A kind of ship underwater intelligent cleaning robot and cleaning method thereof

Abstract

The present application discloses an underwater intelligent cleaning robot for ships and a cleaning method thereof, which relates to the field of cleaning equipment, and includes a brush roller for cleaning a ship hull and a mounting frame for mounting the brush roller, the brush roller is rotatably arranged on the mounting frame, a first motor for driving the brush roller to rotate is fixedly connected to the mounting frame, an outer frame is arranged outside the mounting frame, the outer frame is fixedly arranged on the river bank, the mounting frame is slidably arranged on the outer frame, the ship hull is located above the brush roller, and a lifting device for pulling the mounting frame upward is arranged on the outer frame. The present application has the effect of facilitating the cleaning of the ship hull.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to an underwater intelligent cleaning robot for ships and a cleaning method thereof. Background Art

[0002] With the continuous development of my country's economy, the number of private ships represented by private yachts is increasing year by year. During the long voyage of ships, a lot of algae, shellfish and other organisms will be attached to the underwater part of the ship. If the bottom of the ship is not cleaned regularly, it will affect the speed of the ship, increase the erosion of the bottom of the hull, and reduce the service life.

[0003] At present, when the underwater part of a private yacht needs to be cleaned, the hull is usually lifted and transferred to a cleaning workshop, where a high-pressure water gun is used to rinse the underwater part of the hull, thereby cleaning the algae or shellfish attached to the surface of the underwater part of the hull. However, the frequent lifting process requires additional lifting equipment, and the lifting and transfer process increases the possibility of the hull being damaged by collisions, making the hull cleaning process extremely inconvenient. Summary of the invention

[0004] In order to facilitate the cleaning of the underwater part of the hull, the present application provides an underwater intelligent cleaning robot for ships and a cleaning method thereof.

[0005] In the first aspect, the present application provides an underwater intelligent ship cleaning robot that adopts the following technical solution:

[0006] A ship underwater intelligent cleaning robot comprises a brush roller for cleaning a hull and a mounting frame for mounting the brush roller, wherein the brush roller is rotatably arranged on the mounting frame, a first motor for driving the brush roller to rotate is fixedly connected to the mounting frame, an outer frame is arranged on the outer side of the mounting frame, the outer frame is fixedly arranged on a river bank, the mounting frame is slidably arranged on the outer frame, the hull is located above the brush roller, and a lifting device for pulling the mounting frame upward is arranged on the outer frame.

[0007] By adopting the above technical solution, when the ship needs to be cleaned, the ship is driven into the outer frame, and the lifting device can pull the mounting frame upward so that the bristles of the brush roller can contact the underwater part of the hull. When the first motor drives the brush roller to rotate, the brush roller can clean the bottom of the hull underwater. After cleaning for a period of time, the lifting device releases the lifting of the mounting frame, and the mounting frame slides downward under the action of gravity. At this time, the brush roller is separated from the hull, making it easier for the hull to drive out of the outer frame, so that the ship can be cleaned in the water, which is convenient for cleaning the hull.

[0008] Preferably, two rotating shafts are arranged in parallel on the outer frame, the rotating shafts are provided with a blocking member for contacting with the top surface of the edge of the hull, and the outer frame is provided with a driving device for driving the rotating shafts to rotate.

[0009] By adopting the above technical solution, when the driving mechanism drives the rotating shaft to rotate, the blocking member can contact the top surface of the edge of the hull, thereby preventing the hull from shaking during the cleaning process, thereby improving the cleaning efficiency and cleaning effect.

[0010] Preferably, the outer frame includes a vertically arranged column and a connecting rod arranged between two adjacent columns, the two ends of the connecting rod are respectively connected to the two adjacent columns, the rotating shaft is rotatably arranged on the column, the outer frame is a rectangular frame structure, and the driving device includes a mounting plate fixedly connected to the outer frame, the mounting plate is located between the two rotating shafts, a strip hole is opened on the side of the mounting plate close to the hull, a trapezoidal plate is slidably arranged in the strip hole, the horizontal cross-section of the trapezoidal plate is an isosceles trapezoid, and a side of the trapezoidal plate close to the hull is provided with a The locking device is further provided on the column to prevent the first gear from rotating.

