Self-adaptive cleaning machine for curved surface of hull

Abstract

The invention relates to a cleaning machine, in particular to a self-adaptive cleaning machine for a curved surface of a hull, which aims to solve the problems of poor cleaning effect, high labor intensity, low cleaning efficiency, high economic cost and insufficient safety in the existing hull cleaning technology, and comprises a sweeping mechanism, a chassis steel frame, a suspension system and a high-pressure flushing mechanism, the sweeping mechanism is mounted on the chassis steel frame, the suspension system is mounted at the bottom end of the chassis steel frame and used for suspending and supporting the chassis steel frame, and the sweeping mechanism comprises a sweeping driving structure, a transmission structure and a plurality of self-adaptive curved surface sweeping structures; the self-adaptive curved surface sweeping structures are installed on the transmission structure, the transmission structure and the sweeping driving structure are installed on the chassis steel frame, the output end of the sweeping driving structure is connected with the transmission structure and drives the self-adaptive curved surface sweeping structures to work through the transmission structure, and the high-pressure washing mechanism is arranged close to the sweeping driving structure. The device is used in the field of ocean ship cleaning.

Description

Technical Field

[0001] The invention relates to a cleaning machine, in particular to a hull curved surface adaptive cleaning machine, and the invention is used in the field of marine ship cleaning. Background Art

[0002] Driven by globalization and the marine economy, my country's strategy of building a strong marine nation is being gradually implemented. As a result, the marine industry, especially ocean shipping and shipbuilding, has achieved rapid development. After performing underwater missions, a large number of marine organisms, such as barnacles and shellfish, often attach to the hull of a ship. The growth of these organisms not only increases the ship's navigation resistance, but also often causes hull corrosion, thus affecting the ship's navigation safety and service life. In addition, the presence of attachments will also increase the ship's fuel consumption, which greatly increases the operating cost, so regular cleaning of the hull has become an essential maintenance task. The issue of ship maintenance and cleaning has now become one of the important factors affecting the development of the industry.

[0003] At present, traditional hull cleaning mainly relies on manual or semi-mechanized equipment, and the main cleaning methods are mechanical cleaning, high-pressure water jet technology flushing and sandblasting technology cleaning. However, these methods have significant problems such as poor cleaning effect, high labor intensity, low cleaning efficiency, high economic cost and insufficient safety. Therefore, it is particularly urgent to develop automated and efficient hull cleaning equipment. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of poor cleaning effect, high labor intensity, low cleaning efficiency, high economic cost and insufficient safety of the existing hull cleaning technology, and further provide a hull curved surface adaptive cleaning machine.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] A hull curved surface adaptive cleaning machine, comprising a cleaning mechanism, a chassis steel frame, a suspension system and a high-pressure flushing mechanism;

[0007] The cleaning mechanism is installed on the chassis steel frame, and the suspension system is installed at the bottom of the chassis steel frame and provides suspension support for the chassis steel frame.

[0008] The cleaning mechanism includes a cleaning drive structure, a transmission structure and a plurality of adaptive curved surface cleaning structures;

[0009] Multiple adaptive curved surface cleaning structures are installed on the transmission structure, the transmission structure and the cleaning drive structure are installed on the chassis steel frame, the output end of the cleaning drive structure is connected to the transmission structure and drives the multiple adaptive curved surface cleaning structures to work through the transmission structure, and the high-pressure flushing mechanism is arranged close to the cleaning drive structure.

[0010] Further, the cleaning drive structure includes a drive motor, a bevel gear main drive shaft, a bevel gear driven shaft, a spline shaft and two drive pulleys;

[0011] The driving motor is fixedly installed on the chassis steel frame, a driving pulley is installed on the output end of the driving motor shaft, a driving pulley is installed on one end of the bevel gear main driving shaft, the two driving pulleys are connected by belt transmission, the bevel gear main driving shaft is rotatably connected and installed on the chassis steel frame through a bearing seat, the bevel gear driven shaft is rotatably connected and installed on the chassis steel frame through a bearing, the spline shaft is installed on the bevel gear driven shaft and rotates synchronously with the bevel gear driven shaft, and the bevel gear of the bevel gear main driving shaft is meshed with the bevel gear teeth of the bevel gear driven shaft.

