Underwater ship cleaning robot

Abstract

The invention relates to the technical field of ship cleaning, and provides an underwater ship cleaning robot which comprises a bearing part and a cleaning part. The movable driving part is arranged on the bearing part; the cleaning part comprises a first cleaning part and at least one second cleaning part; the first cleaning part is arranged on the bearing part and used for defining a first cleaning space with a ship bottom shell, and the first cleaning part is provided with a recovery channel communicating with the first cleaning space; and the second cleaning part is arranged in the first cleaning space and is used for cleaning the hard marine organisms in the first cleaning space. According to the underwater ship cleaning robot provided by the invention, the problem that in the prior art, when the underwater ship cleaning robot cleans soft aquatic plant type fouling and hard marine organism type fouling attached to the surface of a ship bottom shell under the ocean underwater working condition, the underwater ship cleaning robot cannot clean the surface of the ship bottom shell; and differential cleaning of soft and hard stains and overflow of the stains are difficult to consider at the same time.

Description

Technical Field

[0001] This application relates to the field of ship cleaning technology, and in particular to an underwater ship cleaning robot. Background Technology

[0002] During navigation and anchoring in the marine environment, soft aquatic plants, algae, and hard marine organisms such as barnacles and oysters continuously adhere to the surface of the ship's hull. These fouling substances significantly increase the ship's drag and fuel consumption, while also damaging the anti-corrosion coating and accelerating hull corrosion, seriously affecting navigation safety and operational economy. Therefore, regular, efficient, and non-destructive cleaning of the ship's hull is necessary. With the International Maritime Organization's MARPOL Convention imposing increasingly stringent requirements on the control of marine spread of fouling from underwater cleaning of ships, extremely high industry demands have been placed on the fouling spread control capabilities and environmental adaptability of cleaning robots.

[0003] Underwater ship cleaning robots in related technologies mostly adopt high-pressure jet structures, which are difficult to adapt to the different cleaning needs of soft long-fiber aquatic plants and hard marine organisms. They have extremely poor cleaning effect on soft aquatic plant fouling, and the fouling debris generated during cleaning is very easy to spread with seawater, which violates marine environmental protection control requirements. Summary of the Invention

[0004] This application provides an underwater ship cleaning robot, which can improve the technical problem in the related technology that when underwater ship cleaning robots are used to clean soft aquatic plant fouling and hard marine organism fouling on the surface of the ship's hull under marine underwater conditions, it is difficult to simultaneously take into account the different cleaning of soft and hard fouling and the overflow of fouling.

[0005] Load-bearing part; A mobile drive unit, disposed on the support unit, is used to adhere to the hull and drive the support unit to move; and The cleaning unit includes a first cleaning unit and at least one second cleaning unit; the first cleaning unit is disposed on the support unit and is used to enclose a first cleaning space between itself and the hull bottom, and the first cleaning unit has a recycling channel connected to the first cleaning space; the second cleaning unit is disposed within the first cleaning space and is used to clean hard marine organisms within the first cleaning space. Wherein, at least a portion of the first cleaning section is movable to clear aquatic plants and direct water into the first cleaning space, and / or, at least a portion of the second cleaning section is movable to clear aquatic plants.

[0006] The technical solutions described in this application embodiment have at least the following technical effects: The underwater ship cleaning robot provided in this application provides stable structural support and installation benchmark for the mobile drive unit and the cleaning unit through the carrier unit; the mobile drive unit, which integrates adsorption and walking functions, enables the underwater ship cleaning robot to stay and move on the bottom of the ship; by using the first cleaning unit, which is arranged around the circumference of the carrier unit and has a recycling channel, a first cleaning space is formed, which realizes the targeted treatment of soft aquatic plant fouling and the control of fouling spillage. Then, the second cleaning unit, which is nested in the first cleaning space, realizes differentiated and efficient cleaning of hard marine organisms. With the directional conveying function of the first cleaning space and the recycling channel, cleaning and fouling recovery are carried out simultaneously, thereby improving the technical problems of existing underwater cleaning robots that are difficult to effectively clean both soft and hard fouling and that fouling is easy to spread and does not meet environmental protection requirements. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the structure of the underwater ship cleaning robot provided in the embodiments of this application; Figure 2 A bottom view of the underwater ship cleaning robot provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the cleaning unit provided in an embodiment of this application; Figure 4 This is a partial cross-sectional view of the first cleaning section provided in an embodiment of this application; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a partial structural diagram of the stirring device provided in the embodiments of this application; Figure 7 For along Figure 6 A cross-sectional view of the stirring device in the middle.

[0009] The following are the labeling elements in the figure: 100. Underwater ship cleaning robot; 10. Load-bearing unit; 20. Motion drive unit; 21. Adsorption device; 22. Motion drive unit; 30. Cleaning unit; 40. First cleaning unit; 41. Mounting plate; 411. Recycling channel; 412. First cleaning space; 413. Guide structure; 4131. Guide rod; 4132. Guide wheel; 42. Brush skirt; 43. Agitation device; 431. Transmission mechanism; 4311. Transmission wheel; 4312. Drive component; 4313. Chain; 43 2. Stirring mechanism; 4321. Support part; 43211. Fixed structure; 43212. Fixed space; 4322. Stirring part; 43221. Drum; 432211. Spiral groove; 432212. Fixed groove; 432213. Horn groove; 43222. Bearing; 43223. Brush bristles; 50. Second cleaning part; 51. Jet plate; 511. Second cleaning space; 512. Circulation hole; 52. Jet pipe; 53. Nozzle; 60. Camera device; 70. Searchlight. Detailed Implementation

[0010] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0011] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. The terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0012] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0013] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0014] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0015] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0016] It should be noted that in this application, the words "in some embodiments," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in some embodiments," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "in some embodiments," "exemplarily," and "for example" is intended to present related concepts in a specific manner, meaning that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of this application. The appearance of the above words in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0017] During navigation and anchoring in the marine environment, soft aquatic plants, algae, and hard marine organisms such as barnacles and oysters continuously adhere to the surface of the ship's hull. These fouling substances significantly increase the ship's drag and fuel consumption, while also damaging the anti-corrosion coating and accelerating hull corrosion, seriously affecting navigation safety and operational economy. Therefore, regular, efficient, and non-destructive cleaning of the ship's hull is necessary. With the International Maritime Organization's MARPOL Convention imposing increasingly stringent requirements on the control of marine spread of fouling from underwater cleaning of ships, extremely high industry demands have been placed on the fouling spread control capabilities and environmental adaptability of cleaning robots.

[0018] In related technologies, underwater ship cleaning robots currently available mostly adopt high-pressure jet structures, which are difficult to adapt to the different cleaning needs of soft long-fiber aquatic plants and hard marine organisms. They have extremely poor cleaning effect on soft aquatic plant fouling, and the fouling debris generated during cleaning is very easy to spread with seawater, which violates marine environmental protection control requirements.

[0019] Based on this, in order to improve the technical problem that underwater ship cleaning robots in related technologies are unable to simultaneously address the differentiated cleaning of soft aquatic plant fouling and hard marine organism fouling on the surface of ship hulls under marine underwater conditions, and to prevent fouling from overflowing, the embodiments of this application provide the following solutions.

[0020] Please refer to the following: Figure 1 and Figure 2 This application provides an underwater ship cleaning robot 100, which includes a carrying unit 10, a moving drive unit 20 and a cleaning unit 30. The cleaning unit 30 includes a first cleaning unit 40 and a second cleaning unit 50.

[0021] The moving drive unit 20 is disposed on the support unit 10 for adhering to the bottom hull of the ship and driving the support unit to move 10.

[0022] The cleaning section 30 includes a first cleaning section 40 and at least one second cleaning section 50. The first cleaning section 40 is disposed on the support section 10 and is used to enclose a first cleaning space 412 between itself and the bottom hull. The first cleaning section 40 has a recycling channel 411 communicating with the first cleaning space 412. The second cleaning section 50 is disposed within the first cleaning space 412 and is used to clean hard marine organisms within the first cleaning space 412.

[0023] At least a portion of the first cleaning section 40 is movable to clean aquatic plants and direct water toward the first cleaning space 412, and / or at least a portion of the second cleaning section 50 is movable to clean aquatic plants.

[0024] It is understood that the bearing unit 10, as a rigid bearing base, provides a unified and stable installation reference and structural support for the mobile drive unit 20 and the cleaning unit 30. For example, the material of the bearing unit 10 can be high-strength corrosion-resistant aluminum alloy, fiberglass, etc., but is not limited to these.