[0011] By adopting the above technical scheme, when the hull enters the outer frame, the head of the hull can interfere with the contact plate and push the trapezoidal plate to the other side of the mounting plate, and under the action of the inclined surface of the trapezoidal plate, the transverse sliding rod drives the rack to move away from the trapezoidal plate, and since the first gear is meshed with the rack, the rack can drive the rotating shaft to rotate 90° through the first gear, so that the stopper can interfere with the top surface of the edge of the hull, and after the first gear rotates 90°, the locking device can lock the first gear to prevent the first gear from rotating, so that the stopper can stably interfere with the hull, so that after the hull enters the outer frame, the stopper can automatically limit the hull, thereby improving the cleaning efficiency and cleaning effect of the brush roller on the hull.

[0012] Preferably, a baffle is fixedly connected to the transverse slide bar, the baffle is located on a side of the guide block close to the trapezoidal plate, a return spring is fixedly connected to the guide block, and the other end of the return spring is fixedly connected to the baffle.

[0013] By adopting the above technical solution, when the locking assembly releases the lock on the first gear and the hull drives out of the outer frame and disengages from the contact plate, the return spring can drive the transverse slide bar to move in the opposite direction. At this time, the rack rotates in the opposite direction, so that the first gear drives the rotating shaft to rotate 90° in the opposite direction and return to a vertical state, thereby facilitating the hull to enter the outer frame next time.

[0014] Preferably, the locking device includes a connecting block fixedly connected to the column, a mounting groove is provided on a side of the connecting block close to the column, the first gear is arranged in the mounting groove, the rack passes through the connecting block and is slidably arranged on the connecting block, a sliding hole is provided on a side of the connecting block away from the column, a locking groove is provided on a side of the first gear away from the column, a locking pin with one end which can be inserted into the locking groove is provided in the sliding hole, the locking pin is slidably arranged in the sliding hole, a blocking rod is fixedly connected to the side of the locking pin away from the column, a tension spring is sleeved on the locking pin, one end of the tension spring is fixedly connected to the blocking rod, and the other end of the tension spring is fixedly connected to the connecting block.

[0015] By adopting the above technical solution, as the first gear rotates, when the blocking member contacts the top surface of the edge of the hull, the locking pin is flush with the locking groove, and under the tension of the tension spring, one end of the locking pin is inserted into the locking groove, thereby hindering the rotation of the first gear, and thus enabling the blocking member to stably contact the hull.

[0016] Preferably, a vertical slide rail is fixedly connected to the column, a slider is fixedly connected to the mounting frame, and the slider is slidably set on the vertical slide rail. The lifting device includes a lower connecting plate fixedly connected to the mounting frame, an attraction block is fixedly connected to the top surface of the lower connecting plate, an upper connecting plate is fixedly connected to the column, the upper connecting plate is located above the lower connecting plate, and an electromagnet for generating attraction for the attraction block is fixedly connected to the bottom surface of the upper connecting plate.

[0017] By adopting the above technical solution, when the electrical circuit of the electromagnet is turned on, the electromagnet generates attraction to the attraction block, so that the attraction block drives the mounting frame to move upward until the bristles of the brush roller can contact the underwater part of the hull.

[0018] Preferably, a first mounting rod and a second mounting rod are fixedly connected to the connecting block, the first mounting rod is fixedly connected to a first switch for controlling the power on and off of the electromagnet, and the second mounting rod is fixedly connected to a second switch for controlling the start and stop of the first motor, and the first switch and the second switch are both located on the side of the barrier rod close to the column.

[0019] By adopting the above technical solution, after the locking pin locks the first gear, the stopper can prevent the hull from shaking. At this time, the stopper can press the buttons of the first switch and the second switch at the same time, the electrical circuit of the electromagnet is turned on, and the first motor is automatically started. After the stopper restricts the hull, the brush roller can automatically rise and automatically clean the underwater part of the hull.

[0020] Preferably, an unlocking device is provided on the baffle rod, and the unlocking device includes a connecting shaft rotatably set on the baffle rod, a cam that can interfere with the connecting block is fixedly connected to the connecting shaft, and a second gear is also fixedly connected to the connecting shaft, and the second gear is located on the side of the cam away from the baffle rod. A second motor is fixedly connected to the connecting block, and a third gear that can mesh with the second gear is fixedly connected to the output shaft of the second motor.

