Underwater operation robot

Abstract

The utility model relates to the technical field of underwater operation equipment, in particular to an underwater operation robot which comprises a machine frame, a brush mechanism and a walking mechanism, a magnet piece is arranged at the lower end of the machine frame, and a magnet rotating mechanism is arranged between the magnet piece and the machine frame. The magnet rotating mechanism comprises a driving plate, a magnet rotating motor, a first hinge plate, a second hinge plate, a first magnet mounting seat and a second magnet mounting seat, the driving plate is arranged on the rack and driven by the magnet rotating motor, one end of the driving plate is hinged to the first hinge plate, and the other end of the driving plate is hinged to the second hinge plate; the first magnet mounting base is hinged to the first hinge plate, a magnet piece is fixedly arranged on the first magnet mounting base, the second magnet mounting base is hinged to the second hinge plate, a magnet piece is fixedly arranged on the second magnet mounting base, and a paint brushing mechanism is arranged on the rear portion of the rack. The cleaning device is ingenious in structure and strong in adsorption force, the magnet can rotate, the brush mechanism or the scraper knife cleaning mechanism is arranged in front of the driving wheel, and cleaning is thorough and clean.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater operation equipment, in particular to an underwater operation robot. Background Art

[0002] During the long-term navigation of ships, the hull surface underwater will be attached with shellfish, rust spots, etc., which seriously affect the navigation speed and service life of the ships, and also increase the fuel consumption. At present, most of the underwater hull cleaning work at home and abroad is still carried out by divers. Using a hull cleaning robot for automatic cleaning can greatly save labor, reduce the labor intensity of divers, and improve the ship repair efficiency. After retrieval, Chinese Patent CN102424100A discloses a composite adsorption hull cleaning robot, including a frame, a cleaning brush, a motor, and a traveling mechanism. The front part of the frame is provided with a cleaning brush and a motor, and the two sides are provided with a traveling mechanism. The characteristics are as follows: the frame also includes a thruster and anti-overturning magnetic wheels. The thruster is installed in the middle of the frame and connected to the motor. The anti-overturning magnetic wheels are installed at the rear of the frame. The traveling mechanism consists of two crawler devices, which are driven by a motor. Magnets are arranged on the outer side of the crawlers. The deficiencies of the above patent are as follows: First, the magnets in the above patent are fixed on the outer side of the crawlers, and the adsorption force on the hull is generated through the magnets. However, when the magnets are fixed on the crawlers, it will cause inconvenience for the crawlers to walk and reduce the moving speed of the robot. Second, marine organisms such as oyster barnacles are often attached to the hull surface. When the robot walks, it will rub against the crawlers, which may cause the magnets to fall off, resulting in the loss of the adsorption force between the robot and the hull. Third, the structure of the above cleaning brush is simple. Some adhesions on the hull surface, such as shellfish, are too hard to be cleaned, and the cleaning is not thorough. Fourth, due to the frequent attachment of marine organisms and seawater corrosion on the underwater hull part, the paint on the hull will fall off. The current paint repair method is to repair the paint in a shipyard or manually dive underwater to repair the hull. The former is costly for small-area paint damage, and the latter has high requirements for underwater operators and is difficult to work underwater for a long time, with low efficiency and difficult to meet the increasing underwater operation requirements. Summary of the Invention

[0003] The purpose of the utility model is to solve the deficiencies of the prior art and provide an underwater operation robot with a clever structure, strong adsorption force, rotatable magnets, a brush mechanism or a shovel cleaning mechanism arranged in front of the driving wheel, thorough and clean cleaning, and capable of performing paint repair operations on the hull surface.

[0004] To achieve the above purpose, the technical solution adopted by the utility model is:

[0005] An underwater operation robot, comprising a frame, a brush mechanism and a walking mechanism, characterized in that: a magnet sheet is provided at the lower end of the frame, and the magnet sheet is rotatably connected to the frame, so that when in use, the magnet sheet faces downward, facilitating adsorption to the hull, and when walking, the magnet sheet rotates without affecting walking.