[0025] The mobile drive unit 20 is a device capable of generating stable wall-adhesive force, firmly adhering to the surface of the ship's bottom hull, adapting to curved surfaces, slippery coated surfaces, and underwater current disturbances, preventing detachment during operation, and outputting driving force to move the support unit 10 along the surface of the ship's bottom hull. The moving speed can be adjusted to match the cleaning efficiency of the cleaning unit 30. For example, the mobile drive unit 20 may include an adsorption device 21 (permanent magnet adsorption unit, electromagnetic adsorption component, negative pressure adsorption component, etc.) and a walking device (tracked drive device, magnetic wheel drive device, etc.). The adsorption device 21 may be mounted on the support unit 10 for adsorption onto the surface of the ship's bottom hull, and the walking device may be mounted on the support unit 10 for driving the support unit 10 to move along the surface of the ship's bottom hull, etc., but is not limited to these.

[0026] The cleaning unit 30 consists of a first cleaning unit 40 and at least one second cleaning unit 50. The first cleaning unit 40 is a device that can crush and treat long-fiber fouling such as soft aquatic plants and algae in the first cleaning space 412 and form a full-circumferential protective barrier to prevent the treated aquatic plants and hard marine organism debris from overflowing outside the first cleaning space 412, thus avoiding fouling from entering the ocean and causing pollution, while providing space for the recycling of fouling. For example, at least a portion of the first cleaning section 40 may include an annular mounting plate 41 (aluminum plate, fiberglass plate, etc.), sealing strips (EPDM rubber sealing strips, neoprene rubber sealing strips, etc.), a drive motor (stepper motor, servo motor, etc.), and bristles 43223 (nylon bristles 43223, polypropylene bristles 43223, etc.). The annular mounting plate 41 may be disposed on the support section 10, has a recycling channel 411, and forms a first cleaning space 412 with the sealing strip and the bottom hull. The drive motor may be disposed on the support section 10, and the bristles 43223 may be disposed on the output shaft of the drive motor and located within the first cleaning space 412. The drive motor is used to drive the bristles 43223 to rotate to break up the aquatic plants located within the first cleaning space 412.

[0027] The second cleaning unit 50 is a device capable of specifically treating hard marine organisms and / or aquatic plants such as barnacles, oysters, and calcified algae. It removes hard fouling from the surface of the ship's bottom coating through high-pressure jetting and cavitation erosion. The removed fouling debris is discharged into the first cleaning space 412, where the first cleaning unit 40 intercepts, prevents overflow, and recovers it. For example, the second cleaning unit 50 can be installed on the support unit 10 or on the first cleaning unit 30, but it is not limited to these. The second cleaning unit 50 can be a cavitation jet cleaning head, a high-pressure water jet cleaning head, or it can include a rotating jet pipe (single-tube direct-injection rotating jet pipe, double-tube symmetrical rotating jet pipe, multi-tube radial rotating jet pipe, etc.), a high-pressure water pump (high-pressure plunger pump, hydraulically driven high-pressure pump, etc.), and a cavitation jet nozzle (Venturi cavitation nozzle, self-excited oscillating cavitation nozzle, vortex cavitation nozzle, etc.). The high-pressure water pump can be installed on the support unit 10, on the ship, on the shore, etc., but it is not limited to these locations. The rotating jet tube can be rotatably mounted on the support part 10 and connected to the output end of the high-pressure water pump through a pipe. The cavitation jet nozzle can be mounted at the output end of the rotating jet tube.

[0028] As can be seen from the above, the underwater ship cleaning robot 100 provided in this application embodiment provides stable structural support and installation benchmark for the mobile drive unit 20 and the cleaning unit 30 through the support unit 10; the mobile drive unit 20, which integrates adsorption and walking functions, enables the underwater ship cleaning robot 100 to stay and move on the bottom of the ship; by using the first cleaning unit 40 arranged circumferentially along the support unit 10 and equipped with a recycling channel 411 to enclose and form a first cleaning space 412, targeted treatment of soft aquatic plant fouling and control of fouling spillage are achieved; and the second cleaning unit 50 nested in the first cleaning space 412 achieves differentiated and efficient cleaning of hard marine organisms. With the directional conveying function of the first cleaning space 412 and the recycling channel 411, cleaning and fouling recycling are carried out simultaneously, thereby improving the technical problems of existing underwater cleaning robots that are difficult to simultaneously handle efficient cleaning of soft and hard fouling and that fouling is easy to spread and does not meet environmental protection requirements.

[0029] In some embodiments, the underwater ship cleaning robot 100 also includes a suction unit.

[0030] The suction unit is connected to the recovery channel 411 and is used to extract the treated aquatic plants and / or hard marine organisms in the first cleaning space 412 through the recovery channel 411.

[0031] It is understood that the suction unit is a device that provides stable and controllable negative pressure suction power to the recovery channel 411 and the first cleaning space 412 through the recovery channel 411, and performs directional and continuous suction and transportation of soft aquatic plants and algae debris that have been crushed in the first cleaning space 412, as well as hard marine biofouling that has been removed from the second cleaning section 50 and discharged into the first cleaning space 412, to prevent the biofouling from accumulating in the first cleaning space 412 and overflowing into the external marine environment. For example, the suction unit can be an anti-tangling sewage pump, a self-priming centrifugal pump, a diaphragm suction pump, etc., but is not limited to these. The suction unit can be installed on the shore or on a ship, and the input end of the suction unit can be connected to the recovery channel 411 through a pipe (steel wire reinforced flexible pipe, corrugated flexible pipe, etc.).

[0032] This configuration, through a suction unit directly connected to the recovery channel 411, provides stable negative pressure suction power to the recovery channel 411 and the first cleaning space 412, enabling the active directional transport and collection of cleaned debris. During operation, the suction unit continuously generates negative pressure, which is transmitted through the recovery channel 411 to the first cleaning space 412 enclosed by the first cleaning unit 40. This negative pressure draws out aquatic plants and algae treated by the first cleaning unit 40, as well as hard marine biofouling discharged after being peeled off by the second cleaning unit 50, through the recovery channel 411. This improves the problem of ineffective debris recovery and easy diffusion that pollutes the marine environment, ensuring the high efficiency of ship bottom cleaning.

[0033] In some embodiments, please refer to the following: Figures 1 to 3 At least a portion of the first cleaning section 40 is movable to clear aquatic plants and direct water toward the first cleaning space 412. The first cleaning section 40 includes a mounting plate 41, a brush skirt 42, and a stirring device 43.

[0034] Mounting plate 41 is disposed on bearing portion 10 and has recycling channel 411.

[0035] The brush skirt 42 is disposed on the mounting plate 41 along the circumference of the mounting plate 41, and the mounting plate 41, the brush skirt 42 and the bottom shell of the ship enclose a first cleaning space 412.

[0036] The stirring device 43 is located in the first cleaning space 412 and is arranged on the mounting plate 41 along the circumference of the mounting plate 41. It is located between the brush skirt 42 and the second cleaning part 50. The stirring device 43 is used to treat the aquatic plants in the first cleaning space 412 and prevent the treated aquatic plants and / or hard marine organisms from overflowing out of the first cleaning space 412.

[0037] It is understood that the mounting plate 41 is a plate-like structure that serves as the main sealing structure of the first cleaning space 412. It is fixedly assembled onto the bearing part 10. The mounting plate 41 has an integrated through-type recycling channel 411 (or is connected to a pipe with a recycling channel 411 by welding) to provide a transmission path for the negative pressure transmission and contamination recovery of the suction part. For example, the mounting plate 41 can be a corrosion-resistant aluminum alloy plate, fiberglass plate, etc. The mounting plate 41 can adopt a rectangular plate-like structure with rounded corners, a circular plate-like structure, an elliptical plate-like structure, etc., but is not limited to these.

[0038] The brush skirt 42 is a flexible outer enclosure component that is arranged in a closed loop around the circumference of the mounting plate 41. It is continuously arranged in a closed loop around the lower edge of the mounting plate 41. The working side facing the bottom hull can flexibly fit against the bottom surface of the ship. The brush skirt 42, the mounting plate 41, and the bottom hull together enclose the first cleaning space 412 to prevent the dirt generated during cleaning from spreading to the external marine environment. It is the outer barrier of the first cleaning space 412. For example, the brush skirt 42 may include bristle bundles 43223 (wear-resistant nylon bristle bundles, polyurethane bristle bundles, etc.) and a base (aluminum alloy base, engineering plastic base, etc.). The base is disposed at the lower edge of the mounting plate 41 along the circumference of the mounting plate 41, and the bristle bundles 43223 are disposed on the fixed base, etc., but not limited to this. The base may be connected to the bearing part 10 in a floating manner by springs (coil springs, disc springs, etc.) evenly spaced along the circumference of the mounting plate 41, so that the base is oriented towards the bristles. A stable pre-tightening downward pressure is continuously applied to the side of the brush skirt 42 toward the bottom hull, ensuring that the bristle tips of the brush skirt 42 are always in close contact with the surface of the bottom hull. At the same time, with the help of the multi-degree-of-freedom deflection margin and elastic floating compensation capability of the base, even if the brush skirt 42 has a large radial working width, it can adaptively adjust the contact posture according to the curvature of the bottom hull, weld protrusions and other local irregular structures, and complete multi-directional tilting deflection and position compensation within the preset angle range, so as to achieve contact coverage of the bottom hull with different curvature surfaces.

