Crawler walking mechanism for ship cleaning robot and ship cleaning robot

Abstract

The utility model relates to a caterpillar band walking mechanism for a ship cleaning robot and the ship cleaning robot, the caterpillar band walking mechanism for the ship cleaning robot at least can be used as a walking mechanism of the ship cleaning robot, and the caterpillar band walking mechanism comprises a connecting support, the shell at least can surround the outer side of a cleaning disc of a cleaning mechanism of the ship cleaning robot; the two groups of walking assemblies are respectively arranged on two sides of the connecting bracket; a baffle is arranged on the inner side of the walking assembly so as to prevent sundries cleaned by the cleaning mechanism from entering the walking assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater cleaning, in particular to a crawler walking mechanism for a ship cleaning robot and the 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, most of the cleaning methods for ship surfaces are done manually with handheld shovels and other tools, which are inefficient and easy to damage the ship's paint. They cannot be operated in bad weather. In recent years, with the development of science and technology, ship cleaning robots have emerged. However, the walking mechanism of previous ship cleaning robots has low reliability, and the tracks are easily stuck with oysters, which affects the normal operation of the tracks. Utility Model Content

[0004] In view of the above analysis, the utility model aims to provide a crawler walking mechanism for a ship cleaning robot and a ship cleaning robot to solve the above problems.

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

[0006] The utility model provides a crawler walking mechanism for a ship cleaning robot, which can at least be used as a walking mechanism of the ship cleaning robot. The crawler walking mechanism comprises:

[0007] The connecting bracket is configured to at least be able to surround the outside of the cleaning disk of the cleaning mechanism of the ship cleaning robot;

[0008] Two groups of walking components are arranged on both sides of the connecting bracket; baffles are arranged on the inner sides of the walking components to prevent the sundries cleaned by the cleaning mechanism from entering the walking components.

[0009] Furthermore, the baffle is projected in the direction where the walking component is located and can completely cover the walking component.

[0010] Further, the travel assembly includes a driving sprocket, a guide sprocket, a crawler and an assembly main beam;

[0011] 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;

[0012] 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;

[0013] The connecting bracket passes through the baffle plate and is connected to the assembly main beam;

[0014] 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;

[0015] Preferably, the tensioning member includes a first tensioning part and a second tensioning part, the first tensioning part is connected to the end of the assembly main beam, and the first tensioning part is provided with at least one slide; one end of the second tensioning part is rotatably connected to the guide sprocket, and the other end of the second tensioning part is provided with at least one connecting slide rod, an elastic member is sleeved on the outer side of the connecting slide rod, and the connecting slide rod is slidably connected to the first tensioning part through the slide, and the two ends of the elastic member are respectively abutted against the first tensioning part and the second tensioning part.

[0016] Furthermore, the travel assembly further comprises a plurality of support wheel groups located between the drive sprocket and the guide sprocket;

[0017] The supporting wheel set is rotatably connected to the assembly main beam and abuts against the track shoe portion;

[0018] 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.

[0019] Furthermore, a track floating plate matched with the track is provided on the outer side of the walking assembly;

[0020] 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;

[0021] Preferably, the upper and lower sides of the track floating plate do not exceed the inner side wall of the track shoe portion.

[0022] Furthermore, the connecting bracket includes a plurality of connecting main beams arranged in parallel;

[0023] The two ends of the connecting main beam respectively pass through the baffles of the two groups of walking assemblies and are connected to the assembly main beam of the walking assemblies;

[0024] Preferably, the baffle is provided with a through hole for the connecting main beam to pass through; the baffle comprises a plurality of detachably connected baffles, and the plurality of baffles together form a baffle capable of covering the outside of the walking assembly;

[0025] Preferably, the baffle includes a central baffle and an edge baffle arranged outside the central baffle, the central baffle is detachably connected to the connecting main beam and / or the assembly main beam, and the central baffle is provided with a through hole for the connecting main beam to pass through; the edge baffle is detachably connected to the central baffle.

