Cleaning device for hull surface

Abstract

The invention discloses a hull surface cleaning device which comprises a wall climbing trolley, a frame body, a grinding mechanism, an impact mechanism and a driving mechanism, the frame body is installed at the front end of the wall climbing trolley, and the grinding mechanism and the impact mechanism are both installed on the frame body; the driving mechanism is installed on the frame body, the output end of the driving mechanism is in one-way transmission connection with the impact mechanism, and the output end of the driving mechanism is connected with the polishing mechanism. The device has the beneficial effects that the polishing mechanism and the impact mechanism are arranged, when thick impurities are cleaned, the impact mechanism can impact the impurities to the set height, then the impurities are removed through the polishing mechanism, in this way, the cleaning efficiency can be greatly improved, and the working time is saved; and certainly, the grinding mechanism can independently operate to remove impurities, and the use flexibility of the cleaning device is improved.

Description

Technical Field

[0001] The present application relates to the technical field of ship maintenance, and in particular to a cleaning device for a hull surface. Background Art

[0002] As ships sail on the sea, the salt in the seawater will have a greater corrosive effect, and rust will often appear on the surface of the ship. If the rusted hull is not derusted, it will directly lead to the problem of hull erosion; of course, there are also some impurities and marine organisms (such as barnacles) attached to the surface of the hull, so a cleaning device is needed.

[0003] The existing cleaning device is mainly composed of a wall-climbing trolley and a roller brush assembly, that is, the wall-climbing trolley moves on the surface of the hull, and then the roller brush rotates to clean the dirt on the hull surface. However, it has the following disadvantages: when some dirt is thick (high), the resistance of the roller brush will increase, thereby affecting the cleaning efficiency. Therefore, a cleaning device for the hull surface is proposed to solve the above technical problems. Summary of the invention

[0004] One of the purposes of the present application is to provide a cleaning device for the surface of a ship hull.

[0005] In order to achieve the above purpose, the technical solution adopted in the present application is: a cleaning device for the surface of a hull, comprising a wall-climbing trolley, a frame, a grinding mechanism, an impact mechanism and a driving mechanism, wherein the frame is installed at the front end of the wall-climbing trolley, the grinding mechanism and the impact mechanism are both installed on the frame, the driving mechanism is installed on the frame and the output end is connected to the impact mechanism in a one-way transmission manner, and the output end of the driving mechanism is connected to the grinding mechanism; when the driving mechanism performs a first action, the impact mechanism is suitable for first impacting impurities to a set height under the drive of the driving mechanism, and then the grinding mechanism is suitable for grinding and removing impurities under the drive of the driving mechanism; when the driving mechanism performs a second action, the grinding mechanism is suitable for grinding and removing impurities under the drive of the driving mechanism, and at this time the impact mechanism remains stationary.

[0006] Preferably, the grinding mechanism includes a plurality of grinding rollers, and the plurality of grinding rollers are vertically rotatably mounted on the bottom end of the frame through a rotating shaft, and the upper ends of adjacent rotating shafts are cooperatively connected through a transmission assembly, and the top end of one of the rotating shafts is connected to the output end of the driving mechanism; when the driving mechanism performs the first or second action, the driving mechanism is suitable for driving one of the rotating shafts to rotate, and then the remaining rotating shafts rotate synchronously under the drive of the transmission assembly.

[0007] Preferably, the rotating shaft includes an upper shaft and a lower shaft, the upper shaft is rotatably mounted on the frame and forms the upper end of the rotating shaft; a plurality of cylinders are fixedly mounted on the bottom end of the frame, the upper end of the lower shaft is elastically and movably arranged in the cylinder, the upper shaft extends into the cylinder and is connected to the lower shaft by a spline, so that the grinding roller can be adjusted to float up and down during the grinding operation.

[0008] Preferably, projections of adjacent grinding rollers toward the front end of the wall-climbing vehicle at least partially overlap.