[0039] The stirring device 43, as the cleaning execution component of the first cleaning section 40, is located entirely within the first cleaning space 412. It is arranged in a closed loop around the mounting plate 41 and is located in the annular area between the brush skirt 42 and the second cleaning section 50. It is a device for treating soft aquatic plant debris, converging debris, and preventing overflow. The stirring device 43 can specifically treat soft, long-fiber aquatic plants and algae in the first cleaning space 412. Through rotation, stirring, and shearing actions, it breaks the long-fiber aquatic plants into short fibers, preventing them from tangling and clogging the cleaning mechanism, the recycling channel 411, and the suction unit. Through its own rotation, it directs the dirt (aquatic plant debris and hard marine organism fragments) moving towards the brush skirt 42 toward the inside of the first cleaning space 412 and the entrance of the recycling channel 411. This prevents the dirt from reaching the brush skirt 42 and causing overflow, and guides the dirt to converge toward the recycling channel 411, improving the suction and recycling efficiency. Together with the brush skirt 42, it forms a dual anti-overflow system, improving the problem of the spread of marine fouling. For example, the agitation device 43 may include multiple drive motors (underwater servo motors, stepper motors, etc.) and multiple brush heads (wear-resistant nylon brush heads, polyurethane brush heads, etc.). The drive motors correspond one-to-one with the brush heads. The drive motors are arranged sequentially on the mounting plate 41 along the circumference of the mounting plate 41, and the brush heads are arranged on the rotating output shaft of the drive motors. The drive motors drive the brush heads to rotate, thereby agitating and breaking up soft aquatic plant debris. The rotation of the brush heads also guides the debris moving towards the brush skirt 42 towards the inside of the first cleaning space 412 and the inlet of the recovery channel 411, etc., but is not limited to this.

[0040] This configuration, using the mounting plate 41 with integrated recycling channel 411 as the mounting base of the first cleaning section 40, provides a stable mounting reference and structural support for the brush skirt 42 and the agitation device 43. It also establishes a channel for the directional recycling of contaminants. The brush skirt 42, arranged in a closed loop around the mounting plate 41, together with the mounting plate 41 and the hull, forms the first cleaning space 412, creating the first outer barrier against contaminant overflow. Simultaneously, the agitation device 43, positioned between the brush skirt 42 and the second cleaning section 50, specifically breaks up soft aquatic plant contaminants within the first cleaning space 412. Its centripetal gathering action creates a second line of defense against contaminant overflow, forming a dual overflow prevention system with the brush skirt 42. This improves the poor cleaning effect of soft aquatic plants and the easy spread of contaminants, enabling collaborative operation with the internal second cleaning section 50 and enhancing the equipment's operational efficiency, environmental compliance, and operational stability.

[0041] In some embodiments, please refer to the following: Figures 2 to 7 The mounting plate 41 has multiple guide structures 413 on the inner wall near the first cleaning space 412, and the cleaning and stirring device 43 includes a transmission mechanism 431 and multiple cleaning and stirring mechanisms 432.

[0042] The transmission mechanism 431 is located in the first cleaning space 412 and is disposed on the mounting plate 41 along the circumference of the mounting plate 41.

[0043] Multiple agitation mechanisms 432 are located in the first cleaning space 412 and are sequentially arranged on the transmission mechanism 431. Each agitation mechanism 432 has a spiral groove 432211 and slides with the guide structure 413 through the spiral groove 432211.

[0044] The transmission mechanism 431 is used to drive the cleaning mechanism 432 to move along the revolution direction. The cleaning mechanism 432 is used to process the aquatic plants and / or hard marine organisms in the first cleaning space 412 when moving along the revolution direction, and prevents the processed aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space 412 through sliding cooperation with the guide structure 413. The revolution direction is the circumference of the mounting plate 41.

[0045] It can be understood that the guide structure 413 is a sliding guide component that is fixed on the inner wall of the mounting plate 41 near the first cleaning space 412 and precisely matches the spiral groove 432211 of the agitation mechanism 432. It is a triggering and constraining component that converts the revolution motion of the agitation mechanism 432 into its rotation motion. It is arranged circumferentially along the mounting plate 41 and provides accurate and continuous mechanical constraints for the rotation motion of the agitation mechanism 432 through stable sliding cooperation with the spiral groove 432211. The guide structure 413, through its sliding engagement with the spiral groove 432211, converts the circumferential revolution of the agitation mechanism 432 (drum 43221) into its own rotation around its axis without the need for an additional drive motor. This reduces underwater dynamic sealing points and solves the problems of easy water ingress and high failure rate in multi-drive structures. Furthermore, through precise structural matching, the rotation direction and speed of the agitation mechanism 432 can be directionally controlled, enabling the agitation mechanism 432 to form a stable centripetal rotation, continuously gathering dirt towards the center of the mounting plate 41 and preventing aquatic plants and hard marine debris from spreading outwards from the first cleaning space 412. For example, the guide structure 413 can be a high-strength, corrosion-resistant stainless steel rod, an engineering plastic rod, etc., but is not limited to these.

[0046] The transmission mechanism 431, as the core of the circumferential revolution power of the agitation device 43, is located within the first cleaning space 412 and is arranged in a closed loop along the circumferential direction on the inner side wall of the mounting plate 41. It serves as the transmission intermediary connecting the driving power and each agitation mechanism 432. The function of the transmission mechanism 431 is to output a continuous and stable circumferential driving force, driving multiple sequentially arranged agitation mechanisms 432 to move continuously in a closed loop along the circumference (i.e., revolution direction) of the mounting plate 41, ensuring the consistency of the actions of the multiple agitation mechanisms 432. For example, the transmission mechanism 431 may include a driving transmission component (sprocket, pulley, etc.), at least one driven transmission component (sprocket, pulley, etc.), an underwater waterproof drive motor (servo motor, stepper motor, etc.), and a transmission mounting component (stainless steel roller chain, polyurethane wear-resistant transmission belt, etc.). The driving transmission component and each driven transmission component are rotatably mounted on the mounting plate 41. The driving transmission component is connected to the rotating output shaft of the underwater waterproof drive motor. The transmission mounting component is simultaneously connected to the driving transmission component and each driven transmission component. The cleaning mechanism 432 may be mounted on the transmission mounting component, etc., but is not limited to these.

[0047] The stirring mechanism 432 is the cleaning execution unit of the stirring device 43. Multiple sets are fixed on the transmission mechanism 431 in sequence and can revolve around the mounting plate 41 synchronously with the transmission mechanism 431. The main body (roller 43221) of the stirring mechanism 432 has a spiral groove 432211 that slides with the guide structure 413. While revolving with the transmission mechanism 431, it rotates by cooperating with the guide structure 413. The rotation action crushes and shears long-fiber aquatic plants and algae in the first cleaning space 412, and disperses hard marine debris to avoid entanglement and blockage of the recycling channel 411 and the suction part. Through the spiral guiding effect of the rotation, the dirt moving towards the brush skirt 42 is continuously pushed in a direction towards the inside of the first cleaning space 412 and the entrance of the recycling channel 411, preventing the dirt from overflowing outside the first cleaning space 412, forming a double anti-overflow system with the brush skirt 42. For example, the agitation mechanism 432 may include a drive motor (underwater servo motor, stepper motor, etc.) and a brush head (wear-resistant nylon brush head, polyurethane brush head, etc.). The drive motor is mounted on the transmission mechanism 431 and is used to follow the revolution of the transmission mechanism 431. The brush head is mounted on the rotation output shaft of the drive motor. The drive motor is used to drive the brush head to rotate to break up long-fiber aquatic plants in the first cleaning space 412. The guide effect generated by the rotation of the brush head will continuously push the dirt moving towards the brush skirt 42 towards the inside of the first cleaning space 412 and the inlet of the recycling channel 411, etc., but is not limited to this.

[0048] The stirring mechanism 432 revolves in a closed loop along the circumference of the mounting plate 41, following the transmission mechanism 431. The direction of the revolution is consistent with the circumferential extension direction of the mounting plate 41 (the direction of revolution is the closed loop direction extending along the circumference of the mounting plate 41), and it is adapted to the contour shape of the mounting plate 41. When the mounting plate 41 is a circular plate structure, the revolution trajectory of the stirring mechanism 432 is a perfectly circular closed loop coaxial with the mounting plate 41; when the mounting plate 41 is a rounded rectangular plate structure, the revolution trajectory of the stirring mechanism 432 is a rectangular closed loop with rounded corners adapted to the contour of the mounting plate 41; when the mounting plate 41 is an elliptical plate structure, the revolution trajectory of the stirring mechanism 432 is an elliptical closed loop adapted to the contour of the mounting plate 41.