[0006] A magnet rotation mechanism is provided between the magnet sheet and the frame of the present utility model. The magnet rotation mechanism includes a driving plate, a magnet rotation motor, a first hinge plate, a second hinge plate, a first magnet mounting seat and a second magnet mounting seat.

[0007] The frame is provided with a driving plate, which is driven by a magnet rotation motor. One end of the driving plate is hinged to the first hinge plate, and the other end is hinged to the second hinge plate. The magnet rotation motor is fixed on the frame. At least one first magnet mounting seat is provided at the end of the first hinge plate away from the driving plate. The first magnet mounting seat is hinged to the first hinge plate and is also hinged to the frame. A magnet sheet is fixedly provided on the first magnet mounting seat.

[0008] At least one second magnet mounting seat is provided at the end of the second hinge plate away from the driving plate. The second magnet mounting seat is hinged to the second hinge plate and is also hinged to the frame. A magnet sheet is fixedly provided on the second magnet mounting seat, so that the driving plate is driven to rotate by the magnet rotation motor, the driving plate drives the first magnet mounting seat and the second magnet mounting seat to swing, and then drives the magnet sheets in the first magnet mounting seat and the second magnet mounting seat to rotate, realizing automatic adsorption or detachment.

[0009] The brush mechanism of the present utility model includes a brush frame, a brush, a brush rotation motor and a cleaning shovel. The brush frames are provided at intervals on the lower end surface of the frame. The brush frames are driven by the brush rotation motor, and the brush rotation motor is fixed on the frame. The cleaning shovels are provided at intervals on the lower end surface of the brush frames. The upper end of the cleaning shovel is fixedly connected to the brush frame, and the lower end is the cleaning end. Brushes are provided between adjacent cleaning shovels, and the brushes are fixedly connected to the brush frames, so that the brush frames are driven to rotate by the brush rotation motor, and then drive the cleaning shovels and the brushes to rotate, removing the dirt difficult to remove on the hull surface.

[0010] A brush protection mechanism is provided on the brush frame of the present utility model. The brush protection mechanism includes an adjusting plate, an adjusting column, an adjusting spring and a limiting block.

[0011] An adjusting plate is provided above the brush frame. The adjusting plate is fixedly connected to the output shaft of the brush rotation motor. Guide through holes are provided at intervals on the adjusting plate.

[0012] An adjusting column is provided between the adjusting plate and the brush holder. An adjusting spring is sleeved on the adjusting column. The upper end of the adjusting column passes through the guiding perforation and is fixedly connected to the limiting block. The lower end of the adjusting column is fixedly connected to the brush holder. The adjusting column is slidably connected to the adjusting plate. One end of the adjusting spring abuts against the adjusting plate, and the other end abuts against the brush holder, so as to adjust the height of the brush holder through the adjusting column and the adjusting spring. When encountering an obstacle, the brush holder is lifted up, squeezing the adjusting spring to avoid direct impact between the brush and the cleaning shovel and the obstacle.

[0013] The traveling mechanism of the present utility model includes a driving wheel, a driven wheel, a traveling driving motor, and a traveling steering motor.

[0014] The driving wheel is provided at the front part of the frame. The driven wheels are provided on both sides of the rear part of the frame. The driving wheel is driven by the traveling driving motor. The traveling driving motor is driven by the traveling steering motor. The traveling steering motor is fixed on the frame. The driven wheel is fixedly connected to the frame through a wheel shaft and a bearing. The driven wheel is driven by a driven driving motor, so as to drive the driving wheel to travel through the traveling driving motor, thereby realizing the traveling of the entire frame. The driving wheel is steered by the traveling steering motor, thereby realizing the steering of the entire frame.

[0015] Three brush mechanisms are arranged at intervals at the lower end of the frame of the present utility model. A brush mechanism is provided in front of the driving wheel, and a brush mechanism is provided in front of the driven wheel, so as to clear the traveling path of the driving wheel or the driven wheel through the brush mechanism and realize the normal traveling of the robot.

