A robotic device for underwater cleaning and repair of ships

Abstract

The present invention discloses a robot device for underwater cleaning and repair of ships, relates to the field of ship cleaning, and solves the problem that existing ship water tank cleaning robots are prone to causing residual attachments. The device comprises: a mounting plate and a brush plate, wherein a plurality of cleaning brushes are mounted on the bottom of the brush plate, a protective shell is mounted on the top of the mounting plate, and a driving motor is mounted on the inner side of the protective shell; the device also comprises: an angle adjustment mechanism, which is used to enable the brush plate to adjust the angle accordingly according to the thickness of the attachments, and the angle adjustment mechanism is mounted on the top of the brush plate, and the angle adjustment mechanism comprises four positioning arms which are centrally symmetrically arranged on the top of the brush plate, and the four positioning arms can provide swing support for the brush plate; the present invention can enable the four positioning arms to move along the surface of the hull through the angle adjustment mechanism, and when the positioning arms contact the attachments, the positioning arms will tilt the brush plate accordingly, so as to facilitate the corresponding angle adjustment according to the thickness of the attachments, thereby achieving the effect of adaptive angle adjustment.

Description

Technical Field

[0001] The present invention relates to the field of ship cleaning, and in particular to a robot device for underwater cleaning and repairing of ships. Background Art

[0002] During a ship's long-term ocean voyage, some shellfish, algae and rust will adhere to the underwater surface of the hull, which will affect the ship's speed and service life and increase the ship's fuel consumption. These marine organisms will also crawl all over the ship's drive shaft and propeller, directly reducing the ship's power. Therefore, ocean-going ships need to be cleaned regularly depending on the sailing waters and the length of the route.

[0003] A ship underwater cleaning robot is an intelligent device specially designed for automatic or semi-automatic cleaning of the underwater part of the hull. It usually operates by remote control or autonomously, replacing traditional manual cleaning by divers, improving efficiency and reducing safety risks. Currently, existing ship underwater cleaning robots need to use a brush disc and a high-pressure nozzle to clean the attachments on the hull. If the attachments on the ship are thick, the brush disc cannot directly remove the attachments. It is necessary to first remove the attachments from the outside of the attachments gradually toward the surface of the hull. Otherwise, incomplete cleaning will occur. However, traditional brush discs are difficult to adjust accordingly according to the thickness of the attachments, and the cleaning efficiency of the attachments is low. Summary of the Invention

[0004] The object of the present invention is to provide a robot device for underwater cleaning and repair of ships, so as to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robot device for underwater cleaning and repair of ships, comprising: a mounting plate and a brush plate arranged at the bottom of the mounting plate, wherein a plurality of cleaning brushes distributed symmetrically in the center are fixedly mounted on the bottom of the brush plate, a protective shell is fixedly mounted on the top of the mounting plate, and a driving motor is fixedly mounted on the inner side of the protective shell; further comprising: an angle adjustment mechanism for enabling the brush plate to adjust the angle corresponding to the thickness of the attached object, the angle adjustment mechanism being mounted on the top of the brush plate, the angle adjustment mechanism comprising four positioning arms symmetrically arranged on the top of the brush plate, the four positioning arms being able to Provide swing support for the brush disc; a scraping mechanism for assisting in scraping off thicker attachments on the hull, the scraping mechanism being installed at the bottom of the brush disc, the scraping mechanism comprising a plurality of spiral scrapers centrally and symmetrically arranged at the bottom of the brush disc, the spiral scrapers being able to scrape off attachments close to the attachments; a cleaning mechanism for pushing downward the impurities accumulated on the cleaning brush, the cleaning mechanism being installed on the inner side of the brush disc, the cleaning mechanism comprising a plurality of U-shaped push strips equidistantly arranged on the outer side of the cleaning brush, the U-shaped push strips being able to scrape out the impurities accumulated on the cleaning brush downward.

[0007] Preferably, the angle adjustment mechanism also includes a mounting sleeve fixedly mounted between the four positioning arms, a positioning shaft fixedly mounted on the bottom of the mounting sleeve, an annular groove for rotatably mounting the positioning shaft is opened on the top of the brush disc, the positioning arm is an L-shaped structure, and a sliding ball is rotatably mounted on the end of the positioning arm away from the mounting sleeve, a first telescopic rod is fixedly mounted on the top of the positioning arm, four second telescopic rods symmetrically distributed in the center are fixedly mounted on the bottom of the mounting disc, the first telescopic rods are connected to 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 mounted on the output end of the drive motor, and the end of the universal joint away from the drive motor is mounted on the top of the brush disc.

