Magnetic attraction type robot for cleaning barnacles on surface of ship body

Abstract

The invention discloses a magnetic attraction type ship body surface barnacle cleaning robot, and belongs to the technical field of barnacle cleaning, the magnetic attraction type ship body surface barnacle cleaning robot comprises a crawler-type automatic walking trolley and a barnacle removing cutter assembly, the crawler-type automatic walking trolley is provided with a mounting cylinder, the mounting cylinder is provided with a corrugated sleeve, and a crawler of the crawler-type automatic walking trolley is provided with magnets; the barnacle removing cutter assembly is located in the mounting cylinder; the barnacle removing knife assembly comprises a removing lifting part, a removing rotating part, a barnacle removing part and a barnacle prying part, the removing rotating part is installed on the removing lifting part, the barnacle removing part is connected to the removing rotating part, the barnacle prying part is located above the barnacle removing part, and the barnacle removing knife assembly is installed on the barnacle removing part. The shoveling lifting piece can drive the positions of the barnacle shoveling piece and the barnacle prying piece to ascend and descend, and the barnacle prying piece is located on the outer side of the barnacle shoveling piece. The collaborative operation logic of prying first and then shoveling is formed, and the problems of tight bonding and interlaced growth of barnacles and the ship body are solved in a targeted mode.

Description

Technical Field

[0001] This invention belongs to the field of barnacle cleaning technology, and particularly relates to a magnetic barnacle cleaning robot for ship hull surfaces. Background Technology

[0002] Barnacles are among the most destructive marine attachment organisms to ship hulls. Once attached, their larvae secrete a strong bio-adhesive that adheres tightly to the hull surface, often intertwining with shells, oysters, and other organisms to form a hard, dense layer that is difficult to remove. This attachment phenomenon causes multiple problems for ships: it significantly impairs the ship's hydrodynamic performance, increases drag, leads to higher fuel consumption and lower speed, and corrodes the hull's anti-rust coating and steel substrate through its acidic metabolic fluids, shortening the ship's service life and significantly increasing the maintenance costs of docking for repairs.

[0003] Current cleaning and protection technologies have significant limitations: the protective effectiveness of antifouling coatings is easily affected by water temperature and speed, and cannot completely prevent barnacles from attaching; manual diving and scraping is inefficient and risky, and can easily damage the ship's coating; high-pressure water jet technology is energy-intensive and may also damage the ship's cathodic protection system, generating toxic wastewater that causes secondary pollution.

[0004] Chinese Patent CN116714735A discloses a multifunctional cleaning device for ship wall attachments. This invention allows for the selection of appropriate cleaning modules based on the type of attachment being cleaned. The scraper cleaning device removes hard-shelled attachments such as barnacles. The scraper angle and height can be adjusted to improve removal efficiency for different attachment areas on the wall. Simultaneously, a spray unit softens the attachments at the contact point with the wall during the scraping process, facilitating scraping and reducing wall damage. The brush cleaning device cleans soft attachments such as algae. The brush height is adjustable to adapt to curved walls. During the machine's movement, the brushes on both sides sweep back and forth perpendicular to the direction of travel, increasing the cleaning area. Velcro allows for easy brush replacement. The cutting device cuts shellfish or vine-like attachments that are difficult to remove. The cutting blade's extension length can be adjusted during rotation to regulate the cutting depth and improve the cutting effect.

[0005] During use, the aforementioned equipment is difficult to adapt to the curved surfaces of different parts of the hull, resulting in many blind spots and poor cleaning results; most of them use fixed-angle blades, which have extremely poor adaptability and cannot deal with irregular barnacle clumps and the curved structure of the hull; and they lack a dedicated prying mechanism, making it difficult to pry open the attachment points before accurately removing them when faced with complex attachment scenarios where barnacles and shells are intertwined, resulting in either incomplete cleaning or repeated operations that exacerbate equipment wear and damage to the hull.

[0006] Given the shortcomings of existing technologies, there is an urgent need to develop a specialized device with strong adaptability and excellent cleaning effect, breaking through the limitations of rigid blades and single cleaning modes. The magnetic barnacle cleaning robot for ship hull surfaces was born to meet this need. Summary of the Invention

[0007] This invention provides a magnetic barnacle cleaning robot for ship hull surfaces to solve the problems in the prior art.

[0008] The present invention employs the following technical solution: a magnetic barnacle cleaning robot for ship hull surfaces, comprising a tracked automatic walking trolley and a barnacle removal blade assembly. The tracked automatic walking trolley is equipped with an mounting cylinder, which has a corrugated sleeve. Magnets are mounted on the tracks of the tracked automatic walking trolley. The barnacle removal blade assembly is located inside the mounting cylinder. The barnacle removal blade assembly includes a shovel lifting component, a shovel rotating component, a barnacle shovel component, and a barnacle prying component. The shovel rotating component is mounted on the shovel lifting component, the barnacle shovel component is connected to the shovel rotating component, and the barnacle prying component is located above the barnacle shovel component. The shovel lifting component can move the positions of the barnacle shovel component and the barnacle prying component up and down. The barnacle prying component is located outside the barnacle shovel component.

