An adaptive surface cleaning device and method based on deformation transfer

Abstract

This invention belongs to the technical field of underwater robot operation equipment and discloses an adaptive curved surface cleaning device and method based on deformation transmission. The device includes a flexible scraper, a deformation decoupling mechanism, a deformation transmission plate, rigid guide ribs, a vibration generating mechanism, and a polishing module. During operation, the flexible scraper deforms with the undulations of the curved surface. This deformation is transmitted to the deformation transmission plate located in the middle layer through the deformation decoupling mechanism. The deformation of the deformation transmission plate is reinforced by the rigid guide ribs and transmitted to its end, thereby passively adjusting the posture of the polishing module to always remain parallel and pressed against the working curved surface area currently in contact with the flexible scraper. The vibration generating mechanism located in the lower middle layer drives the flexible scraper to perform high-frequency linear reciprocating vibration to remove adhering substances. The polishing wheel of the polishing module is driven by a motor to rotate, polishing the cleaned surface. This invention achieves efficient, economical, continuous, and non-destructive integrated maintenance of key components such as ship propellers and rudders.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot operation equipment technology, and particularly relates to an adaptive curved surface cleaning device and method based on deformation transmission. Background Technology

[0002] Ship propellers, rudders, and other critical components are constantly exposed to underwater environments, making their surfaces highly susceptible to the accumulation of marine organisms such as barnacles, shellfish, and algae. These deposits not only significantly increase drag and fuel consumption but also induce localized corrosion, severely impairing the ship's hydrodynamic performance, energy efficiency, and operational safety. Therefore, efficient and non-destructive regular cleaning and surface maintenance of these components is an important and routine part of ship maintenance.

[0003] Underwater cleaning operations targeting complex three-dimensional curved surfaces such as propellers mainly face the following major technical bottlenecks: Firstly, there is the challenge of adaptive fitting. Propeller blades have complex spatial curved surfaces, while existing mainstream cleaning tools such as rigid scrapers, steel brushes, and grinding discs lack sufficient flexibility or adaptive adjustment mechanisms, making it difficult to fully fit the curved surface during operation. This results in blind spots in cleaning operations, uneven cleaning effects, and excessively high or low local contact pressure between the tool and the curved surface, affecting the quality of the work.

[0004] Secondly, there is the risk of surface damage. Propeller surfaces are typically coated with expensive anti-corrosion coatings such as epoxy coatings, and their underlying materials are also quite delicate. Rigid contact cleaning methods, if not properly fitted, can easily scratch or even peel off the surface coating, directly damaging the metal substrate and causing maintenance damage, which in turn increases maintenance costs and safety risks.

[0005] Third, the solutions suffer from limited functionality and fragmented processes. Most existing solutions focus solely on the removal of biofouling. However, in actual maintenance, further surface polishing is often required after removing biofouling to restore its smoothness and optimal hydrodynamic profile. Existing technologies typically require replacing different equipment or tools to complete these two steps, leading to workflow interruptions, increased time consumption, and higher overall costs, failing to achieve efficient and continuous integrated maintenance.

[0006] Fourth, the system is complex and costly. Some solutions attempting to improve adaptability have shifted to using high-degree-of-freedom robotic arms in conjunction with force sensors and complex closed-loop control systems to actively control the tool to conform to curved surfaces. While this approach increases flexibility, it also makes the entire system exceptionally complex and expensive, and poses serious challenges to its resistance to interference in dynamic underwater environments and its long-term operational reliability.

[0007] In summary, the industry urgently needs an underwater cleaning device that can overcome the aforementioned bottlenecks. It needs to be able to passively adapt to complex curved surfaces with a simple mechanical structure, efficiently remove deposits while ensuring zero damage to the workpiece surface, and seamlessly integrate cleaning and surface polishing repair functions to achieve low-cost, high-reliability, and high-efficiency integrated automated operation.

[0008] In the prior art, an invention patent proposes a device for cleaning attachments on the surface of a ship (publication number CN111422314A, publication date 20240924). This device uses magnetic tracks to move on the surface of the ship and uses a hydraulically driven rotary mechanism to drive a rigid impact shovel to remove the attachments.

[0009] The disadvantages of this cleaning method are as follows: First, the impact shovel used is a rigid structure, which cannot adaptively conform to the surface when cleaning components with complex three-dimensional curved surfaces such as propellers and rudders, resulting in incomplete cleaning and a large number of dead corners; Second, the rigid impact shovel makes hard contact with the workpiece surface during operation, which can easily scratch or damage the anti-corrosion coating or even the metal substrate on the propeller surface, causing maintenance damage.

[0010] The invention patent proposes a ship cleaning robot based on cavitation jet technology (publication number CN120327718A, publication date 20250718). The robot moves around the ship using a quadcopter and a vector nozzle, and uses a robotic arm to drive a cavitation jet spray gun to perform non-contact cleaning of the ship's hull.

[0011] The disadvantages of this cleaning method are as follows: First, in order to generate a cavitation jet with sufficient stripping power, a high-power high-pressure pump and a complex water supply pipeline are required, resulting in huge system energy consumption, bulky equipment and high cost; second, the energy distribution of the jet is uneven on complex curved surfaces, and the cleaning effect is poor in concave surfaces, edges and other areas; more importantly, the method is limited in function, it can only remove the deposits, and cannot polish the cleaned surface to restore its smoothness and hydrodynamic performance.

[0012] A utility model patent discloses an underwater hull surface cleaning device (publication number CN221234032U, publication date 20240628). The device drives the cleaning brush head to rotate horizontally through a rotating mechanism and a worm gear, and uses a complex swinging mechanical arm mechanism composed of a motor, gears, cams and connecting rods to swing the brush head up and down to cover the cleaning area.

[0013] The disadvantages of this cleaning method are: its brushing action relies entirely on the aforementioned precision mechanical system with multiple motors and links for active drive and control. The system structure is complex, and the requirements for manufacturing precision and coordinated control are high, resulting in high overall machine cost. Furthermore, its reliability in long-term operation in complex underwater environments is challenged. At the same time, its brush head itself does not have the ability to adapt to curved surfaces, and the cleaning quality depends on the motion precision of the mechanism.

[0014] The invention patent proposes a robot for cleaning underwater ship hull surfaces (publication number CN121201308A, publication date 20251226). The robot adheres to the ship hull surface using negative pressure suction cups, moves using tracks, and removes the deposits by combining a front-end sawtooth crushing device with a bottom cleaning disc and cleaning wheels.

[0015] The disadvantages of this cleaning method are as follows: the front and rear saw teeth of its crushing device and the cleaning tools are all rigidly installed, lacking the passive adaptive ability to the curved surfaces of the hull, especially complex curved surfaces such as propellers, resulting in poor adhesion and cleaning uniformity on curved surfaces; in addition, although the solution integrates multiple functions such as walking, adsorption, crushing and cleaning, it does not include the surface polishing function after cleaning, the maintenance process is incomplete, and it is difficult to meet the surface smoothness repair requirements of components such as propellers.

[0016] Therefore, there is still a lack of a solution that can adapt to complex curved surfaces through passive mechanical structures, clean efficiently while avoiding damage to the workpiece surface, and integrate cleaning and polishing functions in a low-cost and highly reliable manner. Summary of the Invention

[0017] To overcome the problems existing in related technologies, the present invention discloses an adaptive curved surface cleaning device and method based on deformation transfer, specifically relating to a device for cleaning attachments and polishing surfaces of complex curved surface components such as ship propellers and rudder blades.

