to move, causing the sealing plate 41 to gradually approach the propeller 2. As the sealing plate 41 gradually approaches the propeller 2, the propulsion force of the propeller 2 changes. The deceleration mechanism 4 also includes a filter box 42 installed on the cleaning robot body 1. The filter box 42 is located on one side of the propeller 2. When the propeller 2 is working, it filters impurities in the water through the filter box 42. At the same time, the output end of the hydraulic rod 44 drives the filter plate 38 to compress the garbage, and the filter plate 38 drives the sealing plate 41 to approach the propeller 2 through the push rod 43. As the sealing plate 41 approaches the propeller 2, it reduces the propulsion efficiency of the propeller 2 and thus affects its moving speed. A suction cup 46 is provided at the bottom of the collection box 31. One end of the suction cup 46 is connected to a piston cylinder 45. The piston cylinder 45 is installed inside the collection box 31. A piston rod 47 slides on one end of the piston cylinder 45. One end of the piston rod 47 is connected to the filter plate 38. When the filter plate 38 moves, it drives the piston rod 47 to move. The piston rod 47 moves inside the piston cylinder 45 and pushes the gas inside the piston cylinder 45 to move. The gas inside the piston cylinder 45 moves to the inside of the suction cup 46. The pressure inside the suction cup 46 changes, thereby changing the connection state between the suction cup 46 and the hull.

[0033] See Figures 3 to 8As shown, when the cleaning robot body 1 changes direction and moves in the opposite direction, the hydraulic rod 44 is activated. The output end of the hydraulic rod 44 drives the filter plate 38 to move. The filter plate 38 drives the push rod 43 to move. The push rod 43 drives the sealing plate 41 to move, so that the sealing plate 41 moves closer to the filter box 42. As the sealing plate 41 gradually moves closer to the filter box 42, the sealing plate 41 can gradually close one side of the propeller 2. The water flow into the propeller 2 will be gradually obstructed. This will cause the propulsion force generated by the propeller 2 to gradually decrease. This will help reduce the propulsion force of the propeller 2 on one side of the cleaning robot body 1. This will allow the cleaning robot body 1 to stop quickly. This will prevent the propulsion force of the propeller 2 from not disappearing quickly when the cleaning robot body 1 needs to adjust its direction. This will prevent the inertia of the cleaning robot body 1 or the residual propulsion force of the propeller 2 from causing the stopping position of the cleaning robot body 1 to deviate from the preset position. This will cause the cleaning route of the cleaning robot body 1 to be inconsistent with the preset route, affecting the cleaning effect and efficiency.

[0034] Additionally, when the filter plate 38 pulls the sealing plate 41 to move, the filter plate 38 simultaneously drives the piston rod 47 to move, causing the piston rod 47 to move inside the piston cylinder 45 and push the gas inside the piston cylinder 45 to move into the suction cup 46. After the gas rushes into the suction cup 46, the suction cup 46 no longer adheres to the ship surface. This reduces the adhesion force of the cleaning robot body 1 to the ship surface, preventing the cleaning robot body 1 from being too tightly adhered to the ship surface, which would affect the flexibility of the cleaning robot body 1 when changing direction. Furthermore, after the change of direction is completed, the filter plate 38 drives the piston rod 47 to reverse and reset. The piston rod 47 then causes the gas inside the suction cup 46 to return to the inside of the piston cylinder 45, thereby causing the suction cup 46 to re-adhere to the ship surface. This can maintain the stability of the connection between the cleaning robot body 1 and the ship surface and improve the cleaning effect of the cleaning robot body 1 on the ship surface.

[0035] In addition, as the filter plate 38 moves, it squeezes and compresses the garbage collected inside the collection box 31, reducing the space occupied by the garbage inside the collection box 31. On the one hand, it saves the internal space of the collection box 31 and improves resource utilization; on the other hand, it can increase the amount of garbage collected and improve the garbage collection effect.

[0036] Working principle: By controlling the propeller 2, the cleaning robot body 1 can be controlled to perform actions such as forward and backward movement, side movement, diving and floating, turning, rolling and bowing. The monitoring terminal display interface on the cleaning robot body 1 can reflect the attitude, sensor information, video or sonar images of the cleaning robot body 1 in real time. The interface adopts the common style of smart cities. The cleaning device 5 below the cleaning robot body 1 uses cavitation jet cleaning technology to generate a large number of cavitation bubbles when the water jet passes through the cavitation nozzle by controlling parameters such as pressure and flow rate. The cavitation bubbles collapse in a small area on the material surface to generate high-pressure micro-jet impact, thereby achieving the purpose of cleaning the surface of the facility of deposits and dirt layers.

