Ship cleaning robot

Abstract

The utility model relates to a ship cleaning robot which comprises a main body support which comprises a first frame assembly and a second frame assembly which are arranged in parallel and a plurality of connecting stand columns located between the first frame assembly and the second frame assembly. The walking mechanism comprises a connecting support and walking assemblies arranged on the two sides of the connecting support respectively, the connecting support is detachably arranged at the bottom of the second frame assembly, and the two walking assemblies are arranged on the two sides of the second frame assembly respectively; the cleaning mechanism comprises a cleaning driving assembly, a connecting main beam and a cleaning disc assembly which are sequentially connected from top to bottom, and the connecting main beam is detachably arranged between the first frame assembly and the second frame assembly; a cleaning disc of the cleaning disc assembly is located below the second frame assembly, and the cleaning disc is located between the two walking assemblies. The top end of the cleaning driving assembly penetrates out of the top of the first frame assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning, in particular to a ship cleaning robot. Background Art

[0002] In recent years, with the development of my country's shipping industry, the volume of waterborne cargo in my country has continued to rise. As ships sail in the water for a long time, algae, barnacles and other organisms in the water attach to the hull in a large area, causing serious adverse effects on ship transportation. The attached marine organisms not only damage the hull, but also increase the resistance of the ship's navigation, leading to an increase in shipping costs. Therefore, it is necessary to clean the surface of the ship regularly.

[0003] In China, the surface of ships is mostly cleaned manually with tools such as handheld shovels, which is inefficient and easy to damage the ship's paint. It cannot be operated in bad weather. In recent years, with the development of science and technology, ship cleaning robots have emerged. However, previous ship cleaning robots have the following problems, such as low reliability of the walking mechanism, easy oyster jam on the track, which affects the normal operation of the track; inconsistent speed of the cleaning discs on both sides of the robot, poor cleaning effect on both sides; poor adsorption of the robot, easy to detach from the surface of the ship when walking. Utility Model Content

[0004] In view of the above analysis, the utility model aims to provide a ship cleaning robot to solve at least one of the above problems.

[0005] The purpose of this utility model is mainly achieved through the following technical solutions:

[0006] The utility model provides a ship cleaning robot, comprising:

[0007] The main frame comprises a first frame assembly and a second frame assembly arranged in parallel, and a plurality of connecting columns located between the first frame assembly and the second frame assembly;

[0008] A walking mechanism, comprising a connecting bracket and walking assemblies arranged on both sides of the connecting bracket, wherein the connecting bracket is detachably arranged at the bottom of the second frame assembly, and two walking assemblies are arranged on both sides of the second frame assembly;

[0009] The cleaning mechanism includes a cleaning drive assembly, a connecting main beam and a cleaning disc assembly which are connected in sequence from top to bottom, wherein the connecting main beam is detachably arranged between the first frame assembly and the second frame assembly; the cleaning disc of the cleaning disc assembly is located below the second frame assembly, and the cleaning disc is located between the two walking assemblies; the top end of the cleaning drive assembly passes through the top of the first frame assembly.

[0010] Furthermore, the main support also includes:

[0011] A walking assembly part, located at the bottom of the second frame assembly, the walking assembly part is detachably connected to the connecting bracket;

[0012] The cleaning assembly part is located between the first frame assembly and the second frame assembly and at the center of the main support; the cleaning assembly part is detachably connected to the connecting main beam.

[0013] Further, the first frame assembly includes a first outer frame and a plurality of first connecting beams located in the first outer frame;

[0014] The second frame assembly includes a second outer frame and a plurality of second connecting beams located in the second outer frame;

[0015] The first outer frame and the second outer frame are arranged in parallel up and down, and the first connecting beams, the second connecting beams, and the first connecting beams and the second connecting beams are all arranged in parallel;

[0016] The two ends of the connecting column are respectively vertically connected to the first frame assembly and the second frame assembly;

[0017] Preferably, the first outer frame and the second outer frame are respectively in the shape of a rectangular frame.

[0018] Furthermore, the ship cleaning robot also includes a main control mechanism, a sensor mechanism, four vertical thrusters, four horizontal thrusters, a lighting lamp and a camera;

[0019] The main support also includes:

[0020] A main control assembly part, configured to be able to detachably assemble the main control mechanism; the main control assembly part is located between the first frame assembly and the second frame assembly, and is located at the front side of the cleaning assembly part;

[0021] A sensor assembly part, configured to be able to detachably assemble the sensor mechanism; the sensor assembly part is located between the first frame assembly and the second frame assembly, and is located at the rear side of the cleaning assembly part;

[0022] Four vertical propulsion assembly frames are configured to be able to detachably set and assemble the vertical propellers, so that the four vertical propellers are respectively located at the inner sides of the four corners of the first outer frame; the opening direction of the vertical propeller is vertically upward;

[0023] Four horizontal propulsion assembly columns are configured to be able to detachably configure the horizontal propellers, and the four horizontal propellers are respectively located below the four corners of the first outer frame; the horizontal propulsion assembly columns are configured to make the included angle between the propulsion direction of the horizontal propeller and the front end face or the rear end face of the main support be 45°, and the opening directions of the two horizontal propellers at the front end are horizontally forward and inclined inwardly by 45°, and the opening directions of the two horizontal propellers at the rear end are horizontally backward and inclined inwardly by 45°;

[0024] A plurality of lighting and camera supports are configured to be able to detachably assemble lighting lamps and / or cameras; the lighting and camera supports are located at the front and rear ends of the main support, so that cameras and lighting lamps are provided at the front and rear ends of the ship cleaning robot.

[0025] Furthermore, the connecting main beam is provided with at least one set of a cleaning disc assembly and a cleaning drive assembly arranged in a one-to-one correspondence;

[0026] The cleaning mechanism further comprises a fluid supply assembly, wherein the fluid supply assembly is configured to at least provide the cleaning disc assembly with a high-pressure fluid for cleaning;

[0027] The flow supply assembly includes an inlet pipe and at least one connecting pipe, one end of the connecting pipe is connected to the inlet pipe, and the other end of the connecting pipe is connected to the fluid channel of the cleaning disk assembly;

[0028] The number of the connecting pipes is the same as the number of the cleaning disk assemblies, and the connecting pipes correspond to the cleaning disk assemblies one by one.

[0029] Further, the cleaning disc assembly includes a rotating shaft, a spray pipe, a cleaning disc and a connecting cylinder;

[0030] The rotating shaft is provided with a fluid channel, and the fluid channel is configured to guide the high-pressure fluid to the nozzle for cleaning the surface to be cleaned, and the nozzle rotates synchronously with the rotating shaft; the cleaning drive assembly is configured to at least provide part of the driving force for the rotating shaft, and to control the rotation speed of the rotating shaft; the high-pressure fluid and the cleaning drive assembly together provide rotational power for the rotating shaft;

[0031] The cleaning disc cover is arranged on the spray pipe;

[0032] The connecting cylinder is detachably connected to the cleaning plate;

[0033] The rotating shaft is at least partially located in the connecting cylinder body, and the rotating shaft is rotatably connected to the connecting cylinder body; one end of the rotating shaft is transmission-connected to the cleaning drive assembly, and the other end of the rotating shaft extends into the cleaning disk and is connected to the spray pipe;

[0034] Preferably, the connecting cylinder is provided with a first cavity and an inlet connected to the first cavity, and the inlet is connected to the connecting pipe;

[0035] The rotating shaft is provided with at least one fluid inlet, and the fluid inlet is communicated with the first cavity and the fluid channel;

[0036] Preferably, the position of the flow inlet corresponds to the position where the rotating shaft is provided with a fluid inlet;

[0037] Preferably, the first cavity is provided with a first connection port and a second connection port for the two ends of the rotating shaft to pass through, and the side wall of the rotating shaft is respectively connected to the first connection port and the second connection port in a dynamic sealing manner;

[0038] Preferably, the cleaning disc assembly comprises a plurality of spray pipes; the rotating shaft is provided with a plurality of fluid outlets, the number of the fluid outlets is the same as the number of the spray pipes, and the spray pipes correspond to the fluid outlets one by one.

[0039] Further, the rotating shaft comprises a first rotating part and a second rotating part which are detachably connected, the first rotating part and the second rotating part jointly define the fluid channel, the fluid inlet is provided on a side wall of the first rotating part, and the fluid outlet is provided on a side wall of the second rotating part;

[0040] The first rotating part is detachably disposed in the first cavity, one end of the first rotating part passes through the first connecting port and is transmission-connected to the cleaning drive assembly, and the other end of the first rotating part passes through the second connecting port and extends into the cleaning disk and is detachably connected to the second rotating part;

[0041] The second rotating part is located in the cleaning disk, the top end of the second rotating part is detachably connected to the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part;

[0042] Preferably, the first rotating part is provided with an assembly hole which penetrates the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided at a position of the side wall of the first rotating part corresponding to the assembly hole;

[0043] The top end of the second rotating part matches with the assembly hole, and the top end of the second rotating part can be inserted into the assembly hole; the side wall of the second rotating part is provided with a second connecting protrusion matching with the first connecting protrusion;

[0044] The second rotating portion is inserted into the assembly hole, and the first connecting protrusion is fitted with the second connecting protrusion and is detachably connected.

[0045] Further, the connecting main beam comprises a central assembly portion and at least one supporting assembly portion, the supporting assembly portion is evenly arranged outside the central assembly portion, and the distance between the supporting assembly portion and the central assembly portion is the same;

[0046] The flow supply assembly can be detachably mounted on the central assembly portion;

[0047] The number of the supporting and assembling parts is the same as the number of the cleaning disc assemblies, and the cleaning disc assemblies and the cleaning drive assemblies are respectively arranged one by one on the supporting and assembling parts in an upper and lower direction.

[0048] Furthermore, a baffle is provided on the inner side of the walking component, and the baffle is projected in the direction where the walking component is located and can completely cover the walking component, so as to prevent the debris cleaned by the cleaning mechanism from entering the walking component.

[0049] Further, the travel assembly includes a driving sprocket, a guide sprocket, a crawler and an assembly main beam;

[0050] A driving sprocket is provided at one end of the assembly main beam, and a guide sprocket is provided at the other end of the assembly main beam through a tensioner, and the driving sprocket and the guide sprocket can rotate relative to the assembly main beam;

[0051] The crawler belt is sleeved on the driving sprocket and the guide sprocket, and the crawler belt is drivingly connected with the driving sprocket and the guide sprocket;

[0052] The connecting bracket passes through the baffle plate and is connected to the assembly main beam;

[0053] Preferably, the crawler belt comprises a chain track portion and a track shoe portion arranged outside the chain track portion, the driving sprocket and the guide sprocket are respectively meshed and connected with the chain track portion, and the chain track portion drives the track shoe portion to rotate synchronously;

[0054] Preferably, the travel assembly further comprises a plurality of support wheel groups located between the drive sprocket and the guide sprocket;

[0055] The supporting wheel set is rotatably connected to the assembly main beam and abuts against the track shoe portion;

[0056] The supporting wheel set comprises two wheel bodies arranged opposite to each other, and the chain track portion passes between the two wheel bodies of the supporting wheel set;

[0057] Preferably, a track floating plate cooperating with the track is provided on the outer side of the walking assembly;

[0058] A window is provided at a position where the crawler floating plate is opposite to the supporting wheel set, so as to expose the outer wheel body of the supporting wheel set;

[0059] Preferably, the upper and lower sides of the track floating plate do not exceed the inner side wall of the track shoe portion.