[0026] Furthermore, the connecting main beam is provided with a plurality of assembly parts, and the assembly parts are configured to be at least detachably connected to the main frame of the ship cleaning robot.

[0027] Furthermore, the connecting main beam is provided with a plurality of supporting pads.

[0028] Furthermore, the crawler walking mechanism also includes two sets of driving components;

[0029] The driving assembly corresponds to the walking assembly one by one;

[0030] The driving assembly is configured to at least provide driving force for the driving sprocket of the traveling assembly;

[0031] Preferably, the driving assembly is located on the inner side of the baffle, and one end of the side wall of the driving assembly passes through the baffle and is connected to the assembly main beam of the walking assembly.

[0032] The utility model also provides a ship cleaning robot, comprising:

[0033] Main frame;

[0034] The above-mentioned crawler walking mechanism can be detachably arranged on the main frame.

[0035] Compared with the prior art, the utility model can achieve at least one of the beneficial effects: by setting a baffle on the inner side of the walking component, that is, by setting a baffle on the side of the walking component close to the cleaning disk, it is prevented that the debris cleaned by the cleaning mechanism is directly diffused into the walking component and affects the normal operation of the walking component, and it is also prevented that the debris enters the walking component and causes damage to its internal parts, thereby extending the service life of the walking mechanism.

[0036] 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

[0037] 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.

[0038] Figure 1 It is a structural schematic diagram of the crawler walking mechanism in a specific implementation manner (I);

[0039] Figure 2 It is a structural schematic diagram of the crawler walking mechanism in a specific implementation manner (II);

[0040] Figure 3 It is a schematic diagram of the structure of the walking assembly after the crawler floating plate is removed in a specific implementation manner;

[0041] Figure 4 It is a partial enlarged view of the walking assembly after the crawler floating plate is removed in a specific implementation manner;

[0042] Figure 5 It is a partial enlarged view of the crawler walking mechanism after the baffle is removed in a specific implementation manner;

[0043] Figure 6 This is a schematic diagram of the structure of a ship cleaning robot in a specific implementation manner;

[0044] Figure 7 It is a partial exploded view of the ship cleaning robot in a specific implementation manner.

[0045] Reference numerals:

[0046] 1-connecting bracket; 11-connecting main beam; 111-assembly part; 112-support pad; 2-travel assembly; 21-baffle; 211-central block; 212-edge block; 22-driving sprocket; 23-guide sprocket; 24-track; 241-chain track part; 242-track plate part; 25-assembly main beam; 251-limiting member; 252-support column; 26-tensioning member; 261-first tensioning part; 262-second tensioning part; 263-connecting slide rod; 264-elastic member; 265-limiting ring; 27-support wheel group; 28-track floating plate; 281-opening window; 282-floating plate connecting element; 3-driving assembly; 4-main frame; 5-cleaning disc. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Embodiment 1

[0052] This embodiment discloses a crawler walking mechanism for a ship cleaning robot (hereinafter referred to as crawler walking mechanism), which can at least be used as a walking mechanism of the ship cleaning robot, that is, the ship cleaning robot can walk on the surface of the ship through the crawler walking mechanism.

[0053] like Figure 1 to Figure 5 As shown, the crawler walking mechanism includes:

[0054] The connecting bracket 1 is configured to at least be able to surround the outside of the cleaning disk of the cleaning mechanism of the ship cleaning robot;

[0055] Two groups of walking components 2 are arranged on both sides of the connecting bracket 1; a baffle 21 is provided on the inner side of the walking component 2 (the side close to the connecting bracket 1, that is, the side where the two groups of walking components 2 are arranged opposite to each other as the inner layer) to prevent the debris cleaned by the cleaning mechanism from entering the walking component.

[0056] The debris at least includes any material cleaned from the surface of the ship by the cleaning mechanism of the ship cleaning robot, such as seaweed, oysters, etc.

