Intelligent ship body cleaning robot

Abstract

The invention relates to the field of underwater robots, in particular to an intelligent hull cleaning robot which comprises a rack and a stage shoveling mechanism arranged at the front end of the rack, the stage shoveling mechanism comprises a mounting block arranged at the front end of the rack, a mounting cavity is formed in the mounting block, and an adjusting box is arranged at the front end of the mounting block; the reciprocating assembly is arranged in the mounting cavity and used for making the adjusting box move back and forth. A plurality of spring rods are arranged in the adjusting box, and the end of each spring rod is connected with a shovel strip plate. A cavity is formed in each shovel strip plate, an obliquely-arranged separation column is arranged on the inner wall of the top of each cavity in a sliding mode, and a tilting stretching assembly which can move along with the adjusting box, enable the multiple separation columns to move towards the direction of the inclined holes and enable the corresponding shovel strip plates to rotate along the hinged positions is arranged at the bottom of the mounting block. According to the marine organism separating device, through cooperation of the multiple shoveling strip plates and the separating columns, shoveled marine organisms can be separated from residual benthos at the bottom of a ship, and therefore the cleaning effect is ensured.

Description

Technical Field

[0001] The present invention relates to the field of underwater robots, and in particular to an intelligent hull cleaning robot. Background Art

[0002] Hull attachments refer to aquatic biological attachments such as barnacles that are adsorbed on the surface of the hull during the movement of the hull. On the one hand, these attachments increase the weight of the hull, and on the other hand, they increase the surface resistance during the movement of the ship, affecting the speed of the ship and increasing its fuel consumption. Therefore, the bottom of the ship must be cleaned every once in a while.

[0003] Chinese Patent: CN113173229B An underwater cleaning robot with a collecting function comprises a frame, a magnetic crawler is arranged on the bottom end surface of the frame, a cleaning unit for cleaning hull attachments is arranged at the front end of the bottom end surface of the frame; an L-shaped collecting box is installed on the frame, and a collecting unit is arranged above the L-shaped collecting box; first rectangular openings are arranged on both side walls of the L-shaped collecting box, and auxiliary pushing units for opening the collecting unit are also installed on both sides of the upper end of the L-shaped collecting box; an absorbing and pushing unit for absorbing attachments into the L-shaped collecting box and pushing the attachments in the L-shaped collecting box to the collecting unit is installed in the L-shaped collecting box.

[0004] In this patent, marine life on the bottom of the ship is removed by a reciprocating cleaning shovel. However, since marine life such as barnacles cling to the surface of the bottom of the ship, they will stick to adjacent marine life even after being scooped up by the cleaning shovel. This will not only affect the removal effect, but also affect the movement of the robot, which may cause the robot to fall from the bottom of the ship. Summary of the invention

[0005] The main purpose of the present invention is to provide an intelligent hull cleaning robot, which can separate the shoveled marine organisms from the seabed organisms remaining on the bottom of the ship through the cooperation of multiple shovel plates and separation columns, thereby ensuring the cleaning effect.

