Robot device for underwater cleaning and repairing of ship

Abstract

The invention discloses a robot device for underwater cleaning and repairing of a ship, relates to the field of ship cleaning, and solves the problem that an existing ship water tank cleaning robot easily causes residue of attachments. The robot device comprises a mounting disc and a brush disc, a plurality of cleaning brushes are mounted at the bottom of the brush disc, and a protective shell is mounted at the top of the mounting disc; a driving motor is mounted on the inner side of the protective shell; the angle adjusting mechanism is used for enabling the brush disc to carry out corresponding angle adjustment according to the thickness of the attachment, the angle adjusting mechanism is installed at the top of the brush disc, the angle adjusting mechanism comprises four positioning support arms which are arranged at the top of the brush disc in a central symmetry mode, and the four positioning support arms can provide swing support for the brush disc; by means of the angle adjusting mechanism, the four positioning supporting arms can move along the surface of the ship body, when the positioning supporting arms make contact with attachments, the positioning supporting arms correspondingly incline the brush disc, corresponding angle adjustment can be conveniently conducted according to the thickness of the attachments, and therefore the effect of self-adaptive angle adjustment is achieved.

Description

Technical Field

[0001] The present invention relates to the field of ship cleaning, and specifically to a robot device for underwater cleaning and repair of ships. Background Technique

[0002] During the long-term ocean navigation of ships, some shellfish, algae organisms and rust spots will adhere to the hull surface of the underwater part. This will affect the navigation speed and service life of the ships, increase the fuel consumption of the ships, and these marine organisms will also cover the transmission shafts and propellers of the ships, directly reducing the ship power. Therefore, according to the different navigation waters and the docking duration of the shipping routes, ocean ships need to be cleaned regularly.

[0003] The ship underwater cleaning robot is an intelligent device specifically used for automatically or semi-automatically cleaning the underwater part of the hull. It usually operates in a remote control or autonomous mode, replacing the traditional divers for manual cleaning, improving efficiency and reducing safety risks. Currently, the existing ship underwater cleaning robots need to use a brush disk in cooperation with a high-pressure nozzle to clean the attachments on the hull. When the thickness of the attachments on the ship is relatively large, it is difficult for the brush disk to directly remove the attachments. It is necessary to gradually remove the attachments from the outside to the hull surface first, otherwise the situation of incomplete removal will occur. However, the traditional brush disk is difficult to adjust correspondingly according to the thickness of the attachments, and the cleaning efficiency of the attachments is relatively low. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot device for underwater cleaning and repair of ships to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A robotic device for underwater cleaning and repair of ships, comprising: a mounting disc and a brush disc arranged at the bottom of the mounting disc. A plurality of cleaning brushes symmetrically distributed around the center are fixedly installed at the bottom of the brush disc. A protective shell is fixedly installed at the top of the mounting disc, and a driving motor is fixedly installed inside the protective shell. It further includes: an angle adjustment mechanism for enabling the brush disc to perform corresponding angle adjustment according to the thickness of the attached matter. The angle adjustment mechanism is installed at the top of the brush disc and includes four positioning support arms symmetrically arranged around the center at the top of the brush disc, and the four positioning support arms can provide swing support for the brush disc; a scraping mechanism for assisting in scraping off the relatively thick attached matter on the ship's hull. The scraping mechanism is installed at the bottom of the brush disc and includes a plurality of spiral scrapers symmetrically arranged around the center at the bottom of the brush disc, and the spiral scrapers can scrape close to the attached matter; a cleaning mechanism for pushing the impurities accumulated on the cleaning brushes downward. The cleaning mechanism is installed inside the brush disc and includes a plurality of U-shaped push bars arranged at equal intervals outside the cleaning brushes, and the U-shaped push bars can scrape downward the impurities accumulated on the cleaning brushes.