[0021] By adopting the above technical solution, when the blocking member contacts the top surface of the edge of the hull, the locking pin is inserted into the locking groove and drives the blocking rod to move in the direction close to the column, so that the second gear and the third gear are meshed, so that the second motor drives the cam to rotate slowly, and when the cam contacts the connecting block, the cam can drive the blocking rod to gradually move in the direction away from the column, so that the blocking rod is disengaged from the first switch and the second switch, and the locking pin automatically disengages from the locking groove, so that the locking mechanism is automatically unlocked, at this time, the electromagnet is powered off, the mounting frame automatically moves down, and the first motor automatically stops, when the hull slowly drives out of the outer frame, the transverse slide bar automatically drives the transverse slide bar to move in the opposite direction under the elastic force of the reset spring, and the rack rotates in the opposite direction, so that the first gear drives the rotating shaft to rotate 90° in the opposite direction, and automatically returns to a vertical state, so as to facilitate the hull to enter the outer frame next time. Before the hull enters the outer frame next time, the cam is rotated and adjusted so that when the second gear and the third gear are meshed, the cam does not conflict with the connecting block, and at the same time, the cleaning time is controlled by controlling the angle of the cam rotation.

[0022] Preferably, the blocking member comprises a swinging plate fixedly connected to the rotating shaft, a buffer spring is fixedly connected to the swinging plate, and the other end of the buffer spring is fixedly connected to a pressure plate for contacting the hull.

[0023] By adopting the above technical solution, when the rotating shaft rotates, the pressure plate can contact the top surface of the edge of the hull, thereby preventing the hull from shaking during the cleaning process.

[0024] In a second aspect, the present application provides a method for underwater cleaning of a ship, which adopts the following technical solution:

[0025] A method for underwater cleaning of a ship comprises the following steps: S1: rotating the cam to rotate the cam to a predetermined angle and adjusting the cleaning time; S2: driving the hull into the outer frame; S3: the hull collides with the abutment plate and pushes the trapezoidal plate to the other side of the mounting plate through the abutment plate; S4: after the cam pushes the blocking rod to a side away from the connecting block, the hull drives out of the outer frame.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. When the ship needs to be cleaned, the ship is driven into the outer frame, and the lifting device can pull the mounting frame upward so that the bristles of the brush roller can contact the underwater part of the hull. When the first motor drives the brush roller to rotate, the brush roller can clean the bottom of the hull underwater. After cleaning for a period of time, the lifting device releases the lifting of the mounting frame, and the mounting frame slides downward under the action of gravity. At this time, the brush roller is separated from the hull, so that the hull can be driven out of the outer frame, and the ship can be cleaned in the water, which is convenient for cleaning the hull;

[0028] 2. When the hull enters the outer frame, the head of the hull can conflict with the contact plate and push the trapezoidal plate to the other side of the mounting plate. Under the action of the inclined surface of the trapezoidal plate, the transverse sliding rod drives the rack to move away from the trapezoidal plate. Since the first gear is meshed with the rack, the rack can drive the rotating shaft to rotate 90° through the first gear, so that the stopper can conflict with the top surface of the edge of the hull, and after the first gear rotates 90°, the locking device can lock the first gear to prevent the first gear from rotating, so that the stopper can stably conflict with the hull, so that after the hull enters the outer frame, the stopper can automatically limit the hull, thereby improving the cleaning efficiency and cleaning effect of the brush roller on the hull;

[0029] 3. When the stopper contacts the top surface of the edge of the hull, the locking pin is inserted into the locking groove and drives the stopper to move in the direction close to the column, so that the second gear and the third gear are meshed, so that the second motor drives the cam to rotate slowly. When the cam contacts the connecting block, the cam can drive the stopper to gradually move in the direction away from the column, so that the stopper is disengaged from the first switch and the second switch, and the locking pin automatically disengages from the locking groove, so that the locking mechanism is automatically unlocked. At this time, the electromagnet is powered off, the mounting frame automatically moves down, and the first motor stops automatically. When the hull slowly drives out of the outer frame, the transverse slide bar automatically drives the transverse slide bar to move in the opposite direction under the elastic force of the reset spring, and the rack rotates in the opposite direction, so that the first gear drives the rotating shaft to rotate 90° in the opposite direction, and automatically returns to a vertical state, so that the hull can enter the outer frame next time. Before the hull enters the outer frame next time, the cam is rotated and adjusted so that when the second gear and the third gear are meshed, the cam does not conflict with the connecting block. At the same time, the cleaning time is controlled by controlling the rotation angle of the cam. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the intelligent cleaning robot from one perspective in an embodiment of the present application.

[0031] Figure 2 It is a schematic diagram of the overall structure of the intelligent cleaning robot from another perspective in the embodiment of the present application.