[0009] Furthermore, the lifting component includes a base plate, a lifting motor, a lifting circular plate, a lifting ball screw, a lifting sleeve, and four lifting guide shafts. The base plate is horizontally installed on the inner wall of the mounting cylinder. The four lifting guide shafts are circumferentially distributed on the base plate. The lifting circular plate is slidably connected to the four lifting guide shafts. The lifting motor is located at the bottom of the base plate, and the lifting ball screw is connected to the output shaft of the lifting motor. The lifting sleeve is disposed on the lifting circular plate, and the lifting sleeve is threadedly connected to the lifting ball screw.

[0010] Furthermore, the bottom of the lifting circular plate is provided with a placement cylinder, and a vertically arranged vertical shaft is fixed inside the placement cylinder.

[0011] Furthermore, the shovel-shaped rotating component includes a rotary motor, a drive shaft bearing sleeve, a drive gear shaft, a drive spur gear, and a driven spur gear. The rotary motor is located at the bottom of the base plate, the drive shaft bearing sleeve is located at the top of the base plate, the drive gear shaft is located inside the drive shaft bearing sleeve, the bottom of the drive gear shaft is connected to the output shaft of the rotary motor, the drive spur gear is located at the top of the drive gear shaft, and the driven spur gear is connected to the vertical shaft and meshes with the drive spur gear. The driven spur gear can slide up and down along the vertical shaft and always remains meshed with the drive spur gear.

[0012] Furthermore, the barnacle removal component includes a removal frame and a blade structure. The removal frame is connected to the top of a driven spur gear, and four blade structures are provided, with the four blade structures located on the removal frame.

[0013] Furthermore, the shovel frame includes an upper mounting plate and a lower mounting plate. The lower mounting plate is horizontally connected to the top of the driven spur gear and located at the top of the corrugated sleeve. The upper mounting plate is provided with four L-shaped brackets, which are distributed at equal intervals around the circumference. The upper mounting plate is horizontally connected to the four brackets. The upper and lower mounting plates are provided with through holes for the vertical shaft to pass through.

[0014] Furthermore, each of the aforementioned shovel structures includes a connecting block (59) and several flexible arc-shaped blades. The connecting block is located at the top of the support, and the several flexible arc-shaped blades are evenly distributed. Each adjacent flexible arc-shaped blade is provided with a connecting part.

[0015] Furthermore, each of the connecting parts includes a connecting plate, two upright plates, two spring plates, and two rotating shafts. The two upright plates are respectively located on the top of two adjacent flexible arc-shaped blades, and the two rotating shafts are respectively connected to the two upright plates. The connecting plate is rotatably connected to the two rotating shafts. The top of the two spring plates is connected to both ends of the connecting plate, and the bottom of the two spring plates is respectively connected to the top of the two flexible arc-shaped blades. The flexible arc-shaped blades are provided with bevels.

[0016] Furthermore, the barnacle lifting device includes a pry cam disc, a support disc, a top disc, and four barnacle pry blades. The top disc is connected to the top of the vertical shaft, and the four barnacle pry blades are evenly distributed at the bottom of the top disc. The support disc is connected to the bottom of the four barnacle pry blades. The pry cam disc is fixedly connected to the upper mounting disc and rotates with the vertical shaft. The pry cam disc has four cams and four grooves evenly distributed on it, and there is a smooth transition between each groove and cam.

[0017] Furthermore, each of the barnacle pry bar sections includes an L-shaped support rod, a lever, a steel ball, a rotating seat, a pressure rod, a return spring, and a horizontal plate. One end of the support rod is connected between the support plate and the top plate. The rotating seat is located at the top center of the support rod. The steel ball is located at one end of the lever and slides between a groove and a cam. The horizontal plate is horizontally connected to the bottom of the other end of the support rod. The pressure rod is vertically slidably connected to the horizontal plate, and its top is hinged to the other end of the lever. The lever has a groove for the pressure rod to slide. The return spring is sleeved on the pressure rod, and its two ends are respectively connected to the pressure rod and the horizontal plate. The bottom of the horizontal plate has a fixed post. The pressure rod has two hinged first connecting rods, and two hinged second connecting rods are located outside the two first connecting rods. The bottom of the fixed post has two hinged third connecting rods. The bottom of the two third connecting rods has a hinged pry bar. The two second connecting rods are respectively hinged between the two third connecting rods and the pry bar. The two first connecting rods are hinged to the pry bar.

[0018] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects: 1. Strong surface adaptability, eliminating blind spots: This robot effectively overcomes the technical limitations of existing equipment in adapting to the curved surfaces of ship hulls. Through the collaborative design of flexible curved blades and a multi-dimensional adjustment structure, it significantly improves its adaptability to different curved surfaces of the ship hull. In the barnacle removal component, the flexible curved blades achieve elastic deformation through a connecting part composed of spring plates and connecting plates, allowing them to closely conform to the curved surface of the ship hull and avoid blind spots caused by insufficient contact between rigid blades and curved surfaces. At the same time, the tracked automatic walking carriage, with its magnetic adsorption function, can stably attach to different curvature parts of the ship hull. Combined with the lifting component that drives the blades up and down and the rotating component that drives the blades in a circular motion, it forms a 360-degree coverage cleaning trajectory. Compared to the limitations of existing equipment with fixed-angle blades, this design can flexibly adapt to complex curved structures such as ship decks, sides, and bottoms, completely solving the problems of incomplete cleaning and numerous blind spots when working on curved surfaces. Its adaptability far exceeds that of traditional rigid cleaning equipment.