[0006] Preferably, the angle adjustment mechanism further includes a mounting sleeve seat fixedly installed between the four positioning support arms. A positioning shaft is fixedly installed at the bottom of the mounting sleeve seat. An annular groove for rotatably installing the positioning shaft is opened at the top of the brush disc. The positioning support arms are in an L-shaped structure, and a sliding ball is rotatably installed at the end of the positioning support arm away from the mounting sleeve seat. A first telescopic rod is fixedly installed at the top of the positioning support arm. Four second telescopic rods symmetrically distributed around the center are fixedly installed at the bottom of the mounting disc. The first telescopic rods are all docked with the second telescopic rods through universal balls. The first telescopic rods and the second telescopic rods are both elastic telescopic rods. A universal joint is fixedly installed at the output end of the driving motor, and the end of the universal joint away from the driving motor is installed at the top of the brush disc.

[0007] Preferably, the scraping mechanism further includes a sleeve fixedly installed at the top of the brush disc. The end of the universal joint away from the driving motor is slidably installed inside the sleeve. A rhombic rod is fixedly installed at the end of the universal joint close to the sleeve. A rhombic slider is fixedly installed at the end of the rhombic rod away from the universal joint. A sliding cavity for limiting the sliding of the rhombic rod and the rhombic slider is opened inside the brush disc. A plug rod is fixedly installed on the side of the rhombic slider away from the universal joint. The plug rod slidably penetrates through the brush disc. A first spring is arranged on the outer side of the plug rod, and the first spring is fixedly installed between the rhombic slider and the inner side of the sliding cavity of the brush disc. The end of the plug rod away from the rhombic slider is fixedly connected to the three spiral scrapers.

[0008] Preferably, the cleaning mechanism further includes a plurality of sliding boxes symmetrically arranged at the center inside the brush disc. An installation cavity for the sliding boxes to slide with limited position is formed inside the brush disc. The number of the sliding boxes is the same as that of the cleaning brushes, and the sliding boxes are located directly above the cleaning brushes. Two symmetrically distributed installation support plates are arranged at the bottom of the sliding box. The installation support plates slide and extend to the bottom of the brush disc. The U-shaped push bar is fixedly installed between the two installation support plates. Two symmetrically distributed sleeves are fixedly installed at the bottom of the sliding box. A groove for the sleeves to slide with limited position is formed at the top of the installation support plate, and a guide rod is fixedly installed inside the groove. The sleeves are slidably installed on the outside of the guide rod. A pressure rod is fixedly installed at the top of the sliding box. An installation hole for the pressure rod to slide with limited position is formed at the top of the brush disc. A stop block is fixedly installed at the bottom of the positioning support arm. One end of the pressure rod away from the sliding box is of a hemispherical structure. A second spring is fixedly installed between the bottom of the sliding box and the inner side of the installation cavity.

[0009] Preferably, two symmetrically distributed docking support plates are fixedly installed at the top of the installation disc.

[0010] Preferably, a metal blade is fixedly installed at the bottom of the spiral scraper, and the metal blade is of an inclined structure.

[0011] Preferably, bolt seats are fixedly installed at both ends of the cleaning brush, and the bolt seats are docked with the bottom of the brush disc through bolts.

[0012] Preferably, two symmetrically distributed fixing plates are fixedly installed at the top of the installation support plate. A moving rod is fixedly installed between two adjacent fixing plates. An L-shaped groove for the moving rod to slide with limited position is formed in the installation cavity of the brush disc, and the bottom end of the L-shaped groove is of an inclined structure.

[0013] Preferably, two symmetrically distributed positioning support rods are fixedly installed in the installation cavity of the brush disc, and the sliding box is slidably installed between the two positioning support rods.

[0014] Preferably, a third spring is fixedly installed between the sleeve and the groove of the installation support plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the angle adjustment mechanism of the present invention, the four positioning support arms can move along the surface of the hull. When the positioning support arms come into contact with attachments, the positioning support arms can tilt the corresponding brush disc, facilitating angle adjustment according to the thickness of the attachments, without the need to stop the machine to adjust the angle of the brush disc, improving the cleaning efficiency of the hull, and thus achieving the effect of adaptive angle adjustment.