[0037] During the process of the cleaning robot body 1 entering the water to clean the surface of the ship, after the propeller 2 is started, the propeller 2 can propel the cleaning robot body 1 to move and clean the ship's surface. At the same time, during the movement of the cleaning robot body 1, the scraper plate 32 can remove barnacles from the ship's surface. Simultaneously, the motor 35 is started, and the output end of the motor 35 drives the threaded rod 33 to rotate. Since the push plate 34 is equipped with a bearing seat, and the bearing seat is connected to the threaded rod 33 through a ball nut pair, when the threaded rod 33 rotates, the push plate 34 moves back and forth along the threaded rod 33. When the push plate 34 moves forward, it will squeeze the barnacles, loosening them, which can assist the scraper plate 32 in removing the barnacles and improve the cleaning effect. In addition, when the push plate 34 returns to its original position, it can remove the barnacles. The barnacles are pulled back into the collection box 31 and come into contact with the filter plate 38 inside the collection box 31. The barnacles flow out from the discharge chute 39, while the garbage mixed in with the barnacles, as well as the garbage on the ship's surface, are filtered through the filter plate 38 and enter the collection box 31. As the push plate 34 moves forward, it squeezes the barnacles to loosen them, which assists the shovel plate 32 in removing the barnacles. This avoids the difficulty in cleaning barnacles with strong adhesion, which may even make it difficult to clean some barnacles around the barnacles with strong adhesion, thus affecting the cleaning effect on the ship's surface. At the same time, when the push plate 34 resets, some garbage is collected inside the collection box 31 to prevent garbage from adhering to the ship's surface again or even flowing into the water and affecting the environment.

[0038] Additionally, when the cleaning robot body 1 changes direction and moves in the opposite direction, the hydraulic rod 44 is activated. The output end of the hydraulic rod 44 drives the filter plate 38 to move, the filter plate 38 drives the push rod 43 to move, and the push rod 43 drives the sealing plate 41 to move, so that the sealing plate 41 moves closer to the filter box 42. As the sealing plate 41 gradually moves closer to the filter box 42, the sealing plate 41 can gradually close one side of the propeller 2, and the water flow into the propeller 2 will be gradually obstructed. This will cause the propulsion force generated by the propeller 2 to gradually decrease, thereby helping to gradually reduce the propulsion force of the propeller 2 on one side of the cleaning robot body 1. This can quickly stop the cleaning robot body 1, avoiding the propulsion force of the propeller 2 not being able to disappear quickly when the cleaning robot body 1 needs to adjust its direction. This would cause the inertia of the cleaning robot body 1 or the residual propulsion force of the propeller 2 to cause the stopping position of the cleaning robot body 1 to deviate from the preset position, resulting in the cleaning route of the cleaning robot body 1 being inconsistent with the preset route, affecting the cleaning effect and efficiency.

[0039] Additionally, when the filter plate 38 pulls the sealing plate 41 to move, the filter plate 38 simultaneously drives the piston rod 47 to move, causing the piston rod 47 to move inside the piston cylinder 45 and push the gas inside the piston cylinder 45 to move into the suction cup 46. After the gas rushes into the suction cup 46, the suction cup 46 no longer adheres to the ship surface. This reduces the adhesion force of the cleaning robot body 1 to the ship surface, preventing the cleaning robot body 1 from being too tightly adhered to the ship surface, which would affect the flexibility of the cleaning robot body 1 when changing direction. Furthermore, after the change of direction is completed, the filter plate 38 drives the piston rod 47 to reverse and reset. The piston rod 47 then causes the gas inside the suction cup 46 to return to the inside of the piston cylinder 45, thereby causing the suction cup 46 to re-adhere to the ship surface. This can maintain the stability of the connection between the cleaning robot body 1 and the ship surface and improve the cleaning effect of the cleaning robot body 1 on the ship surface.