[0012] Further, the transmission structure includes a support plate, a gear box, a gear box central gear and a plurality of gear box peripheral gears;

[0013] The support plate is installed on the chassis steel frame, and the driven shaft of the bevel gear is rotatably connected and installed on the support plate through a bearing seat. A central gear transmission shaft is provided in the central gear of the gearbox, and a peripheral gear transmission shaft is provided in each peripheral gear of the gearbox. The central gear of the gearbox is rotatably connected and installed on the gearbox through the central gear transmission shaft. The central gear transmission shaft is fixedly connected to the spline shaft through a coupling. Multiple peripheral gears of the gearbox are arranged on the gearbox outside the central gear of the gearbox and are respectively meshed with the central gear of the gearbox. Each peripheral gear of the gearbox is rotatably connected to the gearbox through the peripheral gear transmission shaft. The housing of the gearbox is movably arranged on the support plate in the vertical direction, and each adaptive surface cleaning structure is installed on the gearbox, and the power output end of the peripheral gear transmission shaft is connected to the power input end of the adaptive surface cleaning structure.

[0014] Further, the adaptive curved surface cleaning structure includes a first cleaning universal joint, a second cleaning universal joint, a universal joint center piece, a universal joint input center shaft, a universal joint output center shaft, a center cross, a cleaning stop cover, a flange support spring, a cleaning brush, a flange, a shaft stop cover and a plurality of universal joint adjustment springs;

[0015] The first cleaning universal joint joint and the second cleaning universal joint joint are connected through a universal joint center piece, and a plurality of universal joint adjustment springs are evenly distributed radially between the first cleaning universal joint joint and the second cleaning universal joint joint, and one end of each universal joint adjustment spring is connected to the first cleaning universal joint joint, and the other end of each universal joint adjustment spring is connected to the second cleaning universal joint joint,

[0016] The input center shaft of the universal joint is inserted into the first cleaning universal joint joint and is rotatably connected with the first cleaning universal joint joint, the output center shaft of the universal joint is inserted into the second cleaning universal joint joint and is rotatably connected with the second cleaning universal joint joint, the input center shaft of the universal joint is connected to the output center shaft of the universal joint through the center cross, the cleaning cover is sleeved on the outside of the output center shaft of the universal joint and fixedly installed on the second cleaning universal joint joint, the output center shaft of the universal joint is installed on one end of the flange through a key, the shaft cover is installed on the other end of the flange, the cleaning brush is fixedly installed on the flange, the flange support spring is sleeved on the output center shaft of the universal joint, and one end of the flange support spring is pressed against the second cleaning universal joint joint, and the other end of the flange support spring is pressed against the end face of the flange.

[0017] Furthermore, the cleaning drive structure also includes a lifting drive motor, a lead screw, a lead screw matching piece, two synchronous pulleys and at least two optical bars;

[0018] The lifting drive motor is fixedly installed on the chassis steel frame, and a synchronous pulley is installed on the output end of the shaft of the lifting drive motor. The screw is rotatably connected and installed on the chassis steel frame through a bearing seat, and the screw is equipped with a synchronous pulley. The two synchronous pulleys are connected through a synchronous belt transmission. The screw mating part is fixedly installed on the gear box, and the screw mating part is set with the screw through a nut. The light bar is vertically fixed on the chassis steel frame, and the gear box is slidably set on the light bar.

[0019] Furthermore, the suspension system includes a plurality of suspension magnetic wheels, which are mounted on a chassis steel frame, and the plurality of suspension magnetic wheels support the chassis steel frame and drive the chassis steel frame to move.

[0020] Further, the suspension magnetic wheel comprises a hinged hole bolt, a magnetic wheel connecting piece, a magnetic wheel driving motor, a magnetic wheel connecting hollow shaft and a magnetic wheel;

[0021] The magnetic wheel drive motor is fixedly installed on the magnetic wheel connecting piece, the output end of the magnetic wheel drive motor is fixedly connected to the magnetic wheel connecting hollow shaft, the magnetic wheel is sleeved on the magnetic wheel connecting hollow shaft, and the magnetic wheel connecting piece is installed on the chassis steel frame through hinged hole bolts.

[0022] Furthermore, the suspended magnetic wheel also includes a spring damper, one end of the spring damper is hinged to the magnetic wheel connecting piece, and the other end of the spring damper is rotatably connected and installed on the chassis steel frame through bolts.