[0049] This configuration, by setting a guide structure 413 matching the cleaning mechanism 432 on the inner side wall of the mounting plate 41, provides a constraint reference for the motion conversion of the cleaning mechanism 432. Then, through the transmission mechanism 431 arranged circumferentially along the mounting plate 41, a single drive source drives multiple sets of cleaning mechanisms 432 to continuously revolve around the mounting plate 41. At the same time, through the sliding cooperation between the spiral groove 432211 on the cleaning mechanism 432 and the guide structure 413, the purely mechanical revolve motion of the cleaning mechanism 432 is converted into synchronous rotational motion. There is no need to set up multiple independent drive units. The cleaning mechanism 432 uses a composite motion of revolve and rotation to process aquatic plants and hard marine debris in the first cleaning space 412. Through directional centripetal rotation, the fouling is gathered inward, preventing the fouling from spreading outward from the first cleaning space 412. This improves the technical problems of poor cleaning effect of soft aquatic plants and easy diffusion of fouling, which does not meet environmental protection requirements. It also improves the efficiency, environmental compliance and operational stability of the bottom cleaning operation.

[0050] In some embodiments, please refer to the following: Figures 2 to 4 The transmission mechanism 431 includes at least one transmission wheel 4311, a driving member 4312, and a chain 4313.

[0051] The drive wheel 4311 is rotatably mounted on the mounting plate 41.

[0052] The drive component 4312 is mounted on the mounting plate 41 and is connected to one of the drive wheels 4311.

[0053] Chain 4313 is connected to each drive wheel 4311 for transmission.

[0054] The drive component 4312 is used to drive the transmission wheel 4311 to rotate, so as to drive the chain 4313 to move along the revolution direction. The chain 4313 is composed of multiple chain links that are hinged end to end. Each chain link includes a chain plate that is hinged to each other. Each cleaning and stirring mechanism 432 is set on each chain plate in a corresponding manner.

[0055] It can be understood that the transmission wheel 4311 is a rotary transmission and trajectory guiding component of the transmission mechanism 431. It is rotatably fixed on the mounting plate 41 and meshes with the chain 4313 for transmission. It is an intermediate carrier connecting the power of the drive component 4312 and the closed-loop motion of the chain 4313. At least one set is provided to provide precise reversing, tensioning, and transmission support for the circumferential revolution of the chain 4313. For example, the transmission wheel 4311 can be a tension sprocket, a guide sprocket, a tensioning sprocket, a stainless steel corrosion-resistant sprocket, etc., but is not limited to these.

[0056] The drive component 4312 is the sole power source for the revolution of the agitation device 43. It is fixedly mounted on the mounting plate 41, and its output end is rigidly connected to one of the drive transmission wheels 4311. It is the actuator that provides power for the revolution of the chain 4313 and the full-circumference movement of the agitation mechanism 432. For example, the drive component 4312 can be a waterproof servo motor, a stepper motor, etc., but is not limited to these.

[0057] The chain 4313 serves as the power transmission and mounting carrier for the transmission mechanism 431 and the cleaning mechanism 432. It meshes with all the transmission wheels 4311 to form a closed-loop transmission system. It is composed of multiple sets of chain plates hinged end-to-end, allowing for flexible adaptation to changes in trajectory, including straight and rounded sections. Each set of chain plates corresponds to a set of cleaning mechanisms 432, serving as the component connecting the driving power and the cleaning execution unit. For example, the chain 4313 can be a stainless steel roller chain, a double-row roller chain, etc., but is not limited to these.

[0058] With this configuration, the driving component 4312 serves as the sole power source for the cleaning device 43. It works in conjunction with the transmission wheel 4311, which is rotatably mounted on the mounting plate 41, to reverse the power and guide the trajectory. The rotational power of the driving component 4312 is converted into continuous revolution along the circumference of the mounting plate 41 by a closed-loop chain 4313 composed of multiple sets of hinged chain plates that meshes with the transmission wheel 4311. At the same time, the chain plates are installed in a one-to-one correspondence with the cleaning mechanism 432, so that all cleaning mechanisms 432 can revolve synchronously and equidistantly. This configuration creates a single-drive cleaning transmission system adapted to underwater working conditions, providing stable power and motion support for the cleaning mechanism 432 to achieve efficient cleaning and prevent spillage.

[0059] After the drive unit 4312 is started, it drives the active transmission wheel 4311 to rotate. The transmission wheel 4311 drives the closed-loop chain 4313 to move continuously along the circumferential revolution direction of the mounting plate 41 through meshing with the chain 4313. During the movement of the chain 4313, it drives the cleaning mechanism 432 fixed on each chain plate to move synchronously in the revolution direction. In conjunction with the guide structure 413 on the mounting plate 41, the cleaning mechanism 432 can realize the combined operation of revolution and rotation, and complete the functions of breaking up aquatic plants, guiding dirt and preventing overflow.

[0060] In some embodiments, please refer to the following: Figures 4 to 7The stirring mechanism 432 includes a support part 4321 and a stirring part 4322.

[0061] The support part 4321 is mounted on the transmission mechanism 431.

[0062] The stirring part 4322 is rotatably connected to the support part 4321 and has a spiral groove 432211.

[0063] The spiral groove 432211 is slidably engaged with the guide structure 413. The support part 4321 is used to drive the stirring part 4322 to move along the revolution direction. The stirring part 4322 is used to process the aquatic plants and / or hard marine organisms in the first cleaning space 412 when moving along the revolution direction. It rotates through the sliding engagement of the spiral groove 432211 and the guide structure 413, thereby preventing the processed aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space 412.

[0064] It can be understood that the support portion 4321 is the connecting and bearing base of the stirring mechanism 432, fixedly mounted on the chain plate 4313 of the transmission mechanism 431. It serves as an intermediate carrier connecting the transmission mechanism 431 and the stirring portion 4322, providing a stable rotational mounting reference and traction support for the revolution movement of the stirring portion 4322. Simultaneously, it provides protective mounting space for the bearing 43222, ensuring that the stirring mechanism 432 moves synchronously with the transmission mechanism 431. For example, the material of the support portion 4321 can be corrosion-resistant engineering plastics, stainless steel, etc., but is not limited to these.

[0065] The agitation part 4322 is the main cleaning actuator of the agitation mechanism 432. It forms a low-friction rotational connection with the support part 4321 through the bearing 43222. The outer wall of the main body of the agitation part 4322 has a spiral groove 432211 that is precisely matched with the guide structure 413. It can complete the circumferential revolution synchronously with the support part 4321. At the same time, it can rotate around its own axis through the sliding cooperation between the spiral groove 432211 and the guide structure 413. It is the actuator for removing fouling from the bottom of the ship and converging the fouling to prevent spillage. For example, the stirring part 4322 may include a rotating cylinder (stainless steel cylinder, corrosion-resistant engineering plastic cylinder) and bristles 43223 (wear-resistant nylon bristles 43223, polyurethane bristles 43223, etc.). The rotating cylinder is rotatably connected to the support part 4321 through the bearing 43222, and has a spiral groove 432211 on its outer wall that is precisely adapted to the guide structure 413. The bristles 43223 are evenly arranged on the outer side wall of the rotating cylinder, etc., but not limited to these.

[0066] This configuration provides a stable traction and rotational mounting reference for the agitator 4322 via the support portion 4321 fixed to the transmission mechanism 431. The bearing 43222 then enables a low-friction rotational connection between the support portion 4321 and the agitator 4322, ensuring the agitator 4322 can rotate freely. During operation, the chain 4313 of the transmission mechanism 431 drives the support portion 4321 to move along the revolution direction, while simultaneously driving the agitator 4322 to rotate circumferentially along the mounting plate 41. During this revolution, the spiral groove 432211 of the agitator 4322 continuously cooperates with the fixed guide structure 413, converting the circumferential revolution into the rotation of the agitator 4322 around its own axis, forming a composite operation mode where revolution covers the entire circumference and rotation achieves agitation and guidance. During this process, the stirring section 4322 achieves full circumferential coverage of the first cleaning space 412 through revolution, while simultaneously breaking up long-fiber aquatic plants and dispersing hard debris through rotation, preventing equipment from tangling and clogging. At the same time, through the spiral guiding effect of rotation, it continuously pushes the outwardly diffused debris towards the inside of the first cleaning space 412 and the entrance of the recycling channel 411, completely preventing debris from overflowing outside the first cleaning space 412. This improves the problem of poor cleaning effect of soft aquatic plants and easy diffusion of debris, which does not meet environmental protection requirements, and constructs a single-drive, highly reliable underwater cleaning execution system.