[0009] Preferably, the impact mechanism includes an impact hammer, a traction rod and a rotating handle. The impact hammer is horizontally slidably installed on the side of the frame, and the rotating handle is installed on the output end of the driving mechanism. The two ends of the traction rod are respectively hinged to the rotating handle and the impact hammer, so that the impact hammer is suitable for forming a crank slider structure through the traction rod and the rotating handle.

[0010] Preferably, the height of the impact hammer relative to the hull surface is smaller than the height of the grinding roller.

[0011] Preferably, the driving mechanism includes a motor, a transmission device 1 and a transmission device 2, the motor is installed at the top of the frame, the input end of the transmission device 1 is connected to the output shaft of the motor in a one-way transmission manner, and the output end of the transmission device 1 is connected to the turning handle; the input end of the transmission device 2 is connected to the output shaft of the motor, and the output end of the transmission device 2 is connected to one of the rotating shafts; when performing a first action, the motor is suitable for driving the turning handle and the rotating shaft to rotate respectively through the transmission device 1 and the transmission device 2; when performing a second action, the motor is suitable for driving the rotating shaft to rotate through the transmission device 2, and at this time, the transmission device 1 is in a disengaged state.

[0012] Preferably, the transmission device 1 includes gear 1 and gear 2, the gear 1 is installed on the output shaft of the motor through a one-way bearing, the gear 2 is rotatably installed on the frame through a rotating rod, the rotating handle is installed at the bottom end of the rotating rod, and the gear 1 and gear 2 are meshed; the transmission device 2 includes gear 3 and gear 4, the gear 3 is installed on the output shaft of the motor, the gear 4 is installed on one of the rotating shafts, and the gear 3 and gear 4 are meshed; when performing the first action, the one-way bearing is in an engaged state, and the motor is suitable for driving the gear 2 and the gear 4 to rotate synchronously through the gear 1 and the gear 3 respectively; when performing the second action, the one-way bearing is in a free state, and the motor is suitable for driving the gear 4 to rotate synchronously through the gear 3, and at this time the gear 2 remains stationary.

[0013] Preferably, a camera, a spraying device and a safety ring are respectively provided on the top of the wall-climbing vehicle; before grinding, the spraying device is suitable for spraying the rust remover on the hull in cooperation with the camera; the safety ring is suitable for connecting and cooperating with the safety rope.

[0014] Preferably, the spraying device includes a water tank, a micro water pump and a pair of nozzles, the water tank is fixedly installed on the top of the wall-climbing vehicle, the nozzles are fixedly installed on the top of the frame and are located on both sides of the camera, the input end of the water pump is connected and installed on the water tank, and the output end of the water pump is connected to the nozzles through a water pipe.

[0015] Compared with the prior art, the beneficial effects of this application are: The present invention is provided with a grinding mechanism and an impact mechanism. When encountering the cleaning of thicker impurities, the impact mechanism can impact the impurities to a set height, and then the impurities are removed by the grinding mechanism, which can greatly improve the cleaning efficiency and save working time. Of course, the grinding mechanism can also operate alone to remove impurities, which improves the flexibility of use of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the specific structure of the spraying device of the present invention.

[0018] Figure 3 It is a schematic diagram of the frame structure of the present invention.

[0019] Figure 4 It is a schematic diagram of the working principle of the grinding mechanism, the spraying device and the impact mechanism of the present invention located on the hull.

[0020] Figure 5 It is a schematic diagram of the installation positions of multiple grinding rollers of the present invention.

[0021] Figure 6 It is a schematic diagram of the internal structure of the frame of the present invention.

[0022] Figure 7 It is a schematic diagram of the specific structure of the impact mechanism of the present invention.

[0023] Figure 8 It is a schematic diagram of the matching installation between multiple grinding rollers of the present invention.

[0024] Fig. 9 It is a schematic diagram of the elastic installation setting of the grinding roller of the present invention.

[0025] Fig.10 It is a schematic diagram of the specific structure of the driving mechanism of the present invention.

[0026] Fig.11 It is a schematic diagram of the matching relationship between gear 1 and gear 3 of the present invention and the motor output shaft.