[0040] In addition, as the filter plate 38 moves, it squeezes and compresses the garbage collected inside the collection box 31, reducing the space occupied by the garbage inside the collection box 31. On the one hand, it saves the internal space of the collection box 31 and improves resource utilization; on the other hand, it can increase the amount of garbage collected and improve the garbage collection effect.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent underwater ship cleaning robot, comprising a cleaning robot body (1), a propeller (2) located on the cleaning robot body (1) for controlling its movement, and a cleaning device (5) located below the cleaning robot body (1) for cleaning the ship's surface, wherein the cleaning robot body (1) is equipped with a power supply compartment and a camera, characterized in that, The cleaning robot body (1) is provided with a shovel mechanism (3) for shoveling barnacles off the surface of the ship, and the cleaning robot body (1) is provided with a deceleration mechanism (4) for cleaning the surface of the ship in conjunction with the shovel mechanism (3). The shovel mechanism (3) includes a collection box (31) installed at the bottom of the cleaning robot body (1). A motor (35) is fixed inside the collection box (31). A threaded rod (33) is provided at the output end of the motor (35). A push plate (34) slides on the threaded rod (33). When the threaded rod (33) rotates, the push plate (34) moves back and forth along the threaded rod (33). When the threaded rod (33) moves back and forth, it pushes the barnacles shoveled by the shovel plate (32) to move. A shovel plate (32) is fixed on one side of the collection box (31). The threaded rod (33) is located inside the shovel plate (32). The collection box (31) has a filter plate (36) inside. A hydraulic rod (44) is fixed on one side of the filter plate (36). A filter plate (38) is installed at the output end of the hydraulic rod (44). A blocking rod (37) that penetrates the filter plate (38) is installed on one side of the filter plate (36). When the output end of the hydraulic rod (44) drives the filter plate (38) to move, the filter plate (38) penetrates the blocking rod (37), and at the same time, the filter plate (38) compresses the garbage collected inside the collection box (31). The deceleration mechanism (4) includes a push rod (43) connected to the filter plate (38). A sealing plate (41) is fixed on one side of the push rod (43). The sealing plate (41) is located on one side of the propeller (2). When the filter plate (38) moves, it drives the sealing plate (41) to move so that the sealing plate (41) gradually approaches the propeller (2). The gradual approach of the sealing plate (41) to the propeller (2) causes a change in the propulsion force of the propeller (2).

2. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The cleaning robot body (1) is equipped with a lighting lamp.

3. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The collection box (31) is fixedly installed at the bottom of the cleaning robot body (1), and the shovel plate (32) is fixedly installed on one side of the collection box (31), with one side of the shovel plate (32) being a sloping design.

4. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The push plate (34) is provided with a bearing seat, and the bearing seat is connected to the threaded rod (33) through a ball nut pair.

5. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The shovel (32) has discharge troughs (39) on both sides.

6. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, A water leakage hole is provided on one side of the filter plate (36). When the filter plate (38) moves to squeeze the garbage, the water inside the collection box (31) is discharged through the water leakage hole while the filter plate (38) squeezes and compresses the garbage.

7. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The deceleration mechanism (4) also includes a filter box (42) installed on the body (1) of the cleaning robot. The filter box (42) is located on one side of the propeller (2). When the propeller (2) is working, it filters impurities in the water through the filter box (42).

8. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The output end of the hydraulic rod (44) drives the filter plate (38) to compress the garbage. At the same time, the filter plate (38) drives the sealing plate (41) to move closer to the propeller (2) through the push rod (43). As the sealing plate (41) moves closer to the propeller (2), the propulsion efficiency of the propeller (2) is reduced, which in turn affects its moving speed.

9. The intelligent underwater cleaning robot for ships according to claim 1, characterized in that, The bottom of the collection box (31) is provided with a suction cup (46), one end of which is connected to a piston cylinder (45). The piston cylinder (45) is installed inside the collection box (31), and a piston rod (47) slides on one end of the piston cylinder (45). One end of the piston rod (47) is connected to the filter plate (38).

10. A smart underwater cleaning robot for ships according to claim 9, characterized in that, The filter plate (38) moves while driving the piston rod (47) to move. The piston rod (47) moves inside the piston cylinder (45) and pushes the gas inside the piston cylinder (45) to move. The gas inside the piston cylinder (45) moves to the inside of the suction cup (46). The pressure inside the suction cup (46) changes, thereby changing the connection state between the suction cup (46) and the hull.

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