Intelligent robot for underwater cleaning of buoys

Abstract

The application discloses a kind of buoy underwater cleaning intelligent robots, belong to buoy cleaning equipment technical field, including encircling support mechanism and brush washing operation mechanism, encircling support mechanism includes pivot carrier frame, two arc-shaped buoyancy cabin and locking butt joint assembly, the brush washing operation mechanism includes active take-up assembly, passive compensation component and flexible brush washing component.Pivot carrier frame is equipped with two open-close rotating shaft sleeve connection arc-shaped buoyancy cabin, and it is circular ring that is encircling buoy anchor chain after cabin is closed in by locking butt joint assembly.Active take-up assembly and passive compensation component cooperatively drive flexible brush washing component to move reciprocating in cabin inside to execute cleaning.The application realizes in situ coating cleaning to buoy body and anchor chain, changes traditional hoisting maintenance mode, avoids interference to data transmission, and utilizes elastic buffer self-adapting adjustment to ensure that brush band is closely attached to working surface, effectively eliminates cleaning dead angle.

Description

Technical Field

[0001] This invention belongs to the technical field of buoy cleaning equipment, specifically relating to an intelligent robot for underwater buoy cleaning. Background Technology

[0002] Single-chain buoys are core equipment in marine observation, weather warning, and near-shore resource development. Their underwater components are constantly exposed to complex marine physical and biological environments. A typical buoy system includes the buoy body and an anchor chain extending downwards to the seabed and connecting to an anchor base. This chain maintains the buoy's position and carries various underwater monitoring sensors. However, the underwater components of the buoy are frequently subjected to attachment by marine organisms (such as barnacles and oysters) and entanglement with fishing nets, ropes, and other debris. This biological attachment not only significantly increases the load and drag on the structure, altering the buoy's intended attitude, but also accelerates the corrosion process of structural components, leading to distorted or even completely malfunctioning sensor data, seriously threatening the continuity and safety of marine monitoring missions.

[0003] Traditional buoy maintenance primarily relies on hoisting for cleaning, where the buoy and its anchor chain are lifted out of the water by an engineering vessel, and surface contaminants are then removed manually. This method is not only labor-intensive and time-consuming, but also time-consuming, inevitably leading to interruptions in buoy monitoring data during hoisting, failing to meet the requirements of modern marine monitoring for in-situ and real-time performance. Furthermore, existing cleaning equipment often struggles to effectively encircle the structure of single-chain buoys, resulting in low cleaning efficiency and leaving cleaning blind spots. Therefore, developing an intelligent cleaning device capable of in-situ encircling the buoy body and anchor chain with adaptive adjustment capabilities is a pressing technical problem in the field of marine engineering. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an intelligent underwater buoy cleaning robot to solve the technical problem of low cleaning efficiency of marine buoys in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention includes a surrounding support mechanism, a scrubbing mechanism, and a propulsion mechanism. The surrounding support mechanism includes a central carrier frame and two arc-shaped buoyancy chambers. The central carrier frame includes a reference bearing base plate, on which two opening and closing rotating bushings perpendicular to the plate surface are rotatably mounted. The proximal end of each arc-shaped buoyancy chamber is fixed to the opening and closing rotating bushings, and the locking docking assembly is located at the distal end of each arc-shaped buoyancy chamber. When the two locking docking assemblies contact, the two arc-shaped buoyancy chambers form a ring around the buoy anchor chain. The scrubbing mechanism includes an active retraction and deployment assembly, a passive compensation assembly, and a flexible scrubbing assembly connected between the two, all slidably mounted on the locking docking assembly. The active retraction and deployment assembly drives the flexible scrubbing assembly to reciprocate along the inner side of the arc-shaped buoyancy chamber to perform cleaning operations.

[0007] Optionally, the bottom of the reference bearing base plate is provided with a transmission protective cover, and the transmission protective cover is provided with synchronous gear components that mesh with each other and are coaxially connected to the opening and closing rotating shaft sleeves, so as to drive the two arc-shaped buoyancy chambers to open and close synchronously in opposite directions.

