Marine electromagnetic adsorption cleaning device

Abstract

The invention discloses a marine electromagnetic adsorption cleaning device, which relates to the technical field of ship surface cleaning and comprises a floating body, an adsorption mechanism, an elastic telescopic joint and an integrated control device. The floating bodies comprise the first floating body and the second floating body. The adsorption mechanism comprises a soft electromagnetic chuck and an electromagnet assembly. The soft electromagnetic chuck is used for being attracted to the ship body when powered on. The electromagnet assembly on the first floating body and the electromagnet assembly on the second floating body are magnetically attracted when powered on. The elastic telescopic joint comprises a spring. The two ends of the spring are fixedly connected with the first floating body and the second floating body respectively. The cleaning mechanism comprises an electric brush used for brushing the ship body. Compared with the prior art, the marine electromagnetic adsorption cleaning device can improve the obstacle crossing ability while ensuring the adsorption and cleaning effects.

Description

Technical Field

[0001] The present invention relates to the technical field of ship surface cleaning, and particularly to a marine electromagnetic adsorption cleaning device. Background Art

[0002] Since ships are exposed to the marine environment for a long time, pollutants such as barnacles, algae, rust layers, and salt crystals are likely to adhere to the hull surface. Therefore, ship cleaning and maintenance have become important links in maintaining the good performance of ships and extending their service life. Traditional cleaning methods mainly rely on manual high-pressure water gun flushing and semi-automatic mechanical brushing, which have problems such as low efficiency, high labor intensity, and many cleaning blind spots. In addition, most existing automated cleaning devices use permanent magnet adsorption or vacuum suction cups for fixation, which to a certain extent makes up for the deficiencies of manual cleaning. However, due to the complex surface structure of ships, especially in uneven or difficult-to-reach areas, there are generally problems such as insufficient adsorption force and poor obstacle-crossing ability.

[0003] The patent with the publication number CN106976002A provides a wall-climbing cleaning robot for ship hulls, which adopts a thrust adsorption mechanism combining a propeller and a permanent magnet. Although the adsorption ability of the robot is enhanced, the obstacle-crossing ability is not improved. Summary of the Invention

[0004] The purpose of the present invention is to provide a marine electromagnetic adsorption cleaning device, which can improve the obstacle-crossing ability while ensuring the adsorption and cleaning effects.

[0005] To achieve the above purpose, the present invention provides the following solutions: The present invention discloses a marine electromagnetic adsorption cleaning device, including: Floating bodies, including floating body one and floating body two; An adsorption mechanism, including a soft electromagnetic suction cup and an electromagnet assembly; the soft electromagnetic suction cup is used to adsorb on the hull when powered on; the number of the soft electromagnetic suction cups is multiple, and the multiple soft electromagnetic suction cups are respectively fixed on the floating body one and the floating body two; the number of the electromagnet assemblies is multiple, and the multiple electromagnet assemblies are respectively fixed on the floating body one and the floating body two; the electromagnet assemblies on the floating body one and the electromagnet assemblies on the floating body two are magnetically attracted to each other when powered on; An elastic telescopic joint, including a spring; both ends of the spring are respectively fixedly connected to the floating body one and the floating body two; A cleaning mechanism, including an electric brush for brushing the hull; the number of the electric brushes is multiple, and the multiple electric brushes are respectively fixed on the floating body one and the floating body two; The integrated control device includes a first control device and a second control device; the first control device is fixed on the first floating body and is used to control the operation of the soft electromagnetic chuck, the electromagnet assembly, and the electric brush installed on the first floating body; the second control device is fixed on the second floating body and is used to control the operation of the soft electromagnetic chuck, the electromagnet assembly, and the electric brush installed on the second floating body.

[0006] Preferably, the cleaning mechanism further includes a high-pressure spraying device, and the high-pressure spraying device is used to spray and clean the hull; the number of the high-pressure spraying devices is multiple, and the multiple high-pressure spraying devices are respectively fixed on the first floating body and the second floating body.

[0007] Preferably, the high-pressure spraying device includes a high-pressure water pump, a water inlet pipe, and a water outlet pipe; the inlet of the water inlet pipe is used for water intake, and the outlet of the water inlet pipe is connected to the water inlet of the high-pressure water pump; the inlet of the water outlet pipe is connected to the water outlet of the high-pressure water pump, and a nozzle is fixed at the outlet of the water outlet pipe, and the nozzle is used to spray water; the high-pressure water pump is electrically connected to the first control device or the second control device.