[0018] The technical solution is as follows: An adaptive surface cleaning device based on deformation transfer, the device comprising: Flexible scraper located in the bottom working layer; When the flexible scraper is working, it deforms due to the undulation of the curved surface. This deformation, as a mechanical signal, is transmitted to the deformation transmission plate of the deformation and support structure located in the middle layer through the deformation decoupling mechanism, thereby driving the deformation transmission plate to produce a corresponding deformation. The deformation of the deformation transmission plate is reinforced by the rigid guide rib and transmitted to the end of the rigid guide rib, which in turn causes the polishing modules installed on the rigid guide rib to deflect in space and passively adjust the posture of the polishing modules to always keep them parallel and pressed against the working curved surface area that is currently in contact with the flexible scraper. During operation, a vibration generating mechanism located in the middle and lower layers drives a flexible scraper to perform high-frequency linear reciprocating vibration to remove the attached substances; the polishing wheel drive motor of the polishing module drives the polishing wheel to rotate and polish the cleaned surface; Before operation, the contact detection unit of the steering and contact detection module at the top can output a signal to guide the external robotic arm to adjust the pitch attitude of the overall structure. The contact rod in the front support column triggers and confirms that the flexible scraper is in contact with the working surface, and the contact rod in the rear support column triggers and confirms that the polishing wheel group is in contact with the working surface. The steering drive unit of the steering and contact detection module drives the entire structure to rotate, thereby adjusting the working orientation of the flexible scraper.

[0019] Furthermore, the vibration generating mechanism includes a vibration motor, an eccentric wheel, a transition ring, a drive ring, a crossbar, a first connecting member, and a motor protective shell with a limiting hole; The vibration motor drives the eccentric wheel to rotate, and the motion is transmitted to the drive ring through the transition ring; the crossbar of the drive ring is constrained in the limiting hole of the motor protective shell and reciprocates in a straight line along the direction of the scraper blade; this straight reciprocating motion drives the flexible scraper to generate working vibration through the first connecting piece.

[0020] The deformation decoupling mechanism connects the flexible scraper and the deformation transmission plate to transmit deformation and isolate vibration. It includes an upper hinge seat fixed to the deformation transmission plate, a lower hinge seat fixed to the flexible scraper, a connecting shaft, and a slide groove provided on the lower hinge seat.

[0021] The connecting shaft connecting the flexible scraper and the deformation transmission plate is set in the elongated groove of the lower hinge seat; when the flexible scraper vibrates back and forth at high frequency, the connecting shaft slides back and forth in the groove, decoupling the high frequency vibration from the deformation transmission plate above.

[0022] The polishing module includes a left front polishing wheel group, a right front polishing wheel group, and a rear polishing wheel group. The three polishing wheel groups are installed in a triangular shape at the rear of the deformation transfer plate.

[0023] Each polishing wheel assembly includes a polishing wheel driven by a polishing wheel drive motor, a ball joint base, and a set of pressure springs; The ball joint base is fixed to the deformation transfer plate by bolts. The internal ball joint allows the polishing wheel to deflect at a certain angle in any direction. A pressure spring is located between the ball joint and the ball joint base. When the deformation transfer plate is twisted or bent due to the deformation of the front flexible scraper, the spatial posture of the ball joint base fixed to the deformation transfer plate changes accordingly, thereby driving the polishing wheel to deflect and automatically adjusting the working surface of the polishing wheel to fit the current curved surface. There is a disc at the lower end of the rear support column.

[0024] The steering and contact detection module includes a contact detection unit for outputting contact status signals to assist external equipment in leveling, and a steering drive unit for driving the entire cleaning head to rotate to adjust the working direction. The contact detection unit detects the contact status with the working surface through plunger-type contact rods and reed switch sensors installed in the front and rear support columns. The signals are used to assist external leveling. The entire unit is rotated by the steering servo and gears of the steering drive unit to adjust the working orientation.

[0025] The steering and contact detection module specifically includes a steering servo, gears, and a plunger-type contact rod, magnet, sensor housing, and return spring installed in the front and rear support columns; The sensor housing is a square box; a hollow tube sleeve is embedded in the front of the square box corresponding to the front support column, and a long slit is opened on the side of the hollow tube sleeve along the axial direction; a semi-circular arc-shaped tooth is machined on the outer side of the front of the square box to form a semi-circular gear that meshes with the gear; a hollow tube sleeve is also provided at the rear of the hollow box corresponding to the rear support column, without any slits. A rectangular rib protrudes axially from the outer side of the upper end of the front support column; during assembly, the hollow tube sleeve at the front end of the sensor housing is fitted into the upper end of the front support column, and the rectangular rib of the front support column is engaged in the long slit on the side of the hollow tube sleeve. The upper end of the rear support column is a smooth cylinder; during assembly, the smooth cylinder is directly inserted into the seamless hollow tube sleeve at the rear end of the sensor housing; the steering servo is fixed to the main support plate, and the gear meshes with the semi-circular gear at the front end of the sensor housing; each of the front and rear support columns has a plunger-type contact rod inside, with the bottom of the plunger-type contact rod extending out of the lower end face of the front and rear support columns respectively, and the top of the plunger-type contact rod connected to the sensor housing through a return spring, extending out in the normal state; a magnet is embedded inside the plunger-type contact rod; a reed switch sensor is fixed above the magnet in the retracted position inside the front and rear support columns, and the reed switch sensor is fixedly installed inside the sensor housing; when it approaches the working surface, the end of the plunger-type contact rod is compressed back, and when the magnet approaches the reed switch sensor, the reed switch sensor triggers a signal to detect the state of the corresponding plunger-type contact rod.

[0026] The deformation and support structure includes a deformation transfer plate with rigid metal guide ribs fixed to its left and right edges by riveting. The deformation transfer plate has two through holes in the middle for the front support column and the rear support column to pass through, and are locked and fixed by the front and rear pipe clamps. The upper end of the front support column is fixed to the main support plate, and the lower end is fixed to the deformation transfer plate by the pipe clamp to form a fixed support. The upper end of the rear support column is movably inserted into the arc-shaped guide groove of the main support plate, and the lower end is fixed to the deformation transfer plate by the pipe clamp.

[0027] Another object of the present invention is to provide an automated operation method for an adaptive surface cleaning device based on deformation transfer, implemented in the aforementioned adaptive surface cleaning device based on deformation transfer, the method comprising the following steps: S1. Posture pre-leveling and orientation adjustment: The external robotic arm is guided to adjust the adaptive curved surface cleaning device based on deformation transmission through the contact detection unit of the steering and contact detection module. The contact rod in the front support column triggers and confirms that the flexible scraper contacts the working surface, and the contact rod in the rear support column triggers and confirms that the polishing wheel group contacts the working surface. The working orientation of the adaptive curved surface cleaning device based on deformation transmission is adjusted through the steering drive unit. S2, Precision Contact and Adaptive Fitting: The adaptive curved surface cleaning device based on deformation transmission is pressed against the working curved surface, the flexible scraper contacts the working curved surface and deforms, and the polishing wheel group of the polishing module passively fits the curved surface by adjusting the polishing module. S3. Start the integrated operation: Start the vibration motor and polishing wheel drive motor; the flexible scraper vibrates to remove the attached substances, while the polishing wheel polishes the cleaned area; S4. Continuous Adaptive Operation: The robot moves along the planned path using an adaptive surface cleaning device based on deformation transfer. Throughout the movement, the deformation sensing-transfer-polishing wheel adaptive process is continuously carried out to achieve continuous and adaptive cleaning and polishing of the working surface. S5. Area Transfer and Loop: After completing the work in the current area, move to the next area and repeat steps S1-S4.

