A mechanical arm for cleaning organisms attached to the surface of a ship

Abstract

The present invention relates to the technical field of ship cleaning mechanical arms, specifically to a mechanical arm for cleaning organisms attached to the surface of a ship, comprising a mechanical arm mounting base, magnetic adsorption moving crawler assemblies being arranged on both sides of the mechanical arm mounting base, and a control mounting box being fixedly mounted above the mechanical arm mounting base. The invention has the following beneficial effects: the cleaning mechanical arm, a water jetting pipe, a water suction pipe and a water suction ring pipe are coordinated to form a mechanical arm with a water jet and a rotating scraper for cleaning, so that organisms attached to the surface of the ship are cut off and scraped off, thereby improving the cleaning efficiency of the ship surface while reducing damage to the ship surface; at the same time, the water suction pipe and the water suction ring pipe are combined to design a wastewater recovery assembly, so that the water flow ejected by the water jetting pipe is intercepted and recovered by the water suction ring pipe, thereby avoiding wastewater splashing everywhere and affecting the surrounding environment, thereby solving the problem in the prior art of automatically cleaning organisms attached to the surface of a ship by rotating a cleaning brush roller, which is prone to inadequate cleaning or excessive cleaning that damages the ship surface.

Description

Technical Field

[0001] The invention belongs to the technical field of ship cleaning mechanical arms, and in particular relates to a mechanical arm for cleaning organisms attached to the surface of a ship. Background Art

[0002] Ships sail for a long time in highly corrosive seawater and a highly adhesive marine biological environment. Organisms such as barnacles and algae are easily attached to the surface of the ship. Cleaning the surface of the ship is crucial to maintaining the optimal performance of the ship, because these organisms will increase the resistance of the hull, resulting in increased fuel consumption and decreased navigation efficiency. Using a robotic arm to clean the surface of the ship is a modern and efficient method. In the existing technology, most of the ship surface cleaning robotic arms use high-pressure water jets to flush out organisms attached to the surface of the ship without easily damaging the surface of the ship. However, high-pressure water jets are prone to wastewater splashing everywhere, causing the cleaned biological debris to affect the environment.

[0003] The existing Chinese patent document with publication number CN117182950B proposes a high-degree-of-freedom robotic arm for cleaning the surface of a hull. The bottom surface of the movable ring is designed to be rotatably mounted with a wheel, the middle of the wheel is provided with a rotating groove and a spherical part is rotatably mounted thereon, the surface of the spherical part is provided with an arc-shaped rolling groove, and a rolling body is rotatably mounted on the inner wall of the rotating groove and the rolling body is located at the bottom of the arc-shaped rolling groove. When the wheel rotates, it drives the spherical part and the brush roller mounted on the outside of the spherical part to rotate, thereby cleaning the surface of the hull. However, the above cleaning method is prone to two situations: one is that the high-adhesion marine organisms are not cleaned properly, and the second is that excessive cleaning can easily damage the surface of the ship.

[0004] Therefore, the present invention proposes a mechanical arm for cleaning organisms attached to the surface of a ship, which solves the problem in the prior art that the organisms attached to the surface of a ship are easily damaged by inadequate cleaning or excessive cleaning when the cleaning brush roller is rotated and automatically cleaned. The mechanical arm is improved by combining a high-pressure water jet and a cleaning scraper. First, a water jet is used to closely connect the attached organisms to the ship, and then a cleaning scraper is used to thoroughly scrape them off. At the same time, a wastewater recovery component is designed to prevent wastewater from splashing everywhere and affecting the surrounding environment. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a mechanical arm for cleaning organisms attached to the surface of a ship to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robotic arm for cleaning organisms attached to the surface of a ship, comprising a robotic arm mounting base, magnetic adsorption mobile track assemblies are provided on both sides of the robotic arm mounting base, a control mounting box is fixedly installed above the robotic arm mounting base, a cleaning robotic arm is fixedly installed on the front surface of the control mounting box, a water jetting pipe and a water suction pipe are provided below the cleaning robotic arm, and a water suction ring pipe is provided on the outside of the water jetting pipe and the water suction pipe.