[0016] A paint brushing mechanism is provided at the rear part of the frame of the present utility model. The paint brushing mechanism includes a paint brush component, a paint brush reciprocating driving component, and a paint supply component. The paint brush component is provided on the frame. The paint brush component is connected to the frame through the paint brush reciprocating driving component. The paint brush component is driven by the paint brush reciprocating driving component. The paint brush component is connected to the paint supply component through an oil pipe. The paint supply component is installed on the frame, so as to move the paint brushing mechanism to the surface of the hull that needs to be repainted by the robot. The paint supply component supplies paint to the paint brush component, and the paint brush reciprocating driving component drives the paint brush component to move to realize the paint brushing operation.

[0017] The paint brush component of the present utility model can be composed of a paint brush seat and paint bristles. A paint accommodation space is provided inside the paint brush seat. Paint outlet holes are provided at intervals on the lower end face of the paint brush seat. The paint bristles are fixedly installed at the lower end of the paint brush seat. The paint brush seat is driven by a paint brush reciprocating driving component. One end of an oil pipe extends into the paint accommodation space and is fixedly connected to the paint brush seat, so that when in use, the paint from the paint supply component flows into the paint accommodation space through the oil pipe, and then exposes and adheres to the paint bristles through the paint outlet holes. As the paint brush reciprocating driving component drives the paint bristles to reciprocate, automatic and uniform painting is achieved.

[0018] The paint brush component of the present utility model can also be composed of a paint brush tube, a paint brush disc and paint bristles. The upper end of the paint brush tube is closed, and the lower end face of the paint brush tube extends downward and outward and is fixedly connected to the upper end face of the paint brush disc. A paint accommodation space is provided between the paint brush tube and the paint brush disc. The paint brush tube is driven by a paint brush reciprocating driving component. Paint outlet holes are provided at intervals on the paint brush disc. The lower end of the paint brush disc is fixedly connected to the paint bristles, so as to increase the painting area through the paint brush disc.

[0019] The paint brush reciprocating driving component of the present utility model can be composed of a synchronous belt and a paint brush driving component. A synchronous belt is provided on the paint brush tube. The synchronous belt is driven by the paint brush driving component. The upper end of the paint brush tube is fixedly connected to the synchronous belt, so that the synchronous belt can be driven to move by the paint brush driving component, and then drive the paint brush tube to reciprocate. The paint brush driving component includes a paint brush driving wheel, a paint brush driven wheel, a driving shaft, a driven shaft and a paint brush driving motor. The paint brush driving wheel and the paint brush driven wheel are provided on the frame. The paint brush driving wheel is fixed on the driving shaft, and the paint brush driven wheel is fixed on the driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the frame through bearings. The driving shaft is driven by the paint brush driving motor. The synchronous belt is sleeved on the paint brush driving wheel and the paint brush driven wheel. The paint brush driving motor is arranged on the frame, so that the paint brush driving wheel can be driven to rotate by the paint brush driving motor, and then drive the synchronous belt to move. A brush guide rail is provided below the synchronous belt. The brush guide rail is fixedly connected to the frame. The paint brush tube is slidably connected to the brush guide rail through a brush slider, so as to guide the reciprocating movement of the paint brush tube through the brush guide rail.

[0020] The reciprocating driving component of the paint brush of the present utility model can also be composed of a rack, a driving gear, and a gear transmission motor. A rack is provided on one side of the paint brush tube. The rack is fixedly connected to the machine frame. The driving gear is in meshing transmission with the rack. The driving gear is driven by the gear transmission motor. The gear transmission motor is fixedly connected to the paint brush tube. To drive the driving gear to rotate through the gear transmission motor, the driving gear moves along the rack, driving the gear transmission motor and the paint brush tube to reciprocate. A brush guide plate is fixedly provided at the lower end of the rack. First and second sliders are fixedly provided on both sides of the brush guide plate. A guide frame is provided on the gear transmission motor. The guide frame is fixedly connected to the gear transmission motor. First and second sliding channels are fixedly provided on the guide frame. The guide frame covers the rack and the driving gear. One side of the guide frame is slidably connected to the first slider through the first sliding channel, and the other side is slidably connected to the second slider through the second sliding channel. To guide the movement of the paint brush tube through the first sliding channel, the first slider, the second sliding channel, and the second slider, making the movement of the paint brush tube smooth and stable.