[0006] To achieve the above-mentioned purpose, the present invention provides a hull intelligent cleaning robot, comprising a frame and a stage scraping mechanism; the bottom of the frame is rectangularly distributed and can be rotatably provided with four magnetic wheels; the stage scraping mechanism is arranged at the front end of the frame and is used to scrape off attachments on the hull; the stage scraping mechanism comprises a mounting block, an adjusting box, a reciprocating assembly, a shoveling plate and a tilting and stretching assembly; the mounting block is arranged at the front end of the frame, an mounting cavity is arranged inside the mounting block, the adjusting box is arranged at one end of the mounting block away from the frame, a sliding column extending toward the inside of the mounting cavity is arranged at the center of one side of the adjusting box close to the mounting block, the reciprocating assembly is arranged in the mounting cavity and is used to make the adjusting box move back and forth along the axis of the sliding column; a plurality of spring rods are arranged equidistantly in a vertical state inside the adjusting box, and the telescopic end of each spring rod is vertically downward A rotating ball passes through the adjustment box, and there are multiple shovel plates. Each shovel plate is hinged with a connecting column at one end, and a circular groove for accommodating the rotating ball is provided at the end of the connecting column away from the shovel plate. The rotating ball is rotatably arranged in the corresponding circular groove, and a shovel surface is provided at the end of each shovel plate away from the connecting column. A cavity is provided inside each shovel plate, and a plurality of inclined holes opened toward the connecting column are equidistantly provided on the inner wall at the top of the cavity, and the axial direction of the inclined hole is set at an acute angle to the length direction of the shovel plate. A separation column is slidably arranged in each inclined hole, and multiple separation columns located in the same cavity are connected to each other by connecting strips; the tilting and stretching assembly is arranged at the bottom of the mounting block and can move with the movement of the adjusting box, so that the multiple connecting strips can move toward the inclined hole and the corresponding shovel plates can rotate along the hinged position.

[0007] Preferably, the reciprocating assembly includes a drive motor and a power disk; the drive motor is arranged in the installation cavity and is used to drive the power disk to rotate, the power disk is arranged in the installation cavity in a horizontal state and can rotate, a guide column is arranged at the edge of the power disk, an elliptical guide frame is arranged at the end of the sliding column away from the adjustment box, the sliding column is slidably arranged in the elliptical guide frame, and a limit disk for limiting the elliptical guide frame is also arranged at the end of the guide column away from the power disk.

[0008] Preferably, the lifting and stretching assembly includes a stretching shaft and a traction rope; vertical plates are provided at both ends of the bottom of the mounting block along the length direction, each vertical plate is provided with a rotating hole, both ends of the stretching shaft are rotatably arranged in the corresponding rotating holes, a plurality of winding wheels are equidistantly provided along the length direction of the stretching shaft, a traction rope is wound around each winding wheel, a guide hole is provided on each connecting column, a rope threading hole connected to the cavity is provided on the top of each shovel plate, a fixing plate is provided on the inner wall of the top of each cavity, a traction hole is provided on the fixing plate, and each traction rope has an end away from the winding wheel that passes through the corresponding guide hole, the rope threading hole and the traction hole in turn and is connected to the corresponding connecting strip.

[0009] Preferably, return torsion springs are provided at both ends of the stretching shaft, and a return spring is provided on each separation column.

[0010] Preferably, a triangular protrusion is provided on the side of the adjustment box away from the mounting block, the inclined surface of the triangular protrusion faces the side away from the adjustment box, an oblique groove is provided at one end of the triangular protrusion along the length direction, a plurality of intercepting plates are slidably provided in the oblique groove, and each intercepting plate is connected to the inner wall of the oblique groove by a compression spring.

[0011] Preferably, a plurality of sleeves are equidistantly arranged at the bottom of the regulating box, a plurality of vertical springs are arranged inside each sleeve of the telescopic rod along the axial direction, and two ends of the vertical springs are respectively connected to the bottom of the regulating box and the top edge of the connecting column.

[0012] Preferably, a cleaning shell is further provided between the mounting block and the frame, and two cleaning discs are rotatably provided inside the cleaning shell, the two cleaning discs are arranged in a horizontal state, and bristles are arranged at the bottom of each cleaning disc.

[0013] Preferably, a maintenance opening is provided at the bottom of the mounting block.

[0014] Preferably, a plurality of compression turbines are arranged in a rectangular distribution on the top of the frame, and a plurality of driving turbines are also arranged on a side of the frame away from the mounting block.

[0015] Preferably, a hook ring is also provided at the center of the top of the shell.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. Through the cooperation of the spring rod and the rotating ball, the present application can enable multiple shovel boards to "adaptively" fit the bottom surface of the ship, thereby removing the marine life on the bottom of the ship and ensuring the removal efficiency.