[0028] Combining all the above technical solutions, the beneficial effects of this invention are as follows: First, this invention designs an underwater operation device and method that is simple in structure, cost-controllable, capable of passively adapting to complex three-dimensional curved surfaces, effectively protecting the workpiece surface while efficiently cleaning adhering substances, and organically integrating cleaning and polishing functions into one, so as to achieve efficient, economical, continuous, and non-destructive integrated maintenance of key components such as ship propellers and rudders. This invention aims to utilize a robotic arm mounted as an end effector on an underwater robot (ROV) for efficient and non-destructive integrated cleaning and polishing of complex three-dimensional curved surfaces such as ship propellers and rudders.

[0029] Secondly, currently, there is no underwater end effector that integrates high-frequency vibration scraping, passive adaptive curved surface bonding, multi-round constant force polishing, and contact-type attitude pre-detection into a single, purely mechanically linked system. This invention achieves complex functions with a simple mechanical structure, significantly reducing equipment procurement costs and per-operation costs for underwater curved surface maintenance. For a long time, the industry has desired a low-cost, highly reliable mechanical solution to address the challenge of non-destructive and efficient synchronous maintenance of complex three-dimensional curved surfaces, but this has always been constrained by the complexity of active control systems and the limitations of rigid tools. This invention overcomes the technical bias that adaptive operations on complex curved surfaces must rely on high-precision sensors and complex electronic control systems, proving that high-precision, highly adaptable automated operations can also be achieved through ingenious mechanical structure design. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the disclosure of this invention and, together with the description, serve to explain the principles of this disclosure; Figure 1 This is an overall diagram of the adaptive surface cleaning device based on deformation transfer provided in an embodiment of the present invention; Figure 2 This is an exploded schematic diagram of the vibration generating mechanism provided in an embodiment of the present invention; Figure 3 This is an exploded view of the deformation decoupling mechanism and deformation transmission linkage mechanism provided in the embodiment of the present invention; Figure 4 This is an exploded view of the steering and contact detection module provided in an embodiment of the present invention; Figure 5 This is an exploded view of the polishing module provided in an embodiment of the present invention; In the diagram: 1. Flexible scraper; 2. Vibration motor; 3. Coupling; 4. First connecting piece; 5. Upper hinge seat; 6. Lower hinge seat; 7. Connecting shaft; 8. Slide groove; 9. Deformation transmission plate; 10. Rigid guide rib; 11. Front support column; 12. Rear support column; 13. Main support plate; 14. Left front polishing wheel assembly; 15. Right front polishing wheel assembly; 16. Rear polishing wheel assembly; 17. Ball joint base; 18. Ball joint; 19. Polishing wheel drive motor; 20. Plunger-type contact rod; 21. Magnet; 22. Sensor housing; 23. Return spring; 24. Steering servo; 25. Drive gear; 26. Motor protective housing; 27. Eccentric wheel; 28. Transition ring; 29. ​​Drive ring; 30. Crossbar; 31. Front tube clamp; 32. Rear tube clamp; 33. Compression spring; 34. Disc; 35. Hollow tube sleeve; 36. Semi-circular gear; 37. Rectangular rib; 38. Long slot; 39. Reed switch sensor; 40. Through hole; 41. Arc-shaped guide groove; 42. Limiting hole; 43. Polishing wheel. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] The innovation of this invention lies in: A passive control method based on flexible scraper deformation sensing, mechanical linkage, and polishing wheel self-adaptation. Its core lies in using the physical deformation of the flexible scraper 1 itself during operation as an input signal. Through a purely mechanical transmission structure such as a hinge-slide-deformation transmission plate, the support structure of the polishing wheel 43 is passively and in real-time driven to undergo coordinated deformation, thereby allowing the working posture of the polishing wheel 43 to adaptively adjust and always conform to the complex curved surface. This method eliminates the need for expensive active sensing and force control systems.

[0033] The integrated mechanical structure of vibration decoupling and deformation transmission is specifically manifested in the design of the hinge connecting the scraper and the support structure as a groove 8. This structure allows the scraper to perform efficient back-and-forth vibration cleaning while isolating this vibration; at the same time, it can transmit the vertical deformation of the scraper caused by the undulation of the curved surface to the support structure without loss. This is the core structural innovation that ensures that efficient cleaning and precise self-adaptation do not interfere with each other and work together.

[0034] A modular end effector architecture that deeply integrates cleaning, polishing, and inspection functions. The high-frequency vibration scraping module, adaptive polishing module, and steering and contact detection module are physically and functionally deeply coupled through a unified deformation transmission and support structure, and integrated into a compact end effector, realizing a continuous and integrated operation process under a single device and a single path.

[0035] Example 1, as Figures 1-5 As shown, the adaptive curved surface cleaning device based on deformation transmission provided in this embodiment of the invention is referred to as the cleaning head, which is an adaptive underwater curved surface cleaning and polishing device based on flexible deformation transmission. As an end effector, it is connected to the mechanical arm flange of the underwater robot ROV through the main support plate 13.

[0036] Flexible scraper 1 located in the bottom working layer; When the flexible scraper 1 is working, it deforms due to the undulation of the curved surface. This deformation, as a mechanical signal, is transmitted to the deformation transmission plate 9 located in the middle layer and the support structure through the deformation decoupling mechanism, thereby driving the deformation transmission plate 9 to produce a corresponding deformation. The deformation of the deformation transmission plate 9 is reinforced by the rigid guide rib 10 and transmitted to the end of the rigid guide rib 10, thereby causing the polishing modules installed on the rigid guide rib 10 to deflect in space and passively adjust the posture of the polishing modules to always remain parallel and pressed with the working curved surface area that is currently in contact with the flexible scraper 1. During operation, the flexible scraper 1 is driven by the vibration generating mechanism located in the middle and lower layers to perform high-frequency linear reciprocating vibration to remove the attached substances; the polishing wheel 43 is driven to rotate by the drive motor 19 of the polishing module to polish the cleaned surface; Before operation, the contact detection unit of the steering and contact detection module located at the top can output a signal to guide the external robotic arm to adjust the pitch attitude of the overall structure. The contact rod 20 in the front support column 11 triggers and confirms that the flexible scraper 1 is in contact with the working surface, and the contact rod 20 in the rear support column 12 triggers and confirms that the polishing wheel group is in contact with the working surface. The steering drive unit of the steering and contact detection module drives the entire structure to rotate, thereby adjusting the working orientation of the flexible scraper 1.

[0037] For example, the uppermost steering and contact detection module includes a steering servo 24 and a drive gear 25 mounted above the main support plate 13 to drive the cleaning head to rotate around the front support column 11, and a sensor housing 22 fixed to the upper end of the two support columns.

[0038] Deformation and support structure of the intermediate layer: The main support plate 13 serves as a fixed base plate. Below it, a deformation transfer plate 9 is connected to the front support column 11 and the rear support column 12. Detection units consisting of plunger-type contact rods 20, etc., are respectively installed in the front support column 11 and the rear support column 12.

[0039] The vibration generating mechanism in the middle and lower layers: the vibration motor 2 and its protective shell 26 are installed below the deformation transmission plate 9 and are connected to the flexible scraper 1 through the first connector 4.