[0016] Through the scraping mechanism of the present invention, when the brush disc moves to the surface of a thick and flat attachment, the brush disc can move upward along the outer sides of the rhombic slider and the rhombic rod, so that the rhombic slider pushes the insertion rod close to the attachment, and the insertion rod can break the surface of the attachment through the spiral scraper, facilitating the cleaning of marine organisms adsorbed on the hull, thereby improving the cleaning efficiency of the hull attachments.

[0017] Through the cleaning mechanism of the present invention, during the rotation of the brush disc, the pressure rod can repeatedly contact the stopper, and the pressure rod can push the mounting support plate to move vertically downward and obliquely through the sliding box, facilitating the pushing out of the impurities accumulated inside the cleaning brush and separating the bristles of the cleaning brush, enabling the impurities to be quickly discharged, thereby achieving the effect of cleaning and preventing blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the brush disc and the mounting socket of the present invention; Figure 3 is a schematic diagram of the structure of the universal joint and the rhombic rod of the present invention; Figure 4 is a schematic diagram of the structure of the spiral scraper and the insertion rod of the present invention; Figure 5 is a schematic diagram of the structure of the universal ball and the positioning support arm of the present invention; Figure 6 is a schematic diagram of the structure of the pressure rod and the stopper of the present invention; Figure 7 is a schematic diagram of the structure of the sleeve and the mounting support plate of the present invention; Figure 8 is a schematic diagram of the structure of the sliding box and the positioning support rod of the present invention.

[0019] In the figure: 1, mounting disc; 2, brush disc; 3, cleaning brush; 4, protective shell; 5, drive motor; 6, positioning support arm; 7, spiral scraper; 8, U-shaped push bar; 9, mounting socket; 10, positioning shaft; 11, sliding ball; 12, first telescopic rod; 13, second telescopic rod; 14, universal ball; 15, universal joint; 16, sleeve; 17, rhombic rod; 18, rhombic slider; 19, insertion rod; 20, first spring; 21, mounting support plate; 22, sleeve; 23, guide rod; 24, pressure rod; 25, stopper; 26, second spring; 27, docking support plate; 28, bolt seat; 29, fixing plate; 30, moving rod; 31, positioning support rod; 32, metal blade; 33, third spring; 34, sliding box. DETAILED DESCRIPTION OF THE INVENTION

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1: Please refer to Figures 1 - 8 , a robot device for underwater cleaning and repair of ships in the figure, includes a mounting plate 1 and a brush plate 2 arranged at the bottom of the mounting plate 1. A plurality of cleaning brushes 3 symmetrically distributed around the center are fixedly installed at the bottom of the brush plate 2. When the brush plate 2 rotates, the cleaning brushes 3 can clean the attachments on the hull. A protective shell 4 is fixedly installed at the top of the mounting plate 1, and a driving motor 5 is fixedly installed inside the protective shell 4. Two symmetrically distributed docking support plates 27 are fixedly installed at the top of the mounting plate 1, so that the mounting plate 1 is docked with the mobile vehicle body through the two docking support plates 27, improving the convenience of installing the mounting plate 1. A metal blade 32 is fixedly installed at the bottom of the spiral scraper 7, and the metal blade 32 is in an inclined structure, facilitating the spiral scraper 7 to scrape off marine organisms on the hull surface. Bolt seats 28 are fixedly installed at both ends of the cleaning brush 3, and the bolt seats 28 are docked with the bottom of the brush plate 2 through bolts, facilitating the installation and disassembly of the cleaning brush 3; It further includes: an angle adjustment mechanism for enabling the brush plate 2 to perform corresponding angle adjustment according to the thickness of the attachments, and the angle adjustment mechanism is installed on the top of the brush plate 2.

