A mechanical arm for underwater cleaning and maintenance of ships

Abstract

The present invention relates to the field of manipulator equipment, specifically to a manipulator arm for underwater cleaning and maintenance of ships, comprising: a bending portion, which is slidably installed under a sliding guide rail, and a connecting portion is rotatably installed at the front end of the bending portion; a swing frame is provided on the inner side of a mounting base, and the corners of the swing frame are rotatably connected to the mounting base through a rotating shaft, and the strip scraper and the connecting piece are arc-shaped as a whole, and the center of the circle coincides with the rotating shaft; a driving turntable is rotatably installed in the inner cavity of the mounting base; the beneficial effect is: by sliding the bending portion under the sliding guide rail, the front end of the bending portion is installed with the mounting base through the connecting portion, the swing frame is "V"-shaped, the strip scraper and the connecting piece are arc-shaped as a whole, and coincide with the swing center of the swing frame, the swing frame and the strip scraper form a flat structure as a whole, which is subject to less resistance from the water body when working underwater, and combined with the movement of the bending portion and the connecting piece, the surface of the ship can be cleaned underwater.

Description

Technical Field

[0001] The present invention relates to the field of manipulator equipment, in particular to a manipulator arm for underwater cleaning and maintenance of ships. Background Art

[0002] A robot is an automatic operating device that can imitate certain movement functions of human hands and arms to grasp, move objects or operate tools according to a fixed procedure. The robot can be programmed to complete various expected tasks.

[0003] In the prior art, a Chinese invention with publication number CN110948497B discloses a robot for cleaning organisms adhering to ships. The robot's traveling device drives a connecting frame to move during movement, enabling cleaning of different parts of the ship with a cleaning disc. Furthermore, the traveling device is provided with a cleaning gun, which can be used to clean different parts of the ship during movement.

[0004] However, currently, when cleaning a ship, it needs to be moved to the shore and hoisted by a hoisting device to keep it suspended in the air. The preparation phase of the cleaning work is labor-intensive and poses a significant safety hazard. To this end, the present invention proposes a robotic arm for underwater cleaning and maintenance of ships to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a robotic arm for underwater cleaning and maintenance of ships, so as to solve the problem in the above-mentioned background technology that ships need to be moved to the shore for suspension during cleaning.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a robotic arm for underwater cleaning and maintenance of ships, comprising:

[0007] A bending portion, wherein the bending portion is slidably mounted below the sliding guide rail, a connecting portion is rotatably mounted on the front end of the bending portion, and a mounting base is fixedly mounted on the front end of the connecting portion;

[0008] The mounting base is in a flat "L" shape, and a swing frame is provided on the inner side of the mounting base. The corners of the swing frame are rotatably connected to the mounting base via a rotating shaft. A strip scraper is fixedly provided at the front end of the swing frame. The strip scrapers are provided in plurality, and connecting members are fixed between adjacent ones. The strip scrapers and the connecting members are in an arc shape as a whole, and the center of the circle coincides with the rotating shaft. The edges of the strip scrapers are provided with tooth grooves.

[0009] A driving turntable is rotatably mounted on the inner cavity of the mounting base plate. The driving turntable drives the swing frame to swing back and forth. The driving turntable provides power for the swing of the swing frame and limits the swing angle of the swing frame.

[0010] Preferably, an arc-shaped reinforcing plate is fixed in the middle of the swing frame, and multiple groups of flexible brushes are fixed on the side of the reinforcing plate away from the mounting base plate. The flexible brushes are distributed in an arc-shaped array along the radial direction of the reinforcing plate. A limiting groove is provided on the inner wall of one end of the mounting base plate, and the outer edge of the reinforcing plate is located in the inner cavity of the limiting groove and is slidably connected thereto, thereby improving the cleaning effect on the surface of the ship.

[0011] Preferably, a guide plate is fixed to one side of the reinforcing plate close to the mounting base plate, a guide groove is opened through the middle of the guide plate, a transmission pin is fixed at the surface edge of the driving turntable, the transmission pin is movably inserted into the inner cavity of the guide plate and slidably connected thereto, and can drive the swing frame to swing back and forth.

[0012] Preferably, a shaft cylinder is fixedly installed in the middle of the driving turntable, and a plurality of guide plates distributed in a ring array are fixed on the inner wall of the shaft cylinder. The guide plates themselves have a spiral structure, and one end of the shaft cylinder movably penetrates the mounting base plate and is rotatably connected thereto, so that impurities swept out by the flexible brush can be discharged in time.