[0060] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0061] (1) The cleaning mechanism and walking mechanism of the ship cleaning robot, which are relatively heavy, are arranged at the center and the bottom respectively through the main body bracket, and the cleaning plate is located between the walking components, so that the structure of the ship cleaning robot is more compact, the weight distribution is more uniform and reasonable, and the volume of the ship cleaning robot can be effectively reduced, and the flexibility of the ship cleaning robot can be improved;

[0062] (2) The rotation speed of the rotating shaft is accurately controlled by the cleaning drive assembly, which can avoid the damage to the cleaning surface caused by the nozzle rotating too fast due to excessive high-pressure fluid pressure, and can also avoid the poor cleaning effect caused by the nozzle rotating too slowly due to too low high-pressure fluid pressure, thereby ensuring the cleaning effect of the cleaning mechanism;

[0063] (3) The rotation of the rotating shaft is driven by the high-pressure fluid and the cleaning drive assembly, and the driving force generated by the high-pressure fluid on the nozzle is reasonably utilized, which not only saves energy and reduces emissions, but also is more environmentally friendly, and avoids the excessive size of the driving assembly, which increases the weight and volume of the cleaning mechanism, and reduces the use range and flexibility of the cleaning mechanism;

[0064] (4) By arranging a baffle plate on the side of the walking assembly close to the cleaning disk assembly, it is prevented that the debris cleaned by the cleaning mechanism is directly diffused into the walking assembly (especially when the ship cleaning robot is located on the side wall of the ship, the debris can be prevented from falling into the walking assembly on the lower side under the action of gravity), affecting the normal operation of the walking assembly, and it is also prevented that the debris enters the walking assembly and causes damage to its internal components, thereby extending the service life of the walking mechanism;

[0065] (5) The main control assembly part, the cleaning assembly part and the sensor assembly part are used to disassemble and disassemble the main control mechanism, the cleaning mechanism and the sensor mechanism of the ship cleaning robot, which are relatively heavy, between the first frame assembly and the second frame assembly in sequence, which not only makes the structure of the ship cleaning robot more compact and the weight distribution more even and reasonable, but also enables the various mechanisms of the ship cleaning robot to be modularly disassembled and assembled, which is convenient for modular management and later maintenance;

[0066] (6) By controlling the speed of the motor in the cleaning drive assembly, the nozzle speed can be precisely controlled, thereby achieving a good adsorption and cleaning effect; in addition, the controller can ensure that the cleaning effect of all cleaning components is consistent, so that the cleaning device has a uniform cleaning effect;

[0067] (7) The utility model has a compact structure and a small size, and adopts a modular design, which is convenient for each module to be assembled and debugged separately, and is also convenient for repair and maintenance; the nozzle speed is controllable, the adsorption force is controllable, which can ensure a better cleaning effect and improve the reliability of the cleaning disc adsorbing the hull;

[0068] (8) The cleaning component and the cleaning drive component are connected together by connecting the main beam. The cleaning drive component and the high-pressure water jointly drive the rotating shaft in the cleaning component to rotate, and its rotation status can be monitored by the controller and / or the host computer so that the rotation speed can be rotated at the set speed, thereby adjusting the adsorption force between the cleaning component and the surface to be cleaned. At the same time, it can also overcome the disadvantages of inconsistent rotation speeds of the rotating joints on both sides caused by differences in the water supply pressure of the high-pressure water and inconsistent wear of the seals on both sides, thereby ensuring that the cleaning effects of all cleaning components are consistent.

[0069] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be obvious from the description or understood by implementing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the contents specifically pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components.

[0071] Figure 1 Schematic diagram of the structure of the ship cleaning robot in a specific implementation manner (I);

[0072] Figure 2 This is a structural schematic diagram of a ship cleaning robot in a specific implementation manner (II);

[0073] Figure 3 It is a structural schematic diagram of the walking mechanism in a specific implementation manner;

[0074] Figure 4 It is a schematic diagram of the structure of the walking assembly after the crawler floating plate is removed in a specific implementation manner;

[0075] Figure 5 It is a partial enlarged view of the walking assembly after the crawler floating plate is removed in a specific implementation manner;

[0076] Figure 6 It is a structural schematic diagram of the cleaning mechanism in a specific implementation manner (I);

[0077] Figure 7 It is a structural schematic diagram of the cleaning mechanism in a specific implementation manner (II);

[0078] Figure 8 is a cross-sectional view of a cleaning mechanism in a specific embodiment;

[0079] Fig. 9 It is a structural schematic diagram of a flow supply component in a specific implementation manner;

[0080] Fig.10 It is a structural schematic diagram of a cleaning disc assembly in a specific implementation manner;

[0081] Fig.11 is a cross-sectional view of a cleaning disc assembly in a specific embodiment;

[0082] Fig.12 It is a schematic diagram of the structure of the cleaning disc assembly after the cleaning disc is removed in a specific implementation manner;

[0083] Fig.13 It is a structural schematic diagram of the first rotating part in a specific implementation manner;

[0084] Fig.14 is a cross-sectional view of the first rotating part in a specific implementation manner;

[0085] Fig.15 It is a structural schematic diagram of the second rotating part in a specific implementation manner;

[0086] Fig.16 is a cross-sectional view of the second rotating part in a specific implementation manner;

[0087] Fig.17 It is a structural schematic diagram of connecting the cylinder body in a specific implementation manner;

[0088] Fig.18 is a cross-sectional view of a connecting cylinder body in a specific implementation manner;

[0089] Fig.19 It is a structural schematic diagram of a cleaning drive assembly in a specific implementation manner;

[0090] Fig. 20 It is a structural schematic diagram of a driving shaft in a specific implementation manner;

[0091] Fig.21 It is a structural schematic diagram of connecting the main beam in a specific implementation manner (I);

[0092] Fig. 22 It is a structural schematic diagram of connecting the main beam in a specific implementation manner (II);

[0093] Fig.23 It is a schematic diagram of the structure after the main frame in the specific implementation manner is assembled with some robot components;

[0094] Fig.24 It is a top view of the main support in a specific implementation manner;

[0095] Fig.25 It is a side view of the main frame in a specific implementation manner;

[0096] Fig.26 It is a structural schematic diagram of the main support in a specific implementation manner.

[0097] Reference numerals:

[0098] 1- walking mechanism; 11- connecting bracket; 111- walking main beam; 111a- connecting assembly part; 111b- supporting pad; 12- walking assembly; 121- baffle; 122- driving sprocket; 123- guide sprocket; 124- crawler; 124a- chain track part; 124b- crawler plate part; 125- assembly main beam; 125a- limiting member; 126- tensioning member; 126a- first tensioning part; 126b- second tensioning part; 126c- connecting slide rod; 126d- elastic member; 126e- limiting ring; 127- supporting wheel group; 128- crawler floating plate; 13- walking Driving assembly; 2-cleaning mechanism; 21-cleaning disc assembly; 211-rotating shaft; 211-1-first rotating part; 211-2-second rotating part; 211a-fluid channel; 211b-fluid inlet; 211c-fluid outlet; 211d-assembly hole; 211e-first connecting protrusion; 211f-second connecting protrusion; 211j-slot; 212-spray pipe; 213-cleaning disc; 214-connecting cylinder; 214a-first cavity; 214b-inlet; 214c-first connecting port; 214d-second connecting port; 22-cleaning driving assembly; 221-driving driving shaft; 221a-slot; 221b-plug-in; 222-driving motor; 222a-output shaft; 223-motor compartment; 224-transmission compartment; 23-flow supply assembly; 231-inlet pipe; 232-connecting pipe; 233-flow splitter; 24-connecting main beam; 241-central assembly; 242-support assembly; 242a-window; 242b-connecting protrusion; 242c-pad; 243-main beam frame; 3-main support; 301-travel assembly; 302-cleaning assembly; 303-main control assembly; 303a-pressing element; 303b-lower drag element Components; 304-sensing assembly part; 305-vertical propulsion assembly frame; 306-horizontal propulsion assembly column; 307-illumination camera support; 31-first frame assembly; 311-first outer frame; 312-first connecting beam; 32-second frame assembly; 321-second outer frame; 322-second connecting beam; 33-connecting column; 34-third connecting beam; 341-connecting extension piece; 35-hoisting part; 36-cable trough frame; 37-protective cover; 4-main control mechanism; 5-sensing mechanism; 6-vertical thruster; 7-horizontal thruster; 8-lighting lamp; 9-camera; 10-floating plate. DETAILED DESCRIPTION

[0099] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0100] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral connection can be a mechanical connection, or an electrical connection can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0101] The terms "top", "bottom", "above", "lower", and "on" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0102] The common working surface of the utility model can be a plane or a curved surface, can be inclined, or can be horizontal. For the convenience of description, the embodiment of the utility model is placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined in this way.

[0103] A specific embodiment of the utility model discloses a ship cleaning robot (hereinafter referred to as the robot), such as Figure 1 to Figure 26 As shown, including:

[0104] The main frame 3 includes a first frame assembly 31 and a second frame assembly 32 arranged in parallel, and a plurality of connecting columns 33 located between the first frame assembly 31 and the second frame assembly 32;

[0105] The walking mechanism 1 comprises a connecting bracket 11 and walking components 12 respectively arranged on both sides of the connecting bracket 11, wherein the connecting bracket 11 is detachably arranged at the bottom of the second frame component 32, and two walking components 12 are respectively arranged on both sides of the second frame component 32;

[0106] The cleaning mechanism 2 includes a cleaning drive assembly 22, a connecting main beam 24 and a cleaning disc assembly 21 which are connected in sequence from top to bottom. The connecting main beam 24 is detachably arranged between the first frame assembly 31 and the second frame assembly 32; the cleaning disc 213 of the cleaning disc assembly 21 is located below the second frame assembly 32, and the cleaning disc 213 is located between the two walking assemblies 12; the top end of the cleaning drive assembly 22 passes through the top of the first frame assembly 31.

[0107] Preferably, a baffle 121 is provided on the inner side of the walking assembly 12. Preferably, two walking assemblies are symmetrically arranged on both sides of the connecting bracket.