[0022] The angle adjustment mechanism includes four positioning support arms 6 symmetrically arranged at the top of the brush disc 2. The four positioning support arms 6 can provide swing support for the brush disc 2. The angle adjustment mechanism further includes a mounting socket 9 fixedly installed between the four positioning support arms 6. A positioning shaft 10 is fixedly installed at the bottom of the mounting socket 9. An annular groove for the rotational installation of the positioning shaft 10 is formed at the top of the brush disc 2. The positioning support arm 6 is in an L-shaped structure, and a sliding ball 11 is rotatably installed at the end of the positioning support arm 6 away from the mounting socket 9, so that the positioning support arm 6 can contact the hull through the sliding ball 11. The height of the sliding ball 11 is higher than that of the cleaning brush 3. When the sliding ball 11 contacts the attachment, the cleaning brush 3 also contacts the attachment. The positioning support arm 6 can provide positioning for the brush disc 2 through the positioning shaft 10 on the mounting socket 9. A first telescopic rod 12 is fixedly installed at the top of the positioning support arm 6. Four second telescopic rods 13 symmetrically distributed at the center are fixedly installed at the bottom of the mounting disc 1. The first telescopic rods 12 are all docked with the second telescopic rods 13 through universal balls 14. Both the first telescopic rods 12 and the second telescopic rods 13 are elastic telescopic rods. The output end of the driving motor 5 is fixedly installed with a universal joint 15. The end of the universal joint 15 away from the driving motor 5 is installed at the top of the brush disc 2, so that the driving motor 5 can drive the brush disc 2 to rotate through the universal joint 15. When the positioning support arm 6 contacts the attachment, the four positioning support arms 6 can move along the surface of the attachment and tilt correspondingly, causing the brush disc 2 to drive the universal joint 15 to bend. The four positioning support arms 6 respectively drive the corresponding first telescopic rods 12 to swing with the universal ball 14 as the fulcrum, so that the brush disc 2 as a whole presents an inclined state corresponding to the attachment, facilitating the cleaning of the attachment by the brush disc 2 through the cleaning brush 3 and realizing the adaptive angle adjustment of the brush disc 2.

[0023] Embodiment 2: Please refer to Figures 2 - 5, This embodiment further elaborates on the first embodiment. The scraping mechanism in the figure includes a plurality of spiral scrapers 7 symmetrically arranged at the bottom of the brush disc 2. The spiral scrapers 7 can scrape close to the attached objects. The scraping mechanism also includes a sleeve 16 fixedly installed on the top of the brush disc 2. The end of the universal joint 15 away from the drive motor 5 is slidably installed inside the sleeve 16. A rhombic rod 17 is fixedly installed at the end of the universal joint 15 close to the sleeve 16. A rhombic slider 18 is fixedly installed at the end of the rhombic rod 17 away from the universal joint 15. A sliding cavity for the rhombic rod 17 and the rhombic slider 18 to slide and be limited is provided inside the brush disc 2. When the universal joint 15 rotates, the brush disc 2 can be driven to rotate through the rhombic rod 17 and the rhombic slider 18. A plug rod 19 is fixedly installed on the side of the rhombic slider 18 away from the universal joint 15. The plug rod 19 slidably penetrates the brush disc 2. A first spring 20 is arranged on the outer side of the plug rod 19. The first spring 20 is fixedly installed between the rhombic slider 18 and the inner side of the sliding cavity of the brush disc 2. When the four sliding balls 11 contact an attached object with a relatively large thickness and relatively flat surface, the brush disc 2 can move upward along the outer side of the rhombic slider 18, causing the rhombic slider 18 to compress the first spring 20 and push the plug rod 19 to move. One end of the plug rod 19 away from the rhombic slider 18 is fixedly connected to the three spiral scrapers 7, enabling the plug rod 19 to drive the spiral scrapers 7 to move synchronously and bring the spiral scrapers 7 closer to the attached object, so that the spiral scrapers 7 can scrape the thicker attached object.