[0057] The crawler walking mechanism of the utility model provides a baffle plate on the inner side of the walking assembly, that is, provides a baffle plate on the side of the walking assembly close to the cleaning disc, so as to prevent the debris cleaned by the cleaning mechanism from directly diffusing into the walking assembly (especially preventing the debris from falling into the walking assembly on the lower side under the action of gravity when the ship cleaning robot is located on the side wall of the ship) to affect the normal operation of the walking assembly, and also prevents the debris from entering the walking assembly to cause damage to its internal parts, thereby extending the service life of the crawler walking mechanism.

[0058] To ensure the blocking effect of the baffle 21 on debris, the projection of the baffle 21 in the direction of the walking component 2 can completely cover the walking component 2, that is, the edge of any component of the walking component 2 does not exceed the edge of the baffle.

[0059] According to an embodiment of the present utility model, the travel assembly 2 includes a driving sprocket 22 , a guide sprocket 23 , a crawler track 24 and an assembly main beam 25 .

[0060] The assembly main beam 25 serves as the main skeleton structure of the traveling component 2 . On the one hand, other components are directly or indirectly assembled on the assembly main beam. On the other hand, the traveling component 2 is connected to the connecting bracket via the assembly main beam 25 .

[0061] Specifically, a driving sprocket 22 is provided at one end of the assembly main beam 25 , and a guide sprocket 23 is provided at the other end of the assembly main beam 25 via a tensioner 26 , and the driving sprocket 22 and the guide sprocket 23 can rotate relative to the assembly main beam 25 .

[0062] The crawler belt 24 is mounted on the driving sprocket 22 and the guide sprocket 23, and the crawler belt 24 is in transmission connection with the driving sprocket 22 and the guide sprocket 23, that is, the rotation of the driving sprocket 22 and the guide sprocket 23 drives the crawler belt 24 to rotate, thereby enabling the walking assembly 2 to move forward or backward.

[0063] The connecting bracket 1 passes through the baffle 21 and is connected to the assembly main beam 25, that is, the opposite sides of the connecting bracket 1 pass through the baffle 21 of the walking component 2 and are connected to the assembly main beam 25, so as to ensure that the crawler walking mechanism has a certain mechanical strength, that is, to improve the structural stability of the crawler walking mechanism.

[0064] The crawler belt 24 includes a track portion 241 and a track shoe portion 242 disposed outside the track portion 241 . The driving sprocket 22 and the guide sprocket 23 are respectively meshed and connected with the track portion 241 . The track portion 241 drives the track shoe portion 242 to rotate synchronously.

[0065] Preferably, the crawler 24 is an annular shape connected end to end, and accordingly, the chain track portion 241 and the track shoe portion 242 are also an annular shape connected end to end. The chain track portion 241 is located inside the track shoe portion 242, that is, the chain track portion 241 is connected to the inner ring wall of the track shoe portion 242, so that the chain track portion 241 drives the track shoe portion 242 to rotate synchronously.

[0066] The width of the track shoe portion 242 is greater than the width of the chain track portion 241 to improve the running stability of the track traveling mechanism.

[0067] The guide sprocket 23 is arranged at one end of the assembly main beam 25 through a tensioner 26 so that the track 24 can be tightened on the driving sprocket 22 and the guide sprocket 23 to avoid the track 24 from accidentally falling off and affecting the normal operation of the track walking mechanism.

[0068] Any tensioning structure that can tighten the track 24 on the driving sprocket 22 and the guide sprocket 23 can be used as the tensioning member 26. Exemplarily, the tensioning member 26 includes a first tensioning portion 261 and a second tensioning portion 262, wherein the first tensioning portion 261 is connected to the end of the assembly main beam 25, and the first tensioning portion 261 is provided with at least one slideway. One end of the second tensioning portion 262 is rotatably connected to the guide sprocket 23, and the other end of the second tensioning portion 262 is provided with at least one connecting slide bar 263, and an elastic member 264 is sleeved on the outer side of the connecting slide bar 263, and the connecting slide bar 263 is slidably connected to the first tensioning portion 261 through the slideway, and the two ends of the elastic member 264 are respectively in contact with the first tensioning portion 261 and the second tensioning portion 262. The first tensioning part 261 and the second tensioning part 262 are connected by a connecting slide bar, an elastic member, and a slideway. The distance between the first tensioning part 261 and the second tensioning part 262 is adjusted by the elastic member and the connecting slide bar.