[0008] Preferably, the water outlet pipe has multiple outlets, and the multiple outlets of the water outlet pipe are respectively located on both sides of the first floating body or the second floating body.

[0009] Preferably, the first control device is fixed inside the first floating body, and the second control device is fixed inside the second floating body.

[0010] Preferably, the soft electromagnetic chuck includes a conductive column and a composite matrix; one end of the conductive column is fixedly connected to the first floating body or the second floating body, and the other end of the conductive column is fixedly connected to the composite matrix; the composite matrix includes methyl vinyl silicone rubber and iron oxide nanoparticles, and the iron oxide nanoparticles are embedded in the methyl vinyl silicone rubber; the conductive column is electrically connected to the first control device or the second control device and is used to supply power to the iron oxide nanoparticles; the composite matrix is used to adsorb on the hull when energized.

[0011] Preferably, the Shore hardness of the methyl vinyl silicone rubber is A35 - A45, and the thickness is 3 mm - 7 mm; the particle size of the iron oxide nanoparticles is 55 nm - 65 nm, and the mass fraction is 8% - 12%.

[0012] Preferably, the electric brush includes an electric motor, a three-dimensional swing joint, and a brush head; the electric motor is fixed on the first floating body and electrically connected to the first control device, or the electric motor is fixed on the second floating body and electrically connected to the second control device; the output shaft of the electric motor is fixedly connected to one end of the three-dimensional swing joint, and the other end of the three-dimensional swing joint is fixedly connected to the brush head, and the brush head is used for brushing and cleaning the hull.

[0013] Preferably, the electromagnet assembly includes a housing, a copper coil, and a silicon steel sheet iron core; the housing is fixedly connected to the first floating body or the second floating body; the silicon steel sheet iron core is fixed inside the housing; the copper coil surrounds the silicon steel sheet iron core and is electrically connected to the first control device or the second control device.

[0014] Preferably, the number of the springs is multiple, including a central spring, two pitch adjustment springs, and two lateral compensation springs; the included angle between the connection line of the pitch adjustment spring and the central spring and the thickness direction of the floating body is 30°, and the included angle between the connection line of the lateral compensation spring and the central spring and the thickness direction of the floating body is 90°.

[0015] The present invention has achieved the following technical effects compared with the related art: The marine electromagnetic adsorption cleaning device moves on the hull surface in a step-by-step manner, and during the movement, the electric brush brushes and cleans the hull. The first floating body and the second floating body are connected by springs, and the springs have the ability to deform flexibly, being able to compress and stretch, as well as bend and twist. Therefore, when encountering protrusion obstacles such as hull rivets and welds, through the deformation of the springs, the marine electromagnetic adsorption cleaning device can generate three-dimensional deformation, effectively avoiding movement jamming and significantly improving the dynamic adsorption performance and complex surface adaptability of the marine electromagnetic adsorption cleaning device.

[0016] In the preferred solution of the present invention, the cleaning mechanism uses the combined action of high-pressure jet and electric brush. By setting a high-pressure spraying device and utilizing the characteristic that the spraying range of high-pressure water flow is relatively large, the cleaning range is expanded by means of water washing, so that the attachments on the hull are loosened or fallen off, reducing the subsequent brushing workload and brushing resistance of the electric brush, and improving the cleaning ability of stubborn stains and the cleaning efficiency of the hull surface. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the related art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1Top view of the marine electromagnetic adsorption cleaning device in some examples of the present invention; Figure 2 Front view of the marine electromagnetic adsorption cleaning device in some examples of the present invention; Figure 3 Exploded view of body one in some examples of the present invention; Figure 4 Schematic diagram of the electromagnet assembly in some examples of the present invention; Figure 5 Schematic diagram of the flexible electromagnetic chuck in some examples of the present invention.

[0019] In the figure: 1 - body one; 2 - body two; 3 - elastic telescopic joint; 4 - adsorption mechanism; 41 - flexible electromagnetic chuck; 411 - conductive column; 412 - composite matrix; 42 - outer shell; 43 - copper coil; 44 - silicon steel sheet iron core; 5 - cleaning mechanism; 51 - electric brush; 511 - brush head; 512 - electric motor; 513 - three - dimensional swing joint; 52 - high - pressure spraying device; 521 - high - pressure water pump; 522 - nozzle; 523 - inlet of the water inlet pipe; 6 - integrated control device; 7 - floating body. Detailed implementation manners

[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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] The purpose of the present invention is to provide a marine electromagnetic adsorption cleaning device, which can improve the obstacle - crossing ability while ensuring the adsorption and cleaning effects.