[0008] Preferably, the scraping mechanism also includes a sleeve fixedly mounted on the top of the brush disc, the end of the universal joint away from the driving motor is slidably mounted on the inner side of the sleeve, the end of the universal joint close to the sleeve is fixedly mounted with a prismatic rod, the end of the prismatic rod away from the universal joint is fixedly mounted with a prismatic slider, the inner side of the brush disc is provided with a sliding cavity for the limited sliding of the prismatic rod and the prismatic slider, the side of the prismatic slider away from the universal joint is fixedly mounted with an insertion rod, the insertion rod slides through the brush disc, and a first spring is provided on the outside of the insertion rod, the first spring is fixedly mounted between the prismatic slider and the inner side of the sliding cavity of the brush disc, and the end of the insertion rod away from the prismatic slider is fixedly connected to the three spiral scrapers.

[0009] The top of the sliding box is provided with a groove for limiting the sliding of the sleeve, and the inner side of the groove is fixedly installed with a guide rod, and the sleeve is slidably installed on the outer side of the guide rod. The top of the sliding box is fixedly installed with a pressure rod, and the top of the brush disc is provided with a mounting hole for limiting the sliding of the pressure rod. The bottom of the positioning arm is fixedly installed with a stopper, and one end of the pressure rod away from the slide box is a hemispherical structure, and a second spring is fixedly installed between the bottom of the slide box and the inner side of the mounting cavity.

[0010] Preferably, two symmetrically distributed docking support plates are fixedly mounted on the top of the mounting plate.

[0011] Preferably, a metal blade is fixedly mounted on the bottom of the spiral scraper, and the metal blade is in an inclined structure.

[0012] Preferably, bolt seats are fixedly mounted on both ends of the cleaning brush, and the bolt seats are connected to the bottom of the brush plate through bolts.

[0013] Preferably, two symmetrically distributed fixed plates are fixedly installed on the top of the mounting support plate, a moving rod is fixedly installed between two adjacent fixed plates, and an L-shaped groove is opened in the mounting cavity of the brush plate for the moving rod to limit the sliding movement, and the bottom end of the L-shaped groove is an inclined structure.

[0014] Preferably, two symmetrically distributed positioning rods are fixedly installed in the installation cavity of the brush disc, and the sliding box is slidably installed between the two positioning rods.

[0015] Preferably, a third spring is fixedly installed between the sleeve and the groove of the mounting support plate.

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

[0017] The present invention uses an angle adjustment mechanism to enable the four positioning arms to move along the surface of the hull, and when the positioning arms contact the attachments, the positioning arms will tilt the brush disc accordingly, so as to facilitate corresponding angle adjustment according to the thickness of the attachments. There is no need to stop the machine to adjust the angle of the brush disc, thereby improving the cleaning efficiency of the hull, thereby achieving the effect of adaptive angle adjustment.

[0018] The present invention uses a scraping mechanism so that when the brush disc moves to the surface of a thicker and flatter attachment, the brush disc can move upward along the outer side of the prismatic slider and the prismatic rod, so that the prismatic slider pushes the insertion rod close to the attachment. The insertion rod can break the surface of the attachment through the spiral scraper, and it is convenient to clean marine organisms adsorbed on the hull, thereby improving the cleaning efficiency of the hull attachment.

[0019] The present invention uses a cleaning mechanism to make the pressure rod repeatedly contact with the block during the rotation of the brush disc. The pressure rod can push the mounting support plate to move vertically downward and tilted through the slide box, which is convenient for pushing out impurities accumulated on the inside of the cleaning brush and picking up the bristles of the cleaning brush so that the impurities can be quickly discharged, thereby achieving the effect of cleaning and preventing blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 Schematic diagram of the brush plate and mounting sleeve structure of the present invention;

[0022] Figure 3 Schematic diagram of the universal joint and prismatic rod structure in the present invention;

[0023] Figure 4 Schematic diagram of the spiral scraper and the plunger structure in the present invention;

[0024] Figure 5 This is a schematic diagram of the universal ball and positioning arm structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the pressure rod and the stopper in the present invention;

[0026] Figure 7 Schematic diagram of the casing and mounting support plate structure in the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the sliding box and the positioning support rod in the present invention.