[0018] 2. In the present application, through the cooperation of the towing rope and the separation column, as the regulating box moves, multiple shovel plates can remove the marine life on the bottom of the ship, and during the removal process, the separation column can extend out of the inclined hole and insert into the inside of the marine life to be removed, and the shovel plates can rotate along the hinged position, thereby further separating the removed marine life from the marine life on other parts of the bottom of the ship, avoiding the attachment of the marine life to each other, which affects the movement of the frame.

[0019] 3. The present application is provided with a cleaning disk, which can not only perform secondary cleaning on the bottom of the ship to remove marine life, further avoiding the residue of marine life, but also ensure the adsorption effect of the magnetic wheel and the stability of the frame movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention Figure 1 ;

[0022] Figure 2 Schematic diagram of the three-dimensional structure of an embodiment of the present invention Figure 2 ;

[0023] Figure 3 A partial side view of an embodiment of the present invention Figure 1 ;

[0024] Figure 4 A partial side view of an embodiment of the present invention Figure 2 ;

[0025] Figure 5 yes Figure 4 Plane section view along AA direction;

[0026] Figure 6 yes Figure 5 A partial enlarged schematic diagram of point B in the middle;

[0027] Figure 7 yes Figure 5 A partial enlarged schematic diagram of point C in the middle;

[0028] Figure 8 yes Figure 5 The partial enlarged schematic diagram of point D in the middle;

[0029] Fig. 9 is a partial three-dimensional exploded schematic diagram of an embodiment of the present invention;

[0030] Fig.10 yes Fig. 9 The local enlarged schematic diagram of point E in the middle;

[0031] Fig.11 yes Fig. 9 A partial enlarged schematic diagram of point F in the middle.

[0032] Explanation of symbols in the figure:

[0033] 1-frame; 11-magnetic wheel; 12-cleaning shell; 13-cleaning plate; 14-brush; 15-pressing turbine; 16-driving turbine; 17-hook ring;

[0034] 2-stage eradication of institutions;

[0035] 3-mounting block; 31-mounting cavity; 32-vertical plate; 33-rotation hole; 34-maintenance port;

[0036] 4-adjustment box; 41-sliding column; 411-elliptical guide frame; 42-spring rod; 421-rotating ball; 43-triangular protrusion; 431-oblique groove; 432-interceptor plate; 433-compression spring; 44-sleeve; 45-vertical spring;

[0037] 5-reciprocating assembly; 51-driving motor; 52-power disk; 521-guide column; 522-limiting disk;

[0038] 6-shovel plate; 61-connecting column; 611-circular groove; 612-guide hole; 62-shovel surface; 63-cavity; 631-inclined hole; 632-fixing plate; 64-separation column; 641-reset spring; 65-connecting bar; 66-rope threading hole; 7-tilting stretching assembly; 71-stretching shaft; 711-winding wheel; 712-reset torsion spring; 72-traction rope. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments 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 creative work should fall within the scope of protection of the present invention.