[0032] Figure 3 yes Figure 1 A partial enlarged view of point A in the middle.

[0033] Figure 4 It is a horizontal cross-sectional view of the mounting plate in the embodiment of the present application.

[0034] Figure 5 It is a horizontal cross-sectional view of the connecting block in the embodiment of the present application.

[0035] Description of the accompanying drawings: 1. outer frame; 11. column; 12. connecting rod; 13. vertical slide rail; 14. protection rod; 15. photoelectric sensor; 16. counting display; 2. mounting frame; 21. first motor; 211. second switch; 22. slider; 3. brush roller; 4. rotating shaft; 5. blocking member; 51. swing plate; 52. buffer spring; 53. pressing plate; 6. lifting device; 61. upper connecting plate; 62. electromagnet; 63. lower connecting plate; 64. attraction block; 65. first switch; 7. driving device; 71. mounting plate; 711. strip hole; 72. trapezoidal plate; 73. abutment plate; 74, connecting spring; 75, lateral slide bar; 76, guide block; 77, rack; 78, first gear; 781, locking groove; 79, baffle plate; 791, return spring; 8, locking device; 81, connecting block; 811, mounting groove; 812, sliding hole; 813, first mounting rod; 814, second mounting rod; 815, third mounting rod; 82, locking pin; 83, baffle rod; 84, tension spring; 9, unlocking device; 91, connecting shaft; 92, cam; 93, second gear; 94, second motor; 95, third gear; 96, third switch; 100, hull. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-5 This application is described in further detail.

[0037] The present application embodiment discloses an underwater intelligent cleaning robot for ships. Figure 1 and Figure 2 As shown, the intelligent cleaning robot includes an outer frame 1, a mounting frame 2, a brush roller 3, a rotating shaft 4, a stopper 5, a lifting device 6, a driving device 7, a locking device 8 and an unlocking device 9. The outer frame 1 is fixedly arranged on the river bank. The outer frame 1 includes four vertically arranged columns 11 and a connecting rod 12 arranged between two adjacent columns 11. The two ends of the connecting rod 12 are respectively connected to the two adjacent columns 11. The outer frame 1 is surrounded by the columns 11 and the connecting rod 12 to form a rectangular frame structure. The top of the outer frame 1 away from the shore is not provided with a connecting rod 12, so as to serve as an entrance for the hull 100 to enter the outer frame 1, so that the hull 100 can enter the outer frame 1 from this side. The lower half of the column 11 is located underwater.

[0038] Reference Figure 1 and Figure 3As shown, the vertical slide rails 13 are fixedly connected to the columns 11, and the vertical slide rails 13 are located at the lower part of the columns 11. The four corners of the mounting frame 2 are fixedly connected with sliders 22, and the sliders 22 correspond to the vertical slide rails 13 one by one. The sliders 22 are slidably arranged on the vertical slide rails 13, and the mounting frame 2 is slidably arranged on the inner side of the outer frame 1. A plurality of brush rollers 3 are rotatably arranged on the mounting frame 2, and a plurality of first motors 21 are fixedly connected to the mounting frame 2, and the first motors 21 correspond to the brush rollers 3 one by one, and the output shafts of the first motors 21 are fixedly connected to the brush rollers 3.

[0039] Reference Figure 1 and Figure 3 As shown, the lifting device 6 is arranged on the mounting frame 2, and the lifting device 6 includes a lower connecting plate 63 fixedly connected to the mounting frame 2, and four lower connecting plates 63 are arranged, and the four lower connecting plates 63 are respectively arranged at the four corners of the mounting frame 2, and the top surface of the lower connecting plate 63 is fixedly connected with an attraction block 64, and the column 11 is fixedly connected with an upper connecting plate 61, and the upper connecting plate 61 is located above the lower connecting plate 63, and the bottom surface of the upper connecting plate 61 is fixedly connected with an electromagnet 62 for generating attraction to the attraction block 64. After the hull 100 is driven into the outer frame 1, when the electric circuit of the electromagnet 62 is turned on, the electromagnet 62 can drive the mounting frame 2 to move upward through the attraction block 64, so that the brush roller 3 is close to the bottom of the hull 100, and the first motor 21 is started, and the first motor 21 can drive the brush roller 3 to rotate and clean the lower part of the hull 100.

[0040] Reference Figure 1 and Figure 2 As shown, a plurality of protection rods 14 are horizontally arranged on the columns 11 , and the protection rods 14 are fixedly connected to the columns 11 to prevent the hull 100 from detaching from the outer frame 1 from the side of the outer frame 1 .