[0007] Preferably, a rotating mounting seat is rotatably installed at the lower part of the interior of the cleaning robot arm, a water suction ring pipe is fixedly installed at the upper part of the interior of the cleaning robot arm, a drain pipe is fixedly installed on the inner wall of one side of the water suction ring pipe, a motor gear drive assembly is fixedly installed on the upper surface of the interior of the cleaning robot arm, and an outer gear ring meshing with the gear of the motor gear drive assembly is fixedly installed on the outer surface of the rotating mounting seat.

[0008] Preferably, the water jetting pipes are symmetrically arranged in four groups, and a water inlet pipe is fixedly installed in the middle of the four groups of water jetting pipes. The water inlet pipe is fixedly installed in the middle of the rotating mounting seat, and a rotation limit sleeve adapted to the water inlet pipe is provided above the inner surface of the water suction ring tube. A jet flat pipe is symmetrically fixedly installed on the other side of the water jetting pipe, and a boosting nozzle is fixedly installed inside one end of the jet flat pipe.

[0009] Preferably, an assembly groove is provided on one side of the water suction pipe, and four groups of water suction pipes are symmetrically arranged. A water suction ring pipe 2 is fixedly installed in the middle of the four groups of water suction pipes, and the water suction ring pipe 2 is sleeved on the outside of the water inlet pipe. The water suction ring pipe 2 is fixedly installed on the inside of the rotating mounting seat, and the outer surface of the upper end of the water suction ring pipe 2 is rotatably connected to the inner surface of the water suction ring pipe 1. A sealing gasket is provided on the inner surface of the connection between the water suction ring pipe 1 and the water suction ring pipe 2, and a movable mounting clamp is movably installed at the bottom of the water suction pipe.

[0010] Preferably, an assembly pipe is symmetrically fixedly installed above the inner side wall of the water suction ring tube, and an installation fixing block adapted to the movable installation clamp is fixedly installed on the lower surface of the assembly pipe. The movable installation clamp and the installation fixing block are fixedly connected by bolts, and a sealing guide cover is fixedly installed on the inner surface of the assembly pipe.

[0011] Preferably, a filter screen is symmetrically fixedly installed below the inner wall of the water suction ring pipe, a slag discharge port is symmetrically opened on the outer wall of the water suction ring pipe, and guide plates are symmetrically fixedly installed at both ends of the filter screen near the slag discharge port.

[0012] Preferably, a closed bottom plate is fixedly installed on the bottom of the water absorption ring pipe, and a twisted scraper group is evenly distributed on the lower surface of the closed bottom plate.

[0013] Preferably, a suction pump is provided inside the control installation box, an input pipe end of the suction pump is fixedly connected to one end of the drain pipe, and a recovery pipe is fixedly installed on the output pipe end of the suction pump.

[0014] Preferably, a reinforcement base plate is fixedly mounted on the lower surface of the cleaning robot arm by bolts, a collar adapted to the rotating mounting seat is provided on the upper surface of the reinforcement base plate, and balls are evenly distributed on the lower surface of the reinforcement base plate.

[0015] Preferably, a cleaning rack is fixedly installed on the side surface of the reinforced base plate, the cleaning rack is distributed in a herringbone shape, a cleaning brush plate is fixedly installed on the lower surface of the cleaning rack, and a combined scraper is fixedly installed on one end of the cleaning rack by bolts, and the shape of the combined scraper is adapted to the shape of the filter screen.

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

[0017] By designing a cleaning robot arm, a water jet pipe, a water suction pipe and a water suction ring pipe, a combination of a water jet and a rotating scraper cleaning robot arm is formed, which can break and scrape off the organisms attached to the surface of the ship, thereby improving the cleaning efficiency of the ship surface while reducing the damage to the ship surface. At the same time, the water suction pipe and the water suction ring pipe are combined to design a wastewater recovery component, so that the water flow ejected by the water jet pipe is intercepted and recovered by the water suction ring pipe, avoiding wastewater splashing everywhere and affecting the surrounding environment, and solving the problem that the existing technology of using a cleaning brush roller to rotate and automatically clean the organisms attached to the ship surface is prone to inadequate cleaning or excessive cleaning that damages the ship surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall top view of the structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall bottom-up structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the internal structure of the control installation box of the present invention;