[0019] II. Diverse cleaning modes, resulting in superior work efficiency and effectiveness: This robot innovatively adopts a dual-mode collaborative cleaning structure of "prying up + shoveling," specifically addressing the weakness of existing equipment's single cleaning mode in handling complex attachment scenarios. The barnacle prying component, through the cam and groove structure of the prying cam disc, drives the prying blade to open and close, precisely inserting into the bottom of the barnacle and shell intertwined attachment layer. It first pries up the core attachment points and destroys the bio-adhesive bonding structure, laying the foundation for subsequent shoveling operations. Subsequently, four circumferentially distributed shovel structures rotate at high speed under a rotary drive. The flexible blades can adapt to irregular barnacle clumps, and the beveled design efficiently cuts away residual attachments, avoiding repeated operations. Compared to existing high-pressure water jet and single-blade shovel equipment, this design does not rely on high energy consumption or violent hammering. While reducing energy consumption, it significantly improves the thoroughness of cleaning, effectively preventing secondary attachment caused by barnacle residue. The work efficiency is several times higher than manual underwater shoveling, and it can handle complex and intertwined attachment scenarios.

[0020] III. Excellent protection performance reduces operation and maintenance costs: This robot, through structural optimization, effectively avoids the drawbacks of existing technologies that damage the hull and generate secondary pollution, balancing hull protection with economical operation and maintenance. The flexible arc-shaped blade's elastic connection structure buffers the impact force during operation, preventing rigid blades from scratching and damaging the hull's anti-rust coating and steel plate substrate. Compared to high-pressure water jet technology, which may damage the hull's cathodic protection system and generate toxic wastewater, this equipment discharges no wastewater, making the operation process green and environmentally friendly. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the barnacle removal knife assembly in this invention; Figure 4 This is a three-dimensional structural diagram of the lifting component in this invention; Figure 5 This is a three-dimensional structural diagram of the rotating component to be removed in this invention; Figure 6 This is a three-dimensional structural diagram of the barnacle removal component in this invention; Figure 7 This is a partial three-dimensional structural diagram of the barnacle removal component in this invention; Figure 8 This is a three-dimensional structural diagram of the barnacle lifting component in this invention. Figure 1 ; Figure 9 This is a three-dimensional structural diagram of the barnacle lifting component in this invention. Figure 2 ; Figure 10 for Figure 7 Enlarged view of point A in the middle; Figure 11 for Figure 8 Enlarged view of point B in the middle; Figure 12 for Figure 9 Enlarged view of point C in the middle; Figure label: Tracked automatic walking trolley 1, mounting cylinder 10, corrugated sleeve 11, magnet 12; Barnacle Removal Knife Component 2; Remove lifting components 3, base plate 30, lifting motor 31, lifting circular plate 32, lifting ball screw 33, lifting sleeve 34, lifting guide shaft 35, placement cylinder 36, and vertical shaft 37. Remove rotating parts 4, rotating motor 41, drive shaft bearing sleeve 42, drive gear shaft 43, drive spur gear 44, and driven spur gear 45; Barnacle removal component 5, upper mounting plate 50, lower mounting plate 51, bracket 52, flexible arc blade 53, connecting part 54, connecting plate 55, upright plate 56, spring plate 57, rotating shaft 58, connecting block 59; Barnacle prying component 6, prying cam plate 60, cam 600, groove 601, support plate 61, top plate 62, support rod 63, lever 64, steel ball 65, rotating seat 66, pressure rod 67, return spring 68, horizontal plate 69, fixed column 70, first connecting rod 71, second connecting rod 72, third connecting rod 73, prying tool 74. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] The technical solutions of the magnetic barnacle cleaning robot for ship hull surfaces provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Reference Figures 1 to 12 As shown, this embodiment of the invention provides a magnetic barnacle cleaning robot for ship hull surfaces, including a tracked automatic walking trolley 1 and a barnacle removal blade assembly 2. The tracked automatic walking trolley 1 is provided with a mounting cylinder 10, and the mounting cylinder 10 is provided with a corrugated sleeve 11. The tracks of the tracked automatic walking trolley 1 are provided with magnets 12. The barnacle removal blade assembly 2 is located inside the mounting cylinder 10. The barnacle removal blade assembly 2 includes a shovel lifting component 3, a shovel rotating component 4, a barnacle shovel component 5, and a barnacle prying component 6. The shovel rotating component 4 is mounted on the shovel lifting component 3, the barnacle shovel component 5 is connected to the shovel rotating component 4, and the barnacle prying component 6 is located above the barnacle shovel component 5. The shovel lifting component 3 can drive the positions of the barnacle shovel component 5 and the barnacle prying component 6 to rise and fall. The barnacle prying component 6 is located outside the barnacle shovel component 5.