[0028] In the figure: 1. Mounting plate; 2. Brush plate; 3. Cleaning brush; 4. Protective shell; 5. Drive motor; 6. Positioning arm; 7. Spiral scraper; 8. U-shaped push strip; 9. Mounting sleeve; 10. Positioning shaft; 11. Sliding ball; 12. First telescopic rod; 13. Second telescopic rod; 14. Universal ball; 15. Universal joint; 16. Sleeve; 17. Prismatic rod; 18. Prismatic slider; 19. Insert rod; 20. First spring; 21. Mounting support plate; 22. Sleeve; 23. Guide rod; 24. Pressure rod; 25. Stop block; 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

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] Example 1: Please refer to Figures 1-8 The figure shows a robot device for underwater cleaning and repair of ships, comprising a mounting plate 1 and a brush plate 2 arranged at the bottom of the mounting plate 1. The bottom of the brush plate 2 is fixedly mounted with a plurality of cleaning brushes 3 distributed symmetrically in the center. When the brush plate 2 rotates, the attachments on the hull can be cleaned by the cleaning brushes 3. A protective shell 4 is fixedly mounted on the top of the mounting plate 1, and a driving motor 5 is fixedly mounted on the inner side of the protective shell 4. Two symmetrically distributed docking support plates 27 are fixedly mounted on the top of the mounting plate 1, so that the mounting plate 1 is docked with the mobile body through the two docking support plates 27, thereby improving the convenience of installing the mounting plate 1. A metal blade 32 is fixedly mounted on the bottom of the spiral scraper 7, and the metal blade 32 is inclined, which facilitates the spiral scraper 7 to scrape marine organisms on the surface of the hull. Bolt seats 28 are fixedly mounted on both ends of the cleaning brush 3, and the bolt seats 28 are docked with the bottom of the brush plate 2 by bolts, which facilitates the installation and removal of the cleaning brush 3. The invention also includes: an angle adjustment mechanism for enabling the brush plate 2 to be adjusted to a corresponding angle according to the thickness of the attachments. The angle adjustment mechanism is mounted on the top of the brush plate 2.

[0031] The angle adjustment mechanism includes four positioning arms 6 symmetrically arranged on the top of the brush disc 2. The four positioning arms 6 can provide swing support for the brush disc 2. The angle adjustment mechanism also includes a mounting sleeve 9 fixedly mounted between the four positioning arms 6. A positioning shaft 10 is fixedly mounted on the bottom of the mounting sleeve 9. An annular groove for rotatably mounting the positioning shaft 10 is provided on the top of the brush disc 2. The positioning arm 6 is an L-shaped structure, and a sliding ball 11 is rotatably mounted on the end of the positioning arm 6 away from the mounting sleeve 9, so that the positioning arm 6 can contact the hull through the sliding ball 11. The height of the sliding ball 11 is higher than the height of the cleaning brush 3, so that when the sliding ball 11 contacts the attachment, the cleaning brush 3 contacts the attachment, and the positioning arm 6 can provide positioning for the brush disc 2 through the positioning shaft 10 on the mounting sleeve 9. A first telescopic rod 12 is fixedly mounted on the top of the positioning arm 6, and a first telescopic rod 12 is fixedly mounted on the bottom of the mounting disc 1. It is equipped with four second telescopic rods 13 distributed symmetrically around the center, and the first telescopic rods 12 are connected to the second telescopic rods 13 through universal balls 14. The first telescopic rods 12 and the second telescopic rods 13 are both elastic telescopic rods. The output end of the drive motor 5 is fixedly installed with a universal joint 15, and the end of the universal joint 15 away from the drive motor 5 is installed on the top of the brush disc 2, so that the drive motor 5 can drive the brush disc 2 to rotate through the universal joint 15, and when the positioning arm 6 contacts the attachment, the four positioning arms 6 can move along the surface of the attachment and tilt accordingly, so that the brush disc 2 drives the universal joint 15 to bend, and the four positioning 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 a tilted state corresponding to the attachment, which is convenient for the brush disc 2 to clean the attachment through the cleaning brush 3, thereby realizing adaptive angle adjustment of the brush disc 2.