[0040] See also Figures 1 to 11As shown, an embodiment of the present invention provides a hull intelligent cleaning robot, including a frame 1 and a stage scraping mechanism 2; the bottom of the frame 1 is rectangularly distributed and can be rotatably provided with four magnetic wheels 11; the stage scraping mechanism 2 is arranged at the front end of the frame 1 and is used to scrape the attachments on the hull; the stage scraping mechanism 2 includes a mounting block 3, an adjustment box 4, a reciprocating assembly 5, a scraping plate 6 and a tilting stretching assembly 7; the mounting block 3 is arranged at the front end of the frame 1, and a mounting cavity 31 is arranged inside the mounting block 3, the adjustment box 4 is arranged at one end of the mounting block 3 away from the frame 1, and a sliding column 41 extending toward the inside of the mounting cavity 31 is arranged at the center of one side of the adjustment box 4 close to the mounting block 3, and the reciprocating assembly 5 is arranged in the mounting cavity 31 and is used to make the adjustment box 4 move back and forth along the axis of the sliding column 41; a plurality of spring rods 42 are arranged equidistantly in a vertical state inside the adjustment box 4, and the telescopic end of each spring rod 42 vertically passes through the adjustment box 4 downward and is provided with a rotating ball 4 21. There are multiple shovel plates 6, each of which has a connecting column 61 hinged at one end. The end of the connecting column 61 away from the shovel plate 6 is provided with a circular groove 611 for accommodating the rotating ball 421, and the rotating ball 421 can be rotatably arranged in the corresponding circular groove 611. A shovel surface 62 is provided at one end of each shovel plate 6 away from the connecting column 61. A cavity 63 is provided inside each shovel plate 6. The inner wall of the top of the cavity 63 is equidistantly provided with multiple inclined holes 631 opened in the direction of the connecting column 61. The axial direction of the inclined hole 631 is set at an acute angle to the length direction of the shovel plate 6. A separation column 64 is slidably arranged in each inclined hole 631. Multiple separation columns 64 located in the same cavity 63 are connected to each other by connecting bars 65; the lifting and stretching component 7 is arranged at the bottom of the mounting block 3 and can move with the movement of the adjusting box 4, so that the multiple connecting bars 65 can all move toward the inclined hole 631 and make the corresponding shovel plate 6 rotate along the hinged position.

[0041] The connecting column 61 is hinged to the corresponding shovel strip plate 6 through a reset hinge, so that the shovel strip plate 6 is arranged perpendicular to the axis of the connecting column 61 in the length direction when the shovel strip plate 6 is not stressed. The frame 1 can be adsorbed on the bottom of the hull and can also be moved accordingly on the bottom of the ship through four magnetic wheels 11. When the frame 1 is adsorbed, the reciprocating assembly 5 arranged inside the mounting block 3 allows the adjustment box 4 to move back and forth along the axis of the corresponding sliding column 41. A plurality of spring rods 42 are arranged inside the adjustment box 4. The spring rods 42 are hinged to the corresponding number of shovel strip plates 6 through the connecting column 61. At this time, the shovel strip plates 6 can be "adaptively" fitted to the bottom surface of the ship through the arrangement of a plurality of spring rods 42 to ensure the cleaning effect.

[0042] And as the regulating box 4 moves in the direction away from the mounting block 3, the multiple shoveling plates 6 can move together with the regulating box 4, and the shoveling surface 62 at the end of each shoveling plate 6 can shovel up marine organisms (such as barnacles, etc.) attached to the bottom surface of the ship. The tilting and stretching component 7 arranged at the bottom of the mounting block 3 can move the corresponding connecting strip 65 toward the corresponding inclined hole 631 after the shoveling plate 6 scoops up the marine organisms, so that the multiple separation columns 64 connected to the connecting strip 65 can extend out of the shoveling plate 6 through the inclined hole 631. The axial direction of the separation column 64 is set at an acute angle to the length direction of the shoveling plate 6, and the end of the separation column 64 away from the connecting strip 65 is provided with an inclined surface, so that it can be more The shovel strip 6 can be inserted into the mutually dependent marine organisms, and the shovel strip plate 6 can rotate along the corresponding hinged position, so as to further separate the shoveled marine organisms from the marine organisms remaining on the bottom of the ship; when the adjustment box 4 moves toward the direction close to the mounting block 3, the connecting strip 65 can move toward the direction away from the inclined hole 631, so that the separation column 64 can pull the shoveled marine organisms while retracting into the cavity 63, so that the shoveled marine organisms can be separated from the marine organisms attached to the bottom of the ship. At this time, the adjustment box 4 is reset, so that the marine organisms can be continuously cleaned and pulled, and the mutually connected marine organisms are prevented from affecting the movement of the frame 1. And through the setting of the rotating ball 421 and the circular groove 611, the shovel strip plate 6 can further adapt to the position of the curved surface of the bottom of the ship, so as to ensure that the shovel strip plate 6 can perform corresponding "adaptive" adjustment when the frame 1 moves to the curved surface of the bottom of the ship, thereby effectively increasing the shoveling area of ​​the shovel strip plate 6 and improving the cleaning efficiency of the curved surface of the bottom of the ship.