[0021] A paint brush component retracting mechanism is provided on the machine frame of the present utility model. The paint brush component retracting mechanism includes an adjusting tube, an adjusting slider, and a lifting sliding channel. An adjusting tube is provided between the paint brush tube and the paint brush disk. The upper end of the adjusting tube extends into the paint brush tube and is slidably connected to the paint brush tube. The lower end surface of the adjusting tube extends downward and outward and is fixedly connected to the upper end surface of the paint brush disk. An adjusting slider is fixedly provided on the outer wall of the adjusting tube. A lifting sliding channel is provided on the machine frame. The adjusting tube is slidably connected to the lifting sliding channel through the adjusting slider. The lifting sliding channel is fixedly connected to the machine frame. The lifting sliding channel includes a low-section sliding channel, a transition-section sliding channel, and a high-section sliding channel. A high-section sliding channel is provided at one end of the machine frame. The height of the high-section sliding channel is higher than the height of the low-section sliding channel. The width of the high-section sliding channel is smaller than the width of the low-section sliding channel. One end of the transition-section sliding channel is fixedly connected to the high-section sliding channel upward, and the other end is fixedly connected to the low-section sliding channel downward. To facilitate that when the adjusting tube slides to the high-section sliding channel through the adjusting slider, the adjusting tube rises, driving the paint brush disk to rise and retracting the paint brush disk, and the brush stops painting operation. When the adjusting tube slides to the low-section sliding channel through the adjusting slider, the adjusting tube descends, driving the paint brush disk to descend and lowering the paint brush disk, and the brush contacts the hull surface to start painting operation.

[0022] The paint supply component of the present utility model includes a paint bucket and a paint extrusion component. The paint brush component is connected to the paint bucket through an oil pipe. The paint bucket is installed on the machine frame. A paint extrusion component is provided on the paint bucket. The paint in the paint bucket is driven by the paint extrusion component. To facilitate that during use, the paint in the paint bucket is driven by the paint extrusion component and flows into the paint brush component through the oil pipe. The paint brush component reciprocates under the action of the reciprocating driving component of the paint brush, automatically completing the painting operation.

[0023] The paint extrusion component of the present utility model includes an extrusion cover and a paint extrusion electric push rod. An extrusion cover is provided on the paint bucket. The extrusion cover is slidably connected to the paint bucket. The extrusion cover is driven by the paint extrusion electric push rod. The paint extrusion electric push rod is fixedly arranged on the machine frame to push the extrusion cover through the paint extrusion electric push rod to extrude the paint in the paint bucket, so that the paint enters the paint brush tube through the oil pipe.

[0024] A paint extrusion guiding mechanism is provided on the machine frame of the present utility model. The paint extrusion electric push rod is connected to the extrusion cover through the paint extrusion guiding mechanism to guide the movement of the paint extrusion electric push rod through the paint extrusion guiding mechanism, ensuring uniform extrusion of the paint bucket.

[0025] A paint extrusion guiding mechanism is provided on the machine frame of the present utility model. The paint extrusion guiding mechanism includes an extrusion guiding rod, a paint push rod, and a connecting plate.

[0026] The extrusion guiding rod is fixedly arranged on the machine frame. The paint push rod is provided on the extrusion cover. One end of the paint push rod is fixedly connected to the extrusion cover, and the other end is provided with a connecting plate. The paint push rod is fixedly connected to the connecting plate. The connecting plate is sleeved on the extrusion guiding rod and is slidably connected to the extrusion guiding rod. The connecting plate is driven by the paint extrusion electric push rod to guide the sliding of the extrusion cover through the connecting plate and the extrusion guiding rod.

[0027] A waterproof housing is provided above the paint bucket of the present utility model. The waterproof housing covers above the paint bucket, the paint extrusion electric push rod, and the paint brush driving motor. The waterproof housing is fixedly connected to the machine frame to protect the paint bucket through the waterproof housing.