[0021] Figure 4 This is a schematic diagram of the internal structure of the cleaning robot arm of the present invention;

[0022] Figure 5 This is a schematic diagram of the lower side structure of the cleaning robot arm of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the reinforced bottom plate of the present invention after being disassembled;

[0024] Figure 7 This is a schematic diagram of the internal side structure of the cleaning robot arm of the present invention;

[0025] Figure 8This is a schematic diagram of the internal side structure of the water absorption ring pipe of the present invention;

[0026] Figure 9 It is a schematic diagram of the structure of the water suction pipe and the water ejection pipe of the present invention;

[0027] Figure 10 It is a schematic diagram of the overall structure of the water jet pipe of the present invention;

[0028] Figure 11 Schematic diagram of the overall structure of the water suction pipe of the present invention;

[0029] Figure 12 This is a schematic diagram of the overall structure of the water absorption ring pipe of the present invention;

[0030] Figure 13 This is a schematic diagram of the internal structure of the assembly pipe and the water suction pipe after installation of the present invention;

[0031] Figure 14 Schematic diagram of the structure of the sealing guide cover of the present invention in the expanded and contracted states;

[0032] Figure 15 For the present invention Figure 12 A schematic diagram of the enlarged structure at point A;

[0033] Figure 16 For the present invention Figure 13 Enlarged structural diagram at point B.

[0034] In the figure: 1. Robot arm mounting base; 11. Magnetic adsorption mobile crawler assembly; 2. Control mounting box; 21. Suction pump; 3. Cleaning robot arm; 31. Rotating mounting seat; 311. Outer gear ring; 32. Water suction ring pipe 1; 321. Drain pipe; 322. Sealing gasket; 33. Motor gear drive assembly; 4. Water jet pipe; 41. Jet flat pipe; 411. Booster nozzle; 42. Water inlet pipe; 5. Water suction pipe; 51. Assembly groove; 52. Water suction ring pipe 2; 53. Movable mounting clamp; 6. Water suction ring pipe; 61. Closed bottom plate; 611. Twisted scraper group; 62. Slag discharge port; 63. Filter screen; 631. Guide plate; 64. Assembly pipe; 641. Sealing guide cover; 65. Mounting fixed block; 7. Reinforced bottom plate; 71. Cleaning rack; 72. Cleaning brush plate; 73. Combined scraper. DETAILED DESCRIPTION

[0035] In order to clearly and completely describe the objectives and technical solutions of the present invention and make its 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, rather than all of the embodiments, and are only used to explain the embodiments of the present invention and are not intended 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.