[0027] In the figure: 1. wall-climbing trolley; 2. frame; 3. grinding mechanism; 301. grinding roller; 4. impact mechanism; 401. impact hammer; 402. traction rod; 403. handle; 5. driving mechanism; 501. motor; 502. transmission device 1; 5021. gear 1; 5022. gear 2; 503. transmission device 2; 5031. gear 3; 5032. gear 4; 6. spraying device; 601. water tank; 602. micro water pump; 603. nozzle; 7. camera; 8. safety ring; 9. transmission assembly; 10. rotating rod; 11. rotating shaft; 1101. upper shaft; 1102. lower shaft; 12. cylinder; 13. elastic member; 14. one-way bearing. DETAILED DESCRIPTION

[0028] Below, the present application is further described in conjunction with specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0029] In the description of the present application, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of narrating the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0031] One of the preferred embodiments of the present application is as follows: Figures 1 to 11 As shown, a cleaning device for the surface of a ship hull comprises a wall-climbing trolley 1, a frame 2, a grinding mechanism 3, an impact mechanism 4 and a driving mechanism 5, wherein the frame 2 is mounted at the front end of the wall-climbing trolley 1, the grinding mechanism 3 and the impact mechanism 4 are both mounted on the frame 2, the driving mechanism 5 is mounted on the frame 2 and the output end is connected to the impact mechanism 4 in a one-way transmission manner, and the output end of the driving mechanism 5 is connected to the grinding mechanism 3. It should be noted that the structural principle of the wall-climbing trolley 1 is common knowledge known to those skilled in the art, so it will not be described in detail.

[0032] It can be understood that this cleaning device has two modes, among which mode one: when the wall-climbing trolley 1 moves forward on the surface of the hull, the driving mechanism 5 performs the first action, and then the impact mechanism 4 and the grinding mechanism 3 will run simultaneously under the action of the driving mechanism 5, and the impact mechanism 4 will first contact the impurities, and then first wear the impurities to a set height; after the wall-climbing trolley 1 continues to move forward, the grinding mechanism 3 will grind and remove the impurities after being worn.

[0033] Mode 2: When the wall-climbing vehicle 1 moves forward on the surface of the hull, the driving mechanism 5 performs a second action. At this time, the grinding mechanism 3 grinds and removes impurities under the drive of the driving mechanism 5, while the impact mechanism 4 remains stationary.

[0034] It can be seen that through the two cleaning methods, when encountering some thick impurities, the impact mechanism 4 and the grinding mechanism 3 operate simultaneously to remove the impurities, which can greatly improve the cleaning efficiency and save working time. At the same time, when the impurities are thin, only the grinding mechanism 3 is required to clean them, which improves the flexibility of the cleaning device. In addition, by setting a one-way transmission connection between the driving mechanism 5 and the impact mechanism 4, it can be achieved that the driving mechanism 5 will not be affected when it is not needed, thereby avoiding unnecessary energy consumption and wear and tear, and improving the service life of the device.

[0035] As a further description of the above embodiment: Figure 3 , Figure 6 and Figure 8 As shown, the grinding mechanism 3 includes multiple grinding rollers 301, which are vertically rotatably installed at the bottom of the frame 2 through the rotating shaft 11. The upper ends of adjacent rotating shafts 11 are matched and connected through the transmission assembly 9, and the top end of one of the rotating shafts 11 is connected to the output end of the driving mechanism 5.

[0036] It should be known that no matter which mode is used, the grinding mechanism 3 is in operation. Therefore, when the driving mechanism 5 performs the first action or the second action, the driving mechanism 5 will drive one of the rotating shafts 11 to rotate, and then the remaining rotating shafts 11 will rotate synchronously under the drive of the transmission component 9, that is, the grinding roller 301 rotates to grind and clean impurities.

[0037] It should be noted that the structure and principle of the transmission assembly 9 are also well-known technologies known to those skilled in the art. In this embodiment, belt transmission is adopted, but gear transmission or chain transmission etc. may also be adopted.