[0023] Furthermore, the high-pressure flushing mechanism includes a high-pressure water pump, a water spray pipe and multiple high-pressure nozzles; a pulley is mounted on the input end of the high-pressure water pump, and the drive pulley on the driving motor shaft, the pulley at the input end of the high-pressure water pump and the drive pulley on the bevel gear main drive shaft are connected through belt transmission, the water outlet end of the high-pressure water pump is connected to the water spray pipe, and multiple high-pressure nozzles are installed on the water spray pipe, and the water spray of the multiple high-pressure nozzles is arranged toward the bottom of the chassis steel frame.

[0024] Furthermore, a hanger is installed on the chassis steel frame, and the hanger is installed on the top of the chassis steel frame by disassembling the connection through bolts.

[0025] 1. The hull surface adaptive cleaning machine of the present application is excellent in saving labor costs. It can free the crew from the heavy, dangerous and extremely time-consuming hull cleaning work. The hull surface adaptive cleaning machine only requires a small number of operators to perform remote monitoring and simple command operations. Operators no longer need to be exposed to heavy physical labor in dangerous working environments as in previous jobs, which further saves labor costs and greatly reduces the labor intensity of ship cleaning workers.

[0026] 2. The hull surface adaptive cleaning machine of the present application has excellent environmental adaptability and can cope with complex hull cleaning tasks with a unique design. In terms of surface adaptability, the cleaning machine can always fit closely with the hull surface, improving operational flexibility and reliability. The suspension system has the capabilities of shock absorption, obstacle crossing, strong adsorption, balance maintenance, and sensitive response to attachments, providing strong support for the movement of the cleaning machine on different hull surfaces. The screw lifting device can lift the cleaning mechanism when not in operation to reduce losses, and can accurately adjust its distance from the hull. It can achieve high adaptability through motion conversion and is easy to operate. It can simplify the process, improve efficiency, and ensure the high adaptability of the cleaning machine.

[0027] 3. The present application adopts a cleaning method that combines high-pressure flushing and rotary cleaning disc scrubbing, which greatly improves the cleaning effect. The coordinated operation of high-pressure flushing and rotary cleaning disc achieves a seamless connection between pre-treatment and deep cleaning. With the strong impact force of the water flow, high-pressure flushing can first quickly disperse and remove a large amount of loose parts of common dirt on the surface of the hull, such as marine organisms, mud and sediment, which creates extremely favorable basic conditions for subsequent rotary cleaning disc scrubbing. The special support and transmission structure of the cleaning mechanism can realize multi-directional rotation and efficient power transmission, ensure continuous and uniform cleaning of the hull, and improve cleaning efficiency and operating capacity. On this basis, the rotary cleaning disc carries out meticulous scrubbing operations to deeply clean the residual dirt. This combination mode of coarse first and fine later greatly improves the cleaning effect, ensures the comprehensive cleaning of the hull surface, and effectively solves the problem of incomplete cleaning of traditional cleaning methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is the main view of this application.

[0029] Figure 2 for Figure 1 Side view of.

[0030] Figure 3 for Figure 1 Top view of the .

[0031] Figure 4 A schematic diagram of the overall structure of this application.

[0032] Figure 5 for Figure 4 Side view of.

[0033] Figure 6 for Figure 5 Top view of the .

[0034] Figure 7 It is a front cross-sectional view of the adaptive surface cleaning structure 13.

[0035] Figure 8 It is a schematic diagram of the adaptive surface cleaning structure 13.

[0036] Fig. 9 It is a schematic diagram of the gearbox central gear 123 and the gearbox peripheral gear 124 being installed in the gearbox 122.

[0037] Fig.10 It is a front cross-sectional view of the gearbox central gear 123 and the gearbox peripheral gear 124 installed in the gearbox 122.

[0038] Fig.11 This is a schematic diagram of the suspended magnetic wheel structure. DETAILED DESCRIPTION

[0039] Specific implementation method 1: Combination Figure 1-Figure 11 The present embodiment is described as a hull curved surface adaptive cleaning machine, which comprises a cleaning mechanism 1, a chassis steel frame 2, a suspension system 3 and a high-pressure flushing mechanism 4;

[0040] The cleaning mechanism 1 is installed on the chassis steel frame 2, and the suspension system 3 is installed at the bottom end of the chassis steel frame 2 to suspend and support the chassis steel frame 2.