[0032] Example 2: Please refer to Figure 2-Figure 5, this embodiment further explains Example 1. 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 off the attached objects close to the scraping mechanism. The scraping mechanism also includes a sleeve 16 fixedly mounted on the top of the brush disc 2. The end of the universal joint 15 away from the drive motor 5 is slidably mounted on the inner side of the sleeve 16. A prismatic rod 17 is fixedly mounted on the end of the universal joint 15 close to the sleeve 16. A prismatic slider 18 is fixedly mounted on the end of the prismatic rod 17 away from the universal joint 15. A sliding cavity is provided on the inner side of the brush disc 2 for limiting the sliding of the prismatic rod 17 and the prismatic slider 18, so that when the universal joint 15 rotates, the brush disc 2 can be driven to rotate through the prismatic rod 17 and the prismatic slider 18. A plug rod 19 is fixedly installed on the side of the prismatic slider 18 away from the universal joint 15. The plug rod 19 slides through the brush plate 2. A first spring 20 is provided on the outside of the plug rod 19. The first spring 20 is fixedly installed between the prismatic slider 18 and the inner side of the sliding cavity of the brush plate 2, so that when the four sliding balls 11 come into contact with relatively thick and relatively flat attachments, the brush plate 2 can move upward along the outside of the prismatic slider 18, so that the prismatic slider 18 compresses the first spring 20 and pushes the plug rod 19 to move. The end of the plug rod 19 away from the prismatic slider 18 is fixedly connected to the three spiral scrapers 7, so that the plug rod 19 can drive the spiral scrapers 7 to move synchronously, and make the spiral scrapers 7 close to the attachments, so that the spiral scrapers 7 scrape off thicker attachments.

[0033] Example 3: Please refer to Figure 6-Figure 8, this embodiment further illustrates other embodiments, the cleaning mechanism shown in the figure includes a plurality of U-shaped push strips 8 equidistantly arranged on the outside of the cleaning brush 3, and the U-shaped push strips 8 can scrape out impurities accumulated on the cleaning brush 3 downwards, and the cleaning mechanism also includes a plurality of slide boxes 34 symmetrically arranged inside the brush disc 2, and the interior of the brush disc 2 is provided with a mounting cavity for the slide boxes 34 to slide within. The number of slide boxes 34 is the same as the number of cleaning brushes 3, and the slide boxes 34 are located directly above the cleaning brush 3, and two symmetrically distributed mounting support plates 21 are provided at the bottom of the slide box 34. The mounting support plate 21 slides and extends to the bottom of the brush disc 2, and the U-shaped push strip 8 is fixedly installed between the two mounting support plates 21, so that when the mounting support plate 21 moves, it can drive the U-shaped push strip 8 along the cleaning brush 3 The brush moves downward between the gaps between the brushes, pushing out the residual impurities in the cleaning brush 3 downward. Two symmetrically distributed sleeves 22 are fixedly installed at the bottom of the slide box 34. A groove is provided on the top of the mounting support plate 21 for limiting the sliding of the sleeve 22, and a guide rod 23 is fixedly installed on the inner side of the groove. The sleeve 22 is slidably installed on the outer side of the guide rod 23, so that the slide box 34 can drive the mounting support plate 21 to move through the sleeve 22 and the guide rod 23. A pressure rod 24 is fixedly installed on the top of the slide box 34, and a mounting hole is provided on the top of the brush disc 2 for limiting the sliding of the pressure rod 24. A stopper 25 is fixedly installed on the bottom of the positioning arm 6. The end of the pressure rod 24 away from the slide box 34 is a hemispherical structure. When the brush disc 2 rotates, it can drive the pressure rod 24 to contact with the stopper 25, so that the pressure rod 24 moves along As the outer side of the stopper 25 moves, the stopper 25 can push the pressure rod 24 to move along the mounting hole of the brush disc 2, and the pressure rod 24 drives the slide box 34 to move along the mounting cavity of the brush disc 2. A second spring 26 is fixedly installed between the bottom of the slide box 34 and the inner side of the mounting cavity, so that when the pressure rod 24 is away from the stopper 25, the rebound force of the second spring 26 is used to reset the pressure rod 24, thereby realizing the continuous cleaning of the cleaning brush 3 by the U-shaped push strip 8. Two symmetrically distributed fixed plates 29 are fixedly installed on the top of the mounting support plate 21, and a moving rod 30 is fixedly installed between the two adjacent fixed plates 29. An L-shaped groove for limiting the sliding of the moving rod 30 is provided in the mounting cavity of the brush disc 2. The bottom end of the L-shaped groove is inclined, so that when the mounting support plate 21 moves, it can pass through the fixed plate 29 drives the moving rod 30 to move along the L-shaped groove, and when the moving rod 30 moves to the inclined end of the L-shaped groove, the moving rod 30 can pull the mounting support plate 21 to move through the fixed plate 29, so that the guide rod 23 on the mounting support plate 21 moves along the outer side of the sleeve 22, and the mounting support plate 21 can drive the U-shaped push strip 8 to move tiltedly, and lift the cleaning brush 3 to facilitate the rapid discharge of impurities. Two symmetrically distributed positioning support rods 31 are fixedly installed in the mounting cavity of the brush disc 2, and the slide box 34 is slidably installed between the two positioning support rods 31 to improve the stability of the movement of the slide box 34. A third spring 33 is fixedly installed between the sleeve 22 and the groove of the mounting support plate 21, so that the sleeve 22 can compress the third spring 33 when moving, thereby facilitating the reset of the sleeve 22.