[0038] Of course, the surface of the hull is not a flat structure, but generally a curved structure. When grinding, the multiple grinding rollers 301 need to be close to or close to the surface of the hull to ensure the cleaning effect. Therefore, the multiple grinding rollers 301 need to be elastically installed in the vertical direction, so that the multiple grinding rollers 301 can float up and down according to the curved surface structure of the hull surface during the grinding operation, ensuring that the grinding rollers 301 are always in close contact or close to the hull surface, thereby improving the cleaning effect.

[0039] Specifically, Fig. 9 As shown, the rotating shaft 11 includes an upper shaft 1101 and a lower shaft 1102. The upper shaft 1101 is rotatably mounted on the frame 2 and forms the upper end of the rotating shaft 11. A plurality of cylinders 12 are fixedly mounted on the bottom end of the frame 2. The upper end of the lower shaft 1102 is movably arranged in the cylinder 12 through an elastic member 13 (i.e., a spring). The upper shaft 1101 extends into the cylinder 12 and is connected to the lower shaft 1102 through a spline.

[0040] It can be understood that the grinding roller 301 is fixedly installed on the outside of the lower shaft 1102; and when the upper shaft 1101 rotates, the lower shaft 1102 will also rotate accordingly under the action of the spline, and then the grinding operation is performed. When the grinding roller 301 passes through the curved surface of the hull, the grinding roller 301 will move axially under the pressure of the hull. At this time, the lower shaft 1102 slides in the cylinder 12 and compresses the elastic part 13, and then the grinding roller 301 can be adjusted to float up and down according to the curved surface structure of the hull surface to ensure that the grinding roller 301 is always in close contact or close to the hull surface, thereby improving the cleaning effect and cleaning quality.

[0041] Of course, we know that since there are multiple grinding rollers 301, in order to prevent the operations of the multiple grinding rollers 301 from interfering with each other, a certain gap needs to be left between the multiple grinding rollers 301 during installation. This will inevitably lead to the following drawbacks during grinding: that is, during grinding, impurities corresponding to the gaps cannot be ground away, and subsequent grinding may be required, which will affect the cleaning efficiency.

[0042] Therefore, in order to solve the above technical problems, the installation method between the multiple grinding rollers 301 can be adopted as follows: Figure 5 The installation is performed in the manner shown, that is, the projections of adjacent grinding rollers 301 toward the front end of the wall-climbing trolley 1 at least partially overlap.

[0043] Specifically, Figure 5As shown, we take the top two grinding rollers 301 as an example for explanation, the projection of the first grinding roller 301 toward the front end of the wall-climbing trolley 1 is ac, the projection of the second grinding roller 301 toward the front end of the wall-climbing trolley 1 is bd, and bc is the overlapping part between the two grinding rollers 301. In this way, when the wall-climbing trolley 1 moves forward, although the adjacent grinding rollers 301 are arranged at intervals, the arrangement of overlapping projections can ensure that during the grinding process, impurities corresponding to the gaps can be covered and polished away by the adjacent grinding rollers 301, thereby avoiding the need for subsequent grinding again and improving the cleaning efficiency and cleaning quality.

[0044] In one of the embodiments of the present application, Figure 6 and Figure 7 As shown, the impact mechanism 4 includes an impact hammer 401, a traction rod 402 and a rotating handle 403. The impact hammer 401 is horizontally slidably mounted on the front side of the frame 2, the rotating handle 403 is mounted on the output end of the driving mechanism 5, and the two ends of the traction rod 402 are respectively hinged or rotatably connected to the rotating handle 403 and the impact hammer 401. It can be understood that the impact hammer 401 forms a crank slider structure with the rotating handle 403 through the traction rod 402; that is, when the driving mechanism 5 drives the rotating handle 403 to rotate, the impact hammer 401 will slide back and forth under the action of the traction rod 402, so that the impact hammer 401 impacts and damages the impurities, thereby reducing the thickness of the impurities, so as to facilitate the subsequent grinding operation.

[0045] Of course, in order to ensure the impact effect of the impact hammer 401, the material of the impact hammer 401 can be made of a high-hardness, wear-resistant material, such as alloy steel, to increase its service life and impact efficiency. At the same time, the shape of the impact hammer 401 can also be specially designed, such as using a cone or wedge structure, so as to better cut into impurities and produce an impact damage effect.