[0067] In some embodiments, please refer to the following: Figures 6 to 7 The support part 4321 has two fixed structures 43211, and the cleaning part 4322 includes a roller 43221, two bearings 43222 and a brush 43223.

[0068] The roller 43221 has a spiral groove 432211 and two fixed grooves 432212. The two fixed grooves 432212 are located at both ends of the roller 43221 and correspond to the two fixed structures 43211 respectively. The roller 43221, the two fixed structures 43211 and the support part 4321 enclose and form two fixed spaces 43212 located at both ends of the roller 43221 respectively.

[0069] Two bearings 43222 are respectively located at both ends of the roller 43221 and are located in two fixed spaces 43212. The roller 43221 is rotatably connected to the support part 4321 through the two bearings 43222.

[0070] The bristles 43223 are arranged on the outer side wall of the roller 43221.

[0071] The roller 43221 is used to drive the bristles 43223 to move when moving along the revolution direction, so as to treat the aquatic plants and / or hard marine organisms in the first cleaning space 412. The roller 43221 rotates through the sliding cooperation between the spiral groove 432211 and the guide structure 413 to drive the bristles 43223 to rotate, thereby preventing the treated aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space 412.

[0072] It can be understood that the two fixed structures 43211 serve as rotational bearing and sealing protection units for the support portion 4321. They are symmetrically formed at both ends of the support portion 4321, corresponding precisely to and fitting into the fixing grooves 432212 at both ends of the roller 43221. Together with the fixing grooves 432212 of the roller 43221 and the body of the support portion 4321, they enclose two independent and closed fixed spaces 43212, completely enclosing the bearing 43222 within the fixed spaces 43212. This prevents dirt, debris, and long-fiber aquatic plants from entering the mating surface of the bearing 43222, thus preventing rotational jamming and corrosion failure. For example, the fixed structure 43211 can be an annular protrusion, a frame-shaped protrusion, etc., but is not limited to these.

[0073] The roller 43221 is the rotating base of the cleaning part 4322. It is a cylindrical rigid structure. The outer wall of the roller 43221 has spiral grooves 432211 that are precisely matched with the guide structure 413. Both ends have fixing grooves 432212 (annular grooves, frame grooves, etc.) that correspond one-to-one with the fixing structure 43211. The two ends of the roller 43221 are connected to the support part 4321 by bearings 43222, forming a low-friction rotational connection. It is the carrier that realizes the conversion of revolution into rotation and drives the bristles 43223 to complete the cleaning operation. For example, the roller 43221 can be a stainless steel cylinder, an engineering plastic cylinder, etc., but is not limited to these. The spiral grooves 432211 surround the outer wall of the roller 43221.

[0074] Bearing 43222 is a low-friction rotating connection pair installed in the enclosed fixed space 43212 at both ends of roller 43221. It adopts an underwater corrosion-resistant sealing structure and is a component that ensures the free and stable rotation of roller 43221 relative to the supporting part 4321. For example, bearing 43222 can be a stainless steel deep groove ball bearing 43222, ceramic bearing 43222, etc., but is not limited to these.

[0075] Brush bristles 43223 are wear-resistant, flexible cleaning components fixedly arranged along the outer wall of the roller 43221. They can be arranged in a spiral or evenly dense pattern, and synchronously rotate with the roller 43221, performing direct contact with the bottom surface of the boat to remove dirt and gather it to prevent spillage. For example, brush bristles 43223 can be nylon bristles, polyurethane bristles, etc., but are not limited to these. The length of the brush bristles 43223 allows them to contact the bottom hull, thereby scraping away seaweed attached to the bottom hull by rotating synchronously with the roller 43221.

[0076] The fixed space 43212 is formed by two sets of symmetrical closed cavities enclosed by the end of the roller 43221, the fixed structure 43211 of the support part 4321, and the main body of the support part 4321. They are located at both ends of the roller 43221 respectively. The cavity contains and limits the bearing 43222, providing an independent closed space for the bearing 43222 to have a sealed protection and lubrication environment.

[0077] With this configuration, two sets of fixed structures 43211 symmetrically arranged on the support part 4321 provide precise double-end coaxial positioning of the roller 43221 and the mounting reference for the bearing 43222. At the same time, the roller 43221 and the support part 4321 enclose a closed fixed space 43212, sealing and protecting the two sets of bearings 43222 within the fixed spaces 43212 at both ends. The bearings 43222 then enable a low-friction, smooth rotational connection between the roller 43221 and the support part 4321, ensuring that the roller 43221 can rotate freely.

[0078] During the process of the chain 4313 of the transmission mechanism 431 driving the support part 4321 to move circumferentially (revolutionary direction) along the mounting plate 41, the support part 4321 drives the roller 43221 to move synchronously along the revolutionary direction through the fixed structures 43211 and bearings 43222 at both ends. During the revolution, the spiral groove 432211 on the outer wall of the roller 43221 continuously rolls and meshes with the guide structure 413 fixed on the mounting plate 41, converting the circumferential revolution movement into the rotation of the roller 43221 around its own axis, thereby driving the bristles 43223 on the roller 43221 to synchronously complete the compound action of revolution and rotation. During this process, the bristles 43223 revolve with the roller 43221 to achieve circumferential coverage of the first cleaning space 412, and efficiently handle aquatic plants and hard marine debris through shearing and agitation, avoiding equipment entanglement and blockage. At the same time, as the roller 43221 rotates, it generates a continuous directional flow force towards the inside of the first cleaning space 412, continuously pushing the outwardly diffused dirt towards the inlet of the recycling channel 411, preventing dirt from overflowing outside the first cleaning space 412. This improves the problems of existing underwater cleaning robots, such as complex driving structure of cleaning mechanism, poor cleaning effect on soft aquatic plants, easy entanglement and jamming of mechanism, and easy diffusion of dirt, which does not meet environmental protection requirements.

[0079] In some embodiments, the mounting plate 41 may have multiple filter holes or a filter screen installed. The aperture of the filter holes or the mesh diameter of the filter screen can prevent the crushed aquatic plants and hard marine organisms from passing through, but seawater can pass through. At the same time, the crushed aquatic plants and hard marine organisms can be prevented from adhering to the filter holes or filter screen and causing blockage by contact with the bristles 43223 or by the water flow driven by the rotation of the bristles 43223.

[0080] In some embodiments, please refer to the following: Figures 6 to 7 The inlet end of the spiral groove 432211 has a horn groove 432213. The spiral groove 432211 and the horn groove 432213 are smoothly connected. The width of the outer groove of the horn groove 432213 is smaller than the width of the inner groove, and the two horn grooves 432213 are located at both ends of the same generatrix of the roller 43221. Among them, the generatrix is ​​the line segment on the outer cylindrical surface of the drum 43221 that is parallel to the axis of rotation of the drum 43221.

[0081] It can be understood that the inlet end is the end where the spiral groove 432211 first contacts the guide structure 413 when the roller 43221 moves along the revolution direction. The flared groove 432213 is a gradually widening guide groove that is smoothly connected to the spiral groove 432211 throughout its entire length. It has a conical flared mouth structure that is wider on the outside and narrower on the inside. The width of the outer groove of the flared groove 432213 is smaller than the width of the inner groove. This is an auxiliary guide structure that guides the guide structure 413 to smoothly enter the spiral groove 432211 and avoids meshing misalignment, jamming, and disengagement.

[0082] This configuration, by setting a gradually narrowing horn groove 432213 with a wider outer width and a narrower inner width at the inlet end of the spiral groove 43221 of the drum 43221, and ensuring smooth communication between the horn groove 432213 and the spiral groove 432211 throughout the entire process, expands the groove adaptation range of the guide structure 413, eliminates the gap period during the meshing switching process, and improves the problem of meshing misalignment and disengagement when the cleaning mechanism 432 passes through the rectangular rounded corner.

[0083] In some embodiments, the outlet end of the spiral groove 432211 has a straight groove, which is connected to the horn groove 432213. The straight groove and the horn groove 432213 are located at the two ends of the same generatrix on the roller 43221.

[0084] The generatrix is ​​a line segment on the outer curved wall of the roller 43221 that is parallel to the axis of the roller 43221.

[0085] It can be understood that the exit end of the spiral groove 432211 is the end of the guide structure 413 that rolls with the spiral groove 432211 when the roller 43221 moves in the revolution direction, and that exits the spiral groove 432211 (does not contact the spiral groove 432211). The length direction of the straight groove is parallel to the axial direction of the roller 43221, and the straight groove is smoothly connected to the trumpet groove 432213. The guide structure 413 (guide wheel 4132) enters the spiral groove 432211 through the trumpet groove 432213 located at the entrance end of the spiral groove 432211 and rolls with the spiral groove 432211. The guide structure 413 exits the spiral groove 432211 through the straight groove located at the exit end of the spiral groove 432211. When the roller 43221 moves in the revolution direction, the guide structure 413 can cause the roller 43221 to rotate one revolution along its own axis through the rolling engagement with the spiral groove 432211.