[0040] The bottommost working layer: The flexible scraper 1 is located at the bottom, and its left and right sides are connected to the front end of the deformation transfer plate 9 above through the deformation decoupling mechanism; the rear of the deformation transfer plate 9 is equipped with the left front polishing wheel group 14, the right front polishing wheel group 15, and the rear polishing wheel group 16; wherein, the deformation decoupling mechanism includes the upper hinge seat 5, the lower hinge seat 6, the connecting shaft 7, and the slide groove 8. Another example is the main support plate 13, which is connected to the flange of the robotic arm of the underwater robot ROV, specifically as a mounting base plate for connecting to the robotic arm of the underwater robot.

[0041] Deformation transmission plate 9: A core force transmission plate capable of elastic deformation, connected to the main support plate 13 via front support column 11 and rear support column 12. Its edges are provided with rigid guide ribs 10 to enhance deformation transmission efficiency. Figure 1 , Figure 4 ; Flexible scraper 1: An arc-shaped flexible tool that directly contacts and senses changes in the curved surface during operation.

[0042] like Figure 2 As shown, the vibration generating mechanism is used to drive the scraper to perform high-frequency linear vibration, including a vibration motor 2, an eccentric wheel 27, a transition ring 28, a drive ring 29, a crossbar 30, a first connecting piece 4, and a motor protective shell 26 with a limiting hole 42.

[0043] like Figure 3 As shown, the deformation decoupling mechanism connects the flexible scraper 1 and the deformation transmission plate 9, and is used to transmit deformation and isolate vibration. It includes an upper hinge seat 5 fixed to the deformation transmission plate 9, a lower hinge seat 6 fixed to the flexible scraper 1, a connecting shaft 7, and a sliding groove 8 provided on the lower hinge seat 6.

[0044] like Figure 5 As shown, the polishing module is installed at the rear of the deformation transfer plate 9 and includes a left front polishing wheel assembly 14, a right front polishing wheel assembly 15, and a rear polishing wheel assembly 16. Each polishing wheel assembly is mounted via an adaptive structure including a ball joint base 17 and a pressure spring 33, and is driven by a polishing wheel drive motor 19.

[0045] like Figure 4 As shown, the steering and contact detection module is physically integrated but functionally independent. It includes a contact detection unit for outputting contact status signals to assist external equipment in leveling, and a steering drive unit for driving the entire cleaning head to rotate and adjust the working direction. Specifically, it includes a steering servo 24, a drive gear 25, and a plunger-type contact rod 20, a magnet 21, a sensor housing 22, and a return spring 23, all housed within the support column.

[0046] For example, the deformation of the flexible scraper 1 is driven by the groove-hinge mechanism, which includes an upper hinge seat 5, a lower hinge seat 6, a connecting shaft 7 and a groove 8, to drive the deformation transmission plate 9 to generate follow-up deformation, thereby causing the mounting seat of the polishing wheel group to deflect, so as to realize the passive adaptive fitting of the polishing wheel to the working curved surface.

[0047] In another exemplary embodiment, in the vibration generating mechanism, the vibration motor 2 drives the eccentric wheel 27 to rotate via the coupling 3, and the motion is transmitted to the drive ring 29 via the transition ring 28. Since the crossbar 30 of the drive ring 29 is constrained to slide within the limiting hole 42 of the motor protective housing 26, its motion is restricted to a strictly linear reciprocating motion along the scraper blade direction. This linear motion drives the flexible scraper 1 to generate efficient working vibration through the first connecting member 4. Simultaneously, to isolate this vibration from interference with the polishing operation above, the connecting shaft 7 connecting the flexible scraper 1 and the deformation transmission plate 9 is positioned within the elongated groove 8 of the lower hinge seat 6. When the flexible scraper 1 vibrates back and forth, the connecting shaft 7 slides back and forth within the groove 8. This sliding pair provides the vibration degree of freedom and dissipates vibration energy, thereby decoupling the high-frequency vibration from the deformation transmission plate 9 above, ensuring the stable operation of the polishing wheel assembly.

[0048] For example, the steering and contact detection module detects the contact state between the cleaning head and the working surface through the plunger-type contact rod 20 and the reed switch sensor 39 set in the front support column 11 and the rear support column 12, and the signal is used to assist external leveling; and drives the cleaning head to rotate as a whole through the steering servo 24 and the drive gear 25 to adjust the working orientation.

[0049] An example is a deformation and support structure; The deformation transfer plate 9 is made of engineering plastics such as POM or composite materials with a certain elastic modulus, and has an arched long plate structure. Rigid metal guide ribs 10 are fixed to its left and right edges by riveting. These ribs significantly enhance the bending stiffness of the plate in the length direction, ensuring that deformation at the front end can be effectively transferred to the rear end. Two through holes 40 are provided in the middle of the deformation transfer plate 9, through which the front support column 11 and the rear support column 12 pass, respectively, and are locked in place by the front pipe clamp 31 and the rear pipe clamp 32. The upper end of the front support column 11 is fixed to the main support plate 13, and the lower end is fixed to the deformation transfer plate 9 through the pipe clamp 31, forming a fixed support. The upper end of the rear support column 12 is movably inserted into the arc-shaped guide groove 41 of the main support plate 13, and the lower end is also fixed to the deformation transfer plate 9 through the pipe clamp 32. This design allows the rear of the deformation transfer plate 9 to adapt in a movable manner when deformation occurs, avoiding structural jamming. The triggering of the contact rod in the front support column 11 indicates that the flexible scraper 1 has contacted the working surface, and the triggering of the contact rod in the rear support column 12 indicates that the polishing wheel assembly has contacted the working surface. These two signals together guide the external robotic arm to adjust the posture of the cleaning head, so that the front-to-back axis is parallel to the working surface. As for the possible non-parallelism in the left and right directions, this deviation does not need to be actively corrected. Instead, it relies entirely on the deformation capability of the flexible scraper 1 itself to absorb the differences in the curvature of the left and right surfaces. The deformation is then converted into a change in the spatial posture of the ball joint base 17 of the polishing wheel assembly through the deformation transmission plate 9. By utilizing the stepless deflection characteristic of the ball joint 18, the polishing wheel automatically conforms to the left and right tilted working surface. Thus, even without precise left and right leveling, it can still complete the conformation and operation of complex curved surfaces through a purely mechanical passive adaptive mechanism.

[0050] Another example is a vibration generating mechanism; The flexible scraper 1 is a thin, bow-shaped steel sheet whose blade can be elastically bent. The vibration motor 2 is an underwater DC brushed motor, fixed inside a motor protective housing 26, which is secured to the front support column 11. The motor shaft drives the eccentric wheel 27 to rotate, and the eccentric wheel 27 is fitted with a transition ring 28 and a drive ring 29. Horizontal crossbars 30 are fixed on both sides of the drive ring 29. One crossbar 30 passes through a limiting hole 42 on the side of the protective housing 26, constraining the movement of the drive ring 29 to a strictly linear reciprocating motion. The other crossbar 30 is welded to the back of the flexible scraper 1 via an L-shaped metal connecting rod of the first connecting piece 4, thereby converting the linear reciprocating motion into high-frequency vibration of the scraper.

