Barnacle cleaning robot and cleaning method thereof

Abstract

The invention discloses a barnacle cleaning robot and a cleaning method thereof, and relates to the field of barnacle cleaning, the barnacle cleaning robot comprises a robot shell and an external frame fixed outside the robot shell, a first motor and a suction pump are fixedly arranged in the external frame, the suction pump is distributed at the top of the first motor, the output end of the first motor faces downwards, and the output end of the first motor faces downwards; and the output end of the first motor rotationally extends out of the external frame body, the outer surface of the output end of the first motor is fixedly sleeved with a water spraying pipe, and the output end of the suction pump fixedly communicates with the interior of the water spraying pipe. According to the barnacle cleaning robot, the barnacle cleaning robot can stably move to the bottom face of the ship body in a multi-point magnetic attraction contact mode, and under the action of the anti-blocking unit, large-particle-size floating objects in seawater can be prevented from blocking a suction pump structure in the barnacle cleaning robot.

Description

Technical Field

[0001] The invention relates to the field of barnacle cleaning, in particular to a barnacle cleaning robot and a cleaning method thereof. Background Art

[0002] Barnacles are easily attached to the outer surface (especially the bottom) of ships sailing at sea. If barnacles attach to the hull surface in large numbers and are not cleaned regularly, the barnacles will corrode the protective layer on the hull surface. Therefore, a barnacle cleaning robot is needed to remove the barnacles on the hull surface.

[0003] The barnacle cleaning robot in the prior art uses a magnetic track to allow the barnacle cleaning robot to walk on the surface of the hull, and uses a high-pressure water jet mechanism on the top of the barnacle cleaning robot to flush the barnacles attached to the surface of the hull to make them fall off. However, the magnetic track of the barnacle cleaning robot in the prior art cannot be bent, and the arc at the connection between the side and the bottom of the hull is large, so there are too few points of magnetic contact between the magnetic track and the hull, and the flow of seawater exerts resistance on the barnacle cleaning robot. Therefore, when the barnacle cleaning robot moves from the side to the bottom of the hull, the barnacle cleaning robot is easily separated from the hull and falls off. Summary of the invention

[0004] The object of the present invention is to provide a barnacle cleaning robot and a cleaning method thereof to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a barnacle cleaning robot, comprising: a robot shell and an external frame fixed to the outside of the robot shell, a first motor and a suction pump are fixedly arranged inside the external frame, and the suction pump is distributed on the top of the first motor, the output end of the first motor faces downward, the output end of the first motor rotates and extends out of the external frame, and a water spray pipe is fixedly sleeved on the outer surface of the output end of the first motor, one end of the water spray pipe away from the robot shell is bent downward, the output end of the suction pump is fixedly connected to the inside of the water spray pipe, and the input end of the suction pump extends into the inside of the robot shell;

[0006] The bending walking unit, through the way of magnetically attracting the bending points of the hull, brings the robot shell to stably walk between the side and bottom of the hull. The bending walking unit is arranged at the bottom of the robot shell, and an adaptive adjustment component is also arranged inside the robot shell. The adaptive adjustment component is used to adjust the bending state of the bending walking unit.

[0007] The anti-blocking unit prevents floating objects in the seawater from being blocked at the input port of the suction pump, and the anti-blocking unit is arranged on the outer wall of the robot housing.

[0008] Preferably, the bending walking unit includes a triangular frame plate fixedly installed at the bottom center of the robot shell, and a second rotating shaft is rotatably interspersed inside the triangular frame plate, and both ends of the second rotating shaft are coaxially distributed with a first rotating shaft, and the first rotating shaft and the robot shell are rotatably installed, and a third rotating shaft and a fourth rotating shaft are respectively distributed on both sides of the triangular frame plate, and magnetic tracks are respectively arranged between the two ends of the third rotating shaft and the two first rotating shafts, and between the two ends of the fourth rotating shaft and the two ends of the second rotating shaft through track wheel transmission, and the bottom of the robot shell is slidably equipped with symmetrically distributed first arc rods and The second arc rod, the first arc rod and the second arc rod slide in an arc shape, and the center of the arc sliding trajectory coincides with the axis of the second rotating shaft, the top and bottom of the first arc rod and the second arc rod are respectively placed on the inner and outer sides of the robot shell, the first arc rod and the second arc rod are respectively rotatably sleeved on the outside of the fourth rotating shaft and the third rotating shaft, the tops of the first arc rod and the second arc rod are respectively rotatably inserted with the third optical axis and the fourth optical axis, the outer surfaces of the third optical axis and the fourth rotating shaft, and the outer surfaces of the fourth optical axis and the third rotating shaft are all assembled for transmission through synchronous gears and synchronous toothed belts.