[0043] See also Figures 7 to 10 As shown, the reciprocating assembly 5 includes a driving motor 51 and a power disk 52; the driving motor 51 is arranged in the installation cavity 31 and is used to drive the power disk 52 to rotate, the power disk 52 is arranged in the installation cavity 31 in a horizontal state and can rotate, a guide column 521 is arranged at the edge of the power disk 52, an elliptical guide frame 411 is arranged at the end of the sliding column 41 away from the adjustment box 4, the sliding column 41 is slidably arranged in the elliptical guide frame 411, and a limit disk 522 for limiting the elliptical guide frame 411 is also arranged at the end of the guide column 521 away from the power disk 52.

[0044] By providing a driving motor 51, as the driving motor 51 rotates, the power disk 52 rotates. As the power disk 52 rotates, the guide column 521 provided at the edge of the power disk 52 can contact the elliptical guide frame 411, so that the elliptical guide frame 411 can move back and forth along the axis of the corresponding sliding column 41. The limit plate 522 can limit the elliptical guide frame 411 to ensure the stability of its movement. As the adjusting box 4 moves, the shovel plate 6 provided on the adjusting box 4 can gradually clean the marine life on the bottom of the ship.

[0045] See also Figures 5 to 11 As shown, the lifting and stretching assembly 7 includes a stretching shaft 71 and a traction rope 72; vertical plates 32 are provided at both ends of the bottom of the mounting block 3 along the length direction, and each vertical plate 32 is provided with a rotating hole 33, and both ends of the stretching shaft 71 can be rotatably arranged in the corresponding rotating holes 33, and the stretching shaft 71 is provided with a plurality of winding wheels 711 equidistantly arranged along the length direction, and each winding wheel 711 is wound with a traction rope 72, and each connecting column 61 is provided with a guide hole 612, and each shovel plate 6 is provided with a rope threading hole 66 connected to the cavity 63 at the top, and a fixing plate 632 is provided on the inner wall of the top of each cavity 63, and a traction hole is provided on the fixing plate 632, and each traction rope 72 is provided with an end away from the winding wheel 711 through the corresponding guide hole 612, the rope threading hole 66 and the traction hole in turn and connected with the corresponding connecting strip 65.

[0046] In the initial state, each reel 711 is wound with a certain amount of traction rope 72. As the regulating box 4 moves, the traction rope 72 on the reel 711 is pulled, and since a certain amount of traction rope 72 is wound around the reel 711, it will not affect the movement of the shovel board 6. At this time, the shovel board 6 can fit the bottom surface of the ship to scoop up the marine life; when the traction rope 72 wound on the reel 711 is completely pulled out, the traction rope 72 is guided by the guide hole 612, the rope threading hole 66 and the traction hole, thereby pulling the corresponding connecting strip 65 to move, so that the connecting strip 65 set on the connecting strip The separation column 64 on the strip 65 can be inserted into the inside of the scooped-up marine life. When the connecting strip 65 contacts the inner wall of the top of the cavity 63, the separation column 64 is fully extended. At this time, as the regulating box 4 continues to move, the shovel strip can be rotated along the corresponding hinge position, which can not only make the scooped-up marine life further away from the bottom surface of the ship, but also further separate the partially connected marine life; at this time, as the regulating box 4 moves, the separation column 64 can pull the scooped-up marine life to avoid the adhesion of the marine life to affect the movement of the frame 1, thereby ensuring the cleaning effect.

[0047] See also Fig. 9 and Fig.11 As shown, return torsion springs 712 are provided at both ends of the stretching shaft 71 , and a return spring 641 is provided on each separation column 64 .