[0024] Embodiment Three: Please refer to Figures 6 - 8, this embodiment further illustrates other embodiments. The cleaning mechanism shown in the figure includes a plurality of U-shaped push bars 8 arranged at equal intervals outside the cleaning brush 3. The U-shaped push bars 8 can scrape out the impurities accumulated on the cleaning brush 3 downward. The cleaning mechanism further includes a plurality of sliding boxes 34 arranged centrosymmetrically inside the brush tray 2. An installation cavity for the sliding box 34 to be limited and slide is opened inside the brush tray 2. The number of sliding boxes 34 is the same as the number of cleaning brushes 3, and the sliding boxes 34 are located directly above the cleaning brushes 3. Two symmetrically distributed installation support plates 21 are provided at the bottom of the sliding box 34. The installation support plates 21 slide and extend to the bottom of the brush tray 2. The U-shaped push bar 8 is fixedly installed between the two installation support plates 21. When the installation support plates 21 move, it can drive the U-shaped push bar 8 to move downward along the brush gaps of the cleaning brush 3, and push out the residual impurities in the cleaning brush 3 downward. Two symmetrically distributed sleeves 22 are fixedly installed at the bottom of the sliding box 34. A groove for the sleeves 22 to be limited and slide is opened at the top of the installation support plate 21, and a guide rod 23 is fixedly installed inside the groove. The sleeves 22 are slidably installed outside the guide rod 23, so that the sliding box 34 can drive the installation support plate 21 to move through the sleeves 22 and the guide rod 23. A pressure rod 24 is fixedly installed at the top of the sliding box 34. An installation hole for the pressure rod 24 to be limited and slide is opened at the top of the brush tray 2. A stop block 25 is fixedly installed at the bottom of the positioning support arm 6. One end of the pressure rod 24 away from the sliding box 34 has a hemispherical structure. When the brush tray 2 rotates, it can drive the pressure rod 24 to contact the stop block 25, so that the pressure rod 24 moves along the outside of the stop block 25, and the stop block 25 can push the pressure rod 24 to move inside the installation hole of the brush tray 2. The pressure rod 24 drives the sliding box 34 to move inside the installation cavity of the brush tray 2. A second spring 26 is fixedly installed between the bottom of the sliding box 34 and the inner side of the installation cavity. When the pressure rod 24 is away from the stop block 25, the resilience of the second spring 26 is used to reset the pressure rod 24, realizing the continuous cleaning of the cleaning brush 3 by the U-shaped push bar 8. Two symmetrically distributed fixing plates 29 are fixedly installed at the top of the installation support plate 21. A moving rod 30 is fixedly installed between two adjacent fixing plates 29. An L-shaped groove for the moving rod 30 to be limited and slide is opened in the installation cavity of the brush tray 2. The bottom end of the L-shaped groove is of an inclined structure. When the installation support plate 21 moves, it can drive the moving rod 30 to move along the L-shaped groove through the fixing plate 29, and when the moving rod 30 moves to the inclined end of the L-shaped groove, the moving rod 30 can pull the installation support plate 21 to move through the fixing plate 29, so that the guide rod 23 on the installation support plate 21 moves along the outside of the sleeve 22, and the installation support plate 21 can drive the U-shaped push bar 8 to make an inclined movement to lift the cleaning brush 3, facilitating the rapid discharge of impurities. Two symmetrically distributed positioning support rods 31 are fixedly installed in the installation cavity of the brush tray 2. The sliding box 34 is slidably installed between the two positioning support rods 31 to improve the smoothness of the movement of the sliding box 34. A third spring 33 is fixedly installed between the sleeve 22 and the groove of the installation support plate 21, so that when the sleeve 22 moves, it can compress the third spring 33 to facilitate the reset of the sleeve 22.