[0028] A protective cover is provided above the paint brush component of the present utility model. The protective cover covers above the synchronous belt and the paint brush component. The protective cover is fixedly connected to the machine frame to protect the synchronous belt and the paint brush component through the protective cover.

[0029] A drag chain is provided on the machine frame or the protective cover of the present utility model. One end of the drag chain is fixedly connected to the machine frame or the protective cover, and the other end is arranged towards the paint brush tube. The oil pipe passes through the drag chain and is fixedly connected to the paint brush tube. The oil pipe is fixedly connected to the drag chain to guide the movement of the oil pipe through the drag chain and protect the oil pipe.

[0030] An installation bracket is provided on the machine frame of the present utility model. The paint brush component, the paint brush reciprocating driving component, and the paint supply component are all installed on the installation bracket. The installation bracket is provided with installation holes. The installation bracket is detachably connected to the machine frame to integrate the paint brushing mechanism onto the installation bracket to form a module, facilitating disassembly, assembly, and maintenance.

[0031] The rack of the utility model is provided with a cutter blade cleaning mechanism, which includes a cutter blade and a cutter blade driving component. A cutter blade is arranged in front of the rack, and the cutter blade is driven by the cutter blade driving component. The cutter blade driving component is installed on the rack to facilitate driving the cutter blade to move back and forth through the cutter blade driving component, so as to remove marine organisms adhering to the hull surface.

[0032] The cutter blade driving component of the utility model includes a cutter blade driving motor, a first connecting rod, a second connecting rod and a cutter blade holder. A cutter blade driving motor is arranged on the rack. A first connecting rod is arranged on the output shaft of the cutter blade driving motor. One end of the first connecting rod is fixedly connected to the output shaft of the cutter blade driving motor, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to the cutter blade holder. The cutter blade holder is slidably connected to the rack. The rear end of the cutter blade is fixedly connected to the cutter blade holder, and the front end of the cutter blade extends forward and downward to form a cleaning end, so as to facilitate that when in use, the cutter blade driving motor drives the first connecting rod to rotate, the first connecting rod drives the second connecting rod to move back and forth relative to the rack, the second connecting rod drives the cutter blade holder to move back and forth, and the back-and-forth movement of the cutter blade is realized to remove marine organisms adhering to the hull surface.

[0033] A fixing frame is arranged at the rear side of the cutter blade of the utility model. The upper end of the fixing frame is fixedly connected to the rack. A slideway is arranged on the fixing frame. The cutter blade holder includes a fixing rod, a guiding slide rail and a connecting frame. The other end of the second connecting rod is hinged to the fixing rod. One end of the guiding slide rail is fixedly connected to the fixing rod, and the other end passes through the slideway and is fixedly connected to the connecting frame. The guiding slide rail is slidably connected to the slideway. Cutters are arranged at intervals at the front end of the connecting frame, and the cutters are fixedly connected to the connecting frame, so as to guide the back-and-forth movement of the cutter blade through the guiding slide rail and the slideway.

[0034] Support wheels are arranged on both sides of the lower end of the fixing frame of the utility model. The support wheels are fixedly connected to the fixing frame through a support shaft and bearings, so as to support the cutter blade holder through the support wheels, so that the front end of the cutter blade is always inclined downward, which is convenient for cleaning.

[0035] An elevation adjustment mechanism is arranged on the support wheels of the utility model. The elevation adjustment mechanism includes an adjustment frame, a screw rod and a nut. Adjustment frames are respectively arranged on both sides of the lower end of the fixing frame. Adjustment holes are arranged at intervals on the fixing frame. An adjustment groove is arranged on the adjustment frame. The screw rod passes through the adjustment groove and the adjustment hole and is locked by the nut to fixedly connect the adjustment frame and the fixing frame. The support wheels are fixedly connected to the adjustment frame through a support shaft and bearings, so as to adjust the position of the adjustment frame by arranging a plurality of adjustment holes, and further realize the height adjustment of the support wheels.