[0041] Reference Figure 1 and Figure 2 As shown, two rotating shafts 4 are arranged in parallel on the outer frame 1 , and the rotating shafts 4 are arranged horizontally on the columns 11 . The rotating shafts 4 are provided with stoppers 5 for contacting the top surface of the edge of the hull 100 , and two groups of stoppers 5 are arranged on each rotating shaft 4 .

[0042] Reference Figure 1 and Figure 2As shown, the blocking member 5 includes a swing plate 51 fixedly connected to the rotating shaft 4, the swing plate 51 is made of light hard plastic, a buffer spring 52 is fixedly connected to the swing plate 51, the other end of the buffer spring 52 is fixedly connected to a pressing plate 53 for contacting the hull 100, and a telescopic rod is arranged inside the buffer spring 52, and the two ends of the telescopic rod are respectively fixedly connected to the pressing plate 53 and the swing plate 51. When the rotating shaft 4 drives the blocking member 5 to swing 90° to the side close to the hull 100, the pressing plate 53 can contact the top surface of the edge of the hull 100, preventing the hull 100 from shaking during the cleaning process.

[0043] Reference Figure 2 and Figure 4 As shown, the driving device 7 includes a mounting plate 71 fixedly connected to the outer frame 1, and both ends of the mounting plate 71 are respectively fixedly connected to two adjacent columns 11, and the length direction of the transverse rod is perpendicular to the length direction of the rotating shaft 4. The mounting plate 71 is located between the two rotating shafts 4, and a strip hole 711 is opened on the side of the mounting plate 71 close to the hull 100, and a trapezoidal plate 72 is slidably arranged in the strip hole 711, and the horizontal cross-section of the trapezoidal plate 72 is an isosceles trapezoid. The trapezoidal plate 72 is horizontally arranged, and a contact plate 73 for contacting with the hull 100 is arranged on the side of the trapezoidal plate 72 close to the hull 100, and a rubber pad is attached to the side of the contact plate 73 close to the hull 100.

[0044] Reference Figure 2 and Figure 4 As shown, two connecting springs 74 are arranged between the abutment plate 73 and the mounting plate 71, and the two connecting springs 74 are respectively arranged at the two ends of the abutment plate 73. A telescopic rod is also arranged inside the connecting spring 74, and the two ends of the telescopic rod are respectively fixedly connected to the abutment plate 73 and the mounting plate 71.

[0045] Reference Figure 4 and Figure 5 As shown, two transverse slide bars 75 are horizontally arranged on the mounting plate 71, and the two transverse slide bars 75 are symmetrically arranged on both sides of the trapezoidal plate 72. A guide block 76 is fixedly connected to the mounting plate 71, and the transverse slide bar 75 passes through the guide block 76. The transverse slide bar 75 is slidably arranged on the guide block 76. The end of the transverse slide bar 75 close to the trapezoidal plate 72 is in conflict with the inclined surface of the trapezoidal plate 72, and the end of the transverse slide bar 75 away from the trapezoidal plate 72 is fixedly connected to a rack 77. The end of the rotating shaft 4 close to the mounting plate 71 passes through the column 11, and the rotating shaft 4 is fixedly connected to a first gear 78 meshing with the rack 77.

[0046] Reference Figure 2 and Figure 4As shown, a baffle 79 is fixedly connected to the transverse slide bar 75 , and the baffle 79 is located on the side of the guide block 76 close to the trapezoidal plate 72 . A return spring 791 is fixedly connected to the guide block 76 , and the other end of the return spring 791 is fixedly connected to the baffle 79 .

[0047] Reference Figure 4 and Figure 5 As shown, the locking device 8 includes a connecting block 81 fixedly connected to the two columns 11 respectively, a mounting groove 811 is provided on the side of the connecting block 81 close to the column 11, two first gears 78 are respectively arranged in the mounting grooves 811 of the two connecting blocks 81, two racks 77 pass through the connecting block 81 respectively and are slidably arranged on the connecting block 81, a sliding hole 812 is provided on the side of the connecting block 81 away from the column 11, a locking groove 781 is provided on the side of the two first gears 78 away from the column 11, a locking pin 82 with one end which can be inserted into the locking groove 781 is provided in the sliding hole 812, the locking pin 82 is slidably arranged in the sliding hole 812, a blocking rod 83 is fixedly connected to the side of the locking pin 82 away from the column 11, a tension spring 84 is sleeved on the locking pin 82, one end of the tension spring 84 is fixedly connected to the blocking rod 83, and the other end of the tension spring 84 is fixedly connected to the connecting block 81. When the rack 77 drives the first gear 78 to rotate and aligns the locking pin 82 with the locking groove 781 , the locking pin 82 can be inserted into the locking groove 781 under the elastic force of the tension spring 84 , locking the first gear 78 and preventing the first gear 78 from rotating.