[0008] Optionally, the propulsion mechanism includes a steering propulsion assembly disposed at the bottom of the locking and docking assembly; the steering propulsion assembly includes a deflection power compartment and a propeller blade disposed at the tail end of the deflection power compartment; the top of the deflection power compartment is rotatably connected to the bottom of the locking and docking assembly via a deflection shaft, the axis of the deflection shaft being perpendicular to the horizontal plane; the deflection shaft is electrically driven to rotate to drive the deflection power compartment to adjust the propulsion angle in the horizontal plane, thereby providing displacement thrust and assisting the arc-shaped buoyancy chamber in rotating and opening and closing.

[0009] Optionally, it also includes a buoyancy adjustment mechanism for adjusting the robot's diving depth position; the buoyancy adjustment mechanism includes a variable volume hydraulic compensation system, the variable volume hydraulic compensation system includes a variable volume hydraulic compensation bladder disposed inside the arc-shaped buoyancy chamber, and a peristaltic hydraulic pump group connected to the variable volume hydraulic compensation bladder through a fluid transmission conduit.

[0010] Optionally, the peristaltic hydraulic pump assembly includes a rotary drive motor mounted on the reference bearing base plate, a power shaft driven by the rotary drive motor, and a pumping extrusion seat; the pumping extrusion seat has a cylindrical cavity, a rotor centering part is rotatably provided at the center of the cylindrical cavity, a plurality of connecting rods are provided in the circumferential direction of the rotor centering part, and a pressure roller is provided at the end of the connecting rod; one end of the fluid transmission conduit extends to the external water body and is connected to a gravity counterweight suction port, and the middle section of the fluid transmission conduit is dynamically extruded by the pressure rollers onto the inner wall of the cylindrical cavity.

[0011] Optionally, the central carrier frame further includes a top-level encapsulation plate, a limiting partition plate, and a travel stop plate. The limiting partition plate and the travel stop plate are both fixed between the top-level encapsulation plate and the reference bearing base plate to limit the rotation angle of the arc-shaped buoyancy chamber. The front end of the limiting partition plate has a guide hole for the flexible brushing assembly to pass through.

[0012] Optionally, the locking and docking assembly includes a docking support plate and a docking joint; the docking support plate has a T-shaped guide groove for the active retraction component or the passive compensation component to slide back and forth, and the docking end face of the docking joint has a strip-shaped perforation for the flexible brushing component to pass through.

[0013] Optionally, the surrounding support mechanism further includes an arc-shaped reinforcing semi-ring frame, the two ends of which are fixedly connected to the docking joint and the opening and closing rotating bushing, respectively.

[0014] Optionally, the active take-up and unload assembly includes an active sliding housing, a drive fixed base, a strip winding roller, and an eccentric drive unit; the eccentric drive unit includes a reciprocating drive motor, a cam, a driven baffle, and a driven connecting rod; the reciprocating drive motor is mounted on the outside of the drive fixed base and drives the cam to rotate; both the cam and the driven baffle are disposed inside the drive fixed base, and the driven baffle is fixedly connected to one end of the driven connecting rod; the driven connecting rod is arranged perpendicular to the rotation axis of the cam, and the other end of the driven connecting rod passes through the drive fixed base and is fixedly connected to the active sliding housing, so that when the cam rotates and squeezes the driven baffle, it drives the active sliding housing to perform linear reciprocating motion in the T-shaped guide groove; the strip winding roller is rotatably disposed inside the active sliding housing, and one end of the flexible brushing assembly is fixed on the strip winding roller.

[0015] Optionally, the flexible scrubbing assembly includes a flexible base strip, cleaning bristles disposed on one side of the flexible base strip, and hook-shaped peeling elements distributed among the cleaning bristles; the passive compensation assembly includes a driven sliding housing, an elastic buffer, and a compensation outer cylinder, wherein the driven sliding housing has a blind hole, the compensation outer cylinder is slidably disposed in the blind hole and connected to the bottom of the blind hole through the elastic buffer; the other end of the flexible scrubbing assembly passes through the driven sliding housing and is fixedly connected to the compensation outer cylinder.