[0013] Preferably, an annular platform is fixed at one end of the shaft cylinder, and a filter screen covering one end of the shaft cylinder is fixed in the middle of the annular platform. The middle of the surface of the driving turntable is recessed inward to form a recessed groove, and the recessed groove is connected to the inner cavity of the shaft cylinder. The inner side wall of the recessed groove is in the shape of an outward-flaring trumpet, and a plurality of arc-shaped fan blades distributed in an annular array are fixed to the bottom of the recessed groove, which can prevent debris scraped by the tooth groove from entering the inner cavity of the shaft cylinder.

[0014] Preferably, the outer fixed sleeve of the shaft tube is provided with a driven pulley, the outer side of the driven pulley is provided with a driving pulley, and the two are kept in synchronous transmission through a transmission belt. The driving pulley is rotatably installed on the inner side wall of the mounting base and can be used to drive the drive turntable to rotate.

[0015] Preferably, the middle part of the outer wall of the mounting base protrudes outward to form a waterproof convex plate, a driving motor is fixed on the waterproof convex plate, and the driving motor drives the active pulley to rotate, a protective cover is fixed to the inner wall of the mounting base, the driven pulley, the active pulley and the transmission belt are all located inside the protective cover, the shaft cylinder is movably connected to the protective cover, and the driving turntable is located outside the protective cover, thereby avoiding affecting the service life of the transmission belt due to being soaked in water.

[0016] Preferably, an oblique chamfer is provided at the surface edge of the strip scraper, a guide chamfer is provided at the corner of one end of the mounting substrate, the surface of the waterproof convex plate and the surface of the mounting substrate are each fixedly connected with a connecting column, a connecting plate is fixed at one end of the connecting part, and the two connecting columns are respectively fixedly connected to the two ends of the connecting plate, so that the mounting substrate can be installed at the front end of the connecting part.

[0017] Preferably, a waterproof cover is fixed in the middle of the connecting plate, and the waterproof cover is movably mounted on the outside of the driving motor. The open end face of the waterproof cover is fitted with the surface of the waterproof convex plate, and a sealing gasket is provided between the two, which can prevent the driving motor from being damaged by water.

[0018] Preferably, the sliding guide rail is fixed to the port through a bracket, the bending part itself is in a foldable "V" shape and is driven to fold by a cylinder, an extension arm is fixed on the surface of the connecting part, and a cylinder for driving the connecting part to rotate is provided between the extension arm and the front end of the bending part.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention is achieved by sliding a bending part under the sliding guide rail, and a mounting base is mounted on the front end of the bending part through a connecting part, and a swinging frame that can swing back and forth is provided on the inner side of the mounting base, and the swinging frame is in a "V" shape, and a strip scraper is provided at the front end. A plurality of strip scrapers are provided, and adjacent ones are fixedly connected by connecting parts, and the strip scrapers and the connecting parts are arc-shaped as a whole and coincide with the swing center of the swinging frame. Tooth grooves are provided at the edges of the strip scrapers, and when the swinging frame swings, the strip scrapers are driven to slide back and forth along their own length direction, thereby realizing the tooth grooves to scrape off the attachments on the ship surface. The mounting base, swinging frame and strip scraper of this device form a flat structure as a whole, which is subject to less resistance from the water body when working underwater. Combined with the movement of the bending part and the connecting part, the surface of the ship can be cleaned underwater without the need to drive the ship to the shore for suspension, thereby reducing the difficulty and danger of the cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the structural connection between the connecting portion and the mounting substrate of the present invention;

[0023] Figure 3 This is a three-dimensional schematic diagram of the installation structure of the base plate, the swing frame and the strip scraper of the present invention;

[0024] Figure 4 This is a schematic diagram of the connection between the swing frame and the strip scraper structure of the present invention;

[0025] Figure 5 This is a three-dimensional schematic diagram of the strip scraper and connecting member structure of the present invention;

[0026] Figure 6 This is an exploded schematic diagram of the mounting substrate structure of the present invention;

[0027] Figure 7 This is a schematic cross-sectional view of the driving turntable and driven pulley structure of the present invention;

[0028] Figure 8 It is a three-dimensional schematic diagram of the connecting portion structure of the present invention.