[0048] Reference Figure 2 , Figure 3 and Figure 5 As shown, a first mounting rod 813 and a second mounting rod 814 are fixedly connected to one of the connection blocks 81, a first switch 65 for controlling the on and off of the electromagnet 62 is fixedly connected to the first mounting rod 813, and a second switch 211 for controlling the start and stop of the first motor 21 is fixedly connected to the second mounting rod 814. The first switch 65 and the second switch 211 are both located on a side of the blocking rod 83 close to the column 11. When the locking pin 82 is inserted into the locking groove 781, the blocking rod 83 can press the button of the first switch 65 and the button of the second switch 211 at the same time.

[0049] Reference Figure 2 and Figure 5 As shown, the unlocking device 9 includes a connecting shaft 91 rotatably arranged on the blocking rod 83, a cam 92 that can interfere with the connecting block 81 is fixedly connected to the connecting shaft 91, and a second gear 93 is also fixedly connected to the connecting shaft 91, and the second gear 93 is located on the side of the cam 92 away from the blocking rod 83. There is friction between the rotation of the connecting shaft 91 and the blocking rod 83, and when the cam 92 is rotated to any position, the cam 92 does not rotate without external force.

[0050] Reference Figure 5 As shown, the second motor 94 is fixedly connected to the connecting block 81, and the third gear 95 is fixedly connected to the output shaft of the second motor 94. The third mounting rod 815 is also fixedly connected to the connecting block 81 on which the first mounting rod 813 is fixed, and the third mounting rod 815 is fixedly connected to a third switch 96 for controlling the second motor 94, and the third switch 96 is also located on the side of the blocking rod 83 close to the column 11. When the locking pin 82 is inserted into the locking groove 781, the second gear 93 can mesh with the third gear 95, and the blocking rod 83 automatically presses the button of the third switch 96, so that the second motor 94 automatically drives the cam 92 to rotate slowly.

[0051] Reference Figure 1 , Figure 4 and Figure 5 As shown, when the longer diameter side of the cam 92 contacts the connecting block 81, as the cam 92 continues to rotate, the cam 92 can drive the locking pin 82 to move away from the first gear 78 through the blocking rod 83, and finally disengage from the locking groove 781. At this time, the second gear 93 is disengaged from the third gear 95, and the blocking rod 83 is disengaged from the buttons of the first switch 65, the second switch 211 and the third switch 96, and the rack 77 slides in the direction close to the trapezoidal plate 72 under the elastic force of the return spring 791, thereby automatically driving the blocking member 5 to swing upward, and automatically releasing the restriction on the hull 100. Therefore, before the hull 100 enters the outer frame 1, the cleaning time can be controlled by controlling the rotation angle of the cam 92.

[0052] Reference Figure 1 and Figure 2 As shown, a photoelectric sensor 15 and a counting display 16 are fixedly connected to the outer frame 1, and the photoelectric sensor 15 and the counting display 16 are respectively fixedly connected to the two columns 11 at the entrance of the outer frame 1. As the number of times the brush roller 3 is cleaned increases, the bristles on the brush roller 3 will be constantly worn and broken or shortened, and the brush roller 3 needs to be replaced. The photoelectric sensor 15 is connected to the counting display 16 signal. When the hull 100 enters and exits the outer frame once, the count of the counting display 16 will increase once. By reading the number of times of the counting display 16, the wear condition of the bristles of the brush roller 3 under water can be judged, so as to facilitate the judgment of the state of the bristles of the brush roller 3 under water.