[0041] The cleaning mechanism 1 comprises a cleaning drive structure 11, a transmission structure 12 and a plurality of adaptive curved surface cleaning structures 13;

[0042] Multiple adaptive curved surface cleaning structures 13 are installed on the transmission structure 12, and the transmission structure 12 and the cleaning drive structure 11 are installed on the chassis steel frame 2. The output end of the cleaning drive structure 11 is connected to the transmission structure 12 and drives the multiple adaptive curved surface cleaning structures 13 to work through the transmission structure 12. The high-pressure flushing mechanism 4 is arranged close to the cleaning drive structure 11.

[0043] The present application utilizes the impact force of high-pressure water flow to remove dirt from the surface of an object. In hull cleaning, high-pressure flushing is used as a pretreatment step to loosen and remove most of the dirt on the surface of the hull, in preparation for subsequent cleaning disc brushing. The chassis steel frame 2 is the core structure of the robot's support. The chassis steel frame 2 is composed of steel pipes and steel plates welded together to ensure the overall strength and stability of the robot. A high-pressure pump and an electric motor are arranged on one side of the chassis steel frame, and a battery installation space is reserved on the other. Such a layout helps balance the weight of the robot. The chassis steel frame 2 is connected to the suspension system 3 to enhance the robot's adaptability to different hull surfaces. The middle part of the chassis steel frame 2 is used to fix the transmission mechanism and operating mechanism of the cleaning system to realize the cleaning function. The chassis steel frame 2 is used for the installation of the hoisting mechanism and the arrangement of the robot shell, which is convenient for the rapid deployment and recovery of the robot.

[0044] Specific implementation method 2: Combination Figure 1-Figure 6 The present embodiment is described as a hull curved surface adaptive cleaning machine in the present embodiment, wherein the cleaning drive structure 11 comprises a driving motor 111, a bevel gear main driving shaft 112, a bevel gear driven shaft 113, a spline shaft 115 and two driving pulleys 114;

[0045] The driving motor 111 is fixedly mounted on the chassis steel frame 2, a driving pulley 114 is mounted on the output end of the rotating shaft of the driving motor 111, a driving pulley 114 is mounted on one end of the main driving shaft 112 of the bevel gear, the two driving pulleys 114 are connected by belt transmission, the main driving shaft 112 of the bevel gear is rotatably connected and mounted on the chassis steel frame 2 through a bearing seat, the driven shaft 113 of the bevel gear is rotatably connected and mounted on the chassis steel frame 2 through a bearing, the spline shaft 115 is mounted on the driven shaft 113 of the bevel gear and rotates synchronously with the driven shaft 113 of the bevel gear, and the bevel gear of the main driving shaft 112 of the bevel gear is meshed with the bevel gear teeth of the driven shaft 113 of the bevel gear. Other methods are the same as those in the first specific implementation.

[0046] In this embodiment, the universal shaft is installed in the middle of the universal joint to make it an integral whole, the universal shaft is passed through the universal joint, and then the protruding short shafts in four directions of the central component of the universal joint are connected to the four bearing holes of the universal joint support component through the flange outer ring miniature radial ball bearings, the two ends of the universal shaft are axially positioned, and the axial movement of the shaft is limited by the shaft elastic retaining rings at both ends. In this embodiment, the spline shaft 115 is inserted into the driven shaft 113 of the bevel gear and realizes synchronous rotation with the driven shaft 113 of the bevel gear through the key.

[0047] Specific implementation method three: Combination Figure 1-Figure 4 , Fig. 9 and Fig.10 To explain this embodiment, a ship hull curved surface adaptive cleaning machine described in this embodiment, the transmission structure 12 includes a support plate 121, a gear box 122, a gear box central gear 123 and a plurality of gear box peripheral gears 124;

[0048] The support plate 121 is installed on the chassis steel frame 2, and the bevel gear driven shaft 113 is rotatably connected and installed on the support plate 121 through a bearing seat. A central gear transmission shaft is provided in the gearbox central gear 123, and a peripheral gear transmission shaft is provided in each gearbox peripheral gear 124. The gearbox central gear 123 is rotatably connected and installed on the gearbox 122 through the central gear transmission shaft, and the central gear transmission shaft is fixedly connected to the spline shaft 115 through a coupling. A plurality of gearbox peripheral gears 124 are arranged on the gearbox 122 outside the gearbox central gear 123 and are respectively meshed with the gearbox central gear 123. Each gearbox peripheral gear 124 is rotatably connected to the gearbox 122 through a peripheral gear transmission shaft. The housing of the gearbox 122 is movably arranged on the support plate 121 in the vertical direction, and each adaptive surface cleaning structure 13 is installed on the gearbox 122, and the power output end of the peripheral gear transmission shaft is connected to the power input end of the adaptive surface cleaning structure 13. The central gear transmission shaft rotates in the gear box 122 through two bearings, and the central gear transmission shaft rotates synchronously with the spline shaft 115. Other methods are the same as those in the second specific implementation method.