[0022] In order to make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific implementation manners.

[0023] Refer to Figures 1 to 5 , this embodiment provides a marine electromagnetic adsorption cleaning device, including a floating body 7, an adsorption mechanism 4, an elastic telescopic joint 3 and an integrated control device 6.

[0024] The floating body 7 includes a first floating body and a second floating body. The adsorption mechanism 4 includes a soft electromagnetic chuck 41 and an electromagnet assembly. The soft electromagnetic chuck 41 is used to adsorb on the hull when energized. The number of the soft electromagnetic chucks 41 is multiple, and the multiple soft electromagnetic chucks 41 are respectively fixed on the first floating body and the second floating body. The number of the electromagnet assemblies is multiple, and the multiple electromagnet assemblies are respectively fixed on the first floating body and the second floating body. The electromagnet assemblies on the first floating body and the electromagnet assemblies on the second floating body attract each other magnetically when energized. The elastic telescopic joint 3 includes a spring. The two ends of the spring are respectively fixedly connected to the first floating body and the second floating body. The cleaning mechanism 5 includes an electric brush 51 for brushing the hull. The number of the electric brushes 51 is multiple, and the multiple electric brushes 51 are respectively fixed on the first floating body and the second floating body. The integrated control device 6 includes a first control device and a second control device. The first control device is fixed on the first floating body and is used to control the operation of the soft electromagnetic chuck 41, the electromagnet assembly and the electric brush 51 installed on the first floating body. The second control device is fixed on the second floating body and is used to control the operation of the soft electromagnetic chuck 41, the electromagnet assembly and the electric brush 51 installed on the second floating body.

[0025] The working principle of the marine electromagnetic adsorption cleaning device in this embodiment is as follows: The marine electromagnetic adsorption cleaning device moves on the hull surface in a step-by-step manner. During the movement, the electric brush 51 brushes and cleans the hull by friction.

[0026] In the first stage of the movement process, the soft electromagnetic chuck 41 is energized and the electromagnet assembly is de-energized. The soft electromagnetic chuck 41 adsorbs on the hull, and the electric brush 51 brushes the hull. In this stage, the distance between the floating body 7 and the second floating body remains unchanged.

[0027] In the second stage of the movement process, the electromagnet assembly is energized and the soft electromagnetic chuck 41 on the second floating body is de-energized. The position of the first floating body on the hull remains unchanged, and the second floating body approaches the first floating body under the action of the attraction provided by the electromagnet assembly, and the spring is compressed.

[0028] In the third stage of the movement process, the electromagnet assembly is de-energized, the soft electromagnetic chuck 41 on the second floating body is energized, and the soft electromagnetic chuck 41 on the first floating body is de-energized. The position of the second floating body on the hull remains unchanged, and the first floating body moves away from the second floating body under the action of the elastic force provided by the spring, and the spring gradually elongates and returns to its original state from the compressed state.

[0029] The above three stages are cycled. The pulsed magnetic field generated by the electromagnet assembly realizes the dynamic coupling of the adsorption force. Cooperating with the deformation of the spring, a step-by-step cooperative movement mechanism is formed to realize the step-by-step movement of the marine electromagnetic adsorption cleaning device on the hull surface.

[0030] Float 1 and Float 2 are connected by a spring, which has flexible deformation capabilities, capable of both compression and extension, as well as bending and twisting. Therefore, in the second stage, Float 2 can overcome obstacles by bending and twisting the spring, and in the third stage, Float 1 can overcome obstacles by bending and twisting the spring. When encountering protruding obstacles such as rivets and welds on the hull, the deformation of the spring enables the marine electromagnetic adsorption cleaning device to produce three-dimensional deformation, effectively preventing motion jams and significantly improving the dynamic adsorption performance and complex surface adaptability of the marine electromagnetic adsorption cleaning device.

[0031] In the above-mentioned second stage, the soft electromagnetic suction cup 41 on the float one is always adsorbed on the hull. In the above-mentioned third stage, the soft electromagnetic suction cup 41 on the float two is always adsorbed on the hull, thereby improving the obstacle crossing capability while ensuring the firmness of the electromagnetic adsorption and avoiding the ship-borne electromagnetic adsorption cleaning device from falling off the hull as much as possible.