[0034] Working principle: First, the staff installs two docking support plates 27 on the mobile body to achieve docking of the entire device with the mobile body. Then, the staff places the mobile body on the hull and moves the mobile body along the outside of the hull. The sliding balls 11 on the four positioning arms 6 move along the outside of the hull. The driving motor 5 drives the universal joint 15 to rotate, so that the universal joint 15 drives the prismatic rod 17 to rotate, so that the prismatic rod 17 drives the brush plate 2 to rotate through the prismatic slider 18, and the brush plate 2 drives the cleaning brush 3 to clean the attachments on the hull. When the positioning arm 6 moves to the inclined protruding attachment, the positioning arm 6 drives the first telescopic rod 12 to rotate with the universal ball 14 as the The fulcrum swings, causing the positioning arm 6 to swing upward accordingly, and the positioning arm 6 drives the brush plate 2 to tilt accordingly through the positioning shaft 10 on the mounting sleeve 9, and the brush plate 2 bends the universal joint 15 through the prismatic rod 17, so that the brush plate 2 can adjust the angle accordingly according to the inclination angle of the attachment, so that the brush plate 2 can clean the attachment through the cleaning brush 3. When the thickness of the attachment is large, since the positioning arm 6 moves along the surface of the attachment, and the mobile body moves along the outside of the hull, the height difference between the attachment and the hull is used to make the positioning arm 6 pull the brush plate 2 close to the mounting plate 1 through the positioning shaft 10 on the mounting sleeve 9, so that the brush plate 2 moves along the prismatic slider 18 moves outward, the prismatic slider 18 compresses the first spring 20 and pushes the insertion rod 19 to move, and the spiral scraper 7 on the insertion rod 19 approaches the attachment, so that the spiral scraper 7 breaks the attachment, thereby improving the cleaning efficiency of the cleaning brush 3. At the same time, the brush plate 2 drives the pressure rod 24 to make a circular motion with the center of the brush plate 2. When the pressure rod 24 contacts the stopper 25 on the positioning support arm 6, the pressure rod 24 moves along the outside of the stopper 25, so that the stopper 25 can push the pressure rod 24 to move along the mounting hole of the brush plate 2. The pressure rod 24 drives the slide box 34 to move along the mounting cavity of the brush plate 2, so that the slide box 34 pushes the mounting support plate 21 to move through the sleeve 22, and the mounting support plate 21 is brought The movable U-shaped push strip 8 moves along the inner side of the cleaning brush 3. At the same time, the mounting support plate 21 drives the two fixed plates 29 to move synchronously, so that the fixed plate 29 drives 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 through the fixed plate 29 to move, 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 strip 8 to move obliquely, so that the U-shaped push strip 8 picks up the cleaning brush 3, and the impurities in the cleaning brush 3 can be discharged outward, preventing the cleaning brush 3 from being blocked by impurities, thereby improving the cleaning efficiency of the hull attachments.