[0086] This configuration, using a generatrix parallel to the axis on the roller 43221 as a reference, places the horn groove 432213 and the straight groove at opposite ends of the same generatrix. This ensures the machining accuracy of the horn groove 432213, the spiral groove 432211, and the straight groove, and ensures that the guide structure 413 enters and exits the spiral groove 432211 smoothly and stably throughout the entire process. It also prevents the roller 43221 from rotating and fixes its circumferential position when the guide structure 413 exits the straight groove of the spiral groove 432211. This ensures the alignment accuracy of the horn groove 432213 of the spiral groove 432211 when it approaches the next adjacent guide structure 413 along the revolution direction, reduces the risk of impact wear and impurity jamming, and improves meshing reliability, operational fault tolerance, and environmental adaptability.

[0087] In some embodiments, the fillet radius of the mounting plate 41 is greater than or equal to twice the chain pitch.

[0088] It can be understood that the radius of the rounded corner of the mounting plate 41 is the turning reference parameter of the closed-loop transmission trajectory of the cleaning device 43, referring to the radius of curvature of the arc transition section at the circumferential corner of the mounting plate 41. As the main bearing body of the transmission mechanism 431 and the cleaning mechanism 432, the circumferential contour of the mounting plate 41 directly determines the closed-loop transmission trajectory of the chain 4313, and the rounded corner section is the turning operation section in the revolution process of the chain 4313 and the cleaning mechanism 432. It is the transition area of ​​the entire closed-loop transmission trajectory and directly determines the smoothness of the chain 4313 transmission and the continuity of the cleaning mechanism 432 operation at the turning point.

[0089] This configuration, by setting the radius of the rounded corner of the mounting plate 41 to be greater than or equal to twice the chain pitch, weakens the linear velocity fluctuations and positional deviations caused by the polygonal effect at the corner of the rectangular trajectory of the closed-loop chain 4313. This ensures a smooth transition of the stirring mechanism 432 from the straight section to the arc corner section, reduces the possibility of the spiral groove 432211 engaging and disengaging with the guide structure 413, or misalignment and jamming when the stirring mechanism 432 passes through the corner, and at the same time prevents collisions and interference between adjacent stirring mechanisms 432 at the corner.

[0090] In some embodiments, the total length of the roller 43221 is less than the chain pitch, and the total length of the roller 43221 is less than the distance between two adjacent guide rods 4131, so that the roller 43221 can roll with at most one guide wheel 4132 during movement.

[0091] It can be understood that the total length of roller 43221 refers to the axial dimension of roller 43221 along its own rotation axis from one end face to the other end face, and the chain pitch refers to the center distance between two adjacent chain link pins on the closed-loop drive chain 4313.

[0092] This design is because when the chain 4313 turns around a corner, adjacent chain links will form a bend around the pin. The larger the bend angle, the larger the included angle between the axes of adjacent rollers 43221, and the easier it is for them to rub against each other. By setting the total length of rollers 43221 to be less than the chain pitch, the problem of adjacent rollers 43221 rubbing against each other and the ends hitting the support of adjacent rollers 43221 is avoided.

[0093] In some embodiments, if the radius of the rounded corner of the mounting plate 41 is exactly equal to twice the chain pitch, the total length of the roller 43221 can be less than or equal to 0.8 times the chain pitch minus a 2 mm safety clearance. If the radius of the rounded corner of the mounting plate 41 is greater than or equal to three times the chain pitch, the total length of the roller 43221 can be less than or equal to 0.9 times the chain pitch minus a 2 mm safety clearance.

[0094] In some embodiments, please refer to the following: Figures 4 to 5 The guide structure 413 includes a guide rod 4131 and a guide wheel 4132.

[0095] The guide rod 4131 is disposed on the inner wall of the mounting plate 41 near the first cleaning space 412.

[0096] The guide wheel 4132 is rotatably mounted on one end of the guide rod 4131 near the second cleaning section 50.

[0097] Among them, the guide wheel 4132 and the spiral groove 432211 are in rolling cooperation.

[0098] It can be understood that the guide rod 4131 is the rigid support and positioning base of the guide structure 413. One end of the guide rod 4131 is rigidly fixed to the inner wall of the mounting plate 41 near the first cleaning space 412, and the other end extends in a cantilever shape towards the second cleaning section 50 and the roller 43221. It is an intermediate carrier connecting the mounting plate 41 and the guide wheel 4132, providing a stable rotational support shaft for the guide wheel 4132. For example, the guide rod 4131 can be a stainless steel rod, an engineering plastic rod, etc., but is not limited to these.

[0099] The guide wheel 4132 is a low-friction rolling engagement component rotatably fitted onto the cantilever end of the guide rod 4131. Its outer cylindrical surface precisely matches the inner wall of the spiral groove 432211 of the roller 43221. Through its own free rotation, it transforms the sliding friction between the traditional guide structure 413 and the spiral groove 432211 into rolling friction. It is the actuator that realizes the stable conversion of the revolution motion of the roller 43221 to its rotation motion and avoids engagement jamming and disengagement. For example, the guide wheel 4132 can be a stainless steel wheel, a zirconia ceramic wheel, etc., but is not limited to these.

[0100] The depth of the spiral groove 432211 is such that the guide wheel 4132 does not come into contact with the bottom of the spiral groove 432211 when the roller 43221 moves along the revolution direction.

[0101] This configuration, by dividing the guide structure 413 into a guide rod 4131 fixed to the inner wall of the mounting plate 41 and a guide wheel 4132 rotatably mounted at the end of the guide rod 4131, provides the guide rod 4131 with precise and stable positioning support and rotation reference for the guide wheel 4132. This ensures the matching accuracy and meshing depth between the guide wheel 4132 and the spiral groove 432211 of the roller 43221. Furthermore, through the rotatable structure design of the guide wheel 4132, the high-resistance sliding friction between the traditional guide structure 413 and the spiral groove 432211 is transformed into low-loss rolling friction, reducing the wear rate of the mating parts and the starting resistance of the roller 43221's rotation. At the same time, it adapts to the attitude and speed changes of the roller 43221 when passing through the rectangular rounded corner, improving the problems of meshing jamming and corner derailment that are prone to occur in sliding guides. Moreover, through the characteristics of rolling fit, it automatically discharges mud and impurities in the mating gap, improving the operational stability and environmental adaptability under harsh underwater conditions.

[0102] In some embodiments, please refer to the following: Figures 1 to 3 The second cleaning section 50 includes a jet plate 51, a jet pipe 52, and at least one nozzle 53.

[0103] The jet disk 51 is located in the first cleaning space 412 and is disposed on the support part 10. The jet disk 51 has a second cleaning space 511. At least one circulation hole 512 is provided on the side of the jet disk 51 near the support part 10. One end of the circulation hole 512 is connected to the second cleaning space 511 and the other end is connected to the first cleaning space 412.

[0104] The jet pipe 52 is rotatably mounted on the jet plate 51 and has a jet channel and at least one water outlet. The jet channel is connected to the water outlet.

[0105] Nozzle 53 is installed on jet pipe 52 and corresponds one-to-one with water outlet hole.

[0106] The jet tube 52 is used to receive high-pressure fluid through the jet channel, and the nozzle 53 is used to form a uniform, high-density gas-liquid two-phase bubble jet when the high-pressure fluid passes through.

[0107] It can be understood that the jet plate 51 is nested within the first cleaning space 412 formed by the first cleaning section 40 and fixed to the working side of the support section 10 facing the bottom hull. Its structure naturally forms a second cleaning space 511, which serves as the installation and positioning reference for the jet pipe 52 and the nozzle 53. For example, the jet plate 51 can be a stainless steel plate, an engineering plastic plate, etc., but is not limited to these. The jet plate 51 can be connected to the support part 10 or the mounting plate 41 in a floating manner by multiple springs (butterfly springs, helical springs, etc.) evenly spaced along its circumference. The multiple springs can simultaneously apply a stable pre-tightening pressure to the jet plate 51 towards the bottom hull side, so that the end face of the jet plate 51 facing the bottom hull can always be in close contact with the bottom hull surface. At the same time, with the elastic deformation margin of the springs themselves, the jet plate 51 can adapt to the surface morphology changes of the curved surface of the bottom hull, weld protrusions, sacrificial anodes and other local uneven structures, and achieve multi-directional adaptive tilting and shaking, and complete free deflection within a preset angle range. This adapts to the complex irregular surface of the bottom hull, always ensuring the stability of the second cleaning space of the jet plate 51, and avoiding jet pressure attenuation and contaminant overflow.