[0016] The beneficial effects of this invention are as follows: through the cooperation of the arc-shaped buoyancy chamber and the locking docking assembly, the robot can directly wrap around the buoy body and anchor chain, changing the traditional maintenance method of having to lift the entire buoy out of the water, shortening the operation cycle, avoiding interference with the buoy attitude and data transmission during the lifting process, and the brushing operation mechanism adopts a linkage design of active retraction and passive compensation components. Through the adaptive adjustment of the elastic buffer, it is ensured that the flexible brushing component can always generate constant wrapping pressure during the reciprocating motion, and the brush belt is closely attached to the working surface, eliminating cleaning dead corners.

[0017] Other advantages, objectives, and features of the invention will be set forth in the following description and will be apparent to those skilled in the art in some respects, or may be learned by practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0018] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0019] Figure 1 A schematic diagram of the first overall structure of the cleaning robot according to an embodiment of the invention;

[0020] Figure 2 A schematic diagram of the second overall structure of the cleaning robot according to an embodiment of the present invention;

[0021] Figure 3 A front view of a cleaning robot according to an embodiment of the invention;

[0022] Figure 4 for Figure 3 AA section view;

[0023] Figure 5 for Figure 4 Enlarged view of point C;

[0024] Figure 6 for Figure 4 Enlarged diagram of point D;

[0025] Figure 7 for Figure 3 BB section view;

[0026] Figure 8 for Figure 7 EE sectional view;

[0027] Figure 9 Detailed schematic diagram of the flexible baseband in this embodiment of the invention;

[0028] The following markings are shown in the attached diagram: 11. Base plate; 12. Opening and closing rotating bushing; 13. Top layer encapsulation plate; 14. Limiting partition plate; 15. Stroke stop plate; 16. Transmission protective cover; 17. Synchronous gear component; 18. Guide perforation; 2. Arc-shaped buoyancy chamber; 31. Docking support plate; 32. Docking joint; 33. Reinforced semi-ring frame; 34. T-shaped guide groove; 35. Strip perforation; 41. Active sliding shell seat; 42. Drive fixed base; 43. Strip winding roller; 441. Reciprocating drive motor; 442. Cam; 443. Driven baffle; 444. From 51. Moving connecting rod; 52. Driven sliding housing; 53. Elastic buffer; 54. Compensating outer cylinder; 6. Blind hole; 75. Flexible brushing assembly; 86. Flexible base belt; 87. Cleaning bristles; 88. Hook-shaped peeling element; 89. Deflection power compartment; 80. Propeller blade; 81. Deflection shaft; 82. Variable volume hydraulic compensation bladder; 83. Rotary drive motor; 84. Power shaft; 85. Rotor centering part; 86. Connecting rod; 87. Pressing roller; 88. Cylindrical cavity; 89. Pumping extrusion seat; 80. Fluid transmission conduit; 81. Gravity counterweight suction port. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0030] Please see Figures 1-9 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0031] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0032] This invention provides an intelligent underwater cleaning robot for buoys, such as... Figure 1 and Figure 2As shown, this invention relates to an automated device for the maintenance of underwater structures of single-chain buoys, aiming to solve problems such as increased structural load, sensor malfunction, and high maintenance costs caused by long-term attachment of marine organisms (such as barnacles and oysters) and entanglement with fishing nets and ropes to the underwater parts of the buoy. The single-chain buoy targeted by this invention includes the buoy body, an anchor chain traction at the bottom of the buoy body, and an anchoring structure extending downwards to the seabed and connecting to the anchor seat. The cleaning robot of this invention is also applicable to the cleaning of anchor chains of other underwater structures such as ships, offshore platforms, and floating wind turbines.

[0033] refer to Figure 1 , Figure 2 and Figure 3 The present invention provides an underwater intelligent cleaning robot for buoys, which mainly consists of four parts: a surrounding support mechanism, a brushing operation mechanism, a power propulsion mechanism, and a buoyancy adjustment mechanism. This enables the robot to accurately position itself to the anchor chain, achieve in-situ locking, and perform efficient reciprocating mechanical brushing.