[0049] Specific implementation method 4: Combination Figure 1-Figure 4 , Figure 7 and Figure 8 The embodiment is described as a hull curved surface adaptive cleaning machine, wherein the adaptive curved surface cleaning structure 13 comprises a first cleaning universal joint 131, a second cleaning universal joint 132, a universal joint center piece 133, a universal joint input center shaft 134, a universal joint output center shaft 135, a center cross 136, a cleaning stop cover 137, a flange support spring 138, a cleaning brush 139, a flange 1310, a shaft stop cover 1311 and a plurality of universal joint adjustment springs 1312;

[0050] The first cleaning universal joint 131 and the second cleaning universal joint 132 are connected through a universal joint center piece 133, and a plurality of universal joint adjustment springs 1312 are evenly distributed radially between the first cleaning universal joint 131 and the second cleaning universal joint 132, and one end of each universal joint adjustment spring 1312 is connected to the first cleaning universal joint 131, and the other end of each universal joint adjustment spring 1312 is connected to the second cleaning universal joint 132.

[0051] The universal joint input center shaft 134 is inserted into the first cleaning universal joint joint 131 and is rotatably connected to the first cleaning universal joint joint 131. The universal joint output center shaft 135 is inserted into the second cleaning universal joint joint 132 and is rotatably connected to the second cleaning universal joint joint 132. The universal joint input center shaft 134 is connected to the universal joint output center shaft 135 through the center cross 136. The cleaning cover 137 is sleeved on the outside of the universal joint output center shaft 135 and fixedly installed on the second cleaning On the universal joint 132, the universal joint output center shaft 135 is installed on one end of the flange 1310 through a key, the shaft cover 1311 is installed on the other end of the flange 1310, the cleaning brush 139 is fixedly installed on the flange 1310, the flange support spring 138 is sleeved on the universal joint output center shaft 135, and one end of the flange support spring 138 is pressed against the second cleaning universal joint 132, and the other end of the flange support spring 138 is pressed against the end surface of the flange 1310. The first cleaning universal joint 131 is rotatably connected to the universal joint center piece 133 through a bearing, and the second cleaning universal joint 132 is rotatably connected to the universal joint center piece 133 through a bearing. The connection point between the first cleaning universal joint 131 and the universal joint center piece 133 and the connection point between the second cleaning universal joint 132 and the universal joint center piece 133 are arranged in a "cross" shape, and other methods are the same as those in the third specific implementation method.

[0052] The flange support spring 138 of the adaptive curved surface cleaning structure 13 of the present application can be freely extended and retracted. When encountering a large obstacle on the hull, the cleaning mechanism 1 can automatically adjust up and down to avoid damage to the mechanism or interruption of work. The cleaning robot can adapt to the irregularities of the hull surface, including debris or uneven areas, while still maintaining cleaning efficiency.

[0053] The universal joint adjustment spring 1312 is a tension spring that acts as a tensioner, and helps the universal joint adjustment spring 1312 to automatically return to its original position when the robot is not working or working on a flat surface. When the cleaning work stops suddenly, the device will not be damaged due to the violent stop, thereby reducing wear and tear and extending the service life of the device.

[0054] In addition, the universal joint adjustment spring 1312 is a compression spring. The function of the four universal joint adjustment springs 1312 is that when the robot is working and encounters an uneven wall surface, the cleaning brush surface can be closely attached to the wall surface and can maintain a certain force in the direction perpendicular to the wall surface, thereby improving the cleaning effect of the adaptive curved surface cleaning mechanism. This application cleverly combines retractable springs and damping springs, which can not only enhance the robot's adaptability to complex hull surfaces, but also improve its durability and work efficiency.