[0025] When the lifting and shoveling component 3 moves upward and drives the barnacle shovel component 5 and the barnacle prying component 6 to rise synchronously, the corrugated sleeve 11 can prevent barnacle debris from flying into the mounting cylinder 10, thus avoiding damage to the internal components.

[0026] This magnetic barnacle cleaning robot for ship hull surfaces uses a tracked automatic walking vehicle 1 as its mobile carrier. Several magnets 12 are installed on its tracks. Relying on the magnetic attraction function of the magnets 12, it is tightly attached to the surface of the ship hull, achieving stable walking and position adjustment. It can avoid falling off even in vertical or inclined parts of the ship hull.

[0027] The mounting cylinder 10 provides a mounting base for the barnacle removal knife assembly 2. The barnacle removal knife assembly 2, as the core actuator, adjusts the overall height of the barnacle removal component 5 and the barnacle prying component 6 through the removal lifting component 3 to adapt to barnacle attachment layers of different thicknesses. When performing barnacle removal operations, the barnacle removal component 5 and the barnacle prying component 6 are lowered simultaneously to work against the surface of the hull. When not working, moving, or pausing, both are raised simultaneously to detach from the surface of the hull and avoid non-operational friction damage. The rotating component 4 drives both components to rotate synchronously, expanding the cleaning coverage area; the barnacle prying component 6 is located outside and above the barnacle removal component 5, first prying and peeling off the attachment points of barnacles and intertwined organisms, and then the barnacle removal component 5 below thoroughly removes the loose attachments, forming a collaborative operation logic of "pry first and then remove", which specifically solves the problem of barnacles tightly adhering to the hull and intertwined growth.

[0028] Specifically, the lifting component 3 includes a base plate 30, a lifting motor 31, a lifting circular plate 32, a lifting ball screw 33, a lifting sleeve 34, and four lifting guide shafts 35. The base plate 30 is horizontally installed on the inner wall of the mounting cylinder 10. The four lifting guide shafts 35 are circumferentially distributed on the base plate 30. The lifting circular plate 32 is slidably connected to the four lifting guide shafts 35. The lifting motor 31 is located at the bottom of the base plate 30, and the lifting ball screw 33 is connected to the output shaft of the lifting motor 31. The lifting sleeve 34 is disposed on the lifting circular plate 32, and the lifting sleeve 34 is threadedly connected to the lifting ball screw 33. The bottom of the lifting circular plate 32 is provided with a placement cylinder 36, and a vertically arranged vertical shaft 37 is fixedly disposed inside the placement cylinder 36.

[0029] The vertical shaft 37 serves as the core transmission and support rod. On the one hand, it provides circumferential rotational support for the passive spur gear 45, allowing the passive spur gear 45 to rotate under the drive of the active spur gear 44. At the same time, it allows the passive spur gear 45 to slide up and down along the vertical shaft 37 to adapt to the lifting and lowering movement of the lifting disc 32. On the other hand, the top of the vertical shaft 37 provides fixed support for the top plate 62 of the barnacle lifting component 6, driving the barnacle lifting component 6 to rise and fall synchronously with the lifting disc 32, ensuring the coordination of movement between the lifting component and the barnacle shovel component 5.

[0030] In this embodiment: After the lifting motor 31 starts, it drives the lifting ball screw 33 to rotate. Since the lifting sleeve 34 is threadedly connected to the lifting ball screw 33 and the lifting sleeve 34 is fixedly connected to the lifting circular plate 32, the rotational motion of the lifting ball screw 33 is converted into the vertical linear motion of the lifting sleeve 34, which in turn drives the lifting circular plate 32 to move up and down along the guide shaft. According to the operational requirements, when the equipment is performing barnacle removal operations, the lifting circular plate 32 drives the upper-connected barnacle removal rotating component 4, barnacle removal component 5, and barnacle prying component 6 to descend synchronously, so that the two are in contact with the hull surface to carry out the "pry then scrape" collaborative operation; when the equipment is moved, paused, or not working, the lifting circular plate 32 drives the three components to rise synchronously, detaching them from the hull surface, so as to avoid friction or collision between the blades and the hull when not in operation. The lifting disc 32 has a precise lifting action that adapts to both working and idle states. It also allows for height adjustment of barnacle adhesion layers of different thicknesses, and can flexibly adjust the distance between the blades and the hull surface according to cleaning needs.

[0031] When idle, the barnacle remover 5 and barnacle pryer 6 are raised to prevent the blades from scratching the hull coating during movement, further reducing the risk of hull damage. This also reduces contact between the blades and the hull and seawater, slowing down blade corrosion and wear, and extending component lifespan. During operation, the blades are precisely lowered to ensure they adhere to the coating, guaranteeing effective cleaning. The overall structure is compact, integrated inside the mounting cylinder 10, without occupying extra space, making it suitable for the robot's confined installation environment. It also boasts high transmission efficiency and lower energy consumption than high-pressure water jet technology, meeting energy-saving requirements.