[0036] Due to the adoption of the above structure, the utility model has the advantages of ingenious structure, strong adsorption force, rotatable magnet, brush mechanism or cutter blade cleaning mechanism arranged in front of the driving wheel, thorough and clean cleaning, and the ability to perform paint repair operations on the hull surface. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of one angle of the present utility model.

[0038] Figure 2 It is the present utility model Figure 1 A schematic structural diagram of another angle.

[0039] Figure 3 It is the present utility model Figure 1 An upward view.

[0040] Figure 4 It is an enlarged schematic diagram of the magnet rotation mechanism in the present utility model.

[0041] Figure 5 It is an enlarged schematic diagram of the brush mechanism in the present utility model.

[0042] Figure 6 It is the present utility model Figure 5 A front view.

[0043] Figure 7 It is an enlarged schematic diagram of the driving wheel in the present utility model.

[0044] Figure 8 It is an enlarged schematic diagram of one kind of the paint brushing mechanism in the present utility model.

[0045] Figure 9 It is the present utility model Figure 8 An enlarged schematic diagram of the guide frame part.

[0046] Figure 10 It is the present utility model Figure 9 A side view.

[0047] Figure 11 It is an enlarged schematic diagram of one angle of another structure of the paint brushing mechanism in the present utility model.

[0048] Figure 12 It is the present utility model Figure 11 An enlarged schematic diagram of another angle of the paint brushing mechanism.

[0049] Figure 13 It is the present utility model Figure 11 An enlarged schematic diagram of yet another angle of the paint brushing mechanism.

[0050] Figure 14 It is the present utility model Figure 11 A front view.

[0051] Figure 15 It is a schematic diagram of the paint brushing mechanism installed in the mounting bracket in the present utility model.

[0052] Figure 16 It is another structural schematic diagram of the utility model.

[0053] Figure 17 It is an enlarged schematic diagram of an angle of the blade cleaning mechanism in the utility model.

[0054] Figure 18 It is another enlarged schematic diagram of an angle of the blade cleaning mechanism in the utility model.

[0055] Reference numerals: mounting bracket 1, paint brushing mechanism 2, paint brush component 3, paint brush reciprocating drive component 4, paint bucket 5, paint extrusion component 6, paint brush seat 7, paint outlet hole 8, brush tube 9, brush disc 10, synchronous belt 11, paint brush drive component 12, paint brush drive wheel 13, paint brush driven wheel 14, drive motor 15, brush guide rail 16, paint brush component retracting mechanism 17, adjusting tube 18, adjusting slider 19, lifting slideway 20, low section of the slideway 21, transition section of the slideway 22, high section of the slideway 23, extrusion cover 24, paint extrusion electric push rod 25, paint extrusion guiding mechanism 26, extrusion guiding rod 27, paint push rod 28, connecting plate 29, waterproof housing 30, protective cover 31, drag chain 32, mounting hole 33, frame 34, rack 36, drive gear 37, gear transmission motor 38, brush guiding plate 39, guiding frame 40, first slideway 41, second slideway 42, brush mechanism 43, traveling mechanism 44, magnet sheet 45, magnet rotating mechanism 46, drive plate 47, magnet rotating motor 48, first hinge plate 49, second hinge plate 50, first magnet mounting seat 51, second magnet mounting seat 52, brush holder 57, brush 58, brush rotating motor 59, cleaning blade 60, brush protection mechanism 61, adjusting plate 62, adjusting column 63, adjusting spring 64, limit block 65, drive wheel 66, driven wheel 67, traveling drive motor 68, traveling steering motor 69, driven drive motor 70, blade cleaning mechanism 71, blade 72, blade drive component 73, blade drive motor 74, first connecting rod 75, second connecting rod 76, blade holder 77, fixing frame 78, fixing rod 79, guiding slide rail 80, connecting frame 81, supporting wheel 82, lifting adjustment mechanism 83, adjusting frame 84, adjusting hole 85. Detailed implementation manners

[0056] The following combines with the drawings to further describe in detail the detailed implementation manners of the utility model.