[0032] It is understandable that the cleaning mechanism 5 fixedly connected thereto starts working only after the soft electromagnetic suction cup 41 on the first or second float is adsorbed on the hull, thereby avoiding premature action of the cleaning mechanism 5 to hinder adsorption.

[0033] In some special cases, the soft electromagnetic suction cup 41 fails and cannot be adsorbed on the hull, and the marine electromagnetic adsorption cleaning device will fall into the water. In this case, the first and second floats can provide buoyancy to keep the marine electromagnetic adsorption cleaning device afloat on the water surface for easy recovery.

[0034] In some examples, the cleaning mechanism 5 further includes a high-pressure jet device 52 for jet cleaning the hull. There are multiple high-pressure jet devices 52, which are fixed to the first and second floats respectively.

[0035] The electric brush 51 has a limited scrubbing range, and when used alone to clean the hull surface, the cleaning efficiency is low. By providing the high-pressure jet device 52, the wide spray range of the high-pressure water flow is utilized to expand the cleaning range through water washing, loosening or removing attachments on the hull, reducing the subsequent scrubbing workload and scrubbing resistance of the electric brush 51, and improving the cleaning ability of stubborn stains and the cleaning efficiency of the hull surface.

[0036] In some examples, the high-pressure spraying device 52 includes a high-pressure water pump 521, a water inlet pipe, and a water outlet pipe. The inlet 523 of the water inlet pipe is used to receive water, and the outlet of the water inlet pipe is connected to the water inlet of the high-pressure water pump 521. The inlet of the water outlet pipe is connected to the water outlet of the high-pressure water pump 521, and the outlet of the water outlet pipe is fixed with a nozzle 522 for spraying water. The high-pressure water pump 521 is electrically connected to the first control device or the second control device.

[0037] In some examples, the water outlet pipe has multiple outlets, and the multiple outlets of the water outlet pipe are respectively located on both sides of the first floating body or the second floating body.

[0038] To facilitate the description of the relative positions of the components, the side where the first floating body is located is defined as the front side of the spring, the side where the second floating body is located is defined as the rear side of the spring, and the side of the first floating body and the second floating body facing the hull is defined as their lower side. Then, the electric brush 51 and the soft electromagnetic chuck 41 are located on the lower side of the first floating body or the second floating body, and the multiple outlets are respectively located on the left and right sides of the first floating body or the second floating body, so that while the electric brush 51 moves forward to clean the hull, the hull on its left and right sides can be cleaned by high-pressure water flow, expanding the cleaning range.

[0039] The overall structure on the front side of the spring can be referred to as the first body 1, and the overall structure on the rear side of the spring can be referred to as the second body 2.

[0040] In some examples, the front end of the first floating body and the rear end of the second floating body adopt a streamlined design to reduce water flow resistance.

[0041] In some examples, the first control device is fixed inside the first floating body, and the second control device is fixed inside the second floating body.

[0042] This fixing method can protect the first control device and the second control device from being damaged by immersion in water.

[0043] There are no special restrictions on the specific types of the first floating body and the second floating body in this embodiment, and the structures well-known to those skilled in the art can be adopted. For example, the first floating body and the second floating body can include a closed outer cover, and foam and airbags are built in the outer cover. The first control device and the second control device are surrounded by the foam and airbags, which can play a role in buffering and shock absorption. When the outer cover is a soft structure such as an airbag, it can provide a certain deformation ability to facilitate passing through narrow spaces. The outer cover can also adopt a hard plastic shell to provide a shape-preserving ability.

[0044] In some examples, the soft electromagnetic chuck 41 includes a conductive column 411 and a composite matrix 412. One end of the conductive column 411 is fixedly connected to the first floating body or the second floating body, and the other end of the conductive column 411 is fixedly connected to the composite matrix 412. The composite matrix 412 includes methyl vinyl silicone rubber and iron oxide nanoparticles, and the iron oxide nanoparticles are embedded in the methyl vinyl silicone rubber. The conductive column 411 is electrically connected to the first control device or the second control device and is used to supply power to the iron oxide nanoparticles. The composite matrix 412 is used to adsorb on the hull when electrified.