[0009] Preferably, the adaptive adjustment component includes a slide rail frame fixedly mounted inside the robot shell, and the slide rail frame is on the symmetrical plane of the first arc rod and the second arc rod, the interior of the slide rail frame is equipped with a first slide plate and a second slide plate in an up and down sliding manner, and the second slide plate is located above the first slide plate, and the second optical axis and the first optical axis are rotatably arranged inside the second slide plate and the first slide plate, respectively, the outer surfaces of the first optical axis, the second optical axis, the third optical axis and the fourth optical axis are fixedly sleeved with transmission wheels, and the external transmission of the four transmission wheels is equipped with a transmission chain, the second slide plate is fixedly mounted with a second motor on an end face away from the second optical axis, and the output end of the second motor is used to drive the second optical axis to rotate, a first connecting arm is hingedly assembled between the second optical axis and the third optical axis and the fourth optical axis, a second connecting arm is hingedly assembled between the first optical axis and the third optical axis and the fourth optical axis, and an elastic tightening component is also arranged between the third optical axis and the fourth optical axis.

[0010] Preferably, the elastic tightening component includes two straight groove swing arms distributed inside the triangular frame plate and distributed in an alternating and opposing manner, the bottoms of the two straight groove swing arms are rotatably mounted on the outer surface of the second rotating shaft, and the tops of the two straight groove swing arms are rotatably mounted on the outer surfaces of the third optical axis and the fourth optical axis respectively, a limit plate is placed between the two straight groove swing arms, the limit plate is parallel to the bottom surface of the robot shell, two straight groove openings that are symmetrically distributed are provided inside the limit plate, and the straight groove openings are also horizontally distributed, a connecting rod is slidably installed between the straight groove swing arm and the straight groove opening on the same side, the connecting rod can only slide laterally inside the straight groove swing arm and the straight groove opening, a positioning rod is axially slidably installed inside the limit plate, and the positioning rod is fixed to the robot shell, a tension spring is also fixedly arranged between the bottom of the limit plate and the robot shell, and the tension spring is distributed outside the positioning rod.

[0011] Preferably, the elastic tension of the tension spring is smaller than the magnetic attraction between the plurality of magnetic tracks and the hull.

[0012] Preferably, both side walls of each magnetic track are fitted with protective plates, and the protective plates are rotatably mounted on the outside of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft, and the protective plates are made of non-magnetic hard material.

[0013] Preferably, the anti-blocking unit includes a docking tube fixedly arranged inside the robot shell, and the docking tube is located on the side of the robot shell away from the external frame, the side of the docking tube away from the external frame is open, and the other end is closed, the input end of the suction pump is fixedly connected and docked with the closed port of the docking tube, the open port of the docking tube is provided with a rotating cutting component, and the outside of the robot shell is also provided with a trigger component for driving the rotating cutting component.

[0014] Preferably, the trigger component includes an extension plate fixedly arranged on the top of one of the straight groove swing arms, and a first sealing cylinder is fixedly mounted on the extension plate, a first piston is slidably mounted inside the first sealing cylinder, and a first piston rod that slides through the first sealing cylinder is fixedly mounted inside the first piston, an eccentric wheel is also fixedly mounted on the outer surface of the third optical axis or the fourth optical axis, and the eccentric wheel slides in contact with the exposed end of the first piston rod, a second sealing cylinder is fixedly mounted on the outer wall of the robot shell, and a second piston is slidably mounted inside the second sealing cylinder, a second piston rod that slides through the second sealing cylinder is fixedly mounted at the bottom of the second piston, and a limiting plate is also fixedly mounted at the bottom of the second piston rod, a spring is arranged between the lower end surface of the second piston and the second sealing cylinder, and the spring is distributed on the outside of the second piston rod, a delivery pipe is arranged at the top of the second sealing cylinder and is connected to an end of the first sealing cylinder away from the first piston rod, and the delivery pipe is fixedly mounted through the robot shell, and the lower end surface of the first piston rod extends out of the first sealing cylinder.

[0015] Preferably, the rotating cutting component includes a fixed cutting disk covering the open port of the docking tube, and the fixed cutting disk is fixedly assembled with the robot shell, and a movable cutting disk is coaxially rotatedly arranged on an end face of the fixed cutting disk away from the robot shell, and the fixed cutting disk is slidingly fitted with the movable cutting disk, and a plurality of cutting notches equidistantly distributed in a circle are provided inside the fixed cutting disk and the movable cutting disk, and the inclination directions of the two groups of cutting notches are opposite, and the cutting edges of the two groups of cutting notches are distributed facing each other, and a plurality of fixed ratchets equidistantly distributed in a circle are fixedly arranged on the outer surface of the movable cutting disk, and a plurality of movable ratchets equidistantly distributed in a straight line are elastically rotatedly assembled inside the limiting plate, and the movable ratchets are movably engaged with the fixed ratchets.