[0046] Further, such as Figure 4 As shown, the height between the impact hammer 401 and the hull surface is less than the height of the grinding roller 301. It can be understood that the impact hammer 401 is used to impact and destroy the impurities, so the height between the impact hammer 401 and the hull surface can be equivalent to the height of the impurities after being damaged by the impact, which we set as H; and the height of the grinding roller 301 must be greater than H, so that the impurities after the impact can be thoroughly cleaned; if the height of the grinding roller 301 is less than H, it means that the thickness of the impurities is still thicker (higher) than the grinding roller 301, and then there is still a situation where the subsequent grinding is difficult, affecting the cleaning efficiency. Therefore, in order to ensure the effect and efficiency of the subsequent cleaning, the height of the impurities after the impact must be less than the height of the grinding roller 301.

[0047] In one of the embodiments of the present application, Figure 6 , Fig.10 and Fig.11 As shown, the driving mechanism 5 includes a motor 501, a transmission device 1 502 and a transmission device 2 503. The motor 501 is installed at the top of the frame 2. The input end of the transmission device 1 502 is connected to the output shaft of the motor 501 for one-way transmission, and the output end of the transmission device 1 502 is connected to the handle 403; the input end of the transmission device 2 503 is connected to the output shaft of the motor 501, and the output end of the transmission device 2 503 is connected to one of the rotating shafts 11.

[0048] It can be understood that when performing the first action (forward rotation of the motor 501), the motor 501 drives the handle 403 and the shaft 11 to rotate respectively through the transmission device 1 502 and the transmission device 2 503, that is, the grinding mechanism 3 and the impact mechanism 4 in the first mode operate simultaneously. When performing the second action (reverse rotation of the motor 501), the motor 501 drives the shaft 11 to rotate through the transmission device 2 503, that is, the grinding mechanism 3 in the second mode operates, and the transmission device 1 502 is in a disengaged state, so that the impact mechanism 4 remains stationary.

[0049] The present application does not specifically limit the structures of the transmission device 1 502 and the transmission device 2 503. A specific embodiment is provided below for reference. Specifically, Figure 7 , Fig.10 and Fig.11 As shown, the transmission device 1 502 includes a gear 1 5021 and a gear 2 5022. The gear 1 5021 is mounted on the output shaft of the motor 501 through a one-way bearing 14. The gear 2 5022 is rotatably mounted on the frame 2 through a rotating rod 10. The handle 403 is mounted on the bottom end of the rotating rod 10. The gear 1 5021 and the gear 2 5022 are meshed. Figure 8 and Fig.10 As shown, the transmission device 2 503 includes a gear 3 5031 and a gear 4 5032. The gear 3 5031 is installed on the output shaft of the motor 501, and the gear 4 5032 is installed on one of the rotating shafts 11. The gear 3 5031 and the gear 4 5032 are meshed with each other.

[0050] It can be understood that when the motor 501 rotates forward in mode 1, the one-way bearing 14 is in a meshing state, so the motor 501 drives the gear 2 5022 to rotate through the gear 1 5021, and the motor 501 drives the gear 4 5032 to rotate through the gear 3 5031, thereby causing the handle 403 and the shaft 11 to rotate synchronously. When the motor 501 rotates reversely in mode 2, the one-way bearing 14 is in a free state, so the motor 501 drives the gear 4 5032 to rotate through the gear 3 5031, that is, the shaft 11 rotates, while the gear 1 5021 and the gear 2 5022 remain relatively stationary (that is, the transmission device 1 502 is disengaged).

[0051] It can be seen that two cleaning modes can be achieved through the forward and reverse rotation of a motor 501, which can reduce the installation of the driving source. The wall-climbing trolley 1 itself is a compact device. Therefore, such a design can not only save costs, but also further reduce the volume and weight of the entire cleaning device, making the entire device easier to operate.

[0052] In this embodiment, Figure 1 As shown, in order to further improve the accuracy and effect of cleaning the device, a camera 7, a spraying device 6 and a safety ring 8 can be installed on the top of the wall-climbing trolley 1 and the frame 2.