[0029] In the figure: 1. bending part; 11. sliding guide rail; 2. connecting part; 21. connecting plate; 22. waterproof cover; 3. mounting base; 31. waterproof convex plate; 311. driving motor; 32. connecting column; 33. protective cover; 34. guide chamfer; 35. limiting slide; 4. swing frame; 41. reinforcing plate; 42. flexible brush; 43. guide plate; 44. guide slide; 45. rotating shaft; 5. strip scraper; 51. connecting part; 52. tooth groove; 53. oblique chamfer; 6. driving turntable; 61. shaft cylinder; 62. transmission pin; 63. guide plate; 64. filter screen; 65. annular table; 66. recessed groove; 67. curved fan blade; 7. driven pulley; 71. driving pulley; 72. transmission belt. DETAILED DESCRIPTION

[0030] In order to clearly and completely describe the objectives and technical solutions of the present invention and make the advantages more clearly understood, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, not all of them, and are only used to explain the embodiments of the present invention, not to limit the embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See also Figures 1 to 8 , the present invention provides a technical solution:

[0032] Embodiment 1, a robotic arm for underwater cleaning and maintenance of ships, includes: a bending portion 1 and a driving turntable 6.

[0033] Specifically, the bending portion 1 is slidably mounted below the sliding guide rail 11, and the front end of the bending portion 1 is rotatably mounted with a connecting portion 2. The sliding guide rail 11 is fixed to the port through a bracket. The sliding guide rail 11 itself is a long strip structure. The bending portion 1 can slide along the length direction of the sliding guide rail 11. The bending portion 1 itself is foldable in a "V" shape and is driven to fold by a cylinder. An extension arm is fixed to the surface of the connecting portion 2, and an oil cylinder for driving the connecting portion 2 to rotate is provided between the extension arm and the front end of the bending portion 1. Figure 1 As shown, the folding and unfolding of the bending portion 1 itself and the rotation of the connecting portion 2 at the front end of the bending portion 1 are controlled by the oil cylinder, so that the height position of the connecting portion 2 can be changed. In addition, the upper half of the bending portion 1 is set as a telescopic structure. By extending and retracting the upper half of the bending portion 1, the height position of the connecting portion 2 can be further adjusted.

[0034] Secondly, a mounting base 3 is fixedly installed at the front end of the connecting portion 2. The mounting base 3 is in a flat "L" shape. A swing frame 4 is provided on the inner side of the mounting base 3. The corners of the swing frame 4 are rotatably connected to the mounting base 3 through a rotating shaft 45. The swing frame 4 itself can rotate around the rotating shaft 45 at a certain angle. A strip scraper 5 is fixed at the front end of the swing frame 4. The strip scraper 5 is located on the outer side of one end of the mounting base 3. There are multiple strip scrapers 5, and connecting members 51 are fixed between adjacent two. The strip scrapers 5 and the connecting members 51 are arc-shaped as a whole, and the center of the circle coincides with the rotating shaft 45. A tooth groove 52 is provided at the edge of the strip scraper 5. The mounting base 3 is brought close to the surface of the ship through the connecting portion 2. When the swing frame 4 swings, the tooth groove 52 at the edge of the strip scraper 5 can scrape and clean the attachments on the surface of the ship. Figure 2 As shown, multiple strip scrapers 5 and multiple connecting members 51 are fixedly connected at intervals in sequence. The connecting members 51 are made of spring steel material, which can be bent and deformed at a certain angle and can recover the deformation after bending. Based on the arc structure of the ship's surface, when the strip scrapers 5 approach and fit the ship's surface, the whole formed by the strip scrapers 5 and the connecting members 51 can adaptively deform following the arc structure of the ship's surface, thereby avoiding the scraping effect of the attached objects affected by the excessive gap between the strip scrapers 5 and the ship's surface. In addition, the strip scrapers 5 and the swing frame 4 of the present device are both flat structures. When the swing frame 4 and the strip scrapers 5 swing, they are subject to less resistance from the water body. Combined with the adjustment of the position of the mounting base plate 3 by the bending portion 1 and the connecting portion 2, the ship's surface can be fully cleaned underwater without the need to sail the ship ashore or suspend the ship in the air. The cleaning operation is efficient and safe.

[0035] In addition, the driving turntable 6 is rotatably installed in the inner cavity of the mounting base plate 3 , and the driving turntable 6 drives the swing frame 4 to swing back and forth. The driving turntable 6 provides power for the swing of the swing frame 4 and limits the swing angle of the swing frame 4 .