[0051] Another exemplary deformation decoupling mechanism; The flexible scraper 1 is connected to the deformation transmission plate 9 at both ends via a set of deformation decoupling mechanisms. These decoupling mechanisms include: an upper hinge seat 5 fixed to the front end of the deformation transmission plate 9 by screws, a lower hinge seat 6 fixed to the scraper 1 by welding, and a connecting shaft 7 connecting the two. The lower hinge seat 6 has an elongated oval groove 8 in the front-to-back direction, and the bottom end of the connecting shaft 7 is movably positioned within this groove 8 via a pin. When the flexible scraper 1 vibrates back and forth at high frequency, the connecting shaft 7 can slide freely within the groove 8, thus isolating the vibration and preventing its transmission to the deformation transmission plate 9. When the flexible scraper 1 undergoes vertical bending deformation due to its curved surface, it causes the lower hinge seat 6 to move vertically accordingly. At this time, the connecting shaft 7 contacts the upper and lower sidewalls of the groove 8, and the sidewalls of the groove 8 constrain this displacement, thereby transmitting the vertical displacement, i.e., the deformation signal, to the deformation transmission plate 9 through the upper hinge seat 5, driving it to undergo bending deformation.

[0052] Another example is a polishing module; such as Figure 5 As shown; Three polishing wheel sets—left front polishing wheel set 14, right front polishing wheel set 15, and rear polishing wheel set 16—are mounted in a triangular pattern at the rear of the deformation transfer plate 9. Each polishing wheel set includes a polishing wheel 43 driven by a polishing wheel drive motor 19, a ball joint base 17, and a set of pressure springs 33. The ball joint base 17 is fixed to the deformation transfer plate 9 by bolts, and its internal ball joint 18 joint allows the polishing wheel to deflect at a certain angle in any direction. The pressure spring 33 is located between the ball joint 18 and the ball joint base 17, providing a constant downward pressure to the polishing wheel 43 and enabling it to have adaptive vertical floating capability. When the deformation transfer plate 9 is twisted or bent due to the deformation of the front flexible scraper 1, the spatial posture of the ball joint base 17 fixed to the deformation transfer plate 9 changes accordingly, thereby causing the polishing wheel to deflect and automatically adjust its working surface to fit the current curved surface. To prevent the polishing wheel sets from colliding with each other or interfering with the support structure under extreme deformation, a disc 34 is provided at the lower end of the rear support column 12. The disc 34 is located above the center of the three polishing wheel groups: the left front polishing wheel group 14, the right front polishing wheel group 15, and the rear polishing wheel group 16, serving as a physical isolation and protection function.

[0053] The integrated structure of the steering drive and contact detection module; such as Figure 1 , Figure 4 As shown; The key innovation of this module lies in a multifunctional integrated drive ring, which simultaneously includes a sensor housing 22, a gear 25, and a rotating connector. The sensor housing 22 is designed as a square box. A hollow tube sleeve 35 is embedded in the front end of the square box corresponding to the front support column 11. A long slit 38 is formed along the axial direction on the side of the hollow tube sleeve 35. Semi-circular arc-shaped teeth are machined on the outer side of the front end of the square box, forming a semi-circular gear 36 that meshes with the gear 25. A simple hollow tube sleeve 35 is also provided at the rear end of the hollow box corresponding to the rear support column 12, without any slits. The upper end of the front support column 11 is not only a hollow cylinder, but also has a rectangular rib 37 protruding axially on its outer side, functionally equivalent to a key. During assembly, the hollow tube sleeve 35 at the front end of the sensor housing 22 is fitted onto the upper end of the front support column 11, and the rectangular rib 37 of the front support column 11 is precisely engaged in the long slit 38 on the side of the hollow tube sleeve 35. This structure enables the rigid circumferential drive connection between the sensor housing 22 and the front support column 11 via the rectangular rib 37, which transmits torque. The connection strength can be reinforced using injection molding. The upper end of the rear support column 12 is a smooth cylinder. During assembly, the smooth cylinder is directly inserted into the seamless hollow tube sleeve 35 at the rear end of the sensor housing 22. This connection allows the rear support column 12 to revolve around the axis of the front support column 11 under the drive of the sensor housing 22. The steering servo 24 is fixed to the main support plate 13, and its drive gear 25 meshes with the semi-circular gear 36 at the front end of the sensor housing 22. When the steering servo 24 rotates, it drives the entire sensor housing 22 to rotate via the gear 25. Because the sensor housing 22 drives the front support column 11 through the rib-slot structure and drives the rear support column 12 through the seamless hollow tube sleeve 35 at the rear end, the entire working component mounted on the lower part of the front and rear support columns 11 rotates synchronously. The front and rear support columns 11 and 12 are hollow structures. Each plunger-type contact rod 20 is internally equipped with a plunger-type contact rod 20. The bottom of the plunger-type contact rod 20 extends out of the lower end face of the front support column 11 and the rear support column 12, respectively. The top of the plunger-type contact rod 20 is connected to the sensor housing 22 through a return spring 23, so that it remains in the extended state under normal conditions. A small magnet 21 is embedded inside the plunger-type contact rod 20. A reed switch sensor 39 is fixedly installed above the magnet 21 in the retracted position inside the front support column 11 and the rear support column 12. The reed switch sensor 39 is fixedly installed inside the sensor housing 22. When it approaches the working surface, the end of the plunger-type contact rod 20 is compressed back. When the magnet 21 approaches the reed switch sensor 39, the reed switch sensor 39 triggers a signal to detect the state of the corresponding plunger-type contact rod 20.

[0054] Example 2: The core of this invention lies in achieving adaptive fitting of the cleaning head of the adaptive curved surface cleaning device to complex curved surfaces through a purely mechanical passive linkage system. Its working principle is as follows: The flexible scraper 1 deforms due to the undulation of the curved surface during operation. This deformation serves as a mechanical signal and is transmitted to the deformation transmission plate 9 through the deformation decoupling mechanism.

[0055] Specifically, the deformation of the flexible scraper 1 causes the lower hinge seat 6 to move, and the connecting shaft 7 slides in the groove 8 and transmits the deformation to the upper hinge seat 5, thereby driving the deformation transmission plate 9 to produce a corresponding elastic bend. The groove 8 structure is used to isolate the high-frequency vibration of the flexible scraper 1 in the front and back directions during operation, ensuring that only deformation signals in the vertical direction are transmitted. The deformation of the deformation transmission plate 9 is reinforced by its rigid guide rib 10 and transmitted to its end, thereby causing the ball joint base 17 of the left front polishing wheel group 14, right front polishing wheel group 15, and rear polishing wheel group 16, which are respectively installed there, to undergo spatial deflection. Finally, under the constant force of the pressure spring 33, the posture of the polishing wheels 43 of the left front polishing wheel group 14, right front polishing wheel group 15, and rear polishing wheel group 16 is passively adjusted to always remain parallel and pressed against the curved surface area currently in contact with the flexible scraper 1.

[0056] Simultaneously, the vibration motor 2, guided by the eccentric wheel 27 and the limiting hole 42, drives the flexible scraper 1 to perform efficient linear reciprocating vibration to remove adhering substances; the polishing wheel drive motor 19 drives the polishing wheel 43 to rotate, polishing the cleaned surface. Before operation, the plunger-type contact rods 20 of the contact detection unit cooperate with the sensor housing 22 to output signals to guide the external robotic arm to adjust the pitch attitude of the cleaning head, so that both the flexible scraper 1 and the polishing wheel assembly are in contact with the working surface. Through the steering servo 24 and gear 25 of the steering drive unit of the steering and contact detection module, the entire cleaning head can be rotated to adjust the working orientation of the flexible scraper 1.

[0057] When the cleaning head of this invention is driven by an external device, such as a robotic arm, to move continuously along a curved surface, the deformation sensing-transmission-polishing wheel adaptive process possesses highly responsive and continuously smooth inherent mechanical characteristics, which is guaranteed by the following core structural features: Real-time and localized deformation: The flexible scraper 1 adopts a thin-walled structure with low stiffness and high elasticity. Its deformation can respond instantaneously to the curvature changes of the local surface it contacts without significant hysteresis, thus ensuring the real-time nature of the sensing signal.