[0025] Working principle: First, the staff installs two docking support plates 27 on the moving vehicle body to achieve the docking of the whole device with the moving vehicle body. Then, the staff places the moving vehicle body on the hull and makes the moving vehicle body move along the outer side of the hull. The sliding balls 11 on the four positioning support arms 6 move along the outer side of the hull. The driving motor 5 drives the universal joint 15 to rotate, so that the universal joint 15 drives the rhombic rod 17 to rotate. The rhombic rod 17 drives the brush disc 2 to rotate through the rhombic slider 18. The brush disc 2 drives the cleaning brush 3 to clean the attachments on the hull. When the positioning support arm 6 moves to the attachments on the inclined protrusion, the positioning support arm 6 drives the first telescopic rod 12 to swing with the universal ball 14 as the fulcrum, so that the positioning support arm 6 swings upward correspondingly. The positioning support arm 6 drives the brush disc 2 to tilt correspondingly through the positioning shaft 10 on the mounting socket 9. Moreover, the brush disc 2 bends the universal joint 15 through the rhombic rod 17, so that the brush disc 2 can perform corresponding angle adjustment according to the inclination angle of the attachments, and the brush disc 2 can clean the attachments through the cleaning brush 3. When the thickness of the attachments is relatively large, since the positioning support arm 6 moves along the surface of the attachments and the moving vehicle body moves along the outer side of the hull, using the height difference between the attachments and the hull, the positioning support arm 6 pulls the brush disc 2 close to the mounting disc 1 through the positioning shaft 10 on the mounting socket 9, so that the brush disc 2 moves along the outer side of the rhombic slider 18. The rhombic slider 18 compresses the first spring 20 and pushes the plug rod 19 to move. The spiral scraper 7 on the plug rod 19 approaches the attachments, so that the spiral scraper 7 breaks the attachments, improving the cleaning efficiency of the cleaning brush 3. At the same time, the brush disc 2 drives the pressure rod 24 to make a circular motion around the center of the brush disc 2. When the pressure rod 24 contacts the stop block 25 on the positioning support arm 6, the pressure rod 24 moves along the outer side of the stop block 25, so that the stop block 25 can push the pressure rod 24 to move along the mounting hole of the brush disc 2. The pressure rod 24 drives the sliding box 34 to move along the mounting cavity of the brush disc 2, so that the sliding box 34 pushes the mounting support plate 21 to move through the sleeve 22. The mounting support plate 21 drives the U-shaped push bar 8 to move along the inner side of the cleaning brush 3. At the same time, the mounting support plate 21 drives the two fixing plates 29 to move synchronously, so that the fixing plates 29 drive the moving rod 30 to move along the L-shaped groove of the brush disc 2. When the moving rod 30 moves to the inclined end of the L-shaped groove, the moving rod 30 pulls the mounting support plate 21 to move through the fixing plate 29, so that the guide rod 23 on the mounting support plate 21 moves along the outer side of the sleeve 22. The mounting support plate 21 can drive the U-shaped push bar 8 to make an inclined movement, so that the U-shaped push bar 8 picks up the cleaning brush 3, and the impurities in the cleaning brush 3 can be discharged outward, preventing the situation of impurity blockage in the cleaning brush 3, thereby improving the cleaning efficiency of the hull attachments.

[0026] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus.

[0027] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic device for underwater cleaning and repair of ships, characterized in that, Comprising: An installation disk (1) and a brush disk (2), a plurality of cleaning brushes (3) are installed at the bottom of the brush disk (2), a protective shell (4) is installed at the top of the installation disk (1), and a driving motor (5) is installed inside the protective shell (4); Also comprising: An angle adjustment mechanism for enabling the brush disk (2) to perform corresponding angle adjustment according to the thickness of the attached matter. The angle adjustment mechanism is installed at the top of the brush disk (2), and the angle adjustment mechanism includes four positioning support arms (6) symmetrically arranged at the top of the brush disk (2) in a central manner. The four positioning support arms (6) can provide swing support for the brush disk (2); A scraping mechanism for assisting in scraping the relatively thick attached matter on the hull. The scraping mechanism is installed at the bottom of the brush disk (2), and the scraping mechanism includes a plurality of spiral scrapers (7) symmetrically arranged at the bottom of the brush disk (2) in a central manner. The spiral scrapers (7) can scrape close to the attached matter; A cleaning mechanism for pushing the impurities accumulated on the cleaning brushes (3) downward. The cleaning mechanism is installed inside the brush disk (2), and the cleaning mechanism includes a plurality of U-shaped push bars (8) arranged at equal distances outside the cleaning brushes (3). The U-shaped push bars (8) can scrape downward the impurities accumulated on the cleaning brushes (3).