[0036] In order to improve the cleaning effect on the surface of the ship, the present application also has an arc-shaped reinforcing plate 41 fixed in the middle of the swing frame 4. The setting of the reinforcing plate 41 can strengthen the structural strength of the swing frame 4 and prevent the swing frame 4 from deformation and breakage. A plurality of groups of flexible brushes 42 are fixed on the side of the reinforcing plate 41 away from the mounting base plate 3. The flexible brushes 42 are distributed in an arc-shaped array along the radial direction of the reinforcing plate 41. When the swing frame 4 swings, the flexible brushes 42 swing accordingly, thereby being able to clean the surface of the ship. The strip scraper 5 performs preliminary cleaning (i.e., scraping) of the attachments on the surface of the ship, and the flexible brush 42 performs supplementary cleaning (i.e., sweeping) of the surface of the ship, thereby effectively improving the cleaning effect. A limiting slide groove 35 is provided on the inner side wall of one end of the mounting base plate 3, and the outer edge of the reinforcing plate 41 is located in the inner cavity of the limiting slide groove 35 and is slidably connected thereto. Figure 6 and Figure 4 As shown, the outer edge of the reinforcing plate 41 can only slide in the inner cavity of the limiting sliding groove 35, cooperating with the connection effect of the rotating shaft 45 on the swing frame 4, thereby effectively preventing the swing frame 4 from tilting itself.

[0037] In order to drive the swing frame 4 to swing back and forth, the present application also has a guide plate 43 fixed on one side of the reinforcing plate 41 close to the mounting base plate 3, and a guide groove 44 is opened through the middle of the guide plate 43. A transmission pin 62 is fixed at the surface edge of the driving turntable 6, and the transmission pin 62 is movably inserted into the inner cavity of the guide plate 43 and slidably connected thereto. When the driving turntable 6 rotates, it drives the transmission pin 62 to rotate around the center of the driving turntable 6. The driving turntable 6 can drive the guide plate 43 to move by squeezing the inner wall of the guide groove 44, thereby realizing the reciprocating swing of the swing frame 4 and the strip scraper 5. Therefore, when the driving turntable 6 of this device rotates, the strip scraper 5 can reciprocate and scrape off the attachments on the surface of the ship.

[0038] In order to discharge the impurities swept out by the flexible brush 42 in time, the present application also has a shaft cylinder 61 fixedly installed in the middle of the driving turntable 6, and a plurality of guide plates 63 distributed in a ring array are fixed on the inner wall of the shaft cylinder 61. The guide plates 63 themselves have a spiral structure, and one end of the shaft cylinder 61 is movable through the mounting base 3 and is rotatably connected thereto. The setting of the shaft cylinder 61 is used to rotatably connect the driving turntable 6 with the mounting base 3 to realize the installation and positioning of the driving turntable 6. When the shaft cylinder 61 rotates, the guide plates 63 can drive the water flow, such as Figure 7 As shown, the flow direction of water in the inner cavity of the shaft cylinder 61 is from right to left. After the water flows out from the left end of the shaft cylinder 61, it impacts the surface of the ship, so that the impurities swept out by the flexible brush 42 can be washed away in time, reducing the adhesion of impurities on the flexible brush 42 and affecting the cleaning effect.

[0039] In order to prevent the debris scraped by the tooth groove 52 from entering the inner cavity of the shaft cylinder 61, the present application also has an annular platform 65 fixed at one end of the shaft cylinder 61, and a filter plate 64 covering one end of the shaft cylinder 61 is fixed in the middle of the annular platform 65. The setting of the annular platform 65 is used to prevent the shaft cylinder 61 from sliding along its own length direction. The setting of the filter plate 64 can be used to filter the water flow entering the inner cavity of the shaft cylinder 61. In addition, the middle part of the surface of the driving turntable 6 is recessed inward to form a recessed groove 66, and the recessed groove 66 is connected to the inner cavity of the shaft cylinder 61. The inner side wall of the recessed groove 66 is in the shape of a trumpet that flares outward, and a plurality of arc-shaped fan blades 67 distributed in an annular array are fixed to the bottom of the recessed groove 66. Figure 7 As shown, when the arc-shaped fan blades 67 rotate, they can generate centrifugal force on the surrounding water, thereby throwing the water to the surroundings, and then cooperate with the water flow in the inner cavity of the shaft cylinder 61 to ensure that the water flow discharged from the left end of the shaft cylinder 61 has a larger flow rate when it spreads to the surroundings, so as to improve the flushing effect of the flexible brush 42.