[0016] A barnacle cleaning robot cleaning method, the method comprising the following steps:

[0017] S1, robot placement stage, the robot is placed on the outer wall of the hull through a number of magnetic tracks. The magnetic adsorption of the hull by the multiple magnetic tracks can prevent the robot from falling;

[0018] S2, walking stage, through the drive of the second motor, the first optical axis, the second optical axis, the third optical axis and the fourth optical axis rotate synchronously, so that the third rotating shaft and the fourth rotating shaft rotate with a plurality of magnetic tracks, so that the robot moves on the outer wall of the hull;

[0019] S3, in the transition stage of the curved outer wall of the hull, when the robot moves to the connection between the side and the bottom of the hull, under the pressure of the tension spring and the magnetic attraction of the magnetic track to the hull, the first curved rod and the second curved rod can change their positions, changing the angles of the multiple magnetic tracks at the bottom of the robot shell, thereby increasing the contact points between the robot and the hull;

[0020] S4, the floating object shredding stage, when the second motor is running, the trigger component is used to operate the rotating cutting component, so as to cut the floating objects flowing into the docking tube, so as to avoid the floating objects having too large particle size, which may cause the suction pump input port to be blocked.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention uses a bending walking unit to enable the barnacle cleaning robot to stably move to the bottom of the hull by means of multi-point magnetic contact when passing through the arc-shaped portion between the side and bottom of the hull. In addition, with the action of the anti-blocking unit, it can also prevent large-sized floating objects in the seawater from clogging the suction pump structure in the barnacle cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the robot housing of the present invention;

[0025] Figure 3 This is a schematic diagram of the docking tube structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the position distribution structure of the movable cutting disk of the present invention;

[0027] Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle;

[0028] Figure 6 This is a schematic diagram of the structure of the fixed cutting disc and the movable cutting disc of the present invention;

[0029] Figure 7 Schematic diagram of the structure of the first arc rod and the second arc rod;

[0030] Figure 8 It is a top view of the overall structure of the present invention;

[0031] Fig. 9 This is a schematic diagram of the structure of the protective plate of the present invention;

[0032] Fig.10 It is a schematic diagram of the connecting rod structure of the present invention;

[0033] Fig.11 It is a schematic diagram of the structure after the positions of several magnetic tracks of the present invention are changed.

[0034] In the figure: 1, robot shell; 2, external frame; 3, first motor; 4, suction pump; 5, water spray pipe; 6, first arc rod; 7, second arc rod; 8, first rotating shaft; 9, second rotating shaft; 10, third rotating shaft; 11, fourth rotating shaft; 12, triangular frame plate; 13, magnetic track; 14, protective plate; 15, slide rail frame; 16, first slide plate; 17, second slide plate; 18, second motor; 19, first optical axis; 20, second optical axis; 21, third optical axis; 22, fourth optical axis; 23, first Connecting arm; 24, second connecting arm; 25, transmission wheel; 26, transmission chain; 27, straight groove swing arm; 28, docking tube; 29, positioning rod; 30, limit plate; 31, tension spring; 32, connecting rod; 33, eccentric wheel; 34, first sealing tube; 35, first piston; 36, first piston rod; 37, second sealing tube; 38, second piston; 39, second piston rod; 40, limit plate; 41, spring; 42, movable ratchet; 43, fixed cutting disk; 44, movable cutting disk; 45, cutting notch. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figure 1-Figure 11 , a barnacle cleaning robot shown in the figure comprises: a robot shell 1 and an external frame 2 fixed to the outside of the robot shell 1, a first motor 3 and a suction pump 4 are fixedly arranged inside the external frame 2, and the suction pump 4 is distributed on the top of the first motor 3, the output end of the first motor 3 faces downward, the output end of the first motor 3 rotates and extends out of the external frame 2, and a water spray pipe 5 is fixedly sleeved on the outer surface of the output end of the first motor 3, one end of the water spray pipe 5 away from the robot shell 1 is bent downward, the output end of the suction pump 4 is fixedly connected with the inside of the water spray pipe 5, the input end of the suction pump 4 extends into the inside of the robot shell 1, the suction pump 4 draws seawater and pressurizes and transports it to the inside of the water spray pipe 5, and finally sprays it at the nozzle of the water spray pipe 5, so as to flush and clean the barnacles on the surface of the hull by high-pressure water flow;

[0037] The bending walking unit, by means of magnetic attraction contact with the bending hull at multiple points, brings the robot shell 1 to stably walk between the side and bottom of the hull. The bending walking unit is arranged at the bottom of the robot shell 1, and an adaptive adjustment component is also arranged inside the robot shell 1. The adaptive adjustment component is used to adjust the bending state of the bending walking unit;

[0038] The anti-blocking unit prevents floating objects in the seawater from being blocked at the input port of the suction pump 4 , and the anti-blocking unit is arranged on the outer wall of the robot housing 1 .