[0053] The implementation principle of an underwater intelligent cleaning robot for ships in an embodiment of the present application is as follows: when the ship needs to be cleaned, the ship is driven into the outer frame 1, the head of the hull 100 can be in conflict with the contact plate 73, and the trapezoidal plate 72 is pushed to the other side of the mounting plate 71, and under the action of the inclined surface of the trapezoidal plate 72, the transverse sliding rod 75 drives the rack 77 to move in the direction away from the trapezoidal plate 72, and since the first gear 78 is meshed with the rack 77, the rack 77 can drive the rotating shaft 4 to rotate 90° through the first gear 78, so that the stopper 5 can be in conflict with the top surface of the edge of the hull 100, and when the first gear 78 rotates 90°, the locking pin 82 is automatically inserted into the locking groove 781, automatically locking the first gear 78, preventing the first gear 78 from rotating, so that the stopper 5 can stably conflict with the hull 100, so that after the hull 100 drives into the outer frame 1, the stopper 5 can automatically limit the hull 100.

[0054] When the locking pin 82 is inserted into the locking groove 781, the blocking rod 83 can press the buttons of the first switch 65, the second switch 211 and the third switch 96 at the same time, the electrical circuit of the electromagnet 62 is turned on, the mounting frame 2 drives the brush roller 3 to move upward, the first motor 21 is started, and the brush roller 3 is driven to rotate, and the bottom of the hull 100 is cleaned underwater. At the same time, when the locking pin 82 is inserted into the locking groove 781, the second gear 93 can automatically mesh with the third gear 95, the second motor 94 is automatically started, and the second motor 94 automatically drives the cam 92 to rotate slowly.

[0055] When the longer diameter side of the cam 92 conflicts with the connecting block 81, as the cam 92 continues to rotate, the cam 92 can drive the locking pin 82 to move away from the first gear 78 through the blocking rod 83, and finally disengage from the locking groove 781. At this time, the second gear 93 is disengaged from the third gear 95, and the blocking rod 83 is disengaged from the buttons of the first switch 65, the second switch 211 and the third switch 96, and the rack 77 slides toward the direction close to the trapezoidal plate 72 under the elastic force of the return spring 791, thereby automatically driving the stop member 5 to swing upward, automatically releasing the restriction on the hull 100.

[0056] The embodiment of the present application also discloses a method for underwater cleaning of a ship, comprising the following steps: S1: rotating the cam 92 to rotate the cam 92 to a predetermined angle and adjusting the cleaning time; S2: driving the hull 100 into the outer frame 1; S3: the hull 100 collides with the resistance plate 73, and pushes the trapezoidal plate 72 to the other side of the mounting plate 71 through the resistance plate 73; S4: after the cam 92 pushes the blocking rod 83 to the side away from the connecting block 81, the hull 100 drives out of the outer frame 1.

[0057] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A ship underwater intelligent cleaning robot, characterized in that: The invention comprises a brush roller (3) for cleaning a boat body (100) and a mounting frame (2) for mounting the brush roller (3), wherein the brush roller (3) is rotatably mounted on the mounting frame (2), a first motor (21) for driving the brush roller (3) to rotate is fixedly connected to the mounting frame (2), an outer frame (1) is arranged outside the mounting frame (2), the outer frame (1) is fixedly arranged on a river bank, the mounting frame (2) is slidably arranged on the outer frame (1), the boat body (100) is located above the brush roller (3), and a lifting device (6) for pulling the mounting frame (2) upwards is arranged on the outer frame (1); Two rotating shafts (4) are arranged in parallel on the outer frame (1); the rotating shafts (4) are provided with stoppers (5) for contacting the top surface of the edge of the hull (100); and the outer frame (1) is provided with a driving device (7) for driving the rotating shafts (4) to rotate; The outer frame (1) comprises a vertically arranged column (11) and a connecting rod (12) arranged between two adjacent columns (11), the two ends of the connecting rod (12) are respectively connected to the two adjacent columns (11), the rotating shaft (4) is rotatably arranged on the column (11), the outer frame (1) is a rectangular frame structure, the driving device (7) comprises a mounting plate (71) fixedly connected to the outer frame (1), the mounting plate (71) is located between the two rotating shafts (4), a strip hole (711) is opened on a side of the mounting plate (71) close to the hull (100), a trapezoidal plate (72) is slidably arranged in the strip hole (711), the horizontal cross-section of the trapezoidal plate (72) is an isosceles trapezoid, and a side of the trapezoidal plate (72) close to the hull (100) is provided with a slot for connecting with the hull (100). The mounting plate (71) is provided with a transverse slide bar (75), the mounting plate (71) is fixedly connected with a guide block (76), the transverse slide bar (75) passes through the guide block (76), the transverse slide bar (75) is slidably arranged on the guide block (76), one end of the transverse slide bar (75) close to the trapezoidal plate (72) is in conflict with the inclined surface of the trapezoidal plate (72), one end of the transverse slide bar (75) away from the trapezoidal plate (72) is fixedly connected with a rack (77), one end of the rotating shaft (4) close to the mounting plate (71) passes through the column (11), the rotating shaft (4) is fixedly connected with a first gear (78) meshing with the rack (77), and the column (11) is also provided with a locking device (8) for preventing the first gear (78) from rotating.