[0108] The jet pipe 52 is a high-pressure fluid distribution and rotation execution component of the second cleaning unit 50. It is rotatably connected to the center of the bottom surface of the jet plate 51. The jet pipe 52 has a through high-pressure jet channel and at least one water outlet communicating with the jet channel. The water outlet is fixedly connected to the nozzle 53 one-to-one. For example, the jet pipe 52 can be a stainless steel pipe, a fiberglass pipe, etc., but is not limited to these. The input end of the jet channel of the jet pipe 52 can be connected to the output end of a water pump (which can pressurize seawater to a set working pressure and continuously and stably deliver high-pressure fluid to the jet channel; for example, the water pump can be a high-pressure plunger pump, a hydraulically driven high-pressure pump, etc., but is not limited to these; it can be installed on a ship, on the shore, etc., but is not limited to these) through a pressure-resistant pipe (nylon pressure-resistant pipe, polyethylene pressure-resistant pipe, etc.). The jet pipe 52 receives the high-pressure fluid output by the water pump through the input end of the jet channel and then delivers the high-pressure fluid to the nozzle 53 through the water outlet.

[0109] Nozzle 53 is the jet execution component of the second cleaning unit 50, and it is sealed and fixed one-to-one with the water outlet holes on the jet pipe 52. The nozzle 53 has a cavitation trigger chamber inside, which can convert high-pressure fluid into a uniform, high-density gas-liquid two-phase bubble-containing cavitation jet. It is a functional component for achieving efficient and low-damage removal of hard marine organisms from the bottom of the ship. For example, nozzle 53 can be a Venturi cavitation nozzle 53, a self-excited oscillating cavitation nozzle 53, a swirl cavitation nozzle 53, etc.

[0110] With this configuration, the mounting base of the second cleaning section 50 is constructed by the jet plate 51 nested within the first cleaning space 412. The jet plate 51 naturally forms the second cleaning space 511. At the same time, a circulation hole 512 connecting the first cleaning space 412 and the second cleaning space 511 is opened on the side of the jet plate 51 near the support part 10. When the nozzle 53 sprays a high-pressure jet toward the bottom of the ship and the seawater in the second cleaning space 511 flows away along the bottom surface of the ship with the jet, the seawater in the first cleaning space 412 can be continuously introduced into the second cleaning space 511 to replenish the fluid carried away by the jet in real time and form a circulation. This improves the problem of the gas-liquid two-phase bubble jet effect attenuation caused by fluid deficiency and pressure instability in the jet space. Furthermore, a water pump installed on the ship or shore provides a stable and controllable high-pressure fluid to the jet system. Powered by the jet channel and outlet hole inside the jet tube 52, the high-pressure fluid is evenly distributed to the corresponding nozzles 53. Finally, the high-pressure fluid is converted into a uniform, high-density gas-liquid two-phase bubble jet through the nozzles 53. Combined with the rotational motion of the jet tube 52, it achieves full coverage of hard marine organism removal in the second cleaning space 511. At the same time, the fluid circulation design of the circulation hole 512 maintains the stability of the flow field and pressure in the second cleaning space 511, preventing impurities from randomly entering and wearing down or clogging the nozzles 53, improving the operational reliability of the jet components. It also forms fluid linkage and functional synergy with the first cleaning section 40, which treats soft seaweed and prevents fouling overflow, further improving the system of cleaning operations for soft and hard fouling in different areas, and enhancing the stability of underwater ship bottom cleaning operations, equipment operational reliability, and adaptability to marine conditions.

[0111] Furthermore, when the nozzle 53 sprays a high-pressure jet toward the bottom of the ship, the high-speed jet will create a stable negative pressure flow field in the second cleaning space 511. This will continuously draw seawater from the first cleaning space 412 through the circulation hole 512, forming a directional internal circulation water flow that enters the second cleaning space 511 from the first cleaning space 412 through the circulation hole 512, then flows back to the first cleaning space 412 with the residual flow of the jet operation, and finally merges into the recovery channel 411. This internal circulation water flow can directionally carry the flow field in the first cleaning space 412, continuously pushing the large hard marine organism debris stripped from the first cleaning space 412 and the large pieces of long-fiber seaweed debris after being crushed toward the suction port of the recovery channel 411. This avoids the deposition and retention of large debris in the corner areas of the first cleaning space 412 and the inner side of the brush skirt 42. At the same time, the directional carrying effect of the water flow reduces the difficulty of suctioning and transporting large debris, improving the problem that medium and large debris are easy to deposit, difficult to be effectively recovered, easy to block or even overflow and pollute the marine environment.

[0112] In some embodiments, at least a portion of the second cleaning unit 50 is movable to clean aquatic plants, and the second cleaning unit 50 includes a jet plate 51, a jet tube 52, at least one nozzle 53, and a treatment component.

[0113] The jet disk 51 is located in the first cleaning space 412 and is disposed on the support part 10. The jet disk 51 has a second cleaning space 511. At least one circulation hole 512 is provided on the side of the jet disk 51 near the support part 10. One end of the circulation hole 512 is connected to the second cleaning space 511 and the other end is connected to the first cleaning space 412.

[0114] The jet pipe 52 is rotatably mounted on the jet plate 51 and has a jet channel and at least one water outlet. The jet channel is connected to the water outlet.

[0115] Nozzle 53 is installed on jet pipe 52 and corresponds one-to-one with water outlet hole.

[0116] The treatment unit is installed in the second cleaning space 511 and is used to treat the aquatic plants in the second cleaning space 511.

[0117] The jet tube 52 is used to receive high-pressure fluid through the jet channel, and the nozzle 53 is used to form a uniform, high-density gas-liquid two-phase bubble jet when the high-pressure fluid passes through.

[0118] It is understood that the cleaning components are wear-resistant cleaning parts that can adapt to seawater pressure, strong corrosion, and high abrasion conditions, and are used to treat aquatic plants in the second cleaning space. For example, the cleaning components can be wear-resistant nylon brushes, high-resilience polyurethane bristle brushes, stainless steel scrapers, polyethylene scrapers, etc., but are not limited to these.

[0119] The treatment component can be mounted on the jet pipe 52 and rotate coaxially with the jet pipe 52. The jet pipe 52 rotates under the impetus of the gas-liquid two-phase bubble jet generated at the outlet end of the nozzle 53, which in turn drives the treatment component to rotate. The treatment component rotates to treat the aquatic plants located in the second cleaning space 511. Alternatively, the treatment component can be mounted on the circumference of the jet plate 51 and move with the movement of the jet plate 51 to treat the aquatic plants in the second cleaning space 511 through friction, but is not limited to this.

[0120] This configuration utilizes the recoil force generated by the two-phase gas-liquid bubble jet to drive the jet pipe 52 to rotate synchronously, thereby causing the processing component to rotate accordingly to complete the synchronous cleaning of soft dirt such as aquatic plants in the second cleaning space 511. This improves the problem of difficulty in cleaning both soft and hard dirt simultaneously, and the problem of soft aquatic plants easily blocking and clogging the nozzles, leading to cleaning failure. Furthermore, it eliminates the need for an additional underwater rotation drive unit, reducing the number of underwater dynamic sealing points.

[0121] In some embodiments, please refer to the following: Figures 3 to 5 The moving drive unit 20 includes an adsorption device 21 and a moving drive device 22.

[0122] The adsorption device 21 is disposed on the support part 10 and is used to generate a wall-adhesive force to adsorb onto the surface of the ship bottom hull.

[0123] The mobile drive device 22 is disposed on the support part 10 and is used to drive the support part 10 to move along the surface of the bottom hull.

[0124] It can be understood that the adsorption device 21 is the wall-adhering and dwelling execution unit of the mobile drive unit 20, fixedly installed on the support unit 10. It is a functional component that ensures the support unit 10 can stably adhere and dwell on complex irregular surfaces such as the vertical surface, inverted bottom surface, and curved transition section of the hull, providing continuous and stable wall-adhering adsorption force for continuous underwater cleaning operations. For example, the adsorption device 21 can be a permanent magnet adsorption device 21, an electromagnetic adsorption device 21, a negative pressure adsorption device 21, etc., but is not limited to these.

[0125] The mobile drive unit 22 is a power component that drives the bearing unit 10 to move continuously and controllably in all directions along the surface of the hull. It can adapt to uneven surfaces such as hull welds, sacrificial anodes, and side angles, providing mobility support for full-area, full-coverage cleaning of the hull. For example, the mobile drive unit 22 can be an underwater tracked mobile device, a Mecanum wheel omnidirectional mobile device, a magnetic wheel mobile device, etc., but is not limited to these.