[0039] The bending walking unit includes a triangular frame plate 12 fixedly installed at the bottom center of the robot shell 1, and a second rotating shaft 9 is rotatably interspersed inside the triangular frame plate 12, and the first rotating shaft 8 is coaxially distributed at both ends of the second rotating shaft 9, and the first rotating shaft 8 and the robot shell 1 are rotatably installed. A third rotating shaft 10 and a fourth rotating shaft 11 are respectively distributed on both sides of the triangular frame plate 12, and magnetic tracks 13 are arranged between the two ends of the third rotating shaft 10 and the two first rotating shafts 8, and between the two ends of the fourth rotating shaft 11 and the two ends of the second rotating shaft 9 through track wheels, wherein the track wheels are fixedly sleeved on the surfaces of the first rotating shaft 8, the second rotating shaft 9, the third rotating shaft 10 and the fourth rotating shaft 11, and the bottom of the robot shell 1 is slidably equipped with a first arc rod 6 and a second arc rod 7 that are symmetrically distributed, and the first arc The arc rod 6 and the second arc rod 7 slide in an arc shape, and the center of the arc sliding trajectory coincides with the axis of the second rotating shaft 9. The top and bottom of the first arc rod 6 and the second arc rod 7 are respectively placed inside and outside the robot shell 1, and the first arc rod 6 and the second arc rod 7 are respectively rotatably sleeved on the outside of the fourth rotating shaft 11 and the third rotating shaft 10. The tops of the first arc rod 6 and the second arc rod 7 are respectively rotatably inserted with the third optical axis 21 and the fourth optical axis 22. The outer surfaces of the third optical axis 21 and the fourth rotating shaft 11, and the outer surfaces of the fourth optical axis 22 and the third rotating shaft 10 are all assembled for transmission through synchronous gears and synchronous toothed belts. Arc support plates are also arranged inside the first arc rod 6 and the second arc rod 7 to ensure the stable transmission of the synchronous toothed belts, wherein the third optical axis 21 and the fourth optical axis 22 are synchronously driven in the same direction.

[0040] The adaptive adjustment component includes a slide rail frame 15 fixedly mounted inside the robot housing 1, and the slide rail frame 15 is on the symmetrical plane of the first arc rod 6 and the second arc rod 7. The interior of the slide rail frame 15 is equipped with a first slide plate 16 and a second slide plate 17 for sliding up and down, and the second slide plate 17 is located above the first slide plate 16. The second slide plate 17 and the first slide plate 16 are respectively rotatably provided with a second optical axis 20 and a first optical axis 19. The outer surfaces of the first optical axis 19, the second optical axis 20, the third optical axis 21 and the fourth optical axis 22 are all fixedly sleeved with a transmission wheel 25, and the external transmission of the four transmission wheels 25 is equipped with a transmission chain 26. The second slide plate 17 is away from the second optical axis 2 0 is fixedly mounted with a second motor 18 at one end surface, and the output end of the second motor 18 is used to drive the second optical axis 20 to rotate, a first connecting arm 23 is hingedly assembled between the second optical axis 20 and the third optical axis 21 and the fourth optical axis 22, a second connecting arm 24 is hingedly assembled between the first optical axis 19 and the third optical axis 21 and the fourth optical axis 22, and an elastic tightening component is also arranged between the third optical axis 21 and the fourth optical axis 22. Through the restriction of the second optical axis 20 and the first optical axis 19 by the slide rail frame 15 and the action of the elastic tightening component, when the distance between the first optical axis 19 and the second optical axis 20 is shortened, the distance between the third optical axis 21 and the fourth optical axis 22 will increase, and vice versa.