[0034] The surrounding support mechanism provides physical support and achieves a surrounding wrap around the anchor chain. This mechanism includes a central carrier frame, such as... Figure 1 and Figure 7 As shown, the central carrier frame includes a reference bearing base plate 11, with two opening and closing rotating bushings 12 rotatably connected above the base plate 11, perpendicular to the plate surface. To achieve precise, synchronized movement of the two arc-shaped buoyancy chambers 2, a transmission protective cover 16 is provided below the reference bearing base plate 11. Inside the cover are two meshing synchronous gear components 17, each coaxially connected to one of the two opening and closing rotating bushings 12. When one bushing rotates under force, the other bushing rotates in the opposite direction at the exact same angle through the meshing transmission of the gears. Figure 1 , Figure 2 , Figure 4 and Figure 5On the side of the opening and closing rotating bushing 12, a float connecting frame extends and is fixed for mounting two semi-annular arc-shaped buoyancy chambers 2. The arc-shaped buoyancy chambers 2 adopt a rigid hollow shell structure, which not only provides basic static buoyancy but also provides a sealed housing space for the internal hydraulic compensation system. A top-level encapsulation plate 13 is provided at the top of the central carrier frame, and the top ends of the two opening and closing rotating bushings 12 are rotatably connected to the bottom side of the top-level encapsulation plate 13. To prevent mechanical damage caused by excessive rotation of the mechanism underwater, a limit partition plate 14 and a travel stop plate 15 are fixed between the top-level encapsulation plate 13 and the reference bearing base plate 11. The limit partition plate 14 is located at the front end, which not only serves as a physical limit but also has a guide perforation 18 for the flexible brushing assembly 6 to pass through and form a circumferential loop. The travel stop plate 15 is located at the rear to ensure that the arc-shaped buoyancy chambers 2 do not exceed a preset angle range when fully opened. A locking docking assembly is fixed at the far end of the arc-shaped buoyancy chambers 2. The locking and docking assembly includes a docking support plate 31 and a docking joint 32. The two joints are fixed to the ends of the two buoyancy chambers respectively. When the two joints approach and contact each other, the two arc-shaped buoyancy chambers 2 can form a complete ring around the outside of the anchor chain. In order to enhance the rigidity of the structure, each arc-shaped buoyancy chamber 2 is symmetrically provided with arc-shaped reinforcing semi-ring frames 33 on both sides (i.e., the upper and lower sides) along its axial direction. Its two ends are fixedly connected to the docking joint 32 and the bushing of the central carrier frame, respectively.

[0035] like Figure 1 and Figure 4 The scrubbing mechanism, through the cooperation of the active retraction component and the passive compensation component, achieves frictional cleaning of the anchor chain surface by the flexible scrubbing component 6. The active retraction component is slidably installed in the T-shaped guide groove 34 of the docking support plate 31 via the active sliding housing 41. (Reference) Figure 6The core power source of the active retraction component is an eccentric drive unit, which specifically includes a drive base 42, a reciprocating drive motor 441, a cam 442, a driven baffle 443, and a driven connecting rod 444. The reciprocating drive motor 441 is mounted on the outside of the base, and the motor shaft passes through the inside of the base to drive the cam 442 to rotate. The driven baffle 443 is slidably disposed inside the base and is fixedly connected to the driven connecting rod 444, which is perpendicular to the rotation axis of the cam 442. When the cam 442 rotates, its eccentric profile continuously squeezes the driven baffle 443, converting the rotational motion into the linear reciprocating motion of the driven connecting rod 444. The other end of the driven connecting rod 444 passes through the base and is fixed to the active sliding housing 41, thereby driving the entire sliding housing to perform periodic reciprocating translation within the T-shaped guide groove 34. Inside the active sliding housing 41, a strip winding roller 43 is also driven by a motor to fix and adjust the effective length of the flexible brushing component 6. The passive compensation component is mounted on the locking and docking component on the other side, and mainly consists of a driven sliding housing 51, an elastic buffer 52 (spring), and a compensation outer cylinder 53. The driven sliding housing 51 has a blind hole 54, and the compensation outer cylinder 53 slides within the blind hole 54. The elastic buffer 52 is supported between the compensation outer cylinder 53 and the bottom of the blind hole 54. One end of the flexible brushing component 6 is fixed to the strip winding roller 43, passes through the strip-shaped perforation 35 of the docking joint 32, bypasses the guide perforation 18 of the central carrier frame, and is finally fixedly connected to the compensation outer cylinder 53 of the passive compensation component. When the active retraction component pushes the brush belt outward, the elastic buffer 52 is compressed, keeping the brush belt taut; when the active retraction component returns, the elastic buffer 52 resets and releases. This design ensures that the flexible brushing component 6 remains in close contact with the anchor chain surface during reciprocating motion, avoiding cleaning dead zones caused by brush belt slack.