[0069] The number of the slideways, connecting slide bars 263 and elastic members 264 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 263 and elastic members 264 is two, which can be divided into two groups and are arranged on both sides of the assembly main beam 25 and the guide sprocket 23 to ensure the transmission stability of the guide sprocket 23.

[0070] It should be noted that the elastic member 264 is always kept in a compressed state to ensure that the track 24 is always kept in a tensioned state. Exemplarily, the elastic member 264 is a spring.

[0071] Preferably, the end of the connecting slide rod 263 (i.e., the end away from the second tensioning portion) passes through the slideway, and a limiting ring 265 is provided at the portion of the connecting slide rod 263 passing through the slideway to prevent the connecting slide rod 263 from falling off the slideway.

[0072] To further prevent the crawler from falling off, at least one stopper 251 is provided at one end of the assembly main beam 25 close to the guide sprocket 23, and the stopper 251 is located between the assembly main beam 25 and the second tensioning portion 262. In this embodiment, the assembly main beam 25 is provided with two stoppers 251, one stopper 251 is located above the first tensioning portion 261, and the other stopper 251 is relatively arranged below the first tensioning portion 261.

[0073] According to a preferred embodiment of the present invention, the travel assembly 2 further includes a plurality of support wheel groups 27 located between the drive sprocket 22 and the guide sprocket 23, so as to better support the crawler and improve the travel stability of the crawler travel mechanism. The support wheel group 27 is rotatably connected to the assembly main beam 25 and abuts against the track shoe portion 242.

[0074] Specifically, the supporting wheel set 27 includes two wheel bodies that are arranged opposite to each other, and the chain track portion 241 passes between the two wheel bodies of the supporting wheel set.

[0075] Preferably, the assembly main beam 25 is provided with support columns 252 for assembling the support wheel group 27, and the number of the support columns 252 is equal to the number of the support wheel groups 27, and the two correspond one to one. Specifically, the support columns 252 are located on the upper side wall or the lower side wall of the assembly main beam 25 (that is, part of the support columns are located on the upper side wall of the assembly main beam, and part of the support columns are located on the lower side wall of the assembly main beam). The support wheel group 27 also includes a rotating shaft passing through the support columns 252, and two wheel bodies are located at both ends of the rotating shaft, and the wheel bodies are rotatably connected to the rotating shaft.

[0076] In this embodiment, the walking assembly 2 includes eight supporting wheel groups 27 , wherein two supporting wheel groups 27 are located above the assembly main beam 25 , and six supporting wheel groups 27 are located below the assembly main beam 25 .

[0077] In order to further prevent debris in the water from entering the walking assembly 2, a track floating plate 28 matching the track 2 is provided on the outside of the walking assembly 2; a window 281 is provided at a position of the track floating plate 28 opposite to the supporting wheel set 27 to expose the outer wheel body of the supporting wheel set 27. With this arrangement, on the one hand, the track floating plate 28 provides partial buoyancy for the crawler 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.

[0078] Preferably, the upper and lower sides of the track floating plate 28 do not exceed the inner side wall of the track shoe portion 242, that is, the upper wall of the track floating plate 28 is located below the upper inner side wall of the track shoe portion 242, and the lower wall of the floating plate 28 is located above the lower inner side wall of the track shoe portion 242, that is, a certain gap is provided between the upper and lower sides of the track floating plate 28 and the inner side wall of the track shoe portion 242. Such a configuration not only does not affect the rotation of the track 24, but also facilitates the discharge of debris entering the walking assembly from the upper and lower gaps between the track floating plate 28 and the track shoe portion 242 as the track rotates.

[0079] In order to facilitate the assembly and subsequent maintenance of the walking assembly 2, the track floating plate 28 is detachably arranged on the assembly main beam 25. Specifically, the track floating plate 28 is detachably connected to the side wall of the assembly main beam 25 through at least one floating plate connecting element 282. In this embodiment, the track floating plate 28 is detachably connected to the side wall of the assembly main beam 25 through two floating plate connecting elements 282.