[0041] The elastic tightening assembly includes two straight groove swing arms 27 distributed in an interlaced and opposite manner inside the triangular frame plate 12. The bottoms of the two straight groove swing arms 27 are both rotatably sleeved on the outer surface of the second rotating shaft 9, and the tops of the two straight groove swing arms 27 are respectively rotatably sleeved on the outer surfaces of the third optical axis 21 and the fourth optical axis 22. A limit plate 30 is placed between the two straight groove swing arms 27. The limit plate 30 is parallel to the bottom surface of the robot housing 1. Two straight groove openings that are symmetrically distributed are opened inside the limit plate 30, and the straight groove openings are also horizontally distributed. A connecting rod 32 is slidably installed between the straight groove swing arm 27 and the straight groove opening on the same side. The connecting rod 32 can only slide laterally inside the straight groove swing arm 27 and the straight groove opening. The inside of the limit plate 30 A positioning rod 29 is axially slidably assembled, and the positioning rod 29 is fixed to the robot shell 1. A tension spring 31 is also fixedly arranged between the bottom of the limit plate 30 and the robot shell 1, and the tension spring 31 is distributed on the outside of the positioning rod 29. Under the elastic pulling of the tension spring 31, the limit plate 30 can slide downward, wherein the positioning rod 29 limits the limit plate 30 to slide only in the vertical direction, and cannot rotate left and right. The up and down movement of the limit plate 30, combined with the restriction of the connecting rod 32, can open or merge the two straight groove swing arms 27. When the two straight groove swing arms 27 are opened, the first arc rod 6 and the second arc rod 7 can extend outside the robot shell 1, so that the positions of the third rotating shaft 10 and the fourth rotating shaft 11 change.

[0042] The elastic tension of the tension spring 31 is smaller than the magnetic attraction between the magnetic tracks 13 and the hull, that is, the elastic force generated by the tension spring 31 can only change the position of the first arc rod 6 and the second arc rod 7 when the magnetic tracks 13 are not magnetically attracted to the hull, so the tension spring 31 will not affect the stability of the magnetic attraction between the magnetic tracks 13 and the hull.

[0043] The two side walls of each magnetic track 13 are fitted with protective plates 14, and the protective plates 14 are rotatably mounted on the outside of the first rotating shaft 8, the second rotating shaft 9, the third rotating shaft 10 and the fourth rotating shaft 11. The protective plates 14 are made of non-magnetic hard material. The protective plates 14 can protect both sides of the magnetic track 13 to prevent floating objects in the sea water from entering between the magnetic track 13 and the track wheel, thereby ensuring the stability of the transmission of the magnetic track 13.

[0044] Example 2: Please refer to the attached Figure 3-Figure 6 This embodiment is a further explanation of the above-mentioned embodiment 1. The anti-blocking unit includes a docking tube 28 fixedly arranged inside the robot shell 1, and the docking tube 28 is located on the side of the robot shell 1 away from the external frame 2. The side of the docking tube 28 away from the external frame 2 is open, and the other end is closed. The input end of the suction pump 4 is fixedly connected and docked with the closed port of the docking tube 28. The open port of the docking tube 28 is provided with a rotating cutting component, and the outside of the robot shell 1 is also provided with a trigger component for driving the rotating cutting component. The trigger component can follow the second motor 18 to run and drive the rotating cutting component to rotate, so as to shred the floating objects that are about to enter the docking tube 28.

[0045] The trigger component includes an extension plate fixedly arranged on the top of one of the straight groove swing arms 27, and a first sealing cylinder 34 is fixedly mounted on the extension plate, a first piston 35 is slidably mounted inside the first sealing cylinder 34, and a first piston rod 36 that slides through the first sealing cylinder 34 is fixedly arranged inside the first piston 35, an eccentric wheel 33 is also fixedly sleeved on the outer surface of the third optical axis 21 or the fourth optical axis 22, and the eccentric wheel 33 slides and fits with the exposed end of the first piston rod 36, a second sealing cylinder 37 is fixedly mounted on the outer wall of the robot housing 1, and a second piston 38 is slidably mounted inside the second sealing cylinder 37, a second piston rod 39 that slides through the second sealing cylinder 37 is fixedly arranged at the bottom of the second piston 38, and the second piston rod 39 that slides through the second sealing cylinder 37 is fixedly arranged at the bottom of the second piston 38. A limit plate 40 is also fixedly provided at the bottom of the plug rod 39, a spring 41 is provided between the lower end surface of the second piston 38 and the second sealing cylinder 37, and the spring 41 is distributed on the outside of the second piston rod 39, and a delivery pipe is provided at the top of the second sealing cylinder 37 and connected to the end of the first sealing cylinder 34 away from the first piston rod 36, and the delivery pipe is fixedly passed through the robot housing 1, and the lower end surface of the first piston rod 36 extends out of the first sealing cylinder 34. When the eccentric wheel 33 rotates and pushes the first piston 35 upward through the first piston rod 36, the medium inside the first sealing cylinder 34 can be transferred to the inside of the second sealing cylinder 37 through the delivery pipe, and the second piston 38 is pushed downward, so that the second piston rod 39 moves downward with the limit plate 40.