[0108] The connecting main beam 24 is provided with at least one set of cleaning disc assemblies 21 and cleaning drive assemblies 22 arranged in one-to-one correspondence, that is, the cleaning mechanism 2 includes at least one set of cleaning disc assemblies 21 and cleaning drive assemblies 22 arranged in one-to-one correspondence, that is, it includes at least one set of cleaning disc assemblies 21 and at least one set of cleaning drive assemblies 22, and the number of the two is the same and is arranged in one-to-one correspondence. The number of the cleaning disc assemblies 21 and the cleaning drive assemblies 22 is N, N is an integer, and N≥1.

[0109] The cleaning disk assembly 21 includes a rotating shaft 211 and a nozzle 212. The rotating shaft 211 is provided with a fluid channel 211a. The fluid channel 211a is configured to guide high-pressure fluid to the nozzle 212 for cleaning the surface to be cleaned. The nozzle 212 rotates synchronously with the rotating shaft 211; the cleaning drive assembly 22 is configured to at least provide partial driving force for the rotating shaft 21 and to control the rotation speed of the rotating shaft; the high-pressure fluid and the cleaning drive assembly together provide rotational power for the rotating shaft.

[0110] With such an arrangement, on the one hand, the rotation speed of the rotating shaft (i.e., the nozzle) can be accurately controlled by the cleaning drive assembly, which can avoid damage to the cleaning surface (such as damaging the paint on the surface of a ship) caused by excessive high-pressure fluid pressure causing the nozzle to rotate too fast, and can also avoid poor cleaning effect caused by too slow nozzle rotation speed caused by too low high-pressure fluid pressure, thereby ensuring the cleaning effect of the cleaning device; on the other hand, the rotation of the rotating shaft is driven by the high-pressure fluid and the cleaning drive assembly together, and the driving force generated by the high-pressure fluid on the nozzle is reasonably utilized, which not only saves energy and reduces emissions and is more environmentally friendly, but also avoids the cleaning drive assembly from being too large, increasing the weight and volume of the cleaning mechanism, and reducing the use range and flexibility of the cleaning mechanism. This is because if the rotating shaft is driven only by the cleaning drive assembly, a very powerful cleaning drive assembly is required, which will result in a large weight and volume of the cleaning drive assembly.

[0111] The driving effect of the cleaning drive component and the high-pressure fluid on the rotating shaft includes two situations: one situation is that the driving force directions of the cleaning drive component 22 and the high-pressure fluid on the rotating shaft 211 are consistent, and the other situation is that the driving force directions of the cleaning drive component 22 and the high-pressure fluid on the rotating shaft 211 are opposite. Specifically, the rotation speed that can be achieved only by driving the rotating shaft 211 with the high-pressure fluid is the fluid driving rotation speed. When the fluid driving rotation speed is greater than the preset rotation speed of the rotating shaft 211, the driving force directions of the cleaning drive component 22 and the high-pressure fluid on the rotating shaft 211 are opposite, that is, the driving effect generated by the cleaning drive component 22 should be reverse driving, that is, the cleaning drive component 22 and the high-pressure fluid drive on the rotating shaft 211 are opposite, so as to avoid damage to the cleaning surface due to excessive nozzle speed caused by excessive high-pressure fluid pressure; when the fluid driving rotation speed is less than or equal to the preset rotation speed of the rotating shaft 211, the driving force directions of the cleaning drive component 22 and the high-pressure fluid on the rotating shaft 211 are consistent, that is, the driving effect generated by the cleaning drive component 22 should be forward driving, that is, the cleaning drive component 22 and the high-pressure fluid drive on the rotating shaft 211 in the same direction, so as to ensure the cleaning effect of the cleaning disc assembly 21.

[0112] The high-pressure fluid refers to a fluid with a pressure of more than 5 MPa, and the high-pressure fluid can drive the rotating shaft 211 to rotate the nozzle 212. Preferably, the pressure of the high-pressure fluid is 6-300 MPa.

[0113] The fluid may be water flow, cavitation liquid, etc., or may be a liquid doped with a cleaning agent to enhance the cleaning effect.

[0114] According to an embodiment of the present utility model, the cleaning mechanism 2 further comprises a fluid supply assembly 23 , and the fluid supply assembly 23 is configured to at least provide the cleaning disc assembly 21 with a high-pressure fluid for cleaning.

[0115] The flow supply assembly 23 includes an inlet pipe 231 and N connecting pipes 232 connected to the inlet pipe 231, one end of the connecting pipe 232 is connected to the inlet pipe 231, and the other end of the connecting pipe 232 is connected to the fluid channel 211a of the cleaning disk assembly 21. The high-pressure fluid is distributed to the N cleaning disk assemblies 21 (that is, the connecting pipes 232 and the cleaning disk assemblies 21 have a one-to-one correspondence) through the inlet pipe 231. The high-pressure fluid enters the fluid channel 211a, and the rotating shaft 211 is driven to rotate under the joint action of the high-pressure fluid and the cleaning drive assembly 22. The rotating shaft 211 drives the nozzle 212 to rotate synchronously, so that the rotation speed of the rotating shaft 211 can be accurately controlled, so that the cleaning effect of the cleaning disk assembly 21 is controllable.

[0116] The inlet pipe 231 is connected to N connecting pipes 232 through a flow divider 233, so as to evenly distribute the high-pressure fluid to the N connecting pipes 232. That is, the flow supply assembly 23 includes a flow divider 233, and the flow divider 233 is an N+1-way connector (exemplarily, when N=2, the flow divider 233 is a three-way connector), and the flow divider 233 includes a main inlet and N branch outlets connected to the main inlet. One end of the inlet pipe 231 is connected to a mechanism for supplying high-pressure fluid, and the other end of the inlet pipe 231 is connected to the main inlet. One end of the connecting pipe 232 is connected to the branch outlet, and the other end of the connecting pipe 232 is connected to the fluid channel 211a of the cleaning disk assembly 21, so as to introduce the high-pressure fluid into the cleaning disk assembly 21.

[0117] It should be noted that, under ideal conditions, the high-pressure fluid entering the diverter 233 from the main inlet is equally divided into N parts, and then respectively introduced into the cleaning disk assembly 21 from the N branch outlets through the connecting pipe 232. However, in actual applications, due to the manufacturing process, the degree of component wear, connection differences, etc., the pressure difference of the high-pressure fluid in the connecting pipe 232 may be different.

[0118] The N branch outlets, the N connecting pipes, the N cleaning disk assemblies 21 and the N cleaning drive assemblies 22 are respectively adapted and connected one by one.

[0119] Preferably, the main inlet is located at the top end surface of the diverter 233, and the branch outlet is located on the side wall of the diverter 233. In this embodiment, N=2, that is, the number of the connecting pipe 232, the branch outlet, the cleaning disk assembly 21, and the cleaning drive assembly 22 is two. In order to make the structure of the flow supply assembly 23 more compact, the two branch outlets are located on the same side wall, and the connecting pipe 232 transitions from the branch outlet to the cleaning disk assembly 21 in a semicircular shape, that is, the shape of the connecting pipe 232 is a semicircular tube. The inlet pipe 231 transitions linearly from the main inlet to the mechanism for supplying high-pressure fluid, that is, the shape of the inlet pipe 231 is a linear tube.

[0120] The diverter 233 is provided with a diverter cavity, and the main inlet and the diverter cavity are connected to the diverter cavity. After the high-pressure fluid enters the diverter cavity from the main inlet, it flows into the connecting tube 232 from the N diverter ports. The diverter cavity allows the high-pressure fluid to be diverted into the N connecting tubes 232 more quickly.

[0121] Preferably, the inlet pipe 231 and the connecting pipe 232 are detachably connected to the flow divider 233, so as to facilitate later maintenance and replacement, and to facilitate modularization of the flow supply assembly 23. To prevent leakage of high-pressure fluid, the inlet pipe and the connecting pipe are sealedly connected to the flow divider.

[0122] According to an embodiment of the utility model, the cleaning disc assembly 21 further comprises a cleaning disc 213 and a connecting cylinder 214, wherein the cleaning disc 213 is covered on the nozzle 212, the connecting cylinder 214 is detachably connected to the cleaning disc 213, the rotating shaft 211 is at least partially located in the connecting cylinder 214, and the rotating shaft 211 is rotationally connected to the connecting cylinder 214, that is, the rotating shaft 211 can rotate relative to the connecting cylinder 214. One end of the rotating shaft 211 is transmission-connected to the cleaning drive assembly 22, so that the cleaning drive assembly 22 drives the rotating shaft 211 to rotate, and the other end of the rotating shaft 211 extends into the cleaning disc 213 and is connected to the nozzle 212, so that the nozzle 212 rotates synchronously with the rotating shaft 211.

[0123] The cleaning disc 213 is provided with an assembly space for assembling the nozzle 212. The rotating shaft 211 drives the nozzle to rotate in the cleaning disc under the joint drive of the high-pressure fluid and the cleaning drive assembly 22, which can generate negative pressure to make the cleaning disc adsorbed on the surface to be cleaned.

[0124] Specifically, the connecting cylinder 214 is provided with a first cavity 214a and an inlet 214b connected to the first cavity 214a, and the inlet 214b is connected to the connecting pipe 232, that is, the connecting pipe 232 is connected to the cleaning disk assembly 21 through the inlet 214b, and the high-pressure fluid enters the first cavity 214a through the inlet 214b.

[0125] The rotating shaft 211 is provided with at least one fluid inlet 211b to connect the first cavity 214a and the fluid channel 211a, that is, the high-pressure fluid enters the fluid channel 211a from the first cavity 214a through the fluid inlet 211b, that is, the fluid inlet 211b is connected with the first cavity 214a and the fluid channel 211a respectively. The fluid inlet 211b is located on the side wall of the rotating shaft 211 and is located in the first cavity 214a. Preferably, the rotating shaft 211 is provided with a plurality of fluid inlets 211b, and the plurality of fluid inlets 211b are evenly distributed at the same height of the side wall of the rotating shaft 211, so as to quickly introduce the high-pressure fluid in the first cavity 214a into the fluid channel 211a. In this embodiment, four fluid inlets 211b are provided on the side wall of the rotating shaft 211.

[0126] To ensure that the high-pressure fluid quickly enters the fluid channel of the rotating shaft 211, the position of the inlet 214b corresponds to the position of the fluid inlet 211b provided on the rotating shaft 211, that is, the fluid inlet 211b is opened at a position opposite to the rotating shaft 211 and the inlet 214b. On the one hand, it is convenient for the high-pressure fluid to quickly enter the fluid channel 211a, and on the other hand, it is convenient for the high-pressure fluid to drive the rotation of the rotating shaft 211.