[0055] Specific implementation method five: combination Figure 1-Figure 4 To explain this embodiment, the hull curved surface adaptive cleaning machine described in this embodiment, the cleaning drive structure 11 also includes a lifting drive motor 116, a lead screw 118, a lead screw matching piece 119, two synchronous pulleys 117 and at least two light bars;

[0056] The lifting drive motor 116 is fixedly mounted on the chassis steel frame 2, and a synchronous pulley 117 is mounted on the output end of the rotating shaft of the lifting drive motor 116. The lead screw 118 is rotatably connected and mounted on the chassis steel frame 2 through a bearing seat, and the lead screw 118 is mounted on a synchronous pulley 117, and the two synchronous pulleys 117 are connected through a synchronous belt transmission. The lead screw fitting 119 is fixedly mounted on the gear box 122, and the lead screw fitting 119 is arranged in conjunction with the lead screw 118 through a nut. The light bar is vertically fixedly mounted on the chassis steel frame 2, and the gear box 122 is slidably arranged on the light bar. Other methods are the same as those in the third specific implementation method.

[0057] In this embodiment, the lifting drive motor 116 drives the lead screw 118 to rotate, the threaded fit between the lead screw 118 and the lead screw fitting 119 is used to adjust the vertical position of the gear box 122, and the two optical rods are used to guide the gear box 122 in a sliding manner in the vertical direction.

[0058] Specific implementation method six: combination Figure 1-Figure 4 , Fig.11 This embodiment describes a hull curved surface adaptive cleaning machine, wherein the suspension system 3 includes a plurality of suspension magnetic wheels, which are mounted on the chassis steel frame 2, and the plurality of suspension magnetic wheels support the chassis steel frame 2 and drive the chassis steel frame 2 to move. Other methods are the same as those in the first embodiment.

[0059] Specific implementation method seven: Combination Figure 1-Figure 4 , Fig.11 To explain this embodiment, a hull curved surface adaptive cleaning machine described in this embodiment, the suspension magnetic wheel includes a hinged hole bolt 31, a magnetic wheel connecting member 33, a magnetic wheel driving motor 34, a magnetic wheel connecting hollow shaft 35 and a magnetic wheel 36;

[0060] The magnetic wheel driving motor 34 is fixedly mounted on the magnetic wheel connecting member 33, the output end of the magnetic wheel driving motor 34 is fixedly connected to the magnetic wheel connecting hollow shaft 35, the magnetic wheel 36 is sleeved on the magnetic wheel connecting hollow shaft 35, and the magnetic wheel connecting member 33 is mounted on the chassis steel frame 2 through the hinged hole bolts 31. Other methods are the same as the specific implementation method six.

[0061] Specific implementation method eight: Combination Figure 1-Figure 4 , Fig.11 This embodiment is described. In this embodiment, a hull curved surface adaptive cleaning machine is described. The suspension magnetic wheel also includes a spring damper 32. One end of the spring damper 32 is hingedly arranged with the magnetic wheel connecting member 33. The other end of the spring damper 32 is rotatably connected and installed on the chassis steel frame 2 through a bolt. Other methods are the same as those in the specific embodiment three. The spring damper 32 performs elastic buffering between the magnetic wheel connecting member 33 and the chassis steel frame 2. Other methods are the same as those in the specific embodiment seven.

[0062] Specific implementation method nine: Combination Figure 1-Figure 4 This embodiment is described. In this embodiment, a hull curved surface adaptive cleaning machine is described. The high-pressure flushing mechanism 4 includes a high-pressure water pump 41, a water spray pipe 42 and a plurality of high-pressure nozzles 43. A pulley is mounted on the input end of the high-pressure water pump 41. The driving pulley 114 on the rotating shaft of the driving motor 111, the pulley at the input end of the high-pressure water pump 41 and the driving pulley 114 on the main driving shaft 112 of the bevel gear are connected by belt transmission. The water outlet of the high-pressure water pump 41 is connected to the water spray pipe 42. A plurality of high-pressure nozzles 43 are installed on the water spray pipe 42, and the water spray of the plurality of high-pressure nozzles 43 is arranged toward the bottom of the chassis steel frame 2. Other methods are the same as those in the second embodiment.

[0063] Specific implementation method ten: Combination Figure 1-Figure 4 This embodiment is described as a hull curved surface adaptive cleaning machine, wherein a hanger 5 is installed on the chassis steel frame 2, and the hanger 5 is installed on the top of the chassis steel frame 2 by bolt disassembly connection. Other methods are the same as those of the first embodiment.