[0046] The rotating cutting component includes a fixed cutting disc 43 covering the open end of the docking tube 28, and the fixed cutting disc 43 is fixedly assembled with the robot shell 1, and the end surface of the fixed cutting disc 43 away from the robot shell 1 is also coaxially rotatably provided with a movable cutting disc 44, and the fixed cutting disc 43 and the movable cutting disc 44 are slidably fitted, and a plurality of cutting notches 45 equidistantly distributed around the circumference are provided inside the fixed cutting disc 43 and the movable cutting disc 44, and the inclination directions of the two groups of cutting notches 45 are opposite, and the cutting edges of the two groups of cutting notches 45 are distributed facing each other, and a plurality of fixed ratchets equidistantly distributed around the circumference are fixedly provided on the outer surface of the movable cutting disc 44, and the inner elastic rotation of the limit plate 40 is equipped with a plurality of There are a plurality of movable ratchets 42 equidistantly distributed in a straight line, and the movable ratchets 42 are movably engaged with the fixed ratchets. When the limit plate 40 moves downward with the movable ratchets 42, the movable ratchets 42 can engage with the fixed ratchets, thereby allowing the movable cutting disk 44 to rotate. When the limit plate 40 moves upward with the movable ratchets 42, the movable ratchets 42 can elastically shrink to the inside of the limit plate 40 due to the restriction of the fixed ratchets. Therefore, impurities that float into the docking tube 28, such as kelp, fishing line, etc., will be chopped up before entering the docking tube 28. The chopped floating objects will not cause blockage to the input end of the suction pump 4, and the suction pump 4 can directly suck the fine impurities and then spray them out.

[0047] Working principle: When the robot is not attached to the surface of the ship, the state of the magnetic track 13 at the bottom is the same as that of the robot attached to the ship. Fig.11 In the state in which the robot is placed outside the hull, the magnetic attraction force exerted by the plurality of magnetic tracks 13 on the hull can flatten the plurality of magnetic tracks 13, and the tension spring 31 will be stretched open under the action of the magnetic force;

[0048] The staff adjusts the walking angle of the robot and drives the second motor 18. The second motor 18 drives the third optical axis 21 and the fourth optical axis 22 to rotate synchronously in the same direction, so that the third rotating shaft 10 and the fourth rotating shaft 11 at the bottom of the first arc rod 6 and the second arc rod 7 rotate, so that the multiple magnetic tracks 13 can rotate synchronously in the same direction. When the robot walks to the connection between the side of the hull and the bottom of the hull, the curvature at this position is large, so when the robot moves with the attachment Figure 7 or attached Figure 8 When the magnetic track 13 distributed in the front is in magnetic contact with the bottom of the hull, the magnetic track 13 distributed in the rear is in contact with the side wall of the hull, and the magnetic track 13 distributed in the front and back will gradually become attached. Fig.11 In this state, the robot can walk with magnetic contact at multiple points by passing through the curved part, and the robot can ensure the stability of walking on the surface of the hull through adaptive adjustment. Compared with the crawler in the prior art that cannot change the angle, the magnetic crawler 13 in this solution has better walking stability;

[0049] Moreover, a protective plate 14 is slidably attached to the outer side of each magnetic track 13 to prevent floating objects in the seawater from getting stuck between the magnetic track 13 and the track wheel, thereby hindering the operation of the magnetic track 13 .

[0050] It should be noted that the staff can hang an anti-lost rope on the surface of the robot housing 1 to ensure that even if the robot falls off, it can be recovered to avoid losses.

[0051] During the traveling process, the first motor 3 and the suction pump 4 are driven, and the first motor 3 is used to drive the water spray pipe 5 to swing left and right, so that the nozzle at the end of the water spray pipe 5 cleans the barnacles on the surface of the hull in a fan-shaped arc, wherein the input end of the suction pump 4 sucks seawater through the docking tube 28, and then the pressure water is discharged through the water spray pipe 5 through the output end of the suction pump 4 after pressurization;

[0052] When the second motor 18 is running, the fourth optical axis 22 or the third optical axis 21 can rotate with the eccentric wheel 33, and the first piston rod 36 is frequently pushed by the eccentric wheel 33. The reaction force exerted by the spring 41 on the second piston 38 can make the limit plate 40 move back and forth with a plurality of movable ratchets 42, and through the meshing of the movable ratchets 42 and the fixed ratchets, the movable cutting disc 44 can rotate against the fixed cutting disc 43, and the floating objects that are about to enter the docking tube 28 can be cut and shredded through the cutting notches 45 distributed in opposite directions, so that large-sized impurities are cut into small-sized impurities, and the input end of the suction pump 4 is prevented from being blocked.