[0127] The first cavity 214a is provided with a first connection port 214c and a second connection port 214d for the two ends of the rotating shaft 211 to pass through. The side walls of the rotating shaft 211 are respectively connected to the first connection port 214c and the second connection port 214d in a dynamic sealing manner. Under the premise of not affecting the rotation of the rotating shaft 211, the sealing of the first cavity 214a is ensured to prevent the leakage of high-pressure fluid. One end (the head end) of the rotating shaft 211 passes through the first connection port 214c to be transmission-connected with the cleaning drive assembly 22, and the other end (the tail end) of the rotating shaft 211 passes through the second connection port 214d to be connected to the nozzle 212.

[0128] In order to improve the cleaning effect of the cleaning disk assembly 21, the cleaning disk assembly 21 includes a plurality of nozzles 212. The end of the rotating shaft 211 (i.e., the end of the rotating shaft 211 extending into the cleaning disk 213) is provided with a plurality of fluid outlets 211c on the side wall. The number of the fluid outlets 211c is the same as the number of the nozzles 212. The nozzles 212 are connected to the fluid channel 211a through the fluid outlets 211c, i.e., the fluid outlets 211c are connected to the fluid channel 211a. The nozzles 212 and the fluid outlets 211c are matched, and the two correspond one to one. The high-pressure fluid in the fluid channel 211a is introduced into the nozzles 212 through the fluid outlets 211c. In this embodiment, the number of the nozzles 212 is three, and the three fluid outlets 211c are evenly arranged on the side wall of the end of the rotating shaft 211.

[0129] To ensure smooth flow of high-pressure fluid, the fluid channel 211a is shaped as a linear channel (preferably cylindrical), the opening directions of the fluid inlet 211b and the fluid outlet 211c are perpendicular to the center line of the fluid channel, and the fluid channel 211a coincides with the center line of the rotating shaft 211.

[0130] In order to facilitate the assembly, later maintenance and modular setting of the cleaning disc assembly 21, the rotating shaft 211 includes a detachably connected first rotating part 211-1 and a second rotating part 211-2, wherein the first rotating part 211-1 and the second rotating part 211-2 are provided with a channel for fluid to pass through, that is, the first rotating part 211-1 and the second rotating part 211-2 jointly define the fluid channel 211a, the fluid inlet 211b is provided on the side wall of the first rotating part 211-1, and the fluid outlet 211c is provided on the side wall of the second rotating part 211-2. The first rotating part 211-1 is located above the second rotating part 211-2, that is, the lower end of the first rotating part 211-1 is detachably connected to the upper end of the second rotating part 211-2, and the center lines of the two coincide, so as to ensure that the first rotating part 211-1 and the second rotating part 211-2 rotate synchronously.

[0131] The first rotating part 211-1 is detachably disposed in the first cavity 214a, and the first rotating part 211-1 is rotatably connected to the first cavity 214a. One end of the first rotating part 211-1 is transmission-connected to the cleaning drive assembly 22 through the first connection port 214c, and the side wall of the first rotating part 211-1 is provided with a fluid inlet 211b communicating with the first cavity, and the other end of the first rotating part 211-1 is extended into the cleaning disk 213 through the second connection port 214d and is detachably connected to the second rotating part 211-2, and the side wall of the first rotating part 211-1 is dynamically sealed with the first connection port 214c and the second connection port 214d respectively, and the cleaning drive assembly 22 and the high-pressure fluid jointly drive the first rotating part 211-1 to rotate.

[0132] The second rotating part 211-2 is located in the cleaning disk 213, and the top end of the second rotating part 211-2 is detachably connected to the first rotating part 211-1 so that the second rotating part 211-2 can rotate synchronously with the first rotating part 211-1. The fluid outlet 211c is opened on the side wall of the second rotating part so as to be connected to the nozzle 212 so that the nozzle 212 can rotate synchronously with the second rotating part 211-2.

[0133] The side wall of the first rotating part 211-1 is rotatably connected to the first connecting port 214c and the second connecting port 214d through a bearing to ensure that the first rotating part 211-1 rotates relative to the connecting cylinder 214. The bottom of the connecting cylinder 214 is detachably connected to the top wall of the cleaning plate 213 through a flange.

[0134] In order to improve the connection performance between the first rotating part 211-1 and the second rotating part 211-2, the first rotating part 211-1 is provided with an assembly hole 211d penetrating the fluid channel 211a, the diameter of the assembly hole 211d is larger than the diameter of the fluid channel 211a, and the side wall of the first rotating part 211-1 is provided with a first connecting protrusion 211e at a position corresponding to the assembly hole 211d. The top end of the second rotating part 211-2 matches the assembly hole 211d, and the top end of the second rotating part 211-2 can be inserted into the assembly hole 211d. The side wall of the second rotating part 211-2 is provided with a second connecting protrusion 211f matching the first connecting protrusion 211e. After the second rotating part 211-2 is inserted into the assembly hole 211d, the first connecting protrusion 211e and the second connecting protrusion 211f are fitted together, and a detachable connection is performed.

[0135] The corresponding positions of the first connecting protrusion 211e and the second connecting protrusion 211f are provided with matching detachable connecting parts. For example, the first connecting protrusion 211e and the second connecting protrusion 211f are respectively provided with threaded holes, and the first connecting protrusion 211e and the second connecting protrusion 211f are detachably fixed by screws or bolts; or, one of the first connecting protrusion 211e and the second connecting protrusion 211f is provided with a clamping hole, and the other is provided with a buckle matching the clamping hole, and the through hole buckle and the clamping hole detachably fix the first connecting protrusion 211e and the second connecting protrusion 211f.

[0136] In practical applications, the first connecting protrusion 211e and the second connecting protrusion 211f can be any components as long as they can be detachably connected to each other, and are not limited to the above two connection methods.

[0137] The structure of the rotating shaft 211 is arranged in this way, so that the connecting cylinder body 214 and the first rotating part 211-1 are regarded as a module, the second rotating part 211-2 and the nozzle 212 are regarded as a module, and the upper (outer) and lower (inner) parts of the cleaning disk 213 are divided into two detachable modules, so as to facilitate the assembly, maintenance and parts replacement of the cleaning disk assembly 21.

[0138] The nozzle 212 can be detachably connected to the second rotating part 211 - 2 to facilitate later maintenance and replacement. The nozzle 212 can also be integrally formed with the second rotating part 211 - 2 to improve the connection strength between the two and ensure the cleaning strength of the cleaning disc assembly 21.

[0139] In order to ensure that the high-pressure fluid does not leak during the transportation process, the connections between any components where the high-pressure fluid is located are all sealed, for example, the connection between the inlet and the connecting pipe, the connection between the first rotating part and the connecting cylinder body, the connection between the first rotating part and the second rotating part, the connection between the nozzle and the second rotating part, etc. are all sealed, among which the connection between the first rotating part and the connecting cylinder body is a dynamic sealing connection to simultaneously ensure the smoothness of the rotation of the first rotating part.

[0140] In order to facilitate the cleaning drive assembly 22 to drive the rotating shaft 211, a slot 211j matching the driving shaft 221 of the cleaning drive assembly 22 is provided at the top of the rotating shaft 211, and the slot 211j is non-cylindrical in shape, that is, the cross section of the slot 211j is non-circular, so as to ensure that the driving shaft can drive the rotating shaft 211 to rotate synchronously. In this embodiment, the slot includes a cylindrical slot and a convex slot that penetrates the cylindrical slot, that is, the convex slot is provided on the side wall of the cylindrical slot.

[0141] The cleaning drive assembly 22 includes a driving motor 222, a motor compartment 223, a transmission compartment 224 and a driving shaft 221. The driving motor 222 is located in the motor compartment 223, the driving shaft 221 is located in the transmission compartment 224, and the transmission compartment 224 is detachably connected to the motor compartment 223. The output shaft 222a of the driving motor 222 passes through the motor compartment 223 and extends into the transmission compartment 224 to be detachably connected to the driving shaft 221. One end of the driving shaft 221 is transmission-connected to the output shaft 222a so that the driving motor 222 drives the driving shaft 221 to rotate through the output shaft 222a. One end of the driving shaft 32 passes through the transmission compartment 224 and is transmission-connected to the rotating shaft 211 so that the rotating shaft 211 rotates synchronously with the driving shaft 32.

[0142] The output shaft 222a is rotatably connected to the motor compartment 223. The motor compartment 223 is provided with a first connecting port for the output shaft 222a to pass through. The side wall of the output shaft 222a is rotatably connected to the first connecting port. Exemplarily, the output shaft 222a is rotatably connected to the motor compartment 223 via a bearing.

[0143] The drive shaft 221 is rotatably connected to the transmission cabin 224. The transmission cabin 224 is provided with a second connecting port and a second connecting port for both ends of the drive shaft 221 to pass through. The side walls of the drive shaft 221 are rotatably connected to the first connecting port and the second connecting port respectively. Exemplarily, the drive shaft 221 is rotatably connected to the transmission cabin 224 via a plurality of bearings.

[0144] The motor compartment 223 is located above the transmission compartment 224, that is, the bottom end of the motor compartment 223 is detachably connected to the top end of the transmission compartment 224, and the two are detachably connected by a flange. The center lines of the output shaft 222a, the first connecting port, the drive shaft 221, the second connecting port, and the third connecting port coincide.

[0145] One end of the driving shaft 221 is provided with a slot portion 221a matched with the output shaft 222a, and the other end of the driving shaft 221 is provided with a plug-in portion 221b matched with the slot 211j. The plug-in portion 221b includes a cylindrical portion and a convex portion, the convex portion is located on the side wall of the cylindrical portion, and the cylindrical portion is matched with the cylindrical groove, and the convex portion is matched with the convex groove, so that the plug-in portion 221b can be inserted into the slot 211j, so that the driving shaft 221 can drive the rotating shaft 211 to rotate synchronously.

[0146] The shape of the slot portion 221a is the same as that of the slot 211j, and the shape of the portion of the output shaft 222a inserted into the slot portion 221a is the same as that of the plug-in portion 221b, which will not be described in detail.

[0147] The motor compartment 223 and the transmission compartment 224 are watertight compartments, that is, the output shaft and the motor compartment are connected by a dynamic seal, and the drive shaft and the transmission compartment are connected by a dynamic seal.

[0148] Exemplarily, the present invention uses an H-type oil seal or a Gly ring as a dynamic seal to ensure that the motor is effectively protected when working underwater and that high-pressure fluid does not leak out.

[0149] To ensure the airtightness of the motor cabin 223, an inflation valve is provided on the top of the motor cabin 223. The inflation valve is configured to at least be able to fill the motor cabin 223 with gas of a preset pressure. When the motor cabin is poorly sealed, the high-pressure gas in the cabin can reduce the entry of external seawater into the cabin to a certain extent.

[0150] Preferably, a temperature and humidity sensor is also provided in the motor cabin 223, and the temperature and humidity sensor is configured to detect the temperature and humidity in the motor cabin 223, and upload the detected temperature and humidity data to the main control mechanism of the robot and / or the upper computer of the robot. The main control mechanism determines whether the motor cabin is leaking through the detected temperature and humidity data. When it is determined that the motor cabin is leaking, the main control mechanism promptly sends an alarm signal to remind the staff to stop the cleaning work of the cleaning mechanism 2 for maintenance.