[0080] According to an embodiment of the utility model, the connecting bracket 1 includes a plurality of connecting main beams 11 arranged in parallel, and the two ends of the connecting main beams 11 respectively pass through the baffles 21 of the two groups of walking components 2 and are connected to the assembly main beams 25 of the walking components 2.

[0081] The connecting main beam 11 is perpendicular to the assembly main beam 25. The connecting main beam 11 and the assembly main beam 25 can be connected by welding to improve the stability of the crawler walking mechanism. The connecting main beam 11 and the assembly main beam 25 can also be assembled and connected in a detachable manner to improve the assembly performance of the crawler walking mechanism and facilitate later maintenance and replacement.

[0082] The baffle 21 is provided with a through hole for the connecting main beam 11 to pass through.

[0083] For the convenience of assembly, the baffle 21 includes a plurality of detachably connected baffles, which together form a baffle that can cover the outside of the walking assembly 2. Specifically, the baffle 21 includes a central baffle 211 and an edge baffle 212 arranged around the outside of the central baffle 211, the central baffle 211 is detachably connected to the connecting main beam 11 and / or the assembly main beam 25, and the central baffle 211 is provided with a through hole for the connecting main beam 11 to pass through. The edge baffle 212 is detachably connected to the central baffle 211. In this embodiment, the central baffle 211 is detachably connected to the connecting main beam 11 via a triangular iron.

[0084] The connecting main beam 11 is provided with a plurality of assembly parts 111, and the assembly parts 111 are configured to be at least detachably connected to the main frame of the ship cleaning robot. Specifically, the assembly parts 111 are arranged on the upper end surface of the connecting main beam 11. In this embodiment, two assembly parts 111 are provided on each connecting main beam 11, and the two assembly parts 111 are respectively close to the walking components on both sides, so as to distribute the weight of the ship cleaning robot to the walking components more quickly and improve the walking stability of the ship cleaning robot.

[0085] Preferably, the connecting main beam 11 is provided with a plurality of supporting pads 112. When the ship cleaning robot is overhauled, the supporting pads 112 are in contact with the robot overhaul platform to support the overall weight of the ship cleaning robot. Specifically, the supporting pads 112 are arranged on the lower end surface of the connecting main beam 11. In this embodiment, two supporting pads 112 are provided on each connecting main beam 11, and the supporting pads 112 are closer to the walking components on both sides than the assembly part 111, so as to improve the stability of supporting the ship cleaning robot on the overhaul platform.

[0086] According to an embodiment of the present utility model, the crawler walking mechanism further includes two sets of driving components 3, and the driving components 3 correspond one to one with the walking components 2. The driving components 3 are configured to at least provide driving force for the driving sprocket 22 of the walking component 2, thereby driving the crawler to rotate, that is, the driving components 3 provide power for the crawler walking mechanism.

[0087] Preferably, the driving assembly 3 is located on the inner side of the baffle 21 (the side away from the crawler track), and one end of the side wall of the driving assembly 3 passes through the baffle 21 and is connected to the assembly main beam 25 of the walking assembly 2.

[0088] Specifically, the driving assembly 3 includes a watertight compartment and a driving motor, and the watertight compartment is connected to the assembly main beam 25 through the baffle 21. The driving motor is located in the watertight compartment to prevent the infiltration of the whole body from affecting the operation of the driving motor, that is, it plays a waterproof role. The output shaft of the driving motor passes through the watertight compartment and is connected to the driving sprocket 22 in a transmission manner, so that the driving sprocket 22 rotates synchronously with the output shaft. The output shaft is dynamically sealed with the watertight compartment.

[0089] It should be noted that, among the components in the present invention that are more than one, the structures of each are the same. For example, the structure of each connecting main beam is the same, and the structure of each walking assembly is the same.

[0090] The two walking components are axially symmetrically arranged on both sides of the connecting bracket.