2. The robot device for underwater cleaning and repair of ships according to claim 1, characterized in that: The angle adjustment mechanism further includes an installation sleeve seat (9) installed between the four positioning support arms (6). A positioning shaft (10) is installed at the bottom of the installation sleeve seat (9). An annular groove for the rotational installation of the positioning shaft (10) is provided at the top of the brush disk (2). The positioning support arms (6) are in an L-shaped structure, and a sliding ball (11) is rotatably installed at one end of the positioning support arm (6). A first telescopic rod (12) is installed at the top of the positioning support arm (6). Four second telescopic rods (13) symmetrically distributed in a central manner are installed at the bottom of the installation disk (1). The first telescopic rods (12) are all docked with the second telescopic rods (13) through universal balls (14). The output end of the driving motor (5) is fixedly installed with a universal joint (15), and one end of the universal joint (15) is installed at the top of the brush disk (2).

3. The robotic device for underwater cleaning and repair of ships according to claim 2, wherein: The scraping mechanism further includes a sleeve (16) installed at the top of the brush disk (2). One end of the universal joint (15) is slidably installed inside the sleeve (16). One end of the universal joint (15) is fixedly installed with a rhombic rod (17). One end of the rhombic rod (17) is fixedly installed with a rhombic slider (18). A sliding cavity is provided inside the brush disk (2). One side of the rhombic slider (18) is fixedly installed with a plug rod (19). The plug rod (19) slidably penetrates through the brush disk (2). A first spring (20) is arranged outside the plug rod (19). The first spring (20) is fixedly installed between the rhombic slider (18) and the inner side of the sliding cavity of the brush disk (2). One end of the plug rod (19) is fixedly connected to the three spiral scrapers (7).

4. The robotic device for underwater cleaning and repair of ships according to claim 3, characterized in that: The cleaning mechanism further includes a plurality of sliding boxes (34) arranged inside the brush disc (2). An installation cavity is formed inside the brush disc (2). The number of the sliding boxes (34) is the same as that of the cleaning brushes (3). Two installation support plates (21) are arranged at the bottom of the sliding box (34). The installation support plates (21) slide and extend to the bottom of the brush disc (2). The U-shaped push bar (8) is fixedly installed between the two installation support plates (21). Two sleeves (22) are fixedly installed at the bottom of the sliding box (34). A groove for the sleeves (22) to slide and be limited is formed at the top of the installation support plate (21). A guide rod (23) is fixedly installed inside the groove. The sleeve (22) is slidably installed on the outer side of the guide rod (23). A pressure rod (24) is fixedly installed at the top of the sliding box (34). A stop block (25) is fixedly installed at the bottom of the positioning support arm (6). The top end of the pressure rod (24) is of a hemispherical structure. A second spring (26) is fixedly installed between the bottom of the sliding box (34) and the inner side of the installation cavity.

5. The robotic device for underwater cleaning and repair of ships according to claim 1, characterized in that: Two docking support plates (27) are fixedly installed at the top of the installation disc (1).

6. The robotic device for underwater cleaning and repair of ships according to claim 1, characterized in that: A metal blade (32) is fixedly installed at the bottom of the spiral scraper (7), and the metal blade (32) is of an inclined structure.

7. A robot device for underwater cleaning and repair of ships according to claim 1, characterized in that: Bolt seats (28) are fixedly installed at both ends of the cleaning brush (3), and the bolt seats (28) are docked with the bottom of the brush disc (2) through bolts.

8. A robot device for underwater cleaning and repair of ships according to claim 4, characterized in that: Two fixing plates (29) are fixedly installed at the top of the installation support plate (21). A moving rod (30) is fixedly installed between two adjacent fixing plates (29). An L-shaped groove is formed in the installation cavity of the brush disc (2), and the bottom end of the L-shaped groove is of an inclined structure.

9. The robotic device for underwater cleaning and repair of ships according to claim 4, characterized in that: Two positioning support rods (31) are fixedly installed in the installation cavity of the brush disc (2), and the sliding box (34) is slidably installed between the two positioning support rods (31).

10. A robot device for underwater cleaning and repair of ships according to claim 4, characterized in that: A third spring (33) is fixedly installed between the sleeve (22) and the groove of the installation support plate (21).

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