[0057] An underwater operation robot includes a frame 34, a brush mechanism 43 and a traveling mechanism 44, and is characterized in that: a magnet sheet 45 is provided at the lower end of the frame 34, and the magnet sheet 45 is rotatably connected to the frame 34, so that when in use, the magnet sheet faces downward, which is convenient for adsorbing to the hull, and when traveling, the magnet sheet rotates without affecting the traveling.

[0058] A magnet rotation mechanism 46 is provided between the magnet sheet 45 and the frame 34 of the present utility model. The magnet rotation mechanism 46 includes a drive plate 47, a magnet rotation motor 48, a first hinge plate 49, a second hinge plate 50, a first magnet mounting seat 51, and a second magnet mounting seat 52. A drive plate 47 is provided on the frame 34. The drive plate 47 is driven by the magnet rotation motor 48. One end of the drive plate 47 is hinged to the first hinge plate 49, and the other end is hinged to the second hinge plate 50. The magnet rotation motor 48 is fixed on the frame 34. At least one first magnet mounting seat 51 is provided at the end of the first hinge plate 49 away from the drive plate 47. The first magnet mounting seat 51 is hinged to the first hinge plate 49 and is also hinged to the frame 34. A magnet sheet 45 is fixedly provided on the first magnet mounting seat 51. At least one second magnet mounting seat 52 is provided at the end of the second hinge plate 50 away from the drive plate 47. The second magnet mounting seat 52 is hinged to the second hinge plate 50 and is also hinged to the frame 34. A magnet sheet 45 is fixedly provided on the second magnet mounting seat 52, so as to drive the drive plate to rotate through the magnet rotation motor, the drive plate drives the first magnet mounting seat and the second magnet mounting seat to swing, and further drives the magnet sheets in the first magnet mounting seat and the second magnet mounting seat to rotate, realizing automatic adsorption or detachment.

[0059] The brush mechanism 43 of the present utility model includes a brush holder 57, a brush 58, a brush rotation motor 59, and a cleaning shovel 60. The brush holders 57 are provided at intervals on the lower end surface of the frame 34. The brush holders 57 are driven by the brush rotation motor 59. The brush rotation motor 59 is fixed on the frame 34. Cleaning shovels 60 are provided at intervals on the lower end surface of the brush holders 57. The upper end of the cleaning shovel 60 is fixedly connected to the brush holder 57, and the lower end is a cleaning end. Brushes 58 are provided between adjacent cleaning shovels 60. The brushes 58 are fixedly connected to the brush holders 57, so as to drive the brush holders to rotate through the brush rotation motor, and further drive the cleaning shovels and the brushes to rotate to remove the dirt difficult to remove on the hull surface.

[0060] A brush protection mechanism 61 is provided on the brush holder 57 of the present utility model. The brush protection mechanism 61 includes an adjustment plate 62, an adjustment column 63, an adjustment spring 64, and a limit block 65.

[0061] An adjustment plate 62 is provided above the brush holder 57. The adjustment plate 62 is fixedly connected to the output shaft of the brush rotation motor 59. Guide through holes are provided at intervals on the adjustment plate 62.

[0062] An adjusting column 63 is provided between the adjusting plate 62 and the brush holder 57. An adjusting spring 64 is sleeved on the adjusting column 63. The upper end of the adjusting column 63 passes through the guiding through hole and is fixedly connected to a limiting block 65. The lower end of the adjusting column 63 is fixedly connected to the brush holder 57. The adjusting column 63 is slidably connected to the adjusting plate 62. One end of the adjusting spring 64 abuts against the adjusting plate 62, and the other end abuts against the brush holder 57, so as to adjust the height of the brush holder through the adjusting column and the adjusting spring. When encountering an obstacle, the brush holder is lifted up, squeezing the adjusting spring, avoiding direct impact between the brush and the cleaning shovel and the obstacle, and having good passability.