[0064] The above-mentioned specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The protection scope of the present invention shall be based on the claims and shall not be limited by the above-mentioned specific implementation. Each implementation scheme within its scope shall be subject to the constraints of the present invention.

Claims

1. A hull curved surface adaptive cleaning machine, characterized in that: It comprises a cleaning mechanism (1), a chassis steel frame (2), a suspension system (3) and a high-pressure flushing mechanism (4); The cleaning mechanism (1) is mounted on a chassis steel frame (2), and the suspension system (3) is mounted on the bottom end of the chassis steel frame (2) to suspend and support the chassis steel frame (2). The cleaning mechanism (1) comprises a cleaning drive structure (11), a transmission structure (12) and a plurality of adaptive curved surface cleaning structures (13); A plurality of adaptive curved surface cleaning structures (13) are mounted on a transmission structure (12); the transmission structure (12) and the cleaning drive structure (11) are mounted on a chassis steel frame (2); an output end of the cleaning drive structure (11) is connected to the transmission structure (12) and drives the plurality of adaptive curved surface cleaning structures (13) to operate via the transmission structure (12); and a high-pressure flushing mechanism (4) is disposed close to the cleaning drive structure (11).

2. According to claim 1, a hull curved surface adaptive cleaning machine is characterized by: The cleaning drive structure (11) comprises a driving motor (111), a bevel gear main driving shaft (112), a bevel gear driven shaft (113), a spline shaft (115) and two driving pulleys (114); The driving motor (111) is fixedly mounted on the chassis steel frame (2); a driving pulley (114) is mounted on the output end of the rotating shaft of the driving motor (111); a driving pulley (114) is mounted on one end of the main driving shaft of the bevel gear (112); the two driving pulleys (114) are connected by belt transmission; the main driving shaft of the bevel gear (112) is rotatably connected and mounted on the chassis steel frame (2) via a bearing seat; the driven shaft of the bevel gear (113) is rotatably connected and mounted on the chassis steel frame (2) via a bearing; the spline shaft (115) is mounted on the driven shaft of the bevel gear (113) and rotates synchronously with the driven shaft of the bevel gear (113); the bevel gear of the main driving shaft of the bevel gear (112) is meshed with the bevel gear teeth of the driven shaft of the bevel gear (113).

3. The hull curved surface adaptive cleaning machine according to claim 2, characterized in that: The transmission structure (12) comprises a support plate (121), a gear box (122), a gear box central gear (123) and a plurality of gear box peripheral gears (124); The support plate (121) is mounted on the chassis steel frame (2); the driven shaft (113) of the bevel gear is rotatably connected and mounted on the support plate (121) via a bearing seat; a central gear transmission shaft is provided in the central gear (123) of the gear box; a peripheral gear transmission shaft is provided in each peripheral gear (124) of the gear box; the central gear (123) of the gear box is rotatably connected and mounted on the gear box (122) via the central gear transmission shaft; the central gear transmission shaft is fixedly connected to the spline shaft (115) via a coupling; and a plurality of peripheral gears (124) of the gear box are provided. The gearboxes (122) are arranged on the outside of the gearbox central gear (123) and mesh with the gearbox central gear (123) respectively. Each gearbox peripheral gear (124) is rotationally connected to the gearbox (122) via a peripheral gear transmission shaft. The housing of the gearbox (122) is movably arranged on a support plate (121) in a vertical direction. Each adaptive curved surface cleaning structure (13) is mounted on the gearbox (122), and a power output end of the peripheral gear transmission shaft is connected to a power input end of the adaptive curved surface cleaning structure (13).