[0151] Preferably, the drive motor 222 is a servo motor, or the drive motor 222 is provided with an encoder for speed feedback, which can feed back the speed of its output shaft to the main control mechanism of the robot and / or the upper computer of the robot. When the feedback speed differs from the preset speed by more than a preset difference, it indicates that foreign matter or other abnormalities may have entered the cleaning tray, and the user needs to inspect and repair it in time to avoid normal cleaning operations.

[0152] According to a preferred embodiment of the utility model, the cleaning mechanism 2 also includes a connecting main beam 24, and the cleaning disc assembly 21, the cleaning drive assembly 22, and the flow supply assembly 23 are detachably arranged on the connecting main beam 24. The cleaning mechanism 2 is detachably installed on the main body bracket of the robot through the connecting main beam 24, so that the cleaning mechanism 2 can be detachably installed on the main body bracket as a whole, thereby realizing modular management of the cleaning mechanism 2.

[0153] Specifically, the connecting main beam 24 includes a central assembly portion 241 and N support assembly portions 242 . The support assembly portions 242 are evenly arranged outside the central assembly portion 241 , and the distances between the N support assembly portions 242 and the central assembly portion 241 are the same.

[0154] The flow supply assembly 23 is detachably mounted on the central assembly portion 241. N groups of cleaning disk assemblies 21 and N groups of cleaning drive assemblies 22 are respectively arranged one by one on N support assembly portions 242, that is, one group of cleaning disk assemblies 21 and one group of cleaning drive assemblies 22 are respectively installed at the upper and lower ends of one support assembly portion 242, and the drive shaft 221 passes through the support assembly portion 242 and is transmission-connected with the rotating shaft 211, so the support assembly portion 242 is provided with a window 242a for transmission connection between the cleaning drive assembly 22 and the cleaning disk assembly 21.

[0155] Preferably, the flow divider 233 of the flow supply assembly 23 is detachably arranged below the central assembly portion 241. The cleaning drive assembly 22 and the cleaning disk assembly 21 are arranged on the upper and lower sides of the support assembly portion 242, that is, the transmission cabin 224 of the cleaning drive assembly 22 is detachably arranged above the support assembly portion 242, and the connecting cylinder 214 of the cleaning disk assembly 21 is detachably arranged below the support assembly portion 242. The plug-in portion 221b of the driving shaft 221 is inserted into the card slot 211j of the rotating shaft 211 through the window 242a, so as to realize the driving of the cleaning drive assembly 22 on the cleaning disk assembly 21. Exemplarily, the bottom of the transmission cabin 224 and the top of the connecting cylinder 214 are detachably connected to the support assembly portion 242 through flanges.

[0156] Preferably, the transmission cabin 224, the connecting cylinder body 214 and the supporting assembly portion 242 are sealedly connected.

[0157] The central assembly part 241 and the N support assembly parts 242 are connected by the main beam frame 243 to make the structure of the cleaning mechanism 2 more stable. Exemplarily, when N=2, the shape of the main beam frame 243 is a linear frame, the two support assembly parts 242 are located at the two ends of the main beam frame 243, and the central assembly part 241 is located below the center of the main beam frame 243. When N=3, the outer contour of the main beam frame 243 is an equilateral triangle frame, the inner skeleton includes three reinforcing ribs, the reinforcing ribs connect the center and a corner of the equilateral triangle, that is, the inner skeleton is extended from the center to the three corners to form the central assembly part 241 at the center point, and the support assembly parts 242 are arranged at the three corners. By analogy, the outer contour of the main beam frame 243 is a regular N-sided frame, the inner skeleton includes N reinforcing ribs, the reinforcing ribs connect the center and a corner, the central assembly part 241 is located at the center point, and the support assembly parts 242 are arranged at the N corners. Preferably, N=∈[2,4].

[0158] In this embodiment, the cleaning mechanism 2 is detachably mounted on the main support of the robot through the support assembly part 242. Specifically, the support assembly part 242 is detachably connected to the main support. The support assembly part 242 extends connecting protrusions 242b on both sides of the window 242a, and is detachably connected to the main support through the connecting protrusions 242b. In order to control the distance between the cleaning disc 213 and the surface to be cleaned, at least one pad 242c is provided between the connecting protrusion 242b and the main support. The pad 242c can be of the same thickness, and the distance between the cleaning disc 213 and the surface to be cleaned is adjusted by adjusting the number of pads 242c between the two; the pad 242c can also be of different thicknesses, and the distance between the cleaning disc 213 and the surface to be cleaned is adjusted by adjusting the number and / or thickness of the pads 242c between the two. In this embodiment, the pad 242c is provided with three thicknesses, namely 2mm, 5mm, and 10mm. Different heights can be obtained by combining different pads, thereby adjusting the cleaning target distance.

[0159] Compared with the cleaning mechanism driven by high-pressure water alone, the cleaning mechanism of the utility model has at least one of the following beneficial effects: if the nozzle is driven to rotate at a higher speed by high-pressure water alone, the nozzle diameter needs to be increased, thereby increasing the power and volume of the pump group. The method of increasing the nozzle diameter to increase the nozzle rotation speed will not only cause energy waste, but also increase the overall volume and weight of the equipment. The cleaning mechanism of the utility model is small in size and light in weight, and can also save energy. The high-pressure water is used as the main driving force to drive the nozzle to rotate, which is used to overcome the mechanical friction and water resistance when the nozzle rotates. The driving motor with speed feedback is used as the auxiliary driving force, so that the nozzle can have a higher rotation speed. The higher the nozzle rotation speed during the cleaning operation, the greater the adsorption force of the cavitation cleaning mechanism, and the better the cleaning effect; if the spray rod is driven to rotate by high-pressure water alone, the nozzle rotation speed in the cleaning disc assemblies on both sides may be inconsistent due to the difference in water supply pressure and seal wear of the two cavitation cleaning disc assemblies, resulting in different adsorption forces and different cleaning effects. In the cleaning mechanism 2 of the utility model, the driving force provided by the driving motor can balance the driving force of the nozzles on both sides, making their rotation speeds relatively consistent, thereby ensuring the adsorption force and cleaning effect are consistent; the nozzle is simply driven by high-pressure water to rotate, and there is no feedback on the state of the nozzle underwater. For example, foreign objects such as oysters are stuck between the nozzle on one side and the cavitation disk, causing the nozzle to be unable to rotate and affecting the cleaning effect. In the cleaning mechanism of the utility model, since the driving motor can feedback the rotation speed, the upper computer and / or the controller can monitor the nozzle rotation speed in real time, and abnormal situations can be handled in time to avoid affecting the normal cleaning operation.

[0160] The connecting bracket 11 is detachably arranged at the bottom of the main bracket of the robot. The cleaning tray 213 is surrounded between the connecting bracket 11 and the walking assembly 12. The baffle 121 is arranged on the inner side of the walking assembly 12 (the side close to the connecting bracket 11, that is, the side where the two groups of walking assemblies 12 are arranged opposite to each other is the inner layer), which can effectively prevent the debris cleaned by the cleaning mechanism from entering the walking assembly. The debris at least includes any material cleaned from the surface of the ship by the cleaning mechanism, such as seaweed, oysters, etc.

[0161] To ensure the blocking effect of the baffle 121 on debris, the projection of the baffle 121 in the direction of the walking component 12 can completely cover the walking component 12, that is, the edge of any component of the walking component 12 does not exceed the edge of the baffle.

[0162] According to an embodiment of the present invention, the travel assembly 12 includes a driving sprocket 122, a guide sprocket 123, a crawler 124 and an assembly main beam 125. The assembly main beam 125 serves as the main skeleton structure of the travel assembly 12. On the one hand, other components are directly or indirectly assembled to the assembly main beam. On the other hand, the travel assembly 12 is connected to the connecting bracket 11 through the assembly main beam 125.

[0163] Specifically, a driving sprocket 122 is provided at one end of the assembly main beam 125 , and a guide sprocket 123 is provided at the other end of the assembly main beam 125 via a tensioner 126 , and the driving sprocket 122 and the guide sprocket 123 can rotate relative to the assembly main beam 125 .

[0164] The crawler belt 124 is mounted on the driving sprocket 122 and the guide sprocket 123, and the crawler belt 124 is in transmission connection with the driving sprocket 122 and the guide sprocket 123, that is, the rotation of the driving sprocket 122 and the guide sprocket 123 drives the crawler belt 124 to rotate, thereby enabling the walking assembly 12 to move forward or backward.

[0165] The connecting bracket 11 passes through the baffle 121 and is connected to the assembly main beam 125, that is, the opposite sides of the connecting bracket 11 pass through the baffle 121 of the walking component 12 and are connected to the assembly main beam 125, so as to ensure that the walking mechanism has a certain mechanical strength, that is, to improve the structural stability of the walking mechanism.

[0166] The crawler belt 124 includes a track portion 124a and a track shoe portion 124b disposed outside the track portion 124a. The driving sprocket 122 and the guide sprocket 123 are respectively meshed and connected with the track portion 124a. The track portion 124a drives the track shoe portion 124b to rotate synchronously.

[0167] Preferably, the track 124 is an annular shape connected end to end, and accordingly, the track portion 124a and the track shoe portion 124b are also an annular shape connected end to end. The track portion 124a is located inside the track shoe portion 124b, that is, the track portion 124a is connected to the inner ring wall of the track shoe portion 124b, so that the track portion 124a drives the track shoe portion 124b to rotate synchronously.

[0168] The width of the track shoe portion 124 b is greater than the width of the chain track portion 124 a to improve the running stability of the traveling mechanism.

[0169] The guide sprocket 123 is arranged at one end of the assembly main beam 125 through a tensioner 126 so that the track 124 can be tightened on the driving sprocket 122 and the guide sprocket 123 to avoid the track 124 from accidentally falling off and affecting the normal operation of the walking mechanism.

[0170] Any tensioning structure that can tighten the track 124 on the driving sprocket 122 and the guide sprocket 123 can be used as the tensioning member 126. Exemplarily, the tensioning member 126 includes a first tensioning portion 126a and a second tensioning portion 126b, wherein the first tensioning portion 126a is connected to the end of the assembly main beam 125, and the first tensioning portion 126a is provided with at least one slideway. One end of the second tensioning portion 126b is rotatably connected to the guide sprocket 123, and the other end of the second tensioning portion 126b is provided with at least one connecting slide bar 126c, and an elastic member 126d is sleeved on the outer side of the connecting slide bar 126c, and the connecting slide bar 126c is slidably connected to the first tensioning portion 126a through the slideway, and the two ends of the elastic member 126d are respectively in contact with the first tensioning portion 126a and the second tensioning portion 126b. The first tensioning portion 126a and the second tensioning portion 126b are connected via a connecting slide bar, an elastic member, and a slideway, and the distance between the first tensioning portion 126a and the second tensioning portion 126b is adjusted via the elastic member and the connecting slide bar.