[0048] By providing a reset torsion spring 712, the reel 711 can reel in the traction rope 72, thereby avoiding excessive entanglement of the traction rope 72. The reset spring 641 is provided, and the reset spring 641 is located between the corresponding connecting strip 65 and the top inner wall of the cavity 63, so that the separation column 64 can be reset, and the elastic force of the reset spring 641 is greater than the torsion of the reset torsion spring 712. Therefore, when the shovel board 6 removes marine life, the separation column 64 will not extend out of the inclined hole 631, thereby ensuring the removing effect of the shovel board 6.

[0049] See also Figure 3 As shown, a triangular protrusion 43 is provided on the side of the regulating box 4 away from the mounting block 3, the inclined surface of the triangular protrusion 43 faces the side away from the regulating box 4, an oblique groove 431 is provided at one end of the triangular protrusion 43 along the length direction, a plurality of intercepting plates 432 are slidably provided in the oblique groove 431, and each intercepting plate 432 is interconnected with the inner wall of the oblique groove 431 via a compression spring 433.

[0050] In order to prevent the marine life under the shovel from being entangled with the towing rope 72, a plurality of interception plates 432 are provided. Each interception plate 432 is interconnected with the inner wall of the oblique groove 431 by a compression spring 433, so that the interception plate 432 can adaptively fit the surface of the corresponding shovel plate 6 to intercept the marine life under the shovel, and the plurality of interception plates 432 are all inclined, and the top of the mounting block 3 is also inclined, so that the marine life can be guided to slide along the top of the adjusting box 4 to avoid affecting the movement of the frame 1.

[0051] See also Figures 3 to 6 As shown, a plurality of sleeves 44 are equidistantly arranged at the bottom of the regulating box 4, and a plurality of vertical springs 45 are arranged inside each sleeve 44 of the telescopic rod along the axial direction, and both ends of the vertical spring 45 are respectively connected to the bottom of the regulating box 4 and the top edge of the connecting column 61.

[0052] By using multiple vertical springs 45, the coaxiality between the connecting column 61 and the spring rod 42 can be ensured, so that the multiple shovel plates 6 can be arranged in a horizontal state, which can improve the stability between the shovel plates 6. In addition, the multiple vertical springs 45 can make the shovel plates 6 fit the bottom surface of the ship more closely and reduce the root residues of marine organisms. The sleeve 44 is used to limit and protect the vertical spring 45 to prevent it from excessive bending.

[0053] See also Figure 2 As shown, a cleaning shell 12 is further provided between the mounting block 3 and the frame 1 , and two cleaning discs 13 are rotatably provided inside the cleaning shell 12 , the two cleaning discs 13 are arranged in a horizontal state, and bristles 14 are arranged at the bottom of each cleaning disc 13 .

[0054] In order to further ensure the cleaning effect, the bottom of the ship is cleaned twice by two cleaning discs 13 to remove marine organisms, further avoiding the residue of marine organisms, and ensuring the adsorption effect of the magnetic wheel 11 and the stability of the movement of the frame 1.

[0055] See also Figure 2 and Figure 5 As shown, a maintenance opening 34 is provided at the bottom of the mounting block 3 .

[0056] The maintenance opening 34 is provided to facilitate maintenance of the equipment inside the installation block 3 by the staff.

[0057] See also Figure 1 and Figure 2 As shown, a plurality of compression turbines 15 are arranged in a rectangular distribution on the top of the frame 1 , and a plurality of driving turbines 16 are also arranged on a side of the frame 1 away from the mounting block 3 .

[0058] In order to further ensure the stability of the movement of the rack 1, a plurality of compression turbines 15 are provided so that the compression turbines 15 can generate a driving force during the movement of the rack 1, so that the rack 1 can be closer to the hull, and a driving turbine 16 is provided on the side of the rack 1 away from the mounting block 3, so that the movement of the rack 1 can be smoother and the obstacle-crossing ability of the shell can be improved.

[0059] See also Figure 1 As shown, a hook ring 17 is also provided at the center of the top of the shell.