4. The hull curved surface adaptive cleaning machine according to claim 3, characterized in that: The adaptive curved surface cleaning structure (13) comprises a first cleaning universal joint (131), a second cleaning universal joint (132), a universal joint center piece (133), a universal joint input center shaft (134), a universal joint output center shaft (135), a center cross (136), a cleaning cover (137), a flange support spring (138), a cleaning brush (139), a flange (1310), a shaft cover (1311) and a plurality of universal joint adjustment springs (1312); The first cleaning universal joint (131) and the second cleaning universal joint (132) are connected via a universal joint center piece (133); a plurality of universal joint adjustment springs (1312) are evenly distributed radially between the first cleaning universal joint (131) and the second cleaning universal joint (132); one end of each universal joint adjustment spring (1312) is connected to the first cleaning universal joint (131); and the other end of each universal joint adjustment spring (1312) is connected to the second cleaning universal joint (132); The universal joint input center shaft (134) is inserted into the first cleaning universal joint joint (131) and is rotatably connected to the first cleaning universal joint joint (131); the universal joint output center shaft (135) is inserted into the second cleaning universal joint joint (132) and is rotatably connected to the second cleaning universal joint joint (132); the universal joint input center shaft (134) is connected to the universal joint output center shaft (135) via a center cross (136); a cleaning cover (137) is sleeved on the outside of the universal joint output center shaft (135) and is fixedly mounted on the second cleaning universal joint. On the joint (132), the universal joint output center shaft (135) is installed on one end of the flange (1310) through a key, the shaft cover (1311) is installed on the other end of the flange (1310), the cleaning brush (139) is fixedly installed on the flange (1310), the flange support spring (138) is sleeved on the universal joint output center shaft (135), and one end of the flange support spring (138) is pressed against the second cleaning universal joint (132), and the other end of the flange support spring (138) is pressed against the end surface of the flange (1310).

5. The hull curved surface adaptive cleaning machine according to claim 3, characterized in that: The cleaning drive structure (11) further comprises a lifting drive motor (116), a lead screw (118), a lead screw matching piece (119), two synchronous pulleys (117) and at least two optical rods; The lifting drive motor (116) is fixedly mounted on the chassis steel frame (2); a synchronous pulley (117) is mounted on the output end of the rotating shaft of the lifting drive motor (116); a lead screw (118) is rotatably connected and mounted on the chassis steel frame (2) via a bearing seat; the lead screw (118) is mounted on a synchronous pulley (117); the two synchronous pulleys (117) are connected via a synchronous belt transmission; a lead screw fitting (119) is fixedly mounted on a gear box (122); the lead screw fitting (119) is matched with the lead screw (118) via a nut; a light bar is vertically fixedly mounted on the chassis steel frame (2); and the gear box (122) is slidably mounted on the light bar.

6. The hull curved surface adaptive cleaning machine according to claim 1, characterized in that: The suspension system (3) comprises a plurality of suspension magnetic wheels, which are mounted on the chassis steel frame (2). The plurality of suspension magnetic wheels support the chassis steel frame (2) and drive the chassis steel frame (2) to move.

7. The hull curved surface adaptive cleaning machine according to claim 6, characterized in that: The suspension magnetic wheel comprises a hinged hole bolt (31), a magnetic wheel connecting piece (33), a magnetic wheel driving motor (34), a magnetic wheel connecting hollow shaft (35) and a magnetic wheel (36); The magnetic wheel driving motor (34) is fixedly mounted on the magnetic wheel connecting member (33), the output end of the magnetic wheel driving motor (34) is fixedly connected to the magnetic wheel connecting hollow shaft (35), the magnetic wheel (36) is sleeved on the magnetic wheel connecting hollow shaft (35), and the magnetic wheel connecting member (33) is mounted on the chassis steel frame (2) through the hinged hole bolt (31).

8. The hull curved surface adaptive cleaning machine according to claim 7, characterized in that: The suspended magnetic wheel also includes a spring damper (32), one end of which is hingedly connected to the magnetic wheel connecting member (33), and the other end of which is rotatably connected and installed on the chassis steel frame (2) through bolts.

9. The hull curved surface adaptive cleaning machine according to claim 2, characterized in that: The high-pressure flushing mechanism (4) comprises a high-pressure water pump (41), a water spray pipe (42) and a plurality of high-pressure nozzles (43); a pulley is mounted on the input end of the high-pressure water pump (41); a driving pulley (114) on the rotating shaft of the driving motor (111), a pulley at the input end of the high-pressure water pump (41) and a driving pulley (114) on the main driving shaft (112) of the bevel gear are connected via a belt transmission; a water outlet end of the high-pressure water pump (41) is connected to the water spray pipe (42); a plurality of high-pressure nozzles (43) are mounted on the water spray pipe (42), and water sprayed by the plurality of high-pressure nozzles (43) is directed toward the bottom of the chassis steel frame (2).

10. The hull curved surface adaptive cleaning machine according to claim 1, characterized in that: A hanger (5) is installed on the chassis steel frame (2), and the hanger (5) is installed on the top of the chassis steel frame (2) by disassembling the connection through bolts.

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