[0036] For example 1, please refer to Figures 1 to 16The present invention provides a technical solution: a ship surface attached organism cleaning robot arm, comprising a robot arm mounting base 1, magnetic adsorption mobile crawler components 11 are arranged on both sides of the robot arm mounting base 1, a control mounting box 2 is fixedly installed above the robot arm mounting base 1, a cleaning robot arm 3 is fixedly installed on the front surface of the control mounting box 2, a water jetting pipe 4 and a water suction pipe 5 are arranged below the cleaning robot arm 3, a water suction ring pipe 6 is arranged outside the water jetting pipe 4 and the water suction pipe 5, a rotating mounting seat 31 is rotatably installed below the interior of the cleaning robot arm 3, a water suction ring pipe 32 is fixedly installed above the interior of the cleaning robot arm 3, and one side of the water suction ring pipe 32 A drain pipe 321 is fixedly installed on the inner wall, a motor gear drive assembly 33 is fixedly installed on the inner upper surface of the cleaning robot arm 3, an outer gear ring 311 meshing with the gear of the motor gear drive assembly 33 is fixedly installed on the outer surface of the rotating mounting seat 31, four groups of water jet pipes 4 are symmetrically arranged, and a water inlet pipe 42 is fixedly installed in the middle of the four groups of water jet pipes 4. The water inlet pipe 42 is fixedly installed in the middle of the rotating mounting seat 31, and a rotation limit sleeve adapted to the water inlet pipe 42 is provided above the inner surface of the water suction ring pipe 32. A jet flat pipe 41 is symmetrically fixedly installed on the other side of the water jet pipe 4, and a booster nozzle 411 is fixedly installed inside one end of the jet flat pipe 41;In this embodiment, the robot arm mounting base 1 is used to install the control mounting box 2, and the control mounting box 2 is used to install the cleaning robot arm 3 and the communication control equipment. The robot arm mounting base 1 is adsorbed on the surface of the ship by the magnetic adsorption mobile track assembly 11 and moves, so that the cleaning robot arm 3 can move freely to clean the organisms attached to the surface of the ship. The rotating mounting seat 31 rotates 360° because the outer ring gear 311 rotates under the drive of the motor and gear of the motor gear drive assembly 33. The rotating mounting seat 31 also plays the role of installing the water jet pipe 4, the water inlet pipe 42, the water suction pipe 5 and the water suction ring pipe 52. The water inlet pipe 42 connects the water jet pipe 4 into a whole and rotates with the rotation of the rotating mounting seat 31. The upper part of the water inlet pipe 42 is matched with the rotating limit sleeve so that the water inlet pipe 42 can rotate stably inside the water suction ring pipe 32. The water inlet pipe 42 needs to be connected by a rotating joint. It can only be used after being connected to conventionally known equipment such as a water supply pipe and a booster pump. This article will not elaborate on this. The main design feature of the water jet pipe 4 is that it is located below the water suction pipe 5. After connection, water is supplied. As the rotating mounting base 31 rotates, the jet flat pipe 41 begins to spray water on organisms attached to the surface of the ship. The downward-pointing flat pipe design of the jet flat pipe 41, combined with the internal dividing short plate of the booster nozzle 411, can effectively increase the velocity of the ejected water, forming a downward angle with the surface of the ship. The high-pressure water jet is used to remove and break the biological byssus attached to the surface of the ship, or loosen them, forming a pretreatment effect for subsequent scraping and improving cleaning efficiency. At the same time, the water jetted obliquely downward from the jet flat pipe 41 is confined by the water suction ring pipe 6 and the filter screen 63, facilitating the recycling of wastewater by the water suction ring pipe 6 and preventing wastewater splashing and affecting the surrounding environment.