[0091] Embodiment 2

[0092] This embodiment discloses a ship cleaning robot. Figure 6 and Figure 7 As shown, including:

[0093] Main frame 4;

[0094] The crawler walking mechanism described in the first embodiment can be detachably arranged on the main frame 4.

[0095] The ship cleaning robot also includes a cleaning mechanism, which is detachably mounted on the main frame 4. The cleaning mechanism includes two cleaning discs 5. The two cleaning discs 5 are located between the connecting bracket 1 and the walking assembly 2 of the crawler walking mechanism, that is, the connecting bracket 1 and the walking assembly 2 are located outside the two cleaning discs 5.

[0096] 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 crawler walking mechanism for a ship cleaning robot, characterized in that: At least capable of being used as a walking mechanism of a ship cleaning robot, the crawler walking mechanism comprises: The connecting bracket is configured to at least be able to surround the outside of the cleaning disk of the cleaning mechanism of the ship cleaning robot; Two groups of walking components are arranged on both sides of the connecting bracket; baffles are arranged on the inner sides of the walking components to prevent the sundries cleaned by the cleaning mechanism from entering the walking components.

2. The crawler walking mechanism according to claim 1, characterized in that: The projection of the baffle toward the direction where the traveling component is located can completely cover the traveling component.

3. The crawler walking mechanism according to claim 1, 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.

4. The crawler walking mechanism according to claim 3, 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.

5. The crawler walking mechanism according to claim 3, characterized in that: The tensioning member includes a first tensioning part and a second tensioning part, the first tensioning part is connected to the end of the assembly main beam, and the first tensioning part is provided with at least one slideway; one end of the second tensioning part is rotatably connected to the guide sprocket, and the other end of the second tensioning part is provided with at least one connecting slide rod, an elastic member is sleeved on the outer side of the connecting slide rod, and the connecting slide rod is slidably connected to the first tensioning part through the slideway, and the two ends of the elastic member are respectively abutted against the first tensioning part and the second tensioning part.

6. The crawler walking mechanism according to claim 4, 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.

7. The crawler walking mechanism according to claim 6, 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.

8. The crawler walking mechanism according to claim 7, 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.

9. The crawler walking mechanism according to any one of claims 1 to 8, characterized in that: The connecting bracket includes a plurality of connecting main beams arranged in parallel; The two ends of the connecting main beam respectively pass through the baffles of the two groups of walking components and are connected with the assembly main beam of the walking components.

10. The crawler walking mechanism according to claim 9, characterized in that: The baffle is provided with a through hole for the connecting main beam to pass through; the baffle includes a plurality of detachably connected baffles, and the plurality of baffles together form a baffle capable of covering the outside of the walking assembly.

11. The crawler walking mechanism according to claim 9, characterized in that: The baffle includes a central baffle and an edge baffle arranged outside the central baffle, the central baffle is detachably connected to the connecting main beam and / or the assembly main beam, and the central baffle is provided with a through hole for the connecting main beam to pass through; the edge baffle is detachably connected to the central baffle.

12. The crawler walking mechanism according to claim 9, characterized in that: The connecting main beam is provided with a plurality of assembly parts, and the assembly parts are configured to be detachably connected to at least the main frame of the ship cleaning robot.

13. The crawler walking mechanism according to claim 12, characterized in that: The connecting main beam is provided with a plurality of supporting pads.

14. The crawler walking mechanism according to any one of claims 1 to 8, characterized in that: The crawler walking mechanism also includes two sets of driving components; The driving assembly corresponds to the walking assembly one by one; The driving assembly is configured to at least provide driving force for the driving sprocket of the traveling assembly.

15. The crawler walking mechanism according to claim 14, characterized in that: The driving assembly is located on the inner side of the baffle, and one end of the side wall of the driving assembly passes through the baffle and is connected to the assembly main beam of the walking assembly.

16. A ship cleaning robot, characterized in that: include: Main frame; The crawler walking mechanism as described in any one of claims 1 to 15 can be detachably arranged on the main frame.

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