[0036] like Figure 9 As shown, the flexible scrubbing component 6 itself has a multi-layered composite structure, including a high-strength flexible rubber base 61, cleaning bristles 62 densely distributed on one side of the base, and hook-shaped peeling elements 63 mixed in with the bristles. This design simulates a combination of "brush" and "shovel": the bristles are used to remove surface mud and soft organisms, while the hard hook-shaped peeling elements 63 are specifically designed to powerfully peel off marine organisms with hard calcareous shells, such as barnacles and oysters.

[0037] like Figure 2To enable the robot's movement and attitude adjustment, a steering and propulsion assembly is located at the bottom of the locking and docking assembly. It includes a deflection power chamber 71 and a propeller blade 72 at its tail end. The deflection power chamber 71 is rotatably connected to the docking support plate 31 via a deflection shaft 73 perpendicular to the horizontal plane, and this deflection shaft 73 is driven by a motor and can be adjusted in the horizontal plane. This design not only provides forward and backward thrust but also generates a strong lateral torque through differential adjustment of the two propeller directions, assisting the curved buoyancy chamber 2 in smoothly completing its opening or locking actions.

[0038] like Figure 4 , Figure 5 , Figure 7 and Figure 8 The buoyancy adjustment mechanism is used to control the robot's diving depth. This mechanism employs a variable volume hydraulic compensation system, which includes a variable volume hydraulic compensation bladder 81 disposed inside the arc-shaped buoyancy chamber 2. The flexible variable volume hydraulic compensation bladder 81 is fixed at both ends inside the arc-shaped buoyancy chamber 2, and a peristaltic hydraulic pump assembly is connected to the variable volume hydraulic compensation bladder 81 through a fluid transmission conduit 83. The peristaltic hydraulic pump assembly includes a rotary drive motor 821 mounted on the reference bearing base plate 11, a power shaft 822 driven by the rotary drive motor 821, and a pumping extrusion seat 827. The pumping extrusion seat 827 has a cylindrical cavity 826. A rotor centering part 823 is rotatably mounted at the center of the cylindrical cavity 826. Several connecting rods 824 are arranged circumferentially on the rotor centering part 823, and pressure rollers 825 are provided at the ends of the connecting rods 824. One end of the fluid transmission conduit 83 extends to the external water body and is connected to a gravity counterweight suction port 84. The middle section of the fluid transmission conduit 83 is dynamically compressed against the inner wall of the cylindrical cavity 826 by the pressure rollers 825. This structure utilizes the pressure rollers 825 on the rotor centering part 823 to dynamically compress the fluid transmission conduit 83 extending along the inner wall of the cylindrical cavity 826, thereby achieving precise pumping of the liquid. The end of the fluid transfer conduit 83 extends into the external water body and is equipped with a gravity-assisted suction port 84, ensuring that the suction port remains in a low position due to gravity regardless of the robot's underwater posture, thus enabling stable water intake or drainage. By adjusting the amount of water entering and leaving the water bladder, the robot can change its overall density, thereby achieving stable vertical buoyancy.