[0060] During the operation of the robot, the staff connects the recovery rope to the hook ring 17 at the top center of the shell, so that when the shell falls, the shell can be recovered in time to avoid the robot being left behind.

[0061] In the description of the present invention, it is necessary to understand that the orientation or positional relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0062] In addition, in the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A hull intelligent cleaning robot, characterized in that: Includes rack and stage shovel mechanism; The bottom of the frame is rectangularly distributed and rotatably provided with four magnetic wheels; the stage scraping mechanism is arranged at the front end of the frame and is used to scrape the attachments on the hull; the stage scraping mechanism includes a mounting block, an adjustment box, a reciprocating assembly, a scraping strip plate and a lifting and stretching assembly; Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The tilting and stretching assembly is arranged at the bottom of the mounting block and can move with the adjustment box, so that the plurality of connecting strips can move toward the inclined hole direction and the corresponding shovel strip plates can rotate along the hinged position.

2. The intelligent hull cleaning robot according to claim 1, characterized in that: The reciprocating assembly includes a drive motor and a power disc; The driving motor is arranged in the installation cavity and is used to drive the power disk to rotate. The power disk is arranged in the installation cavity in a horizontal state and can rotate. A guide column is arranged at the edge of the power disk. An elliptical guide frame is arranged at the end of the sliding column away from the adjustment box. The sliding column is slidably arranged in the elliptical guide frame. A limit plate for limiting the elliptical guide frame is also arranged at the end of the guide column away from the power disk.

3. The hull intelligent cleaning robot according to claim 1, characterized in that: The tilting and stretching assembly includes a stretching shaft and a traction rope; Vertical plates are provided at both ends of the bottom of the mounting block along the length direction, and each vertical plate is provided with a rotating hole. Both ends of the stretching shaft are rotatably arranged in the corresponding rotating holes. A plurality of winding wheels are equidistantly provided along the length direction of the stretching shaft, and a traction rope is wound around each winding wheel. A guide hole is provided on each connecting column, and a rope threading hole connecting the cavity is provided on the top of each shovel plate. A fixing plate is provided on the inner wall of the top of each cavity, and a traction hole is provided on the fixing plate. The end of each traction rope away from the winding wheel passes through the corresponding guide hole, the rope threading hole and the traction hole in turn and is connected to the corresponding connecting strip.

4. The intelligent hull cleaning robot according to claim 3, characterized in that: Reset torsion springs are arranged at both ends of the stretching shaft, and a reset spring is arranged on each separation column.

5. The intelligent hull cleaning robot according to claim 1, characterized in that: A triangular protrusion is provided on the side of the regulating box away from the mounting block, and the inclined surface of the triangular protrusion faces the side away from the regulating box. An oblique groove is provided at one end of the triangular protrusion along the length direction. A plurality of intercepting plates are slidably provided in the oblique groove, and each intercepting plate is connected to the inner wall of the oblique groove by a compression spring.

6. The intelligent hull cleaning robot according to claim 1, characterized in that: A plurality of sleeves are equidistantly arranged at the bottom of the regulating box, and a plurality of vertical springs are arranged inside each sleeve of the telescopic rod along the axial direction, and two ends of the vertical springs are respectively connected to the bottom of the regulating box and the top edge of the connecting column.

7. The intelligent hull cleaning robot according to claim 1, characterized in that: A cleaning shell is also arranged between the mounting block and the frame. Two cleaning discs are rotatably arranged inside the cleaning shell. The two cleaning discs are arranged in a horizontal state, and bristles are arranged at the bottom of each cleaning disc.

8. The intelligent hull cleaning robot according to claim 1, characterized in that: A maintenance opening is provided at the bottom of the mounting block.

9. The intelligent hull cleaning robot according to claim 1, characterized in that: A plurality of compression turbines are arranged in a rectangular distribution on the top of the frame, and a plurality of driving turbines are also arranged on a side of the frame away from the mounting block.

10. The intelligent hull cleaning robot according to claim 1, characterized in that: A hook ring is also arranged at the center of the top of the shell.

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