[0040] In order to drive the driving turntable 6 to rotate, the present application also has a driven pulley 7 fixedly sleeved on the outer side of the shaft cylinder 61, a driving pulley 71 is provided on the outer side of the driven pulley 7, and the two are kept in synchronous transmission through a transmission belt 72. The driving pulley 71 is rotatably installed on the inner side wall of the mounting base 3. When the driving pulley 71 rotates, the driven pulley 7 is driven to rotate through the transmission belt 72, thereby driving the rotation of the driving turntable 6 and the shaft cylinder 61.

[0041] In order to prevent the transmission belt 72 from being affected by water and affecting its service life, the present application also has a waterproof convex plate 31 protruding outward in the middle of the outer wall of the mounting base 3, and a driving motor 311 is fixed on the waterproof convex plate 31, and the driving motor 311 drives the active pulley 71 to rotate, and a protective cover 33 is fixed to the inner wall of the mounting base 3, the driven pulley 7, the active pulley 71 and the transmission belt 72 are all located on the inner side of the protective cover 33, the shaft cylinder 61 is movably connected with the protective cover 33, and the driving turntable 6 is located on the outer side of the protective cover 33. Figure 6 As shown, the protective cover 33 and the waterproof convex plate 31 cooperate to protect the shaft cylinder 61, the driven pulley 7, the driving pulley 71 and the transmission belt 72. The waterproof convex plate 31 and the protective cover 33 are both in sealed rotational connection with the surface of the shaft cylinder 61, and the shaft on the driving pulley 71 and the protective cover 33 are also in sealed rotational connection, thereby preventing water from entering the inner cavity of the protective cover 33.

[0042] In order to install the mounting base plate 3 at the front end of the connecting part 2, the present application also has an oblique chamfer 53 provided at the surface edge of the strip scraper 5, and a guide chamfer 34 is provided at the corner of one end of the mounting base plate 3. The setting of the oblique chamfer 53 makes it easier for the strip scraper 5 to be inserted between the attachment and the surface of the ship, thereby improving the scraping efficiency of the tooth groove 52 on the attachment. The setting of the guide chamfer 34 is used to reduce the water resistance encountered by the mounting base plate 3 when it moves. A connecting column 32 is fixedly connected to the surface of the waterproof convex plate 31 and the surface of the mounting base plate 3. A connecting plate 21 is fixed to one end of the connecting part 2. The two connecting columns 32 are fixedly connected to the two ends of the connecting plate 21 respectively. Figure 8 and Figure 2 As shown, the connecting plate 21 and the connecting column 32 are fixed by bolts, and both are detachable structures. The main function of the connecting column 32 is to fix the mounting base plate 3 and the connecting part 2.

[0043] In order to prevent the drive motor 311 from being damaged by water, the present application also has a waterproof cover 22 fixed in the middle of the connecting plate 21, the waterproof cover 22 is movably sleeved on the outside of the drive motor 311, the open end surface of the waterproof cover 22 is in contact with the surface of the waterproof convex plate 31, and a sealing gasket is provided between the two. Figure 2 and Figure 6As shown, the waterproof cover 22 is mainly used to waterproof the driving motor 311 .

[0044] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for underwater cleaning and maintenance of ships, characterized by: include: A bending portion (1), the bending portion (1) being slidably mounted below the sliding guide rail (11), a connecting portion (2) being rotatably mounted on the front end of the bending portion (1), and a mounting base plate (3) being fixedly mounted on the front end of the connecting portion (2); The mounting base (3) is in a flat "L" shape. A swing frame (4) is provided on the inner side of the mounting base (3). The corner of the swing frame (4) is rotatably connected to the mounting base (3) via a rotating shaft (45). A strip scraper (5) is fixedly provided at the front end of the swing frame (4). The strip scrapers (5) are provided with a plurality of connecting members (51) fixed between adjacent ones. The strip scrapers (5) and the connecting members (51) are arc-shaped as a whole, and the center of the circle coincides with the rotating shaft (45). The edges of the strip scrapers (5) are provided with tooth grooves (52). A driving turntable (6) is rotatably mounted in the inner cavity of the mounting base plate (3), and the driving turntable (6) drives the swing frame (4) to swing back and forth.