[0045] It can be understood that the outer layer of the conductive column 411 should be an insulating layer, and only the inner layer is conductive. Methyl vinyl silicone rubber has a certain deformation ability, enabling it to increase the contact area with the hull surface through its own deformation and ensuring the adsorption effect in areas with uneven hull surfaces. Methyl vinyl silicone rubber has insulation properties and can confine the current within it.

[0046] The suction force of the soft electromagnetic chuck 41 can be controlled by a pulsed electrical signal, capable of adjusting the adsorption strength as needed to ensure the adsorption stability on the hull surface.

[0047] Exemplarily, each soft electromagnetic chuck 41 includes 30 conductive columns 411, and the distance between two adjacent conductive columns 411 is half of the diameter of the conductive column 411.

[0048] In some examples, the Shore hardness of the methyl vinyl silicone rubber is A35 - A45, preferably A40; the thickness of the methyl vinyl silicone rubber is 3 mm - 7 mm, preferably 5 mm. The particle size of the iron oxide nanoparticles is 55 nm - 65 nm, preferably 60 nm; the mass fraction of the iron oxide nanoparticles (i.e., the mass ratio of the iron oxide nanoparticles to the composite matrix 412) is 8% - 12%, preferably 10%.

[0049] In some examples, the electric brush 51 includes an electric motor 512, a three - dimensional swing joint 513, and a brush head 511. The electric motor 512 is fixed on the first floating body and electrically connected to the first control device, or the electric motor 512 is fixed on the second floating body and electrically connected to the second control device. The output shaft of the electric motor 512 is fixedly connected to one end of the three - dimensional swing joint 513, and the other end of the three - dimensional swing joint 513 is fixedly connected to the brush head 511, and the brush head 511 is used for brushing and cleaning the hull.

[0050] The three - dimensional swing joint 513 can achieve multi - angle swinging, making the angle of the brush head 511 adjustable, so that the brush head 511 can adapt to the uneven shape of the hull surface and avoid jamming of the brush head 511. The material of the brushing part of the brush head 511 that contacts the hull can be flexibly selected, such as stainless steel wire, nylon, polypropylene, or a combination thereof.

[0051] In some examples, the electromagnet assembly includes a housing 42, a copper coil 43, and a silicon steel sheet iron core 44. The housing 42 is fixedly connected to the first floating body or the second floating body. The silicon steel sheet iron core 44 is fixed inside the housing 42. The copper coil 43 surrounds the silicon steel sheet iron core 44 and is electrically connected to the first control device or the second control device.

[0052] After the copper coil 43 is energized, the silicon steel sheet iron core 44 surrounded by it generates magnetism, causing the electromagnet assembly on the first floating body to attract the electromagnet assembly on the second floating body, and the spring is compressed under the action of this attraction force.

[0053] In some examples, the number of springs is multiple, including a central spring, two pitch adjustment springs, and two lateral compensation springs. The connection line between the pitch adjustment spring and the central spring forms a 30° angle with the thickness direction of the floating body 7, and the connection line between the lateral compensation spring and the central spring forms a 90° angle with the thickness direction of the floating body 7.

[0054] That is, when each spring is in its natural length, the central spring and the two lateral compensation springs are located in the first plane (referring to their axis positions, the same below), and the two pitch adjustment springs are located in the second plane, and the first plane and the second plane are parallel to each other.

[0055] The front end of the central spring is connected to the center position of the rear end of the first floating body, and the rear end of the central spring is connected to the center position of the front end of the second floating body. That is, the central spring bears the main axial load, provides driving force in the third stage of the moving process, and enhances the stability and reliability of the system.

[0056] Exemplarily, in the natural state, the wire diameter d of the corresponding helix of the central spring is 3 cm to 5 cm, the stiffness coefficient k is 500 N / m to 800 N / m, and the free length L is 5 cm.

[0057] In the natural state, the wire diameter of the corresponding helix of the pitch adjustment spring is 0.5d, the stiffness coefficient is 0.5k to 0.7k, and the free length L is 5 cm. In the natural state, the wire diameter of the corresponding helix of the lateral compensation spring is 0.5d, the free length L is 5 cm, and the stiffness coefficient is 1.2 to 1.5 times that of the pitch adjustment spring. Through actual tests, this elastic telescopic joint 3 enables the marine electromagnetic adsorption cleaning device to generate three-dimensional deformations of pitch ±15°, lateral deflection angle ±7.5°, and axial telescopic amount 60% when encountering protrusion obstacles such as hull rivets and welds, effectively avoiding motion jamming.