[0032] Specifically, the shovel-removing rotating component 4 includes a rotary motor 41, a drive shaft bearing sleeve 42, a drive gear shaft 43, a drive spur gear 44, and a driven spur gear 45. The rotary motor 41 is located at the bottom of the base plate 30, the drive shaft bearing sleeve 42 is located at the top of the base plate 30, the drive gear shaft 43 is located inside the drive shaft bearing sleeve 42, the bottom of the drive gear shaft 43 is connected to the output shaft of the rotary motor 41, the drive spur gear 44 is located at the top of the drive gear shaft 43, and the driven spur gear 45 is connected to the vertical shaft 37 and meshes with the drive spur gear 44. The driven spur gear 45 can slide up and down along the vertical shaft 37 and always remains meshed with the drive spur gear 44.

[0033] In this embodiment: After the rotary motor 41 is started, it drives the drive gear shaft 43 to rotate, which in turn drives the top drive spur gear 44 to rotate synchronously. Since the passive spur gear 45 meshes with the drive spur gear 44 and the passive spur gear 45 is fixed to the vertical shaft 37, the rotational driving force of the drive spur gear 44 is transmitted to the passive spur gear 45, causing the passive spur gear 45 and the vertical shaft 37 to rotate together. During the rotation process, the barnacle removal component 5 can rotate 360 ​​degrees to completely remove barnacles from the hull.

[0034] Meanwhile, the passive spur gear 45 can slide up and down along the vertical shaft 37. When the lifting plate 32 drives the vertical shaft 37 to rise and fall, the passive spur gear 45 rises and falls synchronously with the vertical shaft 37, always maintaining a meshing state with the active spur gear 44 to ensure continuous transmission of rotational power.

[0035] Gear meshing transmission has high transmission efficiency and high torque output characteristics. Compared with the flexible cleaning of brush cleaning and the energy-consuming cleaning of high-pressure water jet, it can accurately output sufficient force to drive the barnacle removal part 5 and the prying part to rotate stably, easily dealing with the hard and dense adhesion layer formed by barnacles and shells, without the need for repeated operations.

[0036] Specifically, the barnacle removal component 5 includes a removal frame and a blade structure. The removal frame is connected to the top of the driven spur gear 45, and four blade structures are provided, with the four blade structures located on the removal frame.

[0037] Specifically, the shovel frame includes an upper mounting plate 50 and a lower mounting plate 51. The lower mounting plate 51 is horizontally connected to the top of the driven spur gear 45 and located at the top of the corrugated sleeve 11. The upper mounting plate 50 is provided with four L-shaped brackets 52, which are distributed circumferentially at equal intervals. The upper mounting plate 50 is horizontally connected to the four brackets 52. The upper mounting plate 50 and the lower mounting plate 51 are provided with through holes for the vertical shaft 37 to pass through.

[0038] The barnacle removal component 5 is connected to the driven spur gear 45 via the removal rotating frame. When the driven spur gear 45 rotates, it drives the removal rotating frame to rotate synchronously, thereby driving the four circumferentially distributed blade structures to rotate and operate.

[0039] Specifically, each of the shovel structures includes a connecting block 59 and a plurality of flexible arc-shaped blades 53. The connecting block 59 is located on the top of the bracket 52. The plurality of flexible arc-shaped blades 53 are distributed at equal intervals, and a connecting part 54 is provided between each adjacent flexible arc-shaped blade 53.

[0040] Several flexible arc-shaped blades 53 are evenly distributed, and adjacent flexible arc-shaped blades 53 are connected by a connecting part 54. The flexible nature of the blades can adapt to the curved surface of the hull. During rotation, the oblique edge of the blade contacts the barnacle attachment layer and cuts and removes the barnacles after they have been loosened by the prying part.

[0041] The flexible curved blade 53 can adaptively deform to conform to the curved surface of the hull, fitting the hull parts with different curvatures, eliminating curved blind spots that traditional rigid blades cannot cover, while avoiding damage to the hull coating from hard contact; the multiple blades are evenly distributed and work together in rotation to expand the cleaning coverage area in a single pass, improving cleaning efficiency significantly compared to manual chipping; the design of the connecting part 54 ensures coordinated movement between the blades, preventing breakage due to uneven stress on individual blades, and improving structural stability; the scraper structure is designed for handling loosened barnacles, eliminating the need to forcibly cut tightly adhered attachments, reducing blade wear, and ensuring a more thorough cleaning while preventing the re-attachment of residual barnacles. Specifically, each of the connecting parts 54 includes a connecting plate 55, two upright plates 56, two spring plates 57, and two rotating shafts 58. The two upright plates 56 are respectively located on the top of two adjacent flexible arc-shaped blades 53. The two rotating shafts 58 are respectively connected to the two upright plates 56. The connecting plate 55 is rotatably connected to the two rotating shafts 58. The top of the two spring plates 57 is connected to both ends of the connecting plate 55. The bottom of the two spring plates 57 is respectively connected to the top of the two flexible arc-shaped blades 53. The flexible arc-shaped blades 53 are provided with bevels.