[0039] Before the operation begins, the robot is released into the waters near the buoy. At this time, the deflection shaft 73 rotates, causing the deflection power chambers 71 on both sides to deflect outwards at a specific angle. The thrust generated by the propellers acts directly on the arc-shaped buoyancy chambers 2, forcing the two chambers to overcome water resistance and open outwards. During this process, the synchronous gear component 17 at the bottom of the central carrier frame mechanically meshes to ensure that the two bushings move along a completely symmetrical trajectory, preventing asymmetrical opening due to water flow interference. The robot maintains its open posture and uses the combined force of the thrusters to approach the working area at the bottom of the buoy body. Once the robot approaches the underwater structure of the buoy body, it enters the first stage of the cleaning task: the steering propulsion component adjusts the thrust direction inwards, using the opposing thrust of the propellers to drive the arc-shaped buoyancy chambers 2 to close until the locking docking component completes physical contact, encircling the underwater part of the buoy body. The brushing mechanism is activated, and the eccentric drive unit within the active deployment and retraction component begins operation. Cam 442 reciprocates by pressing the driven connecting rod 444, causing the flexible brushing assembly 6 to perform high-frequency sawing friction on the surface of the buoy base. Hook-shaped peeling parts 63 on the brush belt, in conjunction with the bristles, peel away hard marine organisms (such as barnacles and oysters) attached to the bottom of the buoy body. After cleaning the buoy body, the robot enters a vertical operation mode targeting the anchor chain. The buoyancy adjustment mechanism is activated, and the peristaltic hydraulic pump unit pumps seawater from outside into the variable-volume hydraulic compensation bladder 81 through the gravity counterweight suction port 84. As the volume of the water bladder increases and the counterweight increases, the robot's overall density exceeds that of the seawater, and it begins to slowly descend along the anchor chain. During the descent, the brushing mechanism remains operational. Through the adaptive adjustment of the strip winding roller 43, the brush belt is retracted by the strip winding roller 43, ensuring that the outer brush belt remains tightly fastened to the thinner diameter anchor chain. With the robot's vertical rise and fall, a vertical, full-coverage cleaning of the entire anchor chain surface is achieved. After cleaning the anchor chain, the robot prepares for retrieval: the steering propulsion assembly deflects outward again, using the powerful outward thrust generated by the propeller to forcefully push open the arc-shaped buoyancy chamber 2, allowing the robot to completely detach from the anchor chain constraint. The peristaltic hydraulic pump unit reverses its operation, expelling seawater from the hydraulic compensation bladder, increasing the robot's buoyancy and causing it to quickly float to the surface.

[0040] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A buoy-based underwater cleaning intelligent robot, characterized in that: The system includes a surrounding support mechanism and a scrubbing mechanism. The surrounding support mechanism includes a central carrier frame, two arc-shaped buoyancy chambers (2), and two locking docking assemblies. The central carrier frame includes a reference bearing base plate (11), on which two opening and closing rotating bushings (12) perpendicular to the plate surface are rotatably mounted. The proximal end of the arc-shaped buoyancy chamber (2) is fixed on the opening and closing rotating bushings (12), and the locking docking assembly is located at the far end of the arc-shaped buoyancy chamber (2). After the two locking docking assemblies come into contact, the two arc-shaped buoyancy chambers (2) form a ring around the buoy anchor chain. The scrubbing mechanism includes an active retraction assembly, a passive compensation assembly, and a flexible scrubbing assembly (6) connected between the two, which are slidably mounted on the locking docking assembly. The active retraction assembly is used to drive the flexible scrubbing assembly (6) to reciprocate along the inner side of the arc-shaped buoyancy chamber (2) to perform cleaning operations. It also includes a buoyancy adjustment mechanism for adjusting the robot's diving depth position; the buoyancy adjustment mechanism includes a variable volume hydraulic compensation system, the variable volume hydraulic compensation system includes a variable volume hydraulic compensation bladder (81) disposed inside the arc-shaped buoyancy chamber (2), and a peristaltic hydraulic pump group connected to the variable volume hydraulic compensation bladder (81) through a fluid transmission conduit (83); The locking assembly includes a docking support plate (31) and a docking joint (32); the docking support plate (31) has a T-shaped guide groove (34) for the active retraction assembly or the passive compensation assembly to slide back and forth, and the docking end face of the docking joint (32) has a strip-shaped perforation (35) for the flexible brushing assembly (6) to pass through. The active take-up and untake-down assembly includes an active sliding housing (41), a drive fixed base (42), a strip winding roller (43), and an eccentric drive unit; the eccentric drive unit includes a reciprocating drive motor (441), a cam (442), a driven baffle (443), and a driven connecting rod (444); the reciprocating drive motor (441) is mounted on the outside of the drive fixed base (42) and drives the cam (442) to rotate; the cam (442) and the driven baffle (443) are both disposed inside the drive fixed base (42), and the driven baffle (443) and the driven connecting rod (444) are connected... One end is fixedly connected; the driven connecting rod (444) is arranged perpendicular to the rotation axis of the cam (442), and the other end of the driven connecting rod (444) passes through the drive fixed base (42) and is fixedly connected to the active sliding shell (41) so that when the cam (442) rotates and squeezes the driven baffle (443), it drives the active sliding shell (41) to make linear reciprocating motion in the T-shaped guide groove (34); the strip winding roller (43) is rotatably arranged inside the active sliding shell (41), and one end of the flexible brushing assembly (6) is fixed on the strip winding roller (43); The flexible scrubbing assembly (6) includes a flexible base strip (61), cleaning bristles (62) disposed on one side of the flexible base strip (61), and hook-shaped peeling members (63) distributed in the cleaning bristles (62); the passive compensation assembly includes a driven sliding housing (51), an elastic buffer (52), and a compensation outer cylinder (53). The driven sliding housing (51) is provided with a blind hole (54). The compensation outer cylinder (53) is slidably disposed in the blind hole (54) and connected to the bottom of the blind hole (54) through the elastic buffer (52); the other end of the flexible scrubbing assembly (6) passes through the driven sliding housing (51) and is fixedly connected to the compensation outer cylinder (53).