[0037] For example 2, please refer to Figures 1 to 16On the basis of embodiment 1, this embodiment further proposes that an assembly groove 51 is provided on one side of the water suction pipe 5, and four groups of water suction pipes 5 are symmetrically arranged. A water suction ring pipe 2 52 is fixedly installed in the middle of the four groups of water suction pipes 5, and the water suction ring pipe 2 52 is sleeved on the outside of the water inlet pipe 42. The water suction ring pipe 2 52 is fixedly installed on the inside of the rotating mounting seat 31, and the outer surface of the upper end of the water suction ring pipe 2 52 is rotatably connected to the inner surface of the water suction ring pipe 1 32. A sealing gasket 322 is provided at the connection between the water suction ring pipe 1 32 and the water suction ring pipe 2 52. A movable mounting clamp 53 is movably installed at the bottom of the water suction pipe 5, and an assembly pipe 64 is symmetrically fixedly installed above the inner side wall of the water suction ring pipe 6, and a mounting fixed member adapted to the movable mounting clamp 53 is fixedly installed on the lower surface of the assembly pipe 64. Block 65, the movable mounting clamp 53 and the mounting fixed block 65 are fixedly connected by bolts, a sealing guide cover 641 is fixedly installed on the inner surface of the assembly pipe 64, a filter screen 63 is symmetrically fixedly installed below the inner wall of the water suction ring pipe 6, a slag discharge port 62 is symmetrically opened on the outer wall of the water suction ring pipe 6, and guide plates 631 are symmetrically fixedly installed at both ends of the filter screen 63 near the slag discharge port 62, a closed bottom plate 61 is fixedly installed at the bottom of the water suction ring pipe 6, and a twisted scraper group 611 is evenly distributed on the lower surface of the closed bottom plate 61. A suction pump 21 is provided inside the control installation box 2, and the input pipe end of the suction pump 21 is fixedly connected to one end of the drain pipe 321, and the output pipe end of the suction pump 21 is fixedly installed with a recovery pipe; in this embodiment, the water suction ring pipe 2 52 mainly plays the role of installing and integrating the water suction pipe 5 into a whole. The water suction ring pipe 2 52 is also fixedly installed inside the rotating mounting seat 31 and rotates as the rotating mounting seat 31 rotates. The water suction ring pipe 2 52 is a hollow ring pipe. The upper end of the water suction ring pipe 2 52 and the water suction ring pipe 1 32 form an integral ring pipe with an upper half fixed and a lower half rotating. The sealing gasket 322 plays a role in increasing the sealing of the connection. The water suction ring pipe 6 is connected to the assembly groove 51 on one side of the water suction pipe 5 through the assembly pipe 64. The end face of the assembly pipe 64 in contact with the water suction pipe 5 is designed with a magnetic ring that adsorbs each other. The inner side of the assembly pipe 64 in contact with the water suction pipe 5 is designed with a sealing ring that fits into each other. When installing the assembly pipe 64, it is mainly done by pushing the movable mounting clamp 53 Move to both sides of the installation fixing block 65, and then fix the movable installation clamping block 53 and the installation fixing block 65 by bolts, so that the assembly pipe 64 and the suction pipe 5 are installed on the outside of the suction pipe 5 as a whole. When the assembly pipe 64 and the suction pipe 5 are installed, the sealing guide cover 641 is a guide ring with deformable and extendable sides. When water flows into the assembly pipe 64 and the suction pipe 5, the sealing guide cover 641 will be expanded under the impact of the water flow, and play a role in guiding the water flow, so that the water flow passes smoothly through the connection between the suction pipe 5 and the assembly pipe 64, and flows directly into the assembly groove 51 from the assembly pipe 64, avoiding the impact of water flow on the connection. After the suction ring pipe 6 is fixed to the suction pipe 5 through the assembly pipe 64, it is on the outside of the suction pipe 5 and the water jet pipe 4.The water jetted obliquely downward from the jet flat pipe 41 is intercepted by the water suction ring pipe 6 and the filter screen 63. The filter screen 63 filters the wastewater and intercepts debris that has washed away organisms attached to the surface of the ship. The suction pump 21 operates through the drain pipe 321, the water suction ring pipe 1 32, the water suction ring pipe 2 52, the water suction pipe 5, the assembly pipe 64, and the water suction ring pipe 6 to form a complete wastewater suction and recovery pipeline system. Most of the wastewater is intercepted and filtered by the filter screen 63 and then recovered through the water suction ring pipe 6 to prevent wastewater splashing and affecting the surrounding environment. In addition, the water suction ring pipe 6 not only serves as a recovery pipeline, but also has a closed bottom plate 61 and a twisted scraper assembly 611 at the bottom thereof. As the water suction ring pipe 6 is driven by the water suction pipe 5 to rotate, it can scrape off organisms attached to the surface of the ship. At this time, the organisms attached to the surface of the ship have been preliminarily cleaned by the water jet from the jet flat pipe 41 and are relatively easily scraped off by the twisted scraper assembly 611. It is worth noting that the twisted scraper assembly 611 mainly consists of three groups of twisted rubber scrapers with different deflection angles. The scraper blades are composed of a plurality of scraper blades, each of which has a uniform rounded head at both ends. This design can cover a larger area and the surface contour of the ship during the cleaning process as the water suction ring 6 rotates, and can effectively remove attached organisms. The difference in angles of each group of scrapers enables them to form a uniform pressure distribution when contacting the curved surface of the hull, avoiding damage to certain areas due to excessive pressure, while also ensuring that each area is fully cleaned while reducing damage to the hull surface. The rounded head design further reduces the risk of damage to the hull surface caused by the scraper blade edge, can better fit the surface, and is less likely to be worn during the attached organism cleaning process. Another point is that the filter screen 63 is specially designed to be concave, which can increase the resistance to the water jet from the jet flat tube 41, while intercepting the attached biological debris removed by the jet. As the water suction ring 6 is driven to rotate, the intercepted debris will be thrown out along the groove of the filter screen 63 under the action of centrifugal force, and discharged through the slag outlet 62 through the guidance of the guide plate 631, avoiding accumulation and splashing.