[0171] The number of the slideways, connecting slide bars 126c, and elastic members 126d is the same, and the three are arranged in a one-to-one correspondence. In this embodiment, the number of the slideways, connecting slide bars 126c, and elastic members 126d are two, which can be divided into two groups and are arranged on both sides of the assembly main beam 125 and the guide sprocket 123 to ensure the transmission stability of the guide sprocket 123.

[0172] It should be noted that the elastic member 126d is always kept in a compressed state to ensure that the track 124 is always kept in a tensioned state. Exemplarily, the elastic member 126d is a spring.

[0173] Preferably, the end of the connecting slide rod 126c (i.e., the end away from the second tensioning portion) passes through the slideway, and a limiting ring 126e is provided at the portion of the connecting slide rod 126c passing through the slideway to prevent the connecting slide rod 126c from falling off the slideway.

[0174] To further prevent the crawler from falling off, at least one stopper 125a is provided at one end of the assembly main beam 125 close to the guide sprocket 123, and the stopper 125a is located between the assembly main beam 125 and the second tensioning portion 126b. In this embodiment, the assembly main beam 125 is provided with two stoppers 125a, one stopper 125a is located above the first tensioning portion 126a, and the other stopper 125a is relatively arranged below the first tensioning portion 126a.

[0175] The walking assembly 12 also includes a plurality of support wheel groups 127 located between the driving sprocket 122 and the guide sprocket 123, so as to better support the crawler track and improve the driving stability of the walking mechanism. The support wheel group 127 is rotatably connected to the assembly main beam 125 and abuts against the track shoe portion 124b. Specifically, the support wheel group 127 includes two wheel bodies arranged opposite to each other, and the chain track portion 124a passes between the two wheel bodies of the support wheel group. In this embodiment, the walking assembly 12 includes eight support wheel groups 127, of which two support wheel groups 127 are located above the assembly main beam 125, and six support wheel groups 127 are located below the assembly main beam 125.

[0176] In order to further prevent debris in the water from entering the walking assembly 12, a track floating plate 128 that matches the track 2 is provided on the outside of the walking assembly 12; a window is provided at the position of the track floating plate 128 opposite to the support wheel group 127 to expose the outer wheel body of the support wheel group 127. With this arrangement, on the one hand, the track floating plate 128 provides partial buoyancy for the walking mechanism so that it can walk underwater; on the other hand, if debris accidentally enters the walking assembly, it can be discharged from the window 281, thereby preventing the debris from causing wear to the walking assembly, or even affecting the normal operation of the walking assembly.

[0177] Preferably, the upper and lower sides of the track floating plate 128 do not exceed the inner side wall of the track shoe portion 124b, that is, the upper wall of the track floating plate 128 is located below the upper inner side wall of the track shoe portion 124b, and the lower wall of the floating plate 28 is located above the lower inner side wall of the track shoe portion 124b, that is, a certain gap is provided between the upper and lower sides of the track floating plate 128 and the inner side wall of the track shoe portion 124b. Such a configuration not only does not affect the rotation of the track 124, but also facilitates the discharge of debris entering the walking assembly from the upper and lower gaps between the track floating plate 128 and the track shoe portion 124b as the track rotates.

[0178] To facilitate the assembly and subsequent maintenance of the walking assembly 12, the track floating plate 128 is detachably arranged on the assembly main beam 125. Specifically, the track floating plate 128 is detachably connected to the side wall of the assembly main beam 125 through at least one floating plate connecting element. In this embodiment, the track floating plate 128 is detachably connected to the side wall of the assembly main beam 125 through two floating plate connecting elements.

[0179] According to an embodiment of the utility model, the connecting bracket 11 includes a plurality of parallel arranged walking main beams 111 , and the two ends of the walking main beams 111 respectively pass through the baffles 121 of the two groups of walking components 12 to be connected with the assembly main beams 125 of the walking components 12 .

[0180] The walking main beam 111 is perpendicular to the assembly main beam 125. The walking main beam 111 and the assembly main beam 125 can be connected by welding to improve the stability of the walking mechanism. The walking main beam 111 and the assembly main beam 125 can also be assembled and connected in a detachable manner to improve the assembly performance of the walking mechanism and facilitate later maintenance and replacement.

[0181] The baffle 121 is provided with a through hole for the walking main beam 111 to pass through.

[0182] For the convenience of assembly, the baffle 121 includes a plurality of detachably connected baffles, which together form a baffle capable of covering the outside of the walking assembly 12. Specifically, the baffle 121 includes a central baffle and an edge baffle arranged around the outside of the central baffle, the central baffle 211 is detachably connected to the walking main beam 111 and / or the assembly main beam 125, and the central baffle is provided with a through hole for the walking main beam 111 to pass through. The edge baffle is detachably connected to the central baffle 211. In this embodiment, the central baffle 211 is detachably connected to the walking main beam 111 via a triangular iron.

[0183] The walking main beam 111 is provided with a plurality of connection assembly parts 111a, and the connection assembly parts 111a are configured to be detachably connected to at least the bottom of the main support. Specifically, the connection assembly parts 111a are arranged on the upper end surface of the walking main beam 111. In this embodiment, two connection assembly parts 111a are provided on each walking main beam 111, and the two connection assembly parts 111a are respectively close to the walking components on both sides, so as to distribute the weight of the robot to the walking components more quickly and improve the walking stability of the robot.

[0184] Preferably, the walking main beam 111 is provided with a plurality of support pads 111b. When the robot is inspected, the support pads 111b are in contact with the robot inspection platform to support the overall weight of the robot. Specifically, the support pads 111b are arranged on the lower end surface of the walking main beam 111. In this embodiment, two support pads 111b are arranged on each walking main beam 111, and the support pads 111b are closer to the walking components on both sides than the connecting assembly part 111a, so as to improve the stability of the ship cleaning robot on the inspection platform.

[0185] The walking mechanism 1 further includes two groups of walking drive components 13, and the walking drive components 13 correspond to the walking components 12 one by one. The walking drive components 13 are configured to at least provide driving force for the driving sprocket 122 of the walking component 12, thereby driving the track to rotate, that is, the walking drive components 13 provide power for the walking mechanism.

[0186] Preferably, the travel drive assembly 13 is located on the inner side of the baffle 121 (the side away from the track), and one end of the side wall of the travel drive assembly 13 passes through the baffle 121 and is connected to the assembly main beam 125 of the travel assembly 12 .

[0187] Specifically, the travel drive assembly 13 includes a watertight compartment and a motor, and the watertight compartment is connected to the assembly main beam 125 through the baffle 121. The motor is located in the watertight compartment to prevent the integral infiltration from affecting the operation of the drive motor, that is, it plays a waterproof role. The output shaft of the motor passes through the watertight compartment and is in transmission connection with the drive sprocket 122, so that the drive sprocket 122 rotates synchronously with the output shaft. The output shaft is dynamically sealed with the watertight compartment.

[0188] The ship cleaning robot further includes a main frame 3, which includes a first frame assembly 31 and a second frame assembly 32 arranged in parallel up and down, and a plurality of connecting columns 33 located between the first frame assembly 31 and the second frame assembly 32. Preferably, both ends of the connecting column 33 are vertically connected to the first frame assembly 31 and the second frame assembly 32, respectively.

[0189] The main support 3 also includes:

[0190] The walking assembly part 301 is located at the bottom of the second frame assembly 32, and the walking assembly part 301 is configured to detachably assemble the walking mechanism 1. The connecting assembly part 111a of the connecting bracket 11 is detachably connected to the bottom of the second frame assembly 2, and the walking assembly 12 is disposed on both sides of the second frame assembly 2;

[0191] The cleaning assembly part 302 is located between the first frame assembly 1 and the second frame assembly 2, and is located at the central position of the main support 3; the cleaning assembly part 302 is configured to be able to detachably assemble the cleaning mechanism 2; the cleaning plate 213 is located below the second frame assembly 2, the connecting protrusion 242b of the connecting main beam 24 is detachably set on the cleaning assembly part 302, and the cleaning drive assembly 23 passes through the top of the first frame assembly 1.

[0192] The first frame assembly 31 includes a first outer frame 311 and a plurality of first connecting beams 312 located in the first outer frame 311. The second frame assembly 32 includes a second outer frame 321 and a plurality of second connecting beams 322 located in the second outer frame 321. The first connecting beams 312, the second connecting beams 322, and the first connecting beams 312 and the second connecting beams 322 are all arranged in parallel, that is, the plurality of first connecting beams 312 in the first outer frame 311 are arranged in parallel, the plurality of second connecting beams 322 in the second outer frame 321 are arranged in parallel, and any first connecting beam 312 in the first outer frame 311 and any second connecting beam 322 in the second outer frame are parallel.

[0193] The ship cleaning robot further comprises a main control mechanism 4 , a sensor mechanism 5 , four vertical thrusters 6 , four horizontal thrusters 7 , a lighting lamp 8 and a camera 9 .

[0194] The main control mechanism 4 is configured to be able to control the working process of the entire robot, such as walking direction and speed, cleaning conditions, data collection conditions, etc. The main control mechanism 4 is electrically connected to the walking drive component 13, the cleaning drive component 22, the sensor mechanism 5, the vertical propeller 6, the horizontal propeller 7, the lighting lamp 8 and the camera 9, and controls the working process of these components and mechanisms.

[0195] The main support 3 also includes:

[0196] The main control assembly part 303 is configured to be able to detachably assemble the main control mechanism 4; the main control assembly part is located between the first frame assembly 31 and the second frame assembly 32, and is located at the front side of the cleaning assembly part;

[0197] The sensor assembly part 304 is configured to be able to detachably assemble the sensor mechanism 5; the sensor assembly part 304 is located between the first frame assembly and the second frame assembly, and is located at the rear side of the cleaning assembly part;

[0198] Four vertical propulsion assembly frames 305 are configured to be able to detachably set and assemble the vertical propellers 6, so that the four vertical propellers are respectively located at the inner sides of the four corners of the first outer frame 311; the opening direction of the vertical propeller is vertically upward;

[0199] The four horizontal propulsion assembly columns 306 are configured to be able to detachably configure the horizontal propeller 7, and the four horizontal propellers are respectively located below the four corners of the first outer frame 311; the horizontal propulsion assembly columns are configured to make the angle between the propulsion direction of the horizontal propeller and the front end face or the rear end face of the main support be 45°, and the opening directions of the two horizontal propellers at the front end are horizontally forward and inclined inwardly by 45°, and the opening directions of the two horizontal propellers at the rear end are horizontally backward and inclined inwardly by 45°;

[0200] A plurality of lighting and camera supports 307 are configured to be able to detachably assemble lighting lamps 8 and / or cameras 9; the lighting and camera supports are located at the front and rear ends of the main support 3, so that cameras and lighting lamps are provided at the front and rear ends of the ship cleaning robot.