[0058] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A marine electromagnetic adsorption cleaning device, characterized in that, Comprising: A floating body, including floating body one and floating body two; An adsorption mechanism, including a soft electromagnetic chuck and an electromagnet assembly; the soft electromagnetic chuck is used to adsorb on the hull when powered on; the number of the soft electromagnetic chucks is multiple, and the multiple soft electromagnetic chucks are respectively fixed on the floating body one and the floating body two; the number of the electromagnet assemblies is multiple, and the multiple electromagnet assemblies are respectively fixed on the floating body one and the floating body two; the electromagnet assembly on the floating body one and the electromagnet assembly on the floating body two are magnetically attracted to each other when powered on; An elastic telescopic joint, including a spring; both ends of the spring are respectively fixedly connected to the floating body one and the floating body two; A cleaning mechanism, including an electric brush for scrubbing the hull; the number of the electric brushes is multiple, and the multiple electric brushes are respectively fixed on the floating body one and the floating body two; An integrated control device, including control device one and control device two; control device one is fixed on the floating body one and is used to control the operation of the soft electromagnetic chuck, the electromagnet assembly and the electric brush installed on the floating body one; control device two is fixed on the floating body two and is used to control the operation of the soft electromagnetic chuck, the electromagnet assembly and the electric brush installed on the floating body two.

2. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: The cleaning mechanism further includes a high-pressure spraying device, and the high-pressure spraying device is used to spray and clean the hull; the number of the high-pressure spraying devices is multiple, and the multiple high-pressure spraying devices are respectively fixed on the floating body one and the floating body two.

3. The marine electromagnetic adsorption cleaning device according to claim 2, characterized in that: The high-pressure spraying device includes a high-pressure water pump, a water inlet pipe and a water outlet pipe; the inlet of the water inlet pipe is used for water inlet, and the outlet of the water inlet pipe is connected to the water inlet of the high-pressure water pump; the inlet of the water outlet pipe is connected to the water outlet of the high-pressure water pump, and a nozzle is fixed at the outlet of the water outlet pipe, and the nozzle is used to spray water; the high-pressure water pump is electrically connected to control device one or control device two.

4. The marine electromagnetic adsorption cleaning device according to claim 3, characterized in that: The water outlet pipe has multiple outlets, and the multiple outlets of the water outlet pipe are respectively located on both sides of the floating body one or the floating body two.

5. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: Control device one is fixed inside the floating body one, and control device two is fixed inside the floating body two.

6. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: The soft electromagnetic chuck includes a conductive column and a composite matrix; one end of the conductive column is fixedly connected to the floating body one or the floating body two, and the other end of the conductive column is fixedly connected to the composite matrix; the composite matrix includes methyl vinyl silicone rubber and iron oxide nanoparticles, and the iron oxide nanoparticles are embedded in the methyl vinyl silicone rubber; the conductive column is electrically connected to control device one or control device two for supplying power to the iron oxide nanoparticles; the composite matrix is used to adsorb on the hull when powered on.

7. The marine electromagnetic adsorption cleaning device according to claim 6, characterized in that: The Shore hardness of the methyl vinyl silicone rubber is A35~A45, and the thickness is 3mm~7mm; the particle size of the iron oxide nanoparticles is 55nm~65nm, and the mass fraction is 8%~12%.

8. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: The electric brush includes an electric motor, a three-dimensional swing joint, and a brush head; the electric motor is fixed on the first floating body and electrically connected to the first control device, or the electric motor is fixed on the second floating body and electrically connected to the second control device; the output shaft of the electric motor is fixedly connected to one end of the three-dimensional swing joint, and the other end of the three-dimensional swing joint is fixedly connected to the brush head, and the brush head is used for brushing and cleaning the hull.

9. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: The electromagnet assembly includes a housing, a copper coil, and a silicon steel sheet iron core; the housing is fixedly connected to the first floating body or the second floating body; the silicon steel sheet iron core is fixed inside the housing; the copper coil surrounds the silicon steel sheet iron core and is electrically connected to the first control device or the second control device.

10. The marine electromagnetic adsorption cleaning device according to claim 1, characterized in that: The number of the springs is multiple, including one central spring, two pitch adjustment springs, and two lateral compensation springs; the angle between the connection line of the pitch adjustment spring and the central spring and the thickness direction of the floating body is 30°, and the angle between the connection line of the lateral compensation spring and the central spring and the thickness direction of the floating body is 90°.

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