[0042] The connecting part 54 achieves a flexible connection between adjacent flexible arc-shaped blades 53 through a connecting plate 55, a vertical plate 56, a spring plate 57, and a rotating shaft 58. Two vertical plates 56 are fixed to the tops of adjacent blades, and the rotating shaft 58 connects the vertical plates 56 and the connecting plate 55, allowing the connecting plate 55 to rotate around the shaft, thus enabling adaptive adjustment of the angle between the blades. The spring plate 57 is connected at both ends to the connecting plate 55 and the top of the blade, forming an elastic constraint. When the blade deforms against the curved surface of the hull, the angle between adjacent blades changes. The connecting plate 55 rotates around the rotating shaft 58, causing the spring plate 57 to stretch or compress, generating a reverse elastic force. After breaking free from the curved surface constraint, the spring plate 57 drives the blade to return to its initial state. The beveled design on the blade enhances cutting force, making the removal process smoother.

[0043] The elastic constraint of the spring plate 57 allows for flexible adjustment of the angle between the blades, adapting to the complex arcs and irregular areas of the hull, ensuring thorough cleaning without blind spots. The elastic reset function ensures that the blades quickly return to their original shape after detaching from the curved surface, without affecting subsequent cleaning operations on flat or other curved surfaces, thus improving operational continuity. The rotational connection between the connecting plate 55 and the rotating shaft 58, combined with the buffering effect of the spring plate 57, can absorb the impact force during the removal process, reduce blade wear, and prevent the impact force from being transmitted to the hull and causing coating damage. Compared with high-pressure water jet technology, it provides better protection for the hull.

[0044] Specifically, the barnacle lifting component 6 includes a pry cam disc 60, a support disc 61, a top disc 62, and four barnacle pry blades. The top disc 62 is connected to the top of the vertical shaft 37, and the four barnacle pry blades are evenly distributed at the bottom of the top disc 62. The support disc 61 is connected to the bottom of the four barnacle pry blades. The pry cam disc 60 is fixedly connected to the upper mounting disc 50 and rotates with the vertical shaft 37. The pry cam disc 60 has four cams 600 and four grooves 601 evenly distributed on it, with a smooth transition between each groove 601 and cam 600.

[0045] Specifically, each of the barnacle prying tools includes an L-shaped support rod 63, a lever 64, a steel ball 65, a rotating seat 66, a pressure rod 67, a return spring 68, and a horizontal plate 69. One end of the support rod 63 is connected between the support plate 61 and the top plate 62. The rotating seat 66 is located at the top center of the support rod 63. The steel ball 65 is located at one end of the lever 64 and slides between the groove 601 and the cam 600. The horizontal plate 69 is horizontally connected to the bottom of the other end of the support rod 63. The pressure rod 67 is vertically slidably connected to the horizontal plate 69, and the top of the pressure rod 67 is hinged to the other end of the lever 64. The lever 64 is provided with a... The pressure rod 67 has a sliding groove for sliding. The return spring 68 is sleeved on the pressure rod 67. The two ends of the return spring 68 are respectively connected to the pressure rod 67 and the horizontal plate 69. The bottom of the horizontal plate 69 is provided with a fixed post 70. The pressure rod 67 is provided with two hinged first connecting rods 71. The outside of the two first connecting rods 71 ​​is provided with two hinged second connecting rods 72. The bottom of the fixed post 70 is provided with two hinged third connecting rods 73. The bottom of the two third connecting rods 73 is provided with a hinged pry bar 74. The two second connecting rods 72 are respectively hinged between the two third connecting rods 73 and the pry bar 74. The two first connecting rods 71 ​​are hinged to the pry bar 74.

[0046] Four cams 600 and grooves 601 are alternately distributed and smoothly transitioned on the pry cam disk 60. The steel ball 65 at one end of the lever 64 slides on the surface of the cam disk 600. When the pry cam disk 60 is rotated by the scraping frame, the steel ball 65 slides along the curved surface between the cam 600 and the groove 601, driving the lever 64 to rotate around the rotating seat 66. The rotation of the lever 64 drives the pressure rod 67 to rise and fall vertically along the horizontal plate 69. The return spring 68 generates elastic force as the pressure rod 67 extends and retracts. The pressure rod 67 forms a transmission mechanism through the first connecting rod 71, the second connecting rod 72 and the third connecting rod 73, which drives the pry 74 to open and close. The lever 64 principle is used to pry the barnacle attachment point, destroying the adhesive layer between the barnacle and the hull surface, thus facilitating subsequent scraping operations. The barnacle pry bar uses an L-shaped support rod 63 as the mounting carrier. The two ends of the support rod 63 are respectively connected to the support plate 61, the top plate 62 and the horizontal plate 69, forming a stable force-bearing frame. The pivot 66 provides a fulcrum for the lever 64 to rotate. The lever 64 is provided with a groove for the pressure rod 67 to slide. The pressure rod 67 is vertically slidably connected to the horizontal plate 69 and the top of the pressure rod 67 is hinged to the other end of the lever 64 and embedded in the groove. When the steel ball 65 slides between the cam 600 and the groove 601 of the pryer cam disk 60, it drives one end of the lever 64 to swing up and down. With the guidance of the slide groove, it drives the pressure rod 67 to move vertically along the horizontal plate 69. The slide groove can compensate for the trajectory deviation between the swing of the lever 64 and the vertical movement of the pressure rod 67, and avoid transmission jamming. A return spring 68 is sleeved on the pressure rod 67, providing elastic support to the pressure rod 67 and ensuring that the pressure rod 67 always moves in contact with the lever 64. When the pressure rod 67 rises or falls, it drives the second link 72 through the first link 71. The second link 72 is linked with the third link 73 and the pry bar 74, driving the pry bar 74 to open and close around the hinge point. The tip of the pry bar 74 is inserted into the gap between the barnacle and the hull, and the force amplified by the lever 64 is used to pry and peel off the barnacle, completing the attachment point destruction operation.