[0038] For example three, please refer to Figures 1 to 16On the basis of the second embodiment, this embodiment further proposes that a reinforcing base plate 7 is fixedly installed on the lower surface of the cleaning robot arm 3 by bolts, and a collar that is adapted to the rotating mounting seat 31 is provided on the upper surface of the reinforcing base plate 7. Ball bearings are evenly distributed on the lower surface of the reinforcing base plate 7, and a cleaning frame 71 is fixedly installed on the side surface of the reinforcing base plate 7. The cleaning frame 71 is distributed in a triangular shape, and a cleaning brush plate 72 is fixedly installed on the lower surface of the cleaning frame 71. A combined scraper 73 is fixedly installed at one end of the cleaning frame 71 by bolts, and the shape of the combined scraper 73 is adapted to the shape of the filter screen 63; in this embodiment, the reinforcing base plate 7 is fixedly installed on the lower surface of the cleaning robot arm 3 The plate 7 is installed by bolts and can be removed from the bottom of the cleaning robot arm 3. The ball bearings at the bottom of the reinforced bottom plate 7 facilitate its movement on the surface of the ship. The cleaning frame 71 is distributed in a herringbone shape and can evenly cover the area cleaned by the twisted scraper group 611. During the movement, the cleaning brush plate 72 is used to brush the area cleaned by the twisted scraper group 611 again to clean up the remaining biological debris. The combined scraper 73 is installed at one end of the cleaning frame 71. When the water suction ring tube 6 rotates, the combined scraper 73 can scrape off the biological debris stuck on the inside of the filter screen 63 to avoid clogging of the filter screen 63.

[0039] For example 4, please refer to Figures 1 to 16 On the basis of the third embodiment, this embodiment further proposes a method for using a mechanical arm for cleaning organisms attached to the surface of a ship, comprising the following steps: Step 1, placing the mechanical arm mounting base 1 on the surface of the ship to be cleaned, ensuring that the magnetic adsorption mobile crawler assembly 11 is stably adsorbed and freely movable with the surface of the ship, and connecting the communication control device after the installation is completed to perform debugging feedback; Step 2, after the debugging is completed, starting, as the rotating mounting base 31 rotates, the jet flat tube 41 begins to hydrate the organisms attached to the surface of the ship, and uses the jet of high-pressure water to remove and cut off the biological byssus attached to the surface of the ship, or to loosen it; Step 3, the suction pump 21 works, and most of the The separated wastewater is intercepted and filtered by the filter screen 63 and then recycled through the water suction ring pipe 6 to avoid splashing of wastewater. The twisted scraper group 611 scrapes off the organisms attached to the surface of the ship, and the filter screen 63 intercepts the attached biological debris removed by the spray. The intercepted debris will be thrown out along the groove of the filter screen 63 under the action of centrifugal force, and discharged through the slag discharge port 62 through the guiding effect of the guide plate 631; Step 4, the cleaning rack 71 uses the cleaning brush plate 72 to brush the area cleaned by the twisted scraper group 611 again during the movement to clean the remaining biological debris. The wastewater sucked by the suction pump 21 is recovered and discharged at a fixed point through the wastewater recovery pipe connected to it.