[0058] Unidirectional signal transmission and low inertia: The transmission path formed by the deformation transmission plate 9 and the rigid guide rib 10 has a clear force flow direction from front to back. As an elastic body, the plate has small mass and low inertia, which can transmit the perceived surface changes to the end with almost no delay, avoiding response lag or oscillation caused by system inertia.

[0059] Vibration decoupling ensures signal purity: The deformation decoupling mechanism, consisting of a slide-hinge mechanism, upper hinge seat 5, lower hinge seat 6, connecting shaft 7, and slide 8, effectively filters out the interference of high-frequency working vibration of the scraper on the deformation transmission plate 9, ensuring that the transmitted signal is a pure static or quasi-static deformation component related to the surface geometry, providing a stable input for smooth adaptation at the back end.

[0060] The actuator features stepless continuous deflection: the deformation transmission plate 9 acts as a forearm, controlling the distance between the polishing wheel and the curved surface, while the ball joint 18 acts as a wrist, allowing the polishing wheel 43 to automatically adjust to be parallel to the working surface. The polishing wheel 43 achieves stepless adjustment of its posture across the entire range through the ball joint base 17, and the pressure spring 33 provides a constant contact force. This allows the polishing wheel 43 to continuously and smoothly follow any posture change command transmitted from the end of the deformation transmission plate 9 without any abrupt changes or jamming.

[0061] In summary, this cleaning head, as a passive mechanical system, possesses a high-bandwidth, low-phase-shift transfer function in its internal transfer function from sensing to execution. Therefore, regardless of the speed or trajectory of the external drive device moving the cleaning head on the curved surface, its polishing wheel assembly can adaptively conform to the surface in a highly synchronized, continuous, and smooth manner, thus outputting a continuous and uniform cleaning and polishing effect along any movement trajectory. This inherent characteristic of the cleaning head reduces the stringent requirements on the smoothness and trajectory accuracy of the drive device.

[0062] Example 3: The automated operation method of the adaptive surface cleaning device based on deformation transfer provided in this embodiment of the invention includes the following steps: S1. Posture pre-leveling and orientation adjustment: The external robotic arm is guided by the contact detection unit of the steering and contact detection module to adjust the adaptive curved surface cleaning device based on deformation transmission. The flexible scraper 1 is triggered to confirm contact with the working surface by the contact rod 20 in the front support column 11, and the polishing wheel group is triggered to confirm contact with the working surface by the contact rod 20 in the rear support column 12. The working orientation of the adaptive curved surface cleaning device based on deformation transmission is adjusted by the steering drive unit.

[0063] S2, Precision Contact and Adaptive Fitting: The adaptive curved surface cleaning device based on deformation transmission is pressed against the working curved surface, the flexible scraper 1 contacts the working curved surface and deforms, and the polishing wheel group of the polishing module passively fits the curved surface by adjusting the polishing module.

[0064] S3. Start integrated operation: Start the vibration motor 2 and the polishing wheel drive motor 19. The flexible scraper 1 vibrates to remove the attached substances, while the polishing wheel 43 polishes the cleaned area.

[0065] S4. Continuous Adaptive Operation: The robot moves along a planned path using an adaptive surface cleaning device based on deformation transfer. Throughout the movement, a continuous adaptive process of deformation sensing-transfer-polishing wheel is performed to achieve continuous and adaptive cleaning and polishing of the working surface.

[0066] S5. Area Transfer and Loop: After completing the work in the current area, move to the next area and repeat steps S1-S4.

[0067] Example 4, as another embodiment of the present invention, the automated operation method of the adaptive surface cleaning device based on deformation transfer (hereinafter referred to as the cleaning head) provided in this embodiment of the present invention includes the following steps: Step 1, Loading and Launching: Attach the cleaning head to the end of the ROV robotic arm, and the ROV will carry it to the target work area, such as near the propeller.

[0068] Step 2, Robotic Arm-Assisted Leveling: The operator remotely controls the ROV to bring the cleaning head closer to the target blade. The external control system reads the signals from the reed switch sensors 39 corresponding to the plunger-type contact rods 20 in the front and rear support columns 12, and guides the robotic arm to adjust the pitch and position of the cleaning head until both reed switch sensors 39 are triggered, indicating that the flexible scraper 1 and the polishing wheel assembly have made contact with the working surface.

[0069] Step 3, Autonomous Steering of Cleaning Head: According to the work path, the operator triggers the steering servo 24 through program instructions to drive the entire cleaning head to rotate, adjusting the cutting edge direction of the flexible scraper 1 to the optimal working orientation consistent with the predetermined cutting trajectory.

[0070] Step 4, Precision Contact and Adaptive Fitting: The ROV-controlled robotic arm gently presses the cleaning head against the blade surface. The flexible scraper 1 first contacts the working curved surface, and its deformation, through the linkage between the decoupling mechanism and the deformation transmission plate 9, immediately drives the polishing wheel assembly behind it to produce a corresponding attitude deflection, achieving passive adaptive fitting.

[0071] Step 5: Start the integrated operation: Start the vibration motor 2 to drive the flexible scraper 1 to scrape off the attached materials such as barnacles and shellfish in a high-frequency linear vibration mode. At the same time, start the three polishing wheel drive motors 19 to drive the polishing wheels to rotate at high speed.

[0072] Step 6, Continuous Path Operation: While maintaining a certain downward pressure, the drive device moves the cleaning head along a predetermined direction. Throughout the movement, the cleaning head, thanks to its internal deformation sensing-transmission-polishing wheel adaptive linkage mechanism, allows the polishing wheel assembly to autonomously and continuously adjust its posture, closely following the surface changes sensed in real time by the flexible scraper 1. Therefore, the path traversed by the drive device in a single movement forms a continuous and uniform cleaning and polishing band. To cover the entire curved surface, the drive device controls the cleaning head to perform multiple such translational scans.

[0073] Step 7, Area Transfer and Cycling: After completing the work on one side of a blade, lift the cleaning head and move to the next blade or the other side of the same blade. Repeat steps 2 to 5 until the entire propeller maintenance work is completed.

[0074] As can be seen from the above embodiments, the present invention, through the core technical solution of deformation sensing of flexible scraper 1, decoupling transmission of mechanical structure, and passive adaptation of polishing wheel assembly, replaces the complex active control system with simple and reliable passive mechanical linkage, and realizes efficient, non-destructive, low-cost, and highly reliable integrated cleaning and polishing of complex three-dimensional curved surfaces such as propellers.

[0075] In specific underwater maintenance operation scenarios, this translates into a significant competitive advantage: When operating in narrow, heavily obstructed curved areas such as propeller blade roots and hub cap joints, existing technologies face significant challenges: rigid scrapers (CN111422314A) are ineffective due to the tool's inability to conform; high-pressure jets (CN120327718A) easily generate turbulence within such structures, resulting in rapid energy decay and poor cleaning performance; and robotic arm solutions (CN221234032U) relying on external vision / force control suffer from control failures due to sensor obstruction or space limitations. In contrast, this cleaning head, with its fully passive adaptive characteristics, does not require external sensors to see or perceive the curved surface. It only needs to be pushed into the area by the robotic arm, and its flexible scraper 1 and polishing wheel can autonomously conform to the curved surface, achieving effective operation and demonstrating extremely strong environmental adaptability.