[0047] The transmission mechanism of cam 600-lever 64-linkage can convert rotational power into the opening and closing power of pry bar 74. By using the principle of lever 64, the prying force is amplified, which can easily destroy the high-strength bio-glue secreted by barnacles and avoid damage to the hull caused by forced removal. Four pry bar 74 units are evenly distributed and correspond to the structural position of the shovel, achieving "synchronous prying and synchronous removal" to improve work efficiency; the return spring 68 ensures that the pry bar 74 quickly returns to its original position after each prying action, adapting to continuous rotational operations; the smooth transition design of the cam 600 and the groove 601 reduces transmission wear and improves the stability of the mechanism; the prying component first destroys the attachment point, and then the removal component cleans it, avoiding repeated operations, reducing equipment energy consumption and wear, and at the same time reducing the residue of acidic metabolic liquid and reducing the risk of hull corrosion.

[0048] The multi-link linkage design precisely controls the opening and closing angle and prying amplitude of the pry bar 74, adapting to barnacles and intertwined organisms of different sizes, avoiding excessive prying that could damage the hull or insufficient prying that could lead to incomplete cleaning. The elastic constraint of the return spring 68 makes the movement of the pry bar 74 smoother, reducing impact, while ensuring the coordination between the movement of the pry bar 74 and the cam 600, improving the continuity of the operation. The hinged design of the pry bar 74 can adapt to the curved surface of the hull, ensuring that the tip of the pry bar 74 always contacts the attachment point, resulting in better prying effect. The overall structure is compact and integrated inside the prying component, working in conjunction with the shovel component to form a complete "pry-shovel" cleaning process. Compared with the existing single cleaning module, the cleaning effect is more thorough, and the protection effect on the hull coating is significantly improved, reducing the cost of ship operation and maintenance.

[0049] The barnacle prying component 6 exerts force from the front, and through the lever 64, it amplifies the force and precisely inserts into the intertwined gap between the barnacle and the shell, destroying the high-strength bio-adhesive layer that adheres to the barnacle and the hull surface. This breaks down the dense and hard adhesion layer into a loose state, completely breaking the traditional equipment's "hard shovel and hard cut" operation mode and providing unobstructed preconditions for the removal component. The subsequent removal parts do not need to face high-intensity adhesion loads. They can be completely removed by the rotational cutting of the flexible arc blade 53. This avoids the residue of the attachment caused by forced cutting and greatly reduces blade wear. It reduces the number of repeated operations from the source and avoids the mechanical wear of equipment and secondary damage to the hull coating caused by repeated operations.

[0050] When rotating synchronously, the prying part can pry and pre-treat the area to be removed in advance, and the removal part follows up to complete the cleaning, preventing the loosened barnacles and shells from re-adhering to the hull surface due to gravity or seawater flow, thus further ensuring the thoroughness of the cleaning. When raised and lowered synchronously, the two parts precisely adhere to the attachment layer during operation. When idle or moved, they detach from the hull synchronously without the need for individual position adjustments. This avoids the blades scraping the hull due to imbalance in the movement of a single component, while also reducing operational delays and time-consuming re-alignment, thus improving operational efficiency.

[0051] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A magnetic barnacle cleaning robot for ship hull surfaces, characterized in that, It includes a tracked automatic walking trolley (1) and a barnacle removal knife assembly (2). The tracked automatic walking trolley (1) is provided with a mounting cylinder (10), the mounting cylinder (10) is provided with a corrugated sleeve (11), and the track of the tracked automatic walking trolley (1) is provided with a number of magnets (12). The barnacle removal knife assembly (2) is located inside the mounting cylinder (10); The barnacle removal knife assembly (2) includes a removal lifting component (3), a removal rotating component (4), a barnacle removal component (5), and a barnacle prying component (6). The barnacle removal rotating component (4) is installed on the barnacle lifting component (3), the barnacle removal component (5) is connected to the barnacle rotating component (4), and the barnacle prying component (6) is located above the barnacle removal component (5); The barnacle removal lifting component (3) can move the position of the barnacle removal component (5) and the barnacle lifting component (6) up and down. The barnacle lifting component (6) is located outside the barnacle removal component (5).

2. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 1, characterized in that: The lifting component (3) includes a base plate (30), a lifting motor (31), a lifting circular plate (32), a lifting ball screw (33), a lifting sleeve (34), and four lifting guide shafts (35). The base plate (30) is horizontally installed on the inner wall of the mounting cylinder (10). The four lifting guide shafts (35) are circumferentially distributed on the base plate (30). The lifting circular plate (32) is slidably connected to the four lifting guide shafts (35). The lifting motor (31) is located at the bottom of the base plate (30), and the lifting ball screw (33) is connected to the output shaft of the lifting motor (31). The lifting sleeve (34) is set on the lifting circular plate (32), and the lifting sleeve (34) is threadedly connected to the lifting ball screw (33).

3. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 2, characterized in that: The bottom of the lifting circular plate (32) is provided with a placement cylinder (36), and a vertically arranged vertical shaft (37) is fixed inside the placement cylinder (36).

4. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 3, characterized in that: The shovel-removing rotating component (4) includes a rotary motor (41), a drive shaft bearing sleeve (42), a drive gear shaft (43), a drive spur gear (44), and a driven spur gear (45). The rotary motor (41) is located at the bottom of the base plate (30), the drive shaft bearing sleeve (42) is located at the top of the base plate (30), the drive gear shaft (43) is located inside the drive shaft bearing sleeve (42), the bottom of the drive gear shaft (43) is connected to the output shaft of the rotary motor (41), the drive spur gear (44) is located at the top of the drive gear shaft (43), and the driven spur gear (45) is connected to the vertical shaft (37) and meshes with the drive spur gear (44). The driven spur gear (45) can slide up and down along the vertical shaft (37) and always maintains meshing with the drive spur gear (44).

5. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 4, characterized in that: The barnacle removal component (5) includes a removal frame and a blade structure. The removal frame is connected to the top of a passive spur gear (45), and four blade structures are provided, with the four blade structures located on the removal frame.

6. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 5, characterized in that: The shovel frame includes an upper mounting plate (50) and a lower mounting plate (51). The lower mounting plate (51) is horizontally connected to the top of the passive spur gear (45) and located at the top of the corrugated sleeve (11). The upper mounting plate (50) is provided with four L-shaped brackets (52). The four brackets (52) are distributed in a circumferentially evenly spaced manner. The upper mounting plate (50) is horizontally connected to the four brackets (52). The upper mounting plate (50) and the lower mounting plate (51) are provided with through holes for the vertical shaft (37) to pass through.

7. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 6, characterized in that: Each of the aforementioned shovel structures includes a connecting block (59) and several flexible arc-shaped blades (53). The connecting block (59) is located at the top of the support (52). The several flexible arc-shaped blades (53) are evenly distributed, and each adjacent flexible arc-shaped blade (53) is provided with a connecting part (54). The flexible arc-shaped blades (53) are provided with bevels.

8. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 7, characterized in that: Each of the connecting parts (54) includes a connecting plate (55), two upright plates (56), two spring plates (57), and two rotating shafts (58). The two upright plates (56) are respectively located on the top of two adjacent flexible arc blades (53). The two rotating shafts (58) are respectively connected to the two upright plates (56). The connecting plate (55) is rotatably connected to the two rotating shafts (58). The top of the two spring plates (57) is connected to both ends of the connecting plate (55), and the bottom of the two spring plates (57) is respectively connected to the top of the two flexible arc blades (53).

9. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 3, characterized in that: The barnacle lifting component (6) includes a pry cam disc (60), a support disc (61), a top disc (62), and four barnacle pry sections. The top disc (62) is connected to the top of the vertical shaft (37). The four barnacle pry sections are evenly distributed at the bottom of the top disc (62). The support disc (61) is connected to the bottom of the four barnacle pry sections. The pry cam disc (60) is fixedly connected to the upper mounting disc (50) and rotates with the vertical shaft (37). The pry cam disc (60) has four cams (600) and four grooves (601) evenly distributed on it. Each groove (601) and cam (600) transitions smoothly.

10. The magnetic barnacle cleaning robot for ship hull surfaces according to claim 9, characterized in that: Each of the barnacle prying parts includes an L-shaped support rod (63), a lever (64), a steel ball (65), a rotating seat (66), a pressure rod (67), a return spring (68), and a horizontal plate (69). One end of the support rod (63) is connected between the support plate (61) and the top plate (62). The rotating seat (66) is located at the top center of the support rod (63). The steel ball (65) is located at one end of the lever (64) and slides between the groove (601) and the cam (600). The horizontal plate (69) is horizontally connected to the bottom of the other end of the support rod (63). The pressure rod (67) is vertically slidably connected to the horizontal plate (69), and the top of the pressure rod (67) is hinged to the other end of the lever (64). The lever (64) is provided with... A sliding groove for sliding the pressure rod (67) is provided. The return spring (68) is sleeved on the pressure rod (67). The two ends of the return spring (68) are respectively connected to the pressure rod (67) and the horizontal plate (69). The bottom of the horizontal plate (69) is provided with a fixed post (70). The pressure rod (67) is provided with two hinged first connecting rods (71). The outside of the two first connecting rods (71) is provided with two hinged second connecting rods (72). The bottom of the fixed post (70) is provided with two hinged third connecting rods (73). The bottom of the two third connecting rods (73) is provided with a hinged pry bar (74). The two second connecting rods (72) are respectively hinged between the two third connecting rods (73) and the pry bar (74). The two first connecting rods (71) are hinged to the pry bar (74).

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