[0040] 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 robot arm for cleaning organisms attached to the surface of a ship, comprising a robot arm mounting base (1), magnetic adsorption moving crawler assemblies (11) being provided on both sides of the robot arm mounting base (1), and a control mounting box (2) being fixedly installed above the robot arm mounting base (1), characterized in that: A cleaning mechanical arm (3) is fixedly mounted on the front surface of the control installation box (2), a water jet pipe (4) and a water suction pipe (5) are arranged below the cleaning mechanical arm (3), and a water suction ring pipe (6) is arranged outside the water jet pipe (4) and the water suction pipe (5); a rotating mounting seat (31) is rotatably mounted below the interior of the cleaning mechanical arm (3), a water suction ring pipe (32) is fixedly mounted above the interior of the cleaning mechanical arm (3), and a drainage pipe (321) is fixedly mounted on the inner wall of one side of the water suction ring pipe (32); a motor gear drive assembly (33) is fixedly mounted on the inner upper surface of the cleaning mechanical arm (3), and an outer gear ring (311) meshing with the gear of the motor gear drive assembly (33) is fixedly mounted on the outer surface of the rotating mounting seat (31); four groups of water jet pipes (4) are symmetrically arranged, and a water inlet pipe (42) is fixedly mounted in the middle of the four groups of water jet pipes (4), and the water inlet pipe (42) is fixedly mounted on the rotating mounting seat (31) ), a rotation limit sleeve adapted to the water inlet pipe (42) is provided above the inner surface of the water suction ring pipe 1 (32), a jet flat pipe (41) is symmetrically fixedly installed on the other side of the water jet pipe (4), and a booster nozzle (411) is fixedly installed inside one end of the jet flat pipe (41); an assembly groove (51) is provided on one side of the water suction pipe (5), and the water suction pipe (5) is symmetrically provided in four groups, and a water suction ring pipe 2 is fixedly installed in the middle of the four groups of water suction pipes (5). (52), the second water suction ring pipe (52) is sleeved on the outside of the water inlet pipe (42), the second water suction ring pipe (52) is fixedly installed inside the rotating mounting seat (31), the outer surface of the upper end of the second water suction ring pipe (52) is rotatably connected to the inner surface of the first water suction ring pipe (32), and a sealing gasket (322) is provided on the inner surface of the connection between the first water suction ring pipe (32) and the second water suction ring pipe (52), and a movable mounting clamp (53) is movably installed below the water suction pipe (5).

2. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 1, characterized in that: An assembly tube (64) is symmetrically fixedly installed above the inner side wall of the water-absorbing ring tube (6), and an installation fixing block (65) adapted to the movable installation clamping block (53) is fixedly installed on the lower surface of the assembly tube (64). The movable installation clamping block (53) and the installation fixing block (65) are fixedly connected by bolts, and a sealing guide cover (641) is fixedly installed on the inner surface of the assembly tube (64).

3. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 1, characterized in that: A filter screen (63) is symmetrically fixedly installed below the inner side wall of the water suction ring tube (6), a slag discharge port (62) is symmetrically opened on the outer side wall of the water suction ring tube (6), and guide plates (631) are symmetrically fixedly installed at both ends of the filter screen (63) near the slag discharge port (62).

4. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 1, characterized in that: A closed bottom plate (61) is fixedly mounted on the bottom of the water-absorbing ring tube (6), and twisted scraper blade groups (611) are evenly distributed on the lower surface of the closed bottom plate (61).

5. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 1, characterized in that: A suction pump (21) is provided inside the control installation box (2), an input pipe end of the suction pump (21) is fixedly connected to one end of the drainage pipe (321), and a recovery pipe is fixedly installed at the output pipe end of the suction pump (21).

6. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 1, characterized in that: A reinforcing base plate (7) is fixedly mounted on the lower surface of the cleaning robot arm (3) by means of bolts, a collar adapted to the rotating mounting seat (31) is provided on the upper surface of the reinforcing base plate (7), and balls are evenly distributed on the lower surface of the reinforcing base plate (7).

7. The mechanical arm for cleaning organisms attached to the surface of a ship according to claim 6, characterized in that: A cleaning frame (71) is fixedly mounted on the side surface of the reinforcement base plate (7), the cleaning frame (71) being arranged in a herringbone shape, a cleaning brush plate (72) being fixedly mounted on the lower surface of the cleaning frame (71), and a combined scraper (73) is fixedly mounted on one end of the cleaning frame (71) via bolts, the shape of the combined scraper (73) being adapted to the shape of the filter screen (63).

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