[0076] When maintaining precision components with stringent surface coating protection requirements, such as high-value ship propellers, existing rigid tools or brushes inherently risk damaging the coating. The flexible sensing-passive adaptation mechanism of this invention ensures soft contact and constant pressure between the tool and the curved surface, fundamentally eliminating scratches caused by tool rigidity. This makes it particularly suitable for maintenance scenarios with high value and high protection requirements.

[0077] In shipyards or dry docks prioritizing efficiency and cost-effectiveness during maintenance, existing technologies typically require multiple machines and procedures for cleaning and polishing, leading to process interruptions and high overall time and cost. This device integrates cleaning and polishing, completing both procedures in a single stroke, reducing maintenance time by nearly half. Furthermore, its simple, purely mechanical structure ensures high reliability and low maintenance requirements, perfectly aligning with the robust and user-friendly equipment needs of engineering sites. Compared to the complex and precision robot CN221234032U, it offers significant advantages in both purchase and operating costs.

[0078] In applications with stringent energy efficiency requirements, such as long-term operation of battery-powered underwater robots far from their mothership, the high energy consumption of the high-pressure water jet solution CN120327718A becomes a fatal flaw. This invention requires only a small motor for driving, resulting in extremely low energy consumption and effectively extending the underwater robot's single-dive operation time, thus expanding its operational window.

[0079] Compared to existing technologies, the advantages of this invention further include: A deformation decoupling mechanism is used to decouple vibration from deformation transmission. The groove 8 allows the free travel of the scraper's high-frequency back-and-forth vibration, while the hinge reliably transmits the scraper's up-and-down deformation caused by the surface undulations to the support plate. This ensures the stable and precise operation of the adaptive polishing mechanism while achieving efficient vibration cleaning, solving the problem of vibration interference affecting adaptive accuracy.

[0080] Through a purely mechanical passive linkage of deformation of the flexible scraper 1, force transmission by the rigid ribs, and elastic deformation of the support plate, the polishing wheel achieves real-time adaptive contact with complex curved surfaces. This mechanism relies entirely on the physical structure, eliminating the need for force sensors and active control systems. It achieves high-precision tracking of three-dimensional curved surfaces such as propellers at extremely low cost, eliminating cleaning dead zones, and effectively avoiding the risk of rigid tools damaging the workpiece surface.

[0081] By deeply integrating high-frequency vibration scraping and rotary mechanical polishing through a single adaptive structure, this system enables continuous cleaning and polishing operations. Cleaning and polishing can be completed simultaneously in a single path movement, avoiding interruptions caused by tool or equipment changes, more than doubling overall maintenance efficiency, and simplifying the operation process.

[0082] The overall structure is simple, reliable, and inexpensive. The core functions are realized by standard mechanical parts such as motor, eccentric wheel 27, hinge, slide 8, spring, and ball joint 18. There are no expensive and precision sensors and control units, resulting in low manufacturing and maintenance costs. Moreover, the pure mechanical system is resistant to seawater corrosion and environmental interference, and its stability and reliability in underwater dynamic environments far exceed those of active solutions that rely on complex electronic control.

[0083] Energy consumption is significantly lower than that of high-pressure jet solutions. It only requires driving a small motor to generate mechanical vibration and rotation, and the power consumption is far lower than that of the high-power pump set required to generate high-pressure cavitation jets. This helps to extend the underwater robot's operating time and reduce operating costs.

[0084] Simplified path planning. Unlike active robot operations that rely on high-precision 3D models and complex trajectory planning, this invention places extremely low demands on the robot's path planning. The robot does not require a pre-existing precise CAD model of the propeller, nor does it need to perform complex real-time trajectory correction based on sensor feedback during operation. The operator or control system only needs to specify a rough work area and direction of movement, and the robot pushes the cleaning head forward at a constant speed. This coarse guidance and fine adaptation mode significantly reduces reliance on the robot's positioning system, control system, and operator skills, improving robustness and operability in turbid waters or on complex curved surfaces, making it particularly suitable for on-site engineering applications. The inclusion of two contact rods for detecting contact status eliminates the need for underwater pressure sensors, reducing the difficulty and cost of code implementation.

[0085] Example 5, as another embodiment of the present invention, shows that the flexible scraper 1 can be made of multi-layer composite elastic steel plate, fiber-reinforced rubber scraper, or flexible alloy with shape memory properties to replace the existing hacksaw blade, thereby adjusting its stiffness, wear resistance, and deformation recovery characteristics. Its cutting edge shape can be replaced with continuous or intermittent serrations, a wavy cutting edge, or a rough surface with multiple protrusions to adapt to the removal of different types of attachments such as hard barnacles or soft algae, improving scraping efficiency.

[0086] The vibration generating mechanism can be driven by a linear motor to directly drive the scraper to reciprocate; or it can be driven by a piezoelectric ceramic actuator to achieve higher frequency and more precise micro-amplitude vibration, which is suitable for fine surfaces.

[0087] The polishing function of the polishing module is not limited to a rotating polishing wheel. A vortex grinding head can be used, and the ball joint base 17 can be replaced by a universal joint or a floating platform composed of multiple miniature linear bearings.

[0088] Contact detection in the steering and contact detection module is not limited to magnetic reed switches. Non-contact detection can be achieved using microswitches, resistive pressure film sensors, or infrared range sensors. Steering actuation is not limited to servo motors and gears; direct-drive servo motors or hydraulic oscillating cylinders can be used.

[0089] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An adaptive surface cleaning device based on deformation transfer, characterized in that, The device includes: A flexible scraper located in the bottom working layer (1); When the flexible scraper (1) is working, it deforms due to the undulation of the curved surface. This deformation is a mechanical signal and is transmitted to the deformation transmission plate (9) of the deformation and support structure in the middle layer through the deformation decoupling mechanism, thereby driving the deformation transmission plate (9) to produce a corresponding deformation. The deformation of the deformation transmission plate (9) is strengthened by the rigid guide rib (10) and transmitted to the end of the rigid guide rib (10), which drives the polishing modules installed on the rigid guide rib (10) to deflect in space and passively adjusts the posture of the polishing modules to always keep them parallel and pressed against the working curved surface area that is currently in contact with the flexible scraper (1). During operation, the flexible scraper (1) is driven by the vibration generating mechanism located in the middle and lower layers to perform high-frequency linear reciprocating vibration to remove the attached substances; the polishing wheel drive motor (19) of the polishing module drives the polishing wheel (43) to rotate and polish the cleaned surface; Before operation, the contact detection unit of the steering and contact detection module located at the top outputs a signal to guide the external robotic arm to adjust the pitch attitude of the overall structure. The contact rod (20) in the front support column (11) triggers and confirms that the flexible scraper (1) is in contact with the working surface. The contact rod (20) in the rear support column (12) triggers and confirms that the polishing wheel group is in contact with the working surface. The steering drive unit of the steering and contact detection module drives the entire rotation to adjust the working orientation of the flexible scraper (1).

2. The adaptive surface cleaning device based on deformation transfer according to claim 1, characterized in that, The vibration generating mechanism includes a vibration motor (2), an eccentric wheel (27), a transition ring (28), a drive ring (29), a crossbar (30), a first connecting piece (4), and a motor protective shell (26) with a limiting hole (42). The vibration motor (2) drives the eccentric wheel (27) to rotate, and the motion is transmitted to the drive ring (29) through the transition ring (28); the crossbar (30) of the drive ring (29) is constrained in the limiting hole (42) of the motor protective shell (26) and reciprocates in a straight line along the direction of the scraper blade; this straight reciprocating motion drives the flexible scraper (1) to generate working vibration through the first connecting piece (4).