[0201] To facilitate the installation of multiple mechanisms on the main bracket 3, the first outer frame 311 and the second outer frame 321 are rectangular frames, and the centers of the first outer frame 311 and the second outer frame 321 are both located on the center line AA of the main bracket 3, that is, the center line AA passes through the center of the first outer frame 311 and the center of the second outer frame 321 from top to bottom in sequence to ensure the stability of the center of gravity of the main bracket 3.

[0202] In order to make the ship cleaning robot more compact and more stable in gravity, the width of the first outer frame 311 is equal to the width of the second outer frame 321 (the side arranged in the front-to-back direction is the wide side), and the length of the first outer frame 311 is greater than the length of the second outer frame 321 (the side arranged in the left-to-right direction is the long side). That is, the long side of the first outer frame 311 is located directly above the long side of the second outer frame 321, that is, projected from top to bottom, the long side of the first outer frame can completely cover the long side of the second outer frame, and the wide side of the first outer frame 311 is located outside the wide side of the second outer frame 321.

[0203] Preferably, one end of the connecting column 33 is vertically connected to the first outer frame 311 or the first connecting cross beam 12, and the other end of the connecting column 33 is vertically connected to the second outer frame 321, that is, the two ends of a part of the connecting columns 33 are respectively vertically connected to the first outer frame 311 and the second outer frame 321, and the two ends of the other part of the connecting columns 33 are respectively vertically connected to the first connecting cross beam 312 and the second outer frame 321.

[0204] Preferably, the first frame assembly 31 includes two first connecting beams 312, and the first connecting beams 312 are parallel to the long sides of the first outer frame 311. The second frame assembly 32 includes two second connecting beams 322, and the second connecting beams 322 are parallel to the long sides of the second outer shell 321. The two first connecting beams 312 and the two second connecting beams 322 are respectively arranged on both sides of the center line AA of the main frame 3, and the second connecting beams 322 are located on the outside of the first connecting beams 312 (the side away from the center line AA is the outside).

[0205] In this embodiment, the number of connecting columns 33 is eight, and two connecting columns 33 are arranged on each side of the second outer frame 321 (and the two connecting columns are arranged on both sides of the side), the upper ends of the two connecting columns located on the long side of the second outer frame 321 are vertically connected to the long side of the first outer frame 311, and the upper ends of the two connecting columns located on the wide side of the second outer frame 321 are respectively vertically connected to the two first connecting beams 312, that is, the two ends of the first connecting beam and the second connecting beam are respectively aligned with the two connecting columns on the wide side of the second outer frame 321. In this way, the space between the first frame assembly 31 and the second frame assembly 32 is roughly divided into three areas, and the three areas from front to back are respectively used to assemble the main control mechanism, the cleaning mechanism and the sensor mechanism, and the size of the three areas is matched with the volume of the main control mechanism, the cleaning mechanism and the sensor mechanism, that is, the position of the first connecting beam and the second connecting beam on the first outer frame 311 is matched with the width of the main control mechanism, the cleaning mechanism and the sensor mechanism.

[0206] The main control assembly part 303 includes at least one clamping element 303a and at least one lower drag element 303b. The clamping element 303a is arranged between the first connecting beam 312 and the first outer frame 311 to clamp the main control mechanism; the lower drag element 303b is arranged on the second connecting beam 322 to lift the main control mechanism; the second connecting beam 322 and the first connecting beam 312 connected to the lower drag element 303b and the clamping element 303a are located on the same side, that is, the lower drag element 303b is arranged on the second connecting beam 322 located on the front side, and the two ends of the clamping element 303a are respectively connected to the front long side of the first outer frame and the front first connecting beam 312.

[0207] Preferably, the number of the pressing elements 303a and the number of the lower drag elements 303b are the same, and the two are arranged one by one in the upper and lower parts.

[0208] To ensure the assembly stability of the main control mechanism, the lower drag element 303b is in a "V" shape, and the "V"-shaped opening faces upward to better support the main control mechanism. The clamping element 303a is in a straight line shape, one end of the clamping element 303a is vertically connected to the first connecting beam, and the other end of the clamping element is vertically connected to the first outer frame. Preferably, the two ends of the clamping element 303a are detachably connected to the first connecting beam and the first outer frame, respectively, so as to assemble and disassemble the main control mechanism.

[0209] Since the ship cleaning robot will vibrate when completing the cleaning operation, in order to avoid damaging the components in the main control mechanism, the side of the lower drag element 303b facing the main control mechanism is provided with a buffer gasket to reduce vibration. In addition, the side of the pressing element 303a facing the main control mechanism is also provided with a buffer gasket, which not only reduces vibration but also cooperates with the lower drag element 303b to press and fix the main control mechanism.

[0210] In this embodiment, there are two clamping elements 303a and two downward dragging elements 303b, which are respectively arranged at the two ends of the bulkhead of the main control mechanism. The second connecting beam 322 is located directly below the main control mechanism, that is, the front second connecting beam is located in the center of the front first connecting beam and the front long side of the first outer frame.

[0211] The sensor assembly part 304 includes a sensor mounting seat, which is arranged above the second connecting beam 322, and the sensor mechanism is detachably mounted on the sensor mounting seat. The second connecting beam 322 with the sensor mounting seat is located on the opposite side of the second connecting beam with the lower drag element, that is, the sensor mounting seat is arranged on the rear second connecting beam 322, that is, the sensor mounting seat is located behind the lower drag element 303b.

[0212] The walking assembly part 301 includes four walking installation elements, which are arranged below the connection between the second connecting beam 322 and the second outer frame 321, that is, the walking installation elements are arranged below the intersection of the second connecting beam 322 and the second outer frame 321. The connecting assembly part 111a is detachably connected to the walking installation elements, so that the two groups of walking components of the walking mechanism are arranged on both sides of the second outer frame 321.

[0213] The main frame 3 further includes two third connecting beams 34, and the third connecting beams 34 are located between the first frame assembly 31 and the second frame assembly 32. The third connecting beams 34 are located directly below the first connecting beams 312, and are parallel to the first connecting beams 312 and the second connecting beams 322. The two ends of the third connecting beams 34 are respectively vertically connected to two oppositely arranged connecting columns 33, and the first connecting beams 312 are projected downwards to completely cover the third connecting beams 34.

[0214] The cleaning assembly part is detachably arranged on two third connecting beams 34, so that the cleaning drive assembly 22 is located between the main control mechanism 4 and the sensor mechanism 5, and the cleaning disk 213 is located between the two groups of walking assemblies.

[0215] Specifically, the third connecting beam 34 is provided with a plurality of connecting extension pieces 341 (the plurality of connecting extension pieces constitute a cleaning assembly portion) that can be detachably connected to the connecting protrusion 242b, and the connecting extension pieces 341 extend from the outer side wall (the side wall away from the center line AA) of the third connecting beam 34 to the inner side wall (the side wall close to the center line AA) of the third connecting beam 34 to enhance the connection strength with the cleaning mechanism. In this embodiment, each third connecting beam 34 is provided with a connecting extension piece 341 near both ends, that is, each third connecting beam 34 is provided with two connecting extension pieces 341, and the positions of the connecting extension pieces match the cleaning mechanism.

[0216] The horizontal propulsion assembly column 306 is configured to make the angle between the propulsion direction of the horizontal propeller 6 and the front end face or the rear end face of the main support 3 be 45°. This arrangement allows the four propellers to operate simultaneously to generate thrust when the robot moves forward, backward, left, or right in the horizontal direction. Compared with the solution of orthogonally arranging four horizontal propellers in pairs, the layout of the horizontal propellers 7 of the utility model can ensure that the ship cleaning robot has stronger power when using the same model and the same number of horizontal propellers, thereby having stronger anti-current ability.

[0217] The four vertical propellers 6 include two propellers equipped with forward propellers and two propellers equipped with reverse propellers. The propellers with the same blades are arranged diagonally to resist the lateral force generated during rotation.

[0218] In this embodiment, horizontal propulsion assembly columns 306 are respectively provided under the four corners of the first outer frame 311, and two vertical propulsion assembly frames 305 are respectively provided on the two wide sides of the first outer frame 311, and the vertical frame propulsion frames are close to the two ends of the wide sides and are located on the inner side of the horizontal propulsion assembly columns 306. Such a staggered arrangement allows both the horizontal propeller and the vertical propeller to have suitable assembly space, making the structure of the ship cleaning robot more compact.

[0219] Specifically, the front end or / and rear end of the main frame 3 is also provided with a lighting camera support 307. In this embodiment, a reinforcing beam is provided between the two connecting columns on the front wide side and the rear wide side of the second outer frame, and the two ends of the reinforcing beam are respectively vertically connected to the two connecting columns, and a lighting camera support 307 is provided in the center of the reinforcing beam. The lighting camera support arranged on the front reinforcing beam extends forward, and the lighting camera support is provided with two cameras, one of which is used to observe the situation far from the front end of the ship cleaning robot, and the other is used to observe the situation near the front end of the ship cleaning robot. The lighting camera support arranged on the rear reinforcing beam extends backward, and the lighting camera support is provided with a lighting lamp and a camera. In addition, two lighting camera supports extend forward from the lower front wide side of the first outer frame, and the two lighting camera supports are respectively equipped with a lighting lamp. The two lighting camera supports are arranged on both sides of the lighting camera support on the front reinforcing beam to provide lighting for the two cameras on the front side.

[0220] The main support 3 also includes:

[0221] A hoisting portion 35, located at the center of the two first connecting beams, the hoisting portion comprises a hoisting ring, and the hoisting ring is located above the first shell;

[0222] A wire trough frame 36 is arranged outside the first outer frame to prepare for assembling cables of the ship cleaning robot;

[0223] The protective cover 37 is connected to the two first connecting beams 312 and is configured to at least wrap the outer side of the top of the cleaning drive assembly 22, that is, to half surround the outer side of the cleaning drive assembly exposed from the first outer frame portion, so as to protect the cleaning drive assembly. The number of the protective covers 37 is the same as the number of the cleaning drive assemblies 22, and the two are arranged in a one-to-one correspondence.

[0224] The hoisting part 35 includes a lifting ring and a hoisting frame, the lower end of the lifting ring is connected to the hoisting frame, the hoisting frame is arranged between the two first connecting beams 312, and the lifting ring is located in the center of the two first connecting beams 312. Specifically, the shape of the hoisting frame is an "I" shape, the two ends of the two cross bars of the hoisting frame are respectively vertically connected to the two first connecting beams, and the lifting ring is located above the center of the vertical bar of the hoisting frame. The hoisting part facilitates the deployment and recovery of the ship cleaning robot.