[0053] It should be noted that the cutting notches 45 of the movable cutting disc 44 and the fixed cutting disc 43 cover the open port of the docking tube 28 , that is, seawater enters the interior of the docking tube 28 through the gap between the two cutting notches 45 .

[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0055] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A barnacle cleaning robot, characterized in that: include: A robot housing (1) and an external frame (2) fixed to the outside of the robot housing (1), wherein a first motor (3) and a suction pump (4) are fixedly arranged inside the external frame (2), an output end of the first motor (3) rotates and extends out of the external frame (2), and a water spray pipe (5) is fixedly sleeved on the outer surface of the output end of the first motor (3); The bending walking unit, by means of magnetic attraction contact with the bending hull at multiple points, carries the robot shell (1) to stably walk between the side and bottom of the hull, the bending walking unit being arranged at the bottom of the robot shell (1), and an adaptive adjustment component is also arranged inside the robot shell (1), the adaptive adjustment component being used to adjust the bending state of the bending walking unit; An anti-blocking unit is used to prevent floating objects in the seawater from being blocked at the input port of the suction pump (4), and the anti-blocking unit is arranged on the outer wall of the robot housing (1).

2. A barnacle cleaning robot according to claim 1, characterized in that: The bending walking unit comprises a triangular frame plate (12) fixedly mounted on the bottom of the robot housing (1), and a second rotating shaft (9) is rotatably interspersed inside the triangular frame plate (12), and both ends of the second rotating shaft (9) are coaxially distributed with a first rotating shaft (8), and the first rotating shaft (8) and the robot housing (1) are rotatably mounted, and both sides of the triangular frame plate (12) are respectively distributed with a third rotating shaft (10) and a fourth rotating shaft (11), and both ends of the third rotating shaft (10) are respectively connected to the two first rotating shafts (8), and both ends of the fourth rotating shaft (11) are connected to the two ends of the second rotating shaft (9) through The track wheel transmission is provided with a magnetic track (13); the bottom of the robot housing (1) is slidably equipped with a first arc rod (6) and a second arc rod (7) which are symmetrically distributed; the first arc rod (6) and the second arc rod (7) are respectively rotatably sleeved on the outside of the fourth rotating shaft (11) and the third rotating shaft (10); the tops of the first arc rod (6) and the second arc rod (7) are respectively rotatably inserted with a third optical axis (21) and a fourth optical axis (22); the outer surfaces of the third optical axis (21) and the fourth rotating shaft (11), and the outer surfaces of the fourth optical axis (22) and the third rotating shaft (10) are all transmission assemblies.

3. A barnacle cleaning robot according to claim 2, characterized in that: The adaptive adjustment component comprises a slide rail frame (15) fixedly mounted inside the robot housing (1), a first slide plate (16) and a second slide plate (17) being slidably mounted inside the slide rail frame (15), a second optical axis (20) and a first optical axis (19) being rotatably mounted inside the second slide plate (17) and the first slide plate (16), the first optical axis (19), the second optical axis (20), the third optical axis (21) and the fourth optical axis (22) are all fixedly sleeved with transmission wheels (25) on their outer surfaces, and the external transmission of the four transmission wheels (25) is equipped with a transmission chain (2 6), a second motor (18) is fixedly mounted on one end face of the second slide plate (17) away from the second optical axis (20), and the output end of the second motor (18) is used to drive the second optical axis (20) to rotate, a first connecting arm (23) is hingedly assembled between the second optical axis (20) and the third optical axis (21) and the fourth optical axis (22), a second connecting arm (24) is hingedly assembled between the first optical axis (19) and the third optical axis (21) and the fourth optical axis (22), and an elastic tightening component is also arranged between the third optical axis (21) and the fourth optical axis (22).

4. The barnacle cleaning robot according to claim 3, characterized in that: The elastic tightening component comprises two straight groove swing arms (27) distributed inside the triangular frame plate (12) and arranged in an interlaced and opposite manner. The bottoms of the two straight groove swing arms (27) are rotatably sleeved on the outer surface of the second rotating shaft (9), and the tops of the two straight groove swing arms (27) are rotatably sleeved on the outer surfaces of the third optical axis (21) and the fourth optical axis (22), respectively. A limit plate (30) is placed between the two straight groove swing arms (27). Two straight groove openings that are symmetrically distributed are provided inside the limit plate (30). A connecting rod (32) is slidably mounted between the straight groove swing arms (27) and the straight groove openings on the same side. A positioning rod (29) is axially slidably mounted inside the limit plate (30), and the positioning rod (29) is fixed to the robot housing (1). A tension spring (31) is also fixedly arranged between the bottom of the limit plate (30) and the robot housing (1).