3. The adaptive surface cleaning device based on deformation transfer according to claim 1, characterized in that, The deformation decoupling mechanism connects the flexible scraper (1) and the deformation transmission plate (9) to transmit deformation and isolate vibration. It includes an upper hinge seat (5) fixed to the deformation transmission plate (9), a lower hinge seat (6) fixed to the flexible scraper (1), a connecting shaft (7), and a groove (8) provided on the lower hinge seat (6).

4. The adaptive surface cleaning device based on deformation transfer according to claim 3, characterized in that, The connecting shaft (7) connecting the flexible scraper (1) and the deformation transmission plate (9) is set in the elongated groove (8) of the lower hinge seat (6); when the flexible scraper (1) vibrates back and forth at high frequency, the connecting shaft (7) slides back and forth in the groove (8) to decouple the high frequency vibration from the deformation transmission plate (9) above.

5. The adaptive surface cleaning device based on deformation transfer according to claim 1, characterized in that, The polishing module includes a left front polishing wheel group (14), a right front polishing wheel group (15), and a rear polishing wheel group (16). The three polishing wheel groups are installed in a triangular shape at the rear of the deformation transfer plate (9).

6. The adaptive surface cleaning device based on deformation transfer according to claim 5, characterized in that, Each polishing wheel assembly includes a polishing wheel (43) driven by a polishing wheel drive motor (19), a ball joint base (17), and a set of pressure springs (33). The ball joint base (17) is fixed to the deformation transmission plate (9) by bolts. The ball joint (18) inside allows the polishing wheel (43) to deflect at a certain angle in any direction. The pressure spring (33) is located between the ball joint (18) and the ball joint base (17). When the deformation transmission plate (9) is twisted or bent due to the deformation of the front flexible scraper (1), the spatial posture of the ball joint base (17) fixed on the deformation transmission plate (9) changes accordingly, thereby driving the polishing wheel (43) to deflect and automatically adjusting the working surface of the polishing wheel (43) to fit the current curved surface. At the lower end of the rear support column (12), there is a disc (34) to prevent the polishing wheel assembly from colliding.

7. The adaptive surface cleaning device based on deformation transfer according to claim 1, characterized in that, The steering and contact detection module includes a contact detection unit for outputting contact status signals to assist external equipment in leveling, and a steering drive unit for driving the entire cleaning head to rotate to adjust the working direction. The contact detection unit detects the contact status with the working surface through the plunger-type contact rod (20) and reed switch sensor (39) set in the front support column (11) and the rear support column (12). The sensor corresponding to the front support column (11) triggers the flexible scraper (1) to contact the working surface, and the sensor corresponding to the rear support column (12) triggers the polishing wheel to contact the working surface. The signal is used to assist external leveling. The entire unit is driven to rotate through the steering servo (24) and gear (25) of the steering drive unit to adjust the working orientation.

8. The adaptive surface cleaning device based on deformation transfer according to claim 7, characterized in that, The steering and contact detection module specifically includes a steering servo (24), a gear (25), and a plunger-type contact rod (20), a magnet (21), a sensor housing (22), and a return spring (23) installed in the front support column (11) and the rear support column (12). The sensor housing (22) is a square box; a hollow tube sleeve (35) is embedded in the front of the square box corresponding to the front support column (11), and a long slit (38) is opened on the side of the hollow tube sleeve (35) along the axial direction; a semi-circular arc-shaped tooth is machined on the outer side of the front of the square box to form a semi-circular gear (36) that meshes with the gear (25); a hollow tube sleeve (35) is also provided at the rear of the hollow box corresponding to the rear support column (12), without any slits; A rectangular rib (37) protrudes axially from the outer side of the upper end of the front support column (11); during assembly, the hollow tube sleeve (35) at the front end of the sensor housing (22) is fitted into the upper end of the front support column (11), and the rectangular rib (37) of the front support column (11) is inserted into the long slit (38) on the side of the hollow tube sleeve (35). The upper end of the rear support column (12) is a smooth cylinder; during assembly, the smooth cylinder is directly inserted into the seamless hollow tube sleeve (35) at the rear end of the sensor housing (22); the steering servo (24) is fixed to the main support plate (13), and the gear (25) meshes with the semi-circular gear (36) at the front end of the sensor housing (22); each of the front support column (11) and the rear support column (12) is provided with a plunger-type contact rod (20), the bottom of the plunger-type contact rod (20) extends out of the lower end face of the front support column (11) and the rear support column (12) respectively, and the top of the plunger-type contact rod (20) is connected by a return spring (23). The plunger-type contact rod (20) is connected to the sensor housing (22) and extends out under normal conditions. A magnet (21) is embedded inside the plunger-type contact rod (20). A reed switch sensor (39) is fixed above the magnet (21) in the retracted position in the front support column (11) and the rear support column (12). The reed switch sensor (39) is fixedly installed inside the sensor housing (22). When it approaches the working surface, the end of the plunger-type contact rod (20) is compressed back. When the magnet (21) approaches the reed switch sensor (39), the reed switch sensor (39) triggers a signal to detect the state of the corresponding plunger-type contact rod (20).

9. The adaptive surface cleaning device based on deformation transfer according to claim 1, characterized in that, The deformation and support structure includes a deformation transfer plate (9), with rigid guide ribs (10) made of metal fixed to the left and right sides by riveting. The deformation transfer plate (9) has two through holes (40) in the middle, through which the front support column (11) and the rear support column (12) pass respectively, and are locked and fixed by the front pipe clamp (31) and the rear pipe clamp (32). The upper end of the front support column (11) is fixed to the main support plate (13), and the lower end is fixed to the deformation transfer plate (9) by the pipe clamp (31) to form a fixed support. The upper end of the rear support column (12) is movably inserted into the arc-shaped guide groove (41) of the main support plate (13), and the lower end is fixed to the deformation transfer plate (9) by the pipe clamp (32).

10. An automated operation method for an adaptive surface cleaning device based on deformation transfer, characterized in that, This method is implemented in the adaptive surface cleaning device based on deformation transfer as described in any one of claims 1-9, and the method includes the following steps: S1, Posture pre-leveling and orientation adjustment: The external robotic arm is guided to adjust the adaptive curved surface cleaning device based on deformation transmission through the contact detection unit of the steering and contact detection module. The contact rod (20) in the front support column (11) triggers and confirms that the flexible scraper (1) contacts the working surface, and the contact rod (20) in the rear support column (12) triggers and confirms that the polishing wheel group contacts the working surface; and the working orientation of the adaptive curved surface cleaning device based on deformation transmission is adjusted through the steering drive unit. S2, Precision contact and adaptive bonding: The adaptive curved surface cleaning device based on deformation transmission is pressed against the working curved surface, the flexible scraper (1) contacts the working curved surface and deforms, and the polishing wheel group of the polishing module is passively bonded to the curved surface by adjusting the polishing wheel group of the polishing module. S3. Start the integrated operation: Start the vibration motor (2) and the polishing wheel drive motor (19); the flexible scraper (1) vibrates to remove the attached substances, while the polishing wheel (43) polishes the cleaned area; S4. Continuous Adaptive Operation: The robot moves along the planned path using an adaptive surface cleaning device based on deformation transfer. Throughout the movement, the deformation sensing-transfer-polishing wheel adaptive process is continuously carried out to achieve continuous and adaptive cleaning and polishing of the working surface. S5, Area Transfer and Cycle: After completing the current area's work, move to the next area.

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