2. The buoy underwater cleaning intelligent robot according to claim 1, characterized in that: The bottom of the reference bearing base plate (11) is provided with a transmission protective cover (16). The transmission protective cover (16) is provided with synchronous gear components (17) that mesh with each other and are coaxially connected to the opening and closing rotating bushing (12) to drive the two arc-shaped buoyancy chambers (2) to open and close synchronously in opposite directions.

3. The intelligent underwater cleaning robot for buoys according to claim 1, characterized in that: It also includes a power propulsion mechanism, which includes a steering propulsion assembly disposed at the bottom of the locking and docking assembly; the steering propulsion assembly includes a deflection power compartment (71) and a propeller blade (72) disposed at the tail end of the deflection power compartment (71); the top of the deflection power compartment (71) is rotatably connected to the bottom of the locking and docking assembly through a deflection shaft (73), the axis of the deflection shaft (73) being perpendicular to the horizontal plane; the deflection shaft (73) is electrically driven to rotate to drive the deflection power compartment (71) to adjust the propulsion angle in the horizontal plane, for providing displacement thrust and assisting the arc-shaped buoyancy chamber (2) to rotate and open.

4. The intelligent underwater cleaning robot for buoys according to claim 1, characterized in that: The peristaltic hydraulic pump assembly includes a rotary drive motor (821) mounted on the reference bearing base plate (11), a power shaft (822) driven by the rotary drive motor (821), and a pumping extrusion seat (827). The pumping extrusion seat (827) has a cylindrical cavity (826) inside, and a rotor centering part (823) is rotatably provided at the center of the cylindrical cavity (826). The rotor centering part (823) has several connecting rods (824) in the circumferential direction, and the ends of the connecting rods (824) are provided with pressing rollers (825). One end of the fluid transmission conduit (83) extends to the external water body and is connected to a gravity counterweight suction port (84). The middle section of the fluid transmission conduit (83) is dynamically pressed against the inner wall of the cylindrical cavity (826) by the pressing rollers (825).

5. The intelligent underwater cleaning robot for buoys according to claim 1, characterized in that: The central carrier frame also includes a top-level encapsulation plate (13), a limiting partition plate (14), and a travel stop plate (15). The limiting partition plate (14) and the travel stop plate (15) are both fixed between the top-level encapsulation plate (13) and the reference bearing base plate (11) to limit the rotation angle of the arc-shaped buoyancy chamber (2). The front end of the limiting partition plate (14) has a guide hole (18) for the flexible brushing assembly (6) to pass through.

6. The intelligent underwater cleaning robot for buoys according to claim 1, characterized in that: The surrounding support mechanism also includes an arc-shaped reinforcing semi-ring frame (33), the two ends of which are fixedly connected to the docking joint (32) and the opening and closing rotating bushing (12), respectively.

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