2. The robotic arm for underwater cleaning and maintenance of a ship according to claim 1, characterized in that: An arc-shaped reinforcing plate (41) is fixed in the middle of the swing frame (4), and a plurality of flexible brushes (42) are fixed on a side of the reinforcing plate (41) away from the mounting base plate (3). The flexible brushes (42) are distributed in an arc-shaped array along the radial direction of the reinforcing plate (41). A limiting slide groove (35) is provided on the inner side wall of one end of the mounting base plate (3), and the outer edge of the reinforcing plate (41) is located in the inner cavity of the limiting slide groove (35) and is slidably connected thereto.

3. The robotic arm for underwater cleaning and maintenance of a ship according to claim 2, characterized in that: A guide plate (43) is fixed to one side of the reinforcing plate (41) close to the mounting base plate (3), and a guide slot (44) is provided through the middle of the guide plate (43). A transmission pin (62) is fixed to the edge of the surface of the driving turntable (6), and the transmission pin (62) is movably inserted into the inner cavity of the guide plate (43) and is slidably connected thereto.

4. The robotic arm for underwater cleaning and maintenance of a ship according to claim 1, characterized in that: A shaft cylinder (61) is fixedly mounted in the middle of the driving turntable (6), and a plurality of guide plates (63) distributed in a ring array are fixed to the inner wall of the shaft cylinder (61), and the guide plates (63) themselves are spirally structured. One end of the shaft cylinder (61) movably penetrates the mounting base plate (3) and is rotatably connected thereto.

5. The robotic arm for underwater cleaning and maintenance of a ship according to claim 4, characterized in that: An annular platform (65) is fixed to one end of the shaft cylinder (61), and a filter screen (64) covering one end of the shaft cylinder (61) is fixed to the middle of the annular platform (65). The middle of the surface of the driving turntable (6) is recessed inward to form a recessed groove (66), and the recessed groove (66) is connected to the inner cavity of the shaft cylinder (61). The inner side wall of the recessed groove (66) is in the shape of a trumpet that flares outward, and a plurality of arc-shaped fan blades (67) distributed in an annular array are fixed to the bottom of the recessed groove (66).

6. The robotic arm for underwater cleaning and maintenance of a ship according to claim 4, characterized in that: A driven pulley (7) is provided on the outer fixed sleeve of the shaft cylinder (61), and a driving pulley (71) is provided on the outer side of the driven pulley (7), and synchronous transmission is maintained between the two through a transmission belt (72), and the driving pulley (71) is rotatably mounted on the inner side wall of the mounting base (3).

7. The robotic arm for underwater cleaning and maintenance of a ship according to claim 6, characterized in that: The middle portion of the outer wall of the mounting base (3) protrudes outward to form a waterproof convex plate (31), a driving motor (311) is fixed on the waterproof convex plate (31), and the driving motor (311) drives the driving pulley (71) to rotate, a protective cover (33) is fixed on the inner wall of the mounting base (3), the driven pulley (7), the driving pulley (71) and the transmission belt (72) are all located inside the protective cover (33), the shaft cylinder (61) is movably connected to the protective cover (33), and the driving turntable (6) is located outside the protective cover (33).

8. The robotic arm for underwater cleaning and maintenance of a ship according to claim 7, characterized in that: An oblique chamfer (53) is provided at the edge of the surface of the strip scraper (5), a guide chamfer (34) is provided at a corner of one end of the mounting base plate (3), a connecting column (32) is fixedly connected to the surface of the waterproof convex plate (31) and the surface of the mounting base plate (3), a connecting plate (21) is fixed to one end of the connecting portion (2), and two connecting columns (32) are fixedly connected to the two ends of the connecting plate (21), respectively.

9. The robotic arm for underwater cleaning and maintenance of a ship according to claim 8, characterized in that: A waterproof cover (22) is fixed to the middle of the connecting plate (21), and the waterproof cover (22) is movably sleeved on the outside of the driving motor (311). The open end surface of the waterproof cover (22) is in contact with the surface of the waterproof convex plate (31), and a sealing gasket is provided between the two.

10. The robotic arm for underwater cleaning and maintenance of a ship according to claim 1, characterized in that: The sliding guide rail (11) is fixed to the port through a bracket. The bending portion (1) itself is in a foldable "V" shape and is driven to fold by an oil cylinder. An extension arm is fixed to the surface of the connecting portion (2), and an oil cylinder for driving the connecting portion (2) to rotate is provided between the extension arm and the front end of the bending portion (1).

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