[0225] The cable trough 36 is installed around the outside of the first outer frame 311. Most of the cables used for electrical connection between the camera, lighting, thruster, sensor mechanism, cleaning mechanism, walking mechanism, and main control mechanism are moved through the cable trough to avoid entanglement between the robot connection cables and improve the use effect of the ship cleaning robot.

[0226] To ensure the structural stability of the main support 3, the first outer frame 311, the first connecting beam 312, the connecting column 33, the second outer frame 321, and the second connecting beam 322 are cast and formed as one piece, or / and welded; preferably, the third connecting beam, the reinforcing beam, the hanging part, and the wire trough are also cast and formed as one piece, or / and welded; further, the material of these components is 316L stainless steel.

[0227] In order to make the robot have enough buoyancy in water, the front, back, left, right and bottom of the robot are all provided with floating plates 10 matching with its structure, and the floating plates 10 have the function of protecting the internal components of the robot.

[0228] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A ship cleaning robot, characterized in that: include: The main frame comprises a first frame assembly and a second frame assembly arranged in parallel, and a plurality of connecting columns located between the first frame assembly and the second frame assembly; A walking mechanism, comprising a connecting bracket and walking assemblies arranged on both sides of the connecting bracket, wherein the connecting bracket is detachably arranged at the bottom of the second frame assembly, and two walking assemblies are arranged on both sides of the second frame assembly; The cleaning mechanism includes a cleaning drive assembly, a connecting main beam and a cleaning disc assembly which are connected in sequence from top to bottom, wherein the connecting main beam is detachably arranged between the first frame assembly and the second frame assembly; the cleaning disc of the cleaning disc assembly is located below the second frame assembly, and the cleaning disc is located between the two walking assemblies; the top end of the cleaning drive assembly passes through the top of the first frame assembly.

2. The ship cleaning robot according to claim 1, characterized in that: The main support also includes: A walking assembly part, located at the bottom of the second frame assembly, the walking assembly part is detachably connected to the connecting bracket; The cleaning assembly part is located between the first frame assembly and the second frame assembly and at the center of the main support; the cleaning assembly part is detachably connected to the connecting main beam.

3. The ship cleaning robot according to claim 2, characterized in that: The first frame assembly includes a first outer frame and a plurality of first connecting beams located in the first outer frame; The second frame assembly includes a second outer frame and a plurality of second connecting beams located in the second outer frame; The first outer frame and the second outer frame are arranged in parallel up and down, and the first connecting beams, the second connecting beams, and the first connecting beams and the second connecting beams are all arranged in parallel; The two ends of the connecting column are respectively vertically connected to the first frame assembly and the second frame assembly.

4. The ship cleaning robot according to claim 3, characterized in that: The shapes of the first outer frame and the second outer frame are respectively rectangular frames.

5. The ship cleaning robot according to claim 3, characterized in that: The ship cleaning robot also includes a main control mechanism, a sensor mechanism, four vertical thrusters, four horizontal thrusters, a lighting lamp and a camera; The main support also includes: A main control assembly part, configured to be able to detachably assemble the main control mechanism; the main control assembly part is located between the first frame assembly and the second frame assembly, and is located at the front side of the cleaning assembly part; A sensor assembly part, configured to be able to detachably assemble the sensor mechanism; the sensor assembly part is located between the first frame assembly and the second frame assembly, and is located at the rear side of the cleaning assembly part; Four vertical propulsion assembly frames are configured to be able to detachably set and assemble the vertical propellers, so that the four vertical propellers are respectively located at the inner sides of the four corners of the first outer frame; the opening direction of the vertical propeller is vertically upward; Four horizontal propulsion assembly columns are configured to be able to detachably configure the horizontal propellers, and the four horizontal propellers are respectively located below the four corners of the first outer frame; the horizontal propulsion assembly columns are configured to make the included angle between the propulsion direction of the horizontal propeller and the front end face or the rear end face of the main support be 45°, and the opening directions of the two horizontal propellers at the front end are horizontally forward and inclined inwardly by 45°, and the opening directions of the two horizontal propellers at the rear end are horizontally backward and inclined inwardly by 45°; A plurality of lighting and camera supports are configured to be able to detachably assemble lighting lamps and / or cameras; the lighting and camera supports are located at the front and rear ends of the main support, so that cameras and lighting lamps are provided at the front and rear ends of the ship cleaning robot.

6. The ship cleaning robot according to any one of claims 1 to 5, characterized in that: The connecting main beam is provided with at least one set of cleaning disc assemblies and cleaning drive assemblies arranged in a one-to-one correspondence; The cleaning mechanism further comprises a fluid supply assembly, wherein the fluid supply assembly is configured to at least provide the cleaning disc assembly with a high-pressure fluid for cleaning; The flow supply assembly includes an inlet pipe and at least one connecting pipe, one end of the connecting pipe is connected to the inlet pipe, and the other end of the connecting pipe is connected to the fluid channel of the cleaning disk assembly; The number of the connecting pipes is the same as the number of the cleaning disk assemblies, and the connecting pipes correspond to the cleaning disk assemblies one by one.

7. The ship cleaning robot according to claim 6, characterized in that: The cleaning disc assembly comprises a rotating shaft, a spray pipe, a cleaning disc and a connecting cylinder; The rotating shaft is provided with a fluid channel, and the fluid channel is configured to guide the high-pressure fluid to the nozzle for cleaning the surface to be cleaned, and the nozzle rotates synchronously with the rotating shaft; the cleaning drive assembly is configured to at least provide part of the driving force for the rotating shaft, and to control the rotation speed of the rotating shaft; the high-pressure fluid and the cleaning drive assembly together provide rotational power for the rotating shaft; The cleaning disc cover is arranged on the spray pipe; The connecting cylinder is detachably connected to the cleaning plate; The rotating shaft is at least partially located in the connecting cylinder body, and the rotating shaft is rotatably connected to the connecting cylinder body; one end of the rotating shaft is transmission-connected to the cleaning drive assembly, and the other end of the rotating shaft extends into the cleaning disk and is connected to the nozzle.

8. The ship cleaning robot according to claim 7, characterized in that: The connecting cylinder is provided with a first cavity and an inlet connected to the first cavity, and the inlet is connected to the connecting pipe; The rotating shaft is provided with at least one fluid inlet, and the fluid inlet is communicated with the first cavity and the fluid channel.

9. The ship cleaning robot according to claim 8, characterized in that: The position of the flow inlet corresponds to the position where the rotating shaft is provided with a fluid inlet.

10. The ship cleaning robot according to claim 8, characterized in that: The first cavity is provided with a first connection port and a second connection port for the two ends of the rotating shaft to pass through, and the side walls of the rotating shaft are respectively dynamically sealedly connected to the first connection port and the second connection port.

11. The ship cleaning robot according to claim 8, characterized in that: The cleaning disc assembly includes a plurality of spray pipes; the rotating shaft is provided with a plurality of fluid outlets, the number of the fluid outlets is the same as the number of the spray pipes, and the spray pipes correspond to the fluid outlets one by one.

12. The ship cleaning robot according to claim 10, characterized in that: The rotating shaft comprises a first rotating part and a second rotating part which are detachably connected, the first rotating part and the second rotating part jointly define the fluid channel, the fluid inlet is provided on the side wall of the first rotating part, and the fluid outlet is provided on the side wall of the second rotating part; The first rotating part is detachably disposed in the first cavity, one end of the first rotating part passes through the first connecting port and is transmission-connected to the cleaning drive assembly, and the other end of the first rotating part passes through the second connecting port and extends into the cleaning disk and is detachably connected to the second rotating part; The second rotating part is located in the cleaning disk, the top end of the second rotating part is detachably connected to the first rotating part, and the fluid outlet is opened on the side wall of the second rotating part.

13. The ship cleaning robot according to claim 12, characterized in that: The first rotating part is provided with an assembly hole which penetrates the fluid channel, and the diameter of the assembly hole is larger than the diameter of the fluid channel; a first connecting protrusion is provided at a position of the side wall of the first rotating part corresponding to the assembly hole; The top end of the second rotating part matches with the assembly hole, and the top end of the second rotating part can be inserted into the assembly hole; the side wall of the second rotating part is provided with a second connecting protrusion matching with the first connecting protrusion; The second rotating portion is inserted into the assembly hole, and the first connecting protrusion is fitted with the second connecting protrusion and is detachably connected.

14. The ship cleaning robot according to claim 13, characterized in that: The connecting main beam comprises a central assembly portion and at least one supporting assembly portion, wherein the supporting assembly portion is evenly arranged outside the central assembly portion, and the distance between the supporting assembly portion and the central assembly portion is the same; The flow supply assembly can be detachably mounted on the central assembly portion; The number of the supporting and assembling parts is the same as the number of the cleaning disc assemblies, and the cleaning disc assemblies and the cleaning drive assemblies are respectively arranged one by one on the supporting and assembling parts in an upper and lower direction.

15. The ship cleaning robot according to any one of claims 1 to 5, characterized in that: A baffle is provided on the inner side of the walking component, and the baffle is projected in the direction where the walking component is located and can completely cover the walking component, so as to prevent the debris cleaned by the cleaning mechanism from entering the walking component.

16. The ship cleaning robot according to claim 15, characterized in that: The walking assembly includes a driving sprocket, a guide sprocket, a crawler and an assembly main beam; A driving sprocket is provided at one end of the assembly main beam, and a guide sprocket is provided at the other end of the assembly main beam through a tensioner, and the driving sprocket and the guide sprocket can rotate relative to the assembly main beam; The crawler belt is sleeved on the driving sprocket and the guide sprocket, and the crawler belt is drivingly connected with the driving sprocket and the guide sprocket; The connecting bracket passes through the baffle plate and is connected to the assembly main beam.

17. The ship cleaning robot according to claim 16, characterized in that: The crawler belt comprises a chain track portion and a track shoe portion arranged outside the chain track portion, the driving sprocket and the guide sprocket are respectively meshed and connected with the chain track portion, and the chain track portion drives the track shoe portion to rotate synchronously.

18. The ship cleaning robot according to claim 17, characterized in that: The travel assembly also includes a plurality of support wheel groups located between the drive sprocket and the guide sprocket; The supporting wheel set is rotatably connected to the assembly main beam and abuts against the track shoe portion; The supporting wheel set comprises two wheel bodies arranged opposite to each other, and the chain track portion passes between the two wheel bodies of the supporting wheel set.

19. The ship cleaning robot according to claim 18, characterized in that: The outer side of the walking assembly is provided with a track floating plate matched with the track; A window is provided at a position where the track floating plate is opposite to the supporting wheel set, so as to expose the outer wheel body of the supporting wheel set.

20. The ship cleaning robot according to claim 19, characterized in that: The upper and lower sides of the track floating plate do not exceed the inner side wall of the track shoe portion.

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