[0053] It is understandable that before grinding, the camera 7 is used to take real-time images of the hull surface to determine the type of impurities. For example, for rust impurities, the spraying device 6 can spray rust remover on the hull in cooperation with the camera 7 to soften the rust impurities and facilitate subsequent grinding and impact operations. The safety ring 8 can be connected and coordinated with the safety rope to prevent the wall-climbing trolley 1 from falling.

[0054] Specifically, Figure 1 and Figure 2 As shown, the spraying device 6 includes a water tank 601, a micro water pump 602 and a pair of nozzles 603. The water tank 601 is fixedly installed on the top of the wall-climbing vehicle 1, and the nozzles 603 are fixedly installed on the top of the frame 2 and are located on both sides of the camera 7. The input end of the water pump is connected and installed on the water tank 601, and the output end of the water pump is connected to the nozzle 603 through a water pipe.

[0055] It is understandable that an appropriate amount of rust remover is injected into the water tank 601, and then the rust remover is extracted from the water tank 601 through the extraction of the micro water pump 602, and transported to the nozzle 603 through the water pipe, and finally the rust remover is evenly sprayed on the surface of the hull by the nozzle 603. Such a double nozzle 603 design allows the rust remover to act accurately on the rust body impurities, thereby more effectively softening the rust body and improving the subsequent cleaning efficiency and cleaning quality. At the same time, the design of the nozzle 603 located on both sides of the camera 7 also ensures that the camera 7 can capture the surface of the hull after the rust remover is sprayed in real time, so that the operator can better judge the cleaning effect and perform subsequent operations.

[0056] The working principle of the present invention is: First, the staff connects the safety ring 8 with the safety rope, then places the wall-climbing trolley 1 on the surface of the hull, and controls the wall-climbing trolley 1 to move along the surface of the hull to the set position to clean the impurities. For example, for thicker barnacle impurities, mode 1 is started at this time, that is, the motor 501 rotates forward, at this time the one-way bearing 14 is in a bite state, the motor 501 drives the gear 2 5022 to rotate through the gear 1 5021, and at the same time the motor 501 drives the gear 4 5032 to rotate through the gear 3 5031, thereby making the handle 403 and the shaft 11 rotate synchronously; that is, the impact hammer 401 reciprocates to impact and thin the impurities, and then the rotating grinding roller 301 grinds the impurities after the impact, thereby removing the impurities. When rust is encountered, mode 2 is started. Of course, the rust is sprayed on the rust through the spraying device 6 before grinding to soften the rust; then the motor 501 reverses, and the one-way bearing 14 is in a free state, that is, the impact mechanism 4 remains stationary, and the motor 501 drives the gear four 5032 to rotate through the gear three 5031, that is, the shaft 11 rotates, and then the grinding roller 301 grinds and removes the softened rust.

[0057] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and the specification only describe the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application for which protection is sought. The scope of protection claimed by the present application is defined by the attached claims and their equivalents.

Claims

1. A cleaning device for a hull surface, characterized in that: include: Wall climbing car; A frame body, the frame body being installed at the front end of the wall-climbing vehicle; A grinding mechanism, the grinding mechanism is mounted on the frame; An impact mechanism, the impact mechanism is mounted on the frame; as well as A driving mechanism, wherein the driving mechanism is installed on the frame and the output end is connected to the impact mechanism in a one-way transmission manner, and the output end of the driving mechanism is connected to the grinding mechanism; when the driving mechanism performs a first action, the impact mechanism is suitable for firstly impacting the impurities to a set height under the drive of the driving mechanism, and then the grinding mechanism is suitable for grinding and removing the impurities under the drive of the driving mechanism; when the driving mechanism performs a second action, the grinding mechanism is suitable for grinding and removing the impurities under the drive of the driving mechanism, and the impact mechanism remains stationary at this time.