[0126] This configuration provides a continuous and stable wall-adhesive force through the adsorption device 21 fixed on the support unit 10, which improves the problems of the support unit 10 being impacted by ocean currents, easily displacing and falling off due to the reaction force of the operation, and being difficult to stay stably on the complex and irregular surface of the ship bottom during underwater operations. It provides a stable basic support for cleaning operations. Then, the mobile drive device 22, which is synchronously set on the support unit 10, drives the support unit 10 to move continuously and controllably in all directions along the surface of the ship bottom hull, which improves the problem of limited cleaning coverage and easy formation of cleaning blind spots. At the same time, through the decoupling design of adsorption and walking functions, a precise synergy between dwelling stability and smooth movement is achieved, providing a continuous and stable mobility and dwelling capability guarantee for underwater cleaning operations.

[0127] In some embodiments, please refer to the following: Figure 1 The underwater ship cleaning robot 100 also includes a camera device 60 and a searchlight 70.

[0128] The camera device 60 is mounted on the support unit 10 to acquire environmental images in front of the support unit 10 in the direction of movement, providing visual reference for the movement of the support unit 10.

[0129] A searchlight 70 is mounted on the support 10 to provide illumination in the direction of movement of the support 10, thereby improving the imaging clarity of the camera device 60.

[0130] It is understood that the camera device 60 can be an underwater wide-angle camera, an underwater night vision camera, etc., but is not limited to these. The camera device 60 can communicate with the user's management platform (mobile phone, tablet, computer, etc.) to transmit video footage to the user in real time, providing visual reference for the user to plan their movement route.

[0131] The searchlight 70 can be an LED wide-angle underwater searchlight, a metal halide wide-angle underwater light, etc., but is not limited to these.

[0132] This setup allows the camera device 60 to provide visual navigation and path planning reference for the movement of the underwater ship cleaning robot 100, enabling real-time identification of obstacles, welds, and irregular structures on the ship's bottom to avoid obstacles underwater. It also collects real-time data on the distribution of dirt on the ship's bottom to help determine the cleaning area and cleaning effect, providing real-time operation footage to the remote control terminal for easy manual monitoring and intervention. Furthermore, the searchlight 70 provides illumination for the dim underwater environment, improving visibility and illuminating the area in front of the moving direction of the carrying unit 10, assisting in visual navigation, obstacle identification, and obstacle avoidance. This allows the remote monitoring terminal to clearly observe the dirt on the ship's bottom and the cleaning operation status.

[0133] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater ship cleaning robot, characterized in that, include: Load-bearing part; A mobile drive unit is disposed on the support unit for adhering to the bottom hull and driving the support unit to move; as well as The cleaning unit includes a first cleaning unit and at least one second cleaning unit; the first cleaning unit is disposed on the support unit and is used to enclose a first cleaning space between itself and the hull bottom, and the first cleaning unit has a recycling channel connected to the first cleaning space; the second cleaning unit is disposed within the first cleaning space and is used to clean hard marine organisms within the first cleaning space. Wherein, at least a portion of the first cleaning section is movable to clear aquatic plants and direct water into the first cleaning space, and / or, at least a portion of the second cleaning section is movable to clear aquatic plants.

2. The underwater ship cleaning robot as described in claim 1, characterized in that, At least a portion of the first cleaning unit is movable to clear aquatic plants and direct water into the first cleaning space. The first cleaning unit includes: An installation plate is disposed on the support portion and has the recycling channel; A brush skirt is circumferentially disposed on the mounting plate, and the mounting plate, the brush skirt, and the hull form the first cleaning space. A stirring device is located within the first cleaning space and is disposed on the mounting plate circumferentially along the mounting plate, and is located between the brush skirt and the second cleaning section. At least a portion of the stirring device is movable to handle aquatic plants in the first cleaning space and prevent the handled aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space.

3. The underwater ship cleaning robot as described in claim 2, characterized in that, The mounting plate has multiple guide structures on its inner wall near the first cleaning space, and the agitation device includes: A transmission mechanism is located within the first cleaning space and is disposed on the mounting plate circumferentially along the mounting plate; and Multiple agitation mechanisms are located within the first cleaning space and are sequentially arranged on the transmission mechanism. Each agitation mechanism has a spiral groove and slides with the guide structure through the spiral groove. The transmission mechanism is used to drive the cleaning mechanism to move along the revolution direction. The cleaning mechanism is used to process aquatic plants and / or hard marine organisms in the first cleaning space when moving along the revolution direction, and to prevent the processed aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space by sliding cooperation with the guide structure. The revolution direction is the circumference of the mounting plate.

4. The underwater ship cleaning robot as described in claim 3, characterized in that, The transmission mechanism includes: At least one drive wheel is rotatably mounted on the mounting plate; A drive element, disposed on the mounting plate and connected to one of the drive wheels; and The chain is connected to each of the aforementioned drive wheels. The driving component is used to drive the transmission wheel to rotate, thereby driving the chain to move along the revolution direction. The chain is composed of multiple chain links that are hinged end to end. Each chain link includes a chain plate that is hinged to each other. Each of the cleaning and stirring mechanisms is respectively arranged on each of the chain plates.

5. The underwater ship cleaning robot as described in claim 3, characterized in that, The stirring mechanism includes: The support portion is disposed on the transmission mechanism; and The stirring section is rotatably connected to the supporting section and has the spiral groove; The spiral groove slides in conjunction with the guide structure, the support portion drives the agitation portion to move along the revolution direction, and the agitation portion processes aquatic plants and / or hard marine organisms in the first cleaning space while moving along the revolution direction. It also rotates through the sliding engagement of the spiral groove with the guide structure to prevent the processed aquatic plants and / or hard marine organisms from overflowing outside the first cleaning space.

6. The underwater ship cleaning robot as described in claim 5, characterized in that, The supporting portion has two fixing structures, and the stirring portion includes: The roller has the spiral groove and two fixed grooves, the two fixed grooves are respectively located at both ends of the roller and correspond to the two fixed structures respectively. The roller, the two fixed structures and the supporting part enclose and form two fixed spaces respectively located at both ends of the roller. Two bearings are respectively disposed at both ends of the roller and located within the two fixed spaces. The roller is rotatably connected to the supporting portion via the two bearings. Brush bristles are disposed on the roller along the outer side wall of the roller; The roller is used to move the bristles when moving along the revolution direction to treat aquatic plants and / or hard marine organisms in the first cleaning space, and to generate rotation through the sliding cooperation between the spiral groove and the guide structure to drive the bristles to rotate, thereby preventing the treated aquatic plants and / or hard marine organisms from overflowing into the first cleaning space.

7. The underwater ship cleaning robot as described in claim 6, characterized in that, The spiral groove has a horn groove at its inlet end, and the spiral groove and the horn groove are smoothly connected. The width of the outer opening of the horn groove is smaller than the width of the inner opening.

8. The underwater ship cleaning robot as described in claim 4, characterized in that, The guiding structure includes: Guide rods are disposed on the inner wall of the mounting plate near the first cleaning space; and A guide wheel is rotatably mounted on one end of the guide rod near the second cleaning section; The guide wheel is in rolling contact with the spiral groove.

9. The underwater ship cleaning robot as described in claim 1, characterized in that, The second cleaning unit includes: A jet plate is located in the first cleaning space and is disposed on the support part. The jet plate has a second cleaning space. At least one circulation hole is opened on the side of the jet plate near the support part. One end of the circulation hole is connected to the second cleaning space and the other end is connected to the first cleaning space. A jet tube, rotatably mounted on the jet disk, has a jet channel and at least one water outlet, the jet channel communicating with the water outlet; and At least one nozzle is disposed on the jet tube and corresponds one-to-one with the water outlet hole; The jet tube is used to receive high-pressure fluid through the jet channel, and the nozzle is used to form a uniform, high-density gas-liquid two-phase bubble jet when the high-pressure fluid passes through.

10. The underwater ship cleaning robot as described in claim 1, characterized in that, At least a portion of the second cleaning unit is movable to clean aquatic plants, the second cleaning unit comprising: A jet plate is located in the first cleaning space and is disposed on the support part. The jet plate has a second cleaning space. At least one circulation hole is opened on the side of the jet plate near the support part. One end of the circulation hole is connected to the second cleaning space and the other end is connected to the first cleaning space. A jet tube is rotatably mounted on the jet plate and has a jet channel and at least one water outlet, wherein the jet channel is connected to the water outlet. At least one nozzle is disposed on the jet tube and corresponds one-to-one with the water outlet; and A treatment component, disposed within the second cleaning space, is used to treat aquatic plants within the second cleaning space; The jet tube is used to receive high-pressure fluid through the jet channel, and the nozzle is used to form a uniform, high-density gas-liquid two-phase bubble jet when the high-pressure fluid passes through.

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