5. The barnacle cleaning robot according to claim 4, characterized in that: The elastic tension of the tension spring (31) is smaller than the magnetic attraction between the plurality of magnetic tracks (13) and the hull.

6. The barnacle cleaning robot according to claim 2, characterized in that: Both side walls of each magnetic track (13) are fitted with protective plates (14), and the protective plates (14) are rotatably sleeved on the outside of the first rotating shaft (8), the second rotating shaft (9), the third rotating shaft (10) and the fourth rotating shaft (11).

7. The barnacle cleaning robot according to claim 4, characterized in that: The anti-blocking unit comprises a docking tube (28) fixedly arranged inside the robot shell (1); the side of the docking tube (28) away from the external frame (2) is open, and the other end is closed; the input end of the suction pump (4) is fixedly connected and docked with the closed port of the docking tube (28); the open port of the docking tube (28) is provided with a rotating cutting component, and the outside of the robot shell (1) is also provided with a trigger component for driving the rotating cutting component.

8. The barnacle cleaning robot according to claim 7, characterized in that: The trigger component comprises an extension plate fixedly arranged on the top of one of the straight groove swing arms (27), and a first sealing cylinder (34) is fixedly mounted on the extension plate, a first piston (35) is slidably mounted inside the first sealing cylinder (34), and a first piston rod (36) is fixedly mounted inside the first piston (35) and slides through the first sealing cylinder (34), an eccentric wheel (33) is fixedly mounted on the outer surface of the third optical axis (21) or the fourth optical axis (22), and the eccentric wheel (33) is slidably fitted with the exposed end of the first piston rod (36), and a second piston rod (36) is fixedly mounted on the outer wall of the robot housing (1). A sealing cylinder (37), and a second piston (38) is slidably mounted inside the second sealing cylinder (37), a second piston rod (39) is fixedly arranged at the bottom of the second piston (38) and slides through the second sealing cylinder (37), and a limiting plate (40) is also fixedly arranged at the bottom of the second piston rod (39), a spring (41) is arranged between the lower end surface of the second piston (38) and the second sealing cylinder (37), a delivery pipe is arranged at the top of the second sealing cylinder (37) and is connected to the end of the first sealing cylinder (34) away from the first piston rod (36), and the delivery pipe is fixedly arranged to pass through the robot housing (1).

9. The barnacle cleaning robot according to claim 8, characterized in that: The rotating cutting component includes a fixed cutting disc (43) covering the open end of the docking tube (28), and the fixed cutting disc (43) and the robot shell (1) are fixedly assembled, and the end surface of the fixed cutting disc (43) away from the robot shell (1) is also coaxially rotatably provided with a movable cutting disc (44), and the fixed cutting disc (43) and the movable cutting disc (44) are slidingly fitted, and the interiors of the fixed cutting disc (43) and the movable cutting disc (44) are provided with a plurality of cutting notches (45) distributed equidistantly around the circumference, and the cutting edges of the two groups of the cutting notches (45) are distributed facing each other, and the outer surface of the movable cutting disc (44) is fixedly provided with a plurality of fixed ratchets distributed equidistantly around the circumference, and the interior of the limit plate (40) is elastically rotatably provided with a plurality of movable ratchets (42) distributed equidistantly in a straight line, and the movable ratchets (42) are movably engaged with the fixed ratchets.

10. A barnacle cleaning robot cleaning method according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1, robot placement stage, the robot is placed on the outer wall of the hull through a plurality of magnetic tracks (13), and the magnetic adsorption of the hull by the plurality of magnetic tracks (13) can prevent the robot from falling; S2, walking stage, through the driving of the second motor (18), the first optical axis (19), the second optical axis (20), the third optical axis (21) and the fourth optical axis (22) are rotated synchronously, so that the third rotating shaft (10) and the fourth rotating shaft (11) rotate with the plurality of magnetic tracks (13), so that the robot moves on the outer wall of the hull; S3, in the transition stage of the curved outer wall of the hull, when the robot moves to the connection between the side and the bottom of the hull, under the pressure of the tension spring (31) and the magnetic attraction of the magnetic track (13) to the hull, the first curved rod (6) and the second curved rod (7) can change their positions, changing the angles of the multiple magnetic tracks (13) at the bottom of the robot shell (1), thereby increasing the contact points between the robot and the hull; S4, the floating object shredding stage, when the second motor (18) is running, the trigger component causes the rotating cutting component to operate, thereby cutting the floating objects flowing into the docking tube (28), thereby preventing the floating objects from being too large in particle size and causing the suction pump (4) to be blocked.

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