2. The cleaning device for the surface of a ship body according to claim 1, characterized in that: The grinding mechanism comprises a plurality of grinding rollers, which are vertically rotatably mounted on the bottom end of the frame through rotating shafts, and the upper ends of adjacent rotating shafts are matched and connected through transmission components, and the top end of one of the rotating shafts is connected to the output end of the driving mechanism; When the driving mechanism performs the first or second action, the driving mechanism is suitable for driving one of the rotating shafts to rotate, and then the remaining rotating shafts are driven by the transmission assembly to rotate synchronously.

3. The cleaning device for the surface of a ship body according to claim 2, characterized in that: The rotating shaft includes an upper shaft and a lower shaft, the upper shaft is rotatably mounted on the frame and forms the upper end of the rotating shaft; a plurality of cylinders are fixedly mounted on the bottom end of the frame, the upper end of the lower shaft is elastically and movably arranged in the cylinder, the upper shaft extends into the cylinder and is connected to the lower shaft by a spline, so that the grinding roller can be adjusted to float up and down during the grinding operation.

4. The cleaning device for the surface of a ship body according to claim 3, characterized in that: The projections of adjacent grinding rollers toward the front end of the wall-climbing trolley at least partially overlap.

5. The cleaning device for the surface of a ship body according to any one of claims 2 to 4, characterized in that: The impact mechanism includes an impact hammer, a traction rod and a rotating handle. The impact hammer is horizontally slidably installed on the side of the frame, and the rotating handle is installed on the output end of the driving mechanism. The two ends of the traction rod are respectively hinged to the rotating handle and the impact hammer, so that the impact hammer is suitable for forming a crank slider structure through the traction rod and the rotating handle.

6. The cleaning device for the surface of a ship body according to claim 5, characterized in that: The height of the impact hammer and the surface of the hull is smaller than the height of the grinding roller.

7. The cleaning device for the surface of a ship body according to claim 5, characterized in that: The driving mechanism comprises a motor, a transmission device 1 and a transmission device 2, wherein the motor is mounted on the top of the frame, the input end of the transmission device 1 is connected to the output shaft of the motor in a one-way transmission manner, and the output end of the transmission device 1 is connected to the handle; the input end of the transmission device 2 is connected to the output shaft of the motor, and the output end of the transmission device 2 is connected to one of the shafts; When performing the first action, the motor is suitable for driving the handle and the shaft to rotate through the transmission device 1 and the transmission device 2 respectively; when performing the second action, the motor is suitable for driving the shaft to rotate through the transmission device 2, and the transmission device 1 is in a disengaged state.

8. The cleaning device for the surface of a ship body according to claim 7, characterized in that: The transmission device 1 includes gear 1 and gear 2, wherein gear 1 is mounted on the output shaft of the motor through a one-way bearing, gear 2 is rotatably mounted on the frame through a rotating rod, the rotating handle is mounted on the bottom end of the rotating rod, and gear 1 and gear 2 are meshed; the transmission device 2 includes gear 3 and gear 4, gear 3 is mounted on the output shaft of the motor, gear 4 is mounted on one of the rotating shafts, and gear 3 and gear 4 are meshed; When performing the first action, the one-way bearing is in an engaged state, and the motor is suitable for driving the gear two and the gear four to rotate synchronously through the gear one and the gear three respectively; when performing the second action, the one-way bearing is in a free state, and the motor is suitable for driving the gear four to rotate synchronously through the gear three, and the gear two remains stationary.

9. The cleaning device for the surface of a ship body according to claim 1, characterized in that: A camera, a spraying device and a safety ring are respectively arranged at the top of the wall-climbing vehicle; before grinding, the spraying device is suitable for spraying the rust remover on the hull in cooperation with the camera; the safety ring is suitable for connecting and cooperating with the safety rope.

10. The cleaning device for the surface of a ship body according to claim 9, characterized in that: The spraying device includes a water tank, a micro water pump and a pair of nozzles. The water tank is fixedly installed on the top of the wall-climbing vehicle, the nozzles are fixedly installed on the top of the frame and are located on both sides of the camera, the input end of the water pump is connected and installed on the water tank, and the output end of the water pump is connected to the nozzles through a water pipe.

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