2. The underwater intelligent cleaning robot for ships according to claim 1, characterized in that: A baffle (79) is fixedly connected to the transverse sliding rod (75), and the baffle (79) is located on a side of the guide block (76) close to the trapezoidal plate (72). A return spring (791) is fixedly connected to the guide block (76), and the other end of the return spring (791) is fixedly connected to the baffle (79).

3. The underwater intelligent ship cleaning robot according to claim 1, characterized in that: The locking device (8) comprises a connecting block (81) fixedly connected to the column (11); a mounting groove (811) is provided on a side of the connecting block (81) close to the column (11); the first gear (78) is arranged in the mounting groove (811); the rack (77) passes through the connecting block (81) and is slidably arranged on the connecting block (81); a sliding hole (812) is provided on a side of the connecting block (81) away from the column (11); and a sliding hole (812) is provided on a side of the first gear (78) away from the column (11). A locking groove (781) is provided, and a locking pin (82) having one end which can be inserted into the locking groove (781) is provided in the sliding hole (812). The locking pin (82) is slidably provided in the sliding hole (812). A blocking rod (83) is fixedly connected to the side of the locking pin (82) away from the column (11). A tension spring (84) is sleeved on the locking pin (82), and one end of the tension spring (84) is fixedly connected to the blocking rod (83), and the other end of the tension spring (84) is fixedly connected to the connecting block (81).

4. The intelligent underwater cleaning robot for ships according to claim 3, characterized in that: The column (11) is fixedly connected to a vertical slide rail (13), the mounting frame (2) is fixedly connected to a slider (22), the slider (22) is slidably arranged on the vertical slide rail (13), the lifting device (6) comprises a lower connecting plate (63) fixedly connected to the mounting frame (2), an attraction block (64) is fixedly connected to the top surface of the lower connecting plate (63), an upper connecting plate (61) is fixedly connected to the column (11), the upper connecting plate (61) is located above the lower connecting plate (63), and an electromagnet (62) for generating attraction for the attraction block (64) is fixedly connected to the bottom surface of the upper connecting plate (61).

5. The underwater intelligent ship cleaning robot according to claim 4, characterized in that: A first mounting rod (813) and a second mounting rod (814) are fixedly connected to the connecting block (81); a first switch (65) for controlling the on and off of the electromagnet (62) is fixedly connected to the first mounting rod (813); a second switch (211) for controlling the start and stop of the first motor (21) is fixedly connected to the second mounting rod (814); the first switch (65) and the second switch (211) are both located on a side of the blocking rod (83) close to the column (11).

6. The intelligent underwater cleaning robot for ships according to claim 5, characterized in that: The blocking rod (83) is provided with an unlocking device (9), the unlocking device (9) comprising a connecting shaft (91) rotatably provided on the blocking rod (83), a cam (92) being fixedly connected to the connecting shaft (91) and capable of abutting against the connecting block (81), a second gear (93) being also fixedly connected to the connecting shaft (91), the second gear (93) being located on a side of the cam (92) away from the blocking rod (83), a second motor (94) being fixedly connected to the connecting block (81), and a third gear (95) being capable of meshing with the second gear (93) being fixedly connected to the output shaft of the second motor (94).

7. The intelligent underwater cleaning robot for ships according to claim 6, characterized in that: The blocking member (5) comprises a swing plate (51) fixedly connected to the rotating shaft (4), a buffer spring (52) fixedly connected to the swing plate (51), and a pressure plate (53) for contacting the hull (100) fixedly connected to the other end of the buffer spring (52).

8. A method for underwater cleaning of a ship, based on the intelligent underwater cleaning robot for a ship according to claim 6, characterized in that: The steps include: S1: rotating the cam (92) so that the cam (92) rotates a predetermined angle to adjust the cleaning time; S2: driving the hull (100) into the outer frame (1); S3: the hull (100) collides with the abutment plate (73), and pushes the trapezoidal plate (72) toward the other side of the mounting plate (71) through the abutment plate (73); S4: After the cam (92) pushes the blocking rod (83) to a side away from the connecting block (81), the hull (100) moves out of the outer frame (1).

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