[0035] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0036] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic device for underwater cleaning and repair of ships, characterized in that: include: A mounting plate and a brush plate, a plurality of cleaning brushes are installed at the bottom of the brush plate, a protective shell is installed on the top of the mounting plate, and a driving motor is installed inside the protective shell; Also includes: The angle adjustment mechanism is used to enable the brush disc to adjust the angle accordingly according to the thickness of the attached object. The angle adjustment mechanism is installed on the top of the brush disc. The angle adjustment mechanism includes four positioning arms symmetrically arranged on the top of the brush disc, and the four positioning arms can provide swing support for the brush disc. The angle adjustment mechanism also includes a mounting sleeve installed between the four positioning arms, and a positioning shaft is installed at the bottom of the mounting sleeve. An annular groove for rotatable installation of the positioning shaft is provided on the top of the brush disc. The positioning arm has an L-shaped structure, and a sliding ball is rotatably installed at one end of the positioning arm. A first telescopic rod is installed on the top of the positioning arm, and four second telescopic rods symmetrically distributed in the center are installed on the bottom of the mounting disc. The first telescopic rod is connected to the second telescopic rod through a universal ball. A universal joint is fixedly installed on the output end of the drive motor, and one end of the universal joint is installed on the top of the brush disc. The scraping mechanism is used to assist in scraping off thicker attachments on the hull. The scraping mechanism is installed at the bottom of the brush plate. The scraping mechanism includes a plurality of spiral scrapers arranged symmetrically at the bottom of the brush plate. The spiral scrapers can scrape off attachments close to the surface. The brush cleaning mechanism is used to push out impurities accumulated on the cleaning brush downward, and the brush cleaning mechanism is installed in the inner side of the brush plate, and the brush cleaning mechanism includes a plurality of U-shaped push strips equidistantly arranged on the outer side of the cleaning brush, and the U-shaped push strips can scrape out impurities accumulated on the cleaning brush downward, and the brush cleaning mechanism also includes a plurality of slide boxes arranged inside the brush plate, and a mounting cavity is opened inside the brush plate, and the number of slide boxes is the same as the number of cleaning brushes. Two mounting support plates are provided at the bottom of the slide box, and the mounting support plates slide and extend to the bottom of the brush plate, and the U-shaped push strips are fixedly installed between the two mounting support plates. Two sleeves are fixedly installed at the bottom of the slide box, and the top of the mounting support plate is provided with a groove for limiting the sliding of the sleeve, and the inner side of the groove is fixedly installed with a guide rod, and the sleeve is slidably installed on the outer side of the guide rod, and a pressure rod is fixedly installed on the top of the slide box, and a stop block is fixedly installed on the bottom of the positioning support arm. The top of the pressure rod is a hemispherical structure, and a second spring is fixedly installed between the bottom of the slide box and the inner side of the mounting cavity.

2. The robotic device for underwater cleaning and repair of ships according to claim 1, characterized in that: The scraping mechanism also includes a sleeve installed on the top of the brush disc, one end of the universal joint is slidably installed on the inner side of the sleeve, one end of the universal joint is fixedly installed with a prismatic rod, one end of the prismatic rod is fixedly installed with a prismatic slider, a sliding cavity is opened on the inner side of the brush disc, an insertion rod is fixedly installed on one side of the prismatic slider, the insertion rod slides through the brush disc, a first spring is provided on the outside of the insertion rod, the first spring is fixedly installed between the prismatic slider and the inner side of the sliding cavity of the brush disc, and one end of the insertion rod is fixedly connected to the three spiral scrapers.

3. The robotic device for underwater cleaning and repair of ships according to claim 1, characterized in that: Two docking support plates are fixedly installed on the top of the installation plate.

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

5. The robotic device for underwater cleaning and repairing of ships according to claim 1, characterized in that: Bolt seats are fixedly installed on both ends of the cleaning brush, and the bolt seats are connected to the bottom of the brush plate through bolts.

6. The robotic device for underwater cleaning and repair of ships according to claim 1, characterized in that: Two fixing plates are fixedly installed on the top of the mounting support plate, a moving rod is fixedly installed between two adjacent fixing plates, an L-shaped groove is opened in the mounting cavity of the brush plate, and the bottom end of the L-shaped groove is an inclined structure.

7. The robotic device for underwater cleaning and repairing of ships according to claim 1, characterized in that: Two positioning rods are fixedly installed in the installation cavity of the brush disc, and the sliding box is slidably installed between the two positioning rods.

8. The robotic device for underwater cleaning and repairing of ships according to claim 1, characterized in that: A third spring is fixedly installed between the sleeve and the groove of the mounting support plate.

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