[0063] The traveling mechanism 44 of the present utility model includes a driving wheel 66, a driven wheel 67, a traveling driving motor 68, and a traveling steering motor 69. The driving wheel 66 is provided at the front of the frame 34, and the driven wheels 67 are provided on both sides at the rear of the frame 34. The driving wheel 66 is driven by the traveling driving motor 68, and the traveling driving motor 68 is driven by the traveling steering motor 69. The traveling steering motor 69 is fixed on the frame 34. The driven wheel 67 is fixedly connected to the frame 34 through a wheel shaft and a bearing. The driven wheel 67 is driven by a driven driving motor 70, so as to drive the driving wheel to travel through the traveling driving motor, thereby realizing the traveling of the entire frame, and driving the driving wheel to turn through the traveling steering motor, thereby realizing the turning of the entire frame.

[0064] Three brush mechanisms 43 are arranged at intervals at the lower end of the frame 34 of the present utility model. A brush mechanism 43 is provided in front of the driving wheel 66, and a brush mechanism 43 is provided in front of the driven wheel 67, so as to clean the traveling path of the driving wheel or the driven wheel through the brush mechanism, and realize the normal traveling of the robot.

[0065] A paint brushing mechanism 2 is provided at the rear of the frame of the present utility model. The paint brushing mechanism 2 includes a paint brush component 3, a paint brush reciprocating driving component 4, and a paint supply component. The paint brush component 3 is provided on the frame 34. The paint brush component 3 is connected to the frame 34 through the paint brush reciprocating driving component 4. The paint brush component 3 is driven by the paint brush reciprocating driving component 4. The paint brush component 3 is connected to the paint supply component through an oil pipe. The paint supply component is installed on the frame 34, so that the robot moves the paint brushing mechanism to the surface of the hull that needs to be repainted. The paint supply component supplies paint to the paint brush component, and the paint brush reciprocating driving component drives the paint brush component to move to realize the paint brushing operation.

[0066] The paint brush component 3 of the present utility model can be composed of a paint brush base 7 and paint bristles. A paint accommodation space is provided inside the paint brush base 7. Paint outlet holes 8 are provided at intervals on the lower end surface of the paint brush base 7. The paint bristles are fixedly installed at the lower end of the paint brush base 7. The paint brush base 7 is driven by a paint brush reciprocating driving component 4. One end of an oil pipe extends into the paint accommodation space and is fixedly connected to the paint brush base 7, so that during use, the paint from the paint supply component flows into the paint accommodation space through the oil pipe, and then adheres to the paint bristles through the paint outlet holes. As the paint brush reciprocating driving component drives the paint bristles to reciprocate, automatic and uniform painting of the paint is achieved.

[0067] The paint brush component 3 of the present utility model can also be composed of a paint brush tube 9, a paint brush disc 10 and paint bristles. The upper end of the paint brush tube 9 is closed, and the lower end surface of the paint brush tube 9 extends downward and outward to be fixedly connected to the upper end surface of the paint brush disc 10. A paint accommodation space is provided between the paint brush tube 9 and the paint brush disc 10. The paint brush tube 9 is driven by a paint brush reciprocating driving component 4. Paint outlet holes 8 are provided at intervals on the paint brush disc 10. The lower end of the paint brush disc 10 is fixedly connected to the paint bristles, so as to increase the painting area through the paint brush disc.

[0068] The paint brush reciprocating driving component 4 of the present utility model can be composed of a synchronous belt 11 and a paint brush driving component 12. The synchronous belt 11 is provided on the paint brush tube 9. The synchronous belt 11 is driven by the paint brush driving component 12. The upper end of the paint brush tube 9 is fixedly connected to the synchronous belt 11, so as to drive the synchronous belt to move through the paint brush driving component, and then drive the paint brush tube to reciprocate. The paint brush driving component 12 includes a paint brush driving wheel 13, a paint brush driven wheel 14, a driving shaft, a driven shaft, and a paint brush driving motor 15. The paint brush driving wheel 13 and the paint brush driven wheel 14 are provided on the frame 34. The paint brush driving wheel 13 is fixed on the driving shaft, and the paint brush driven wheel 14 is fixed on the driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the frame 34 through bearings. The driving shaft is driven by the paint brush driving motor 15. The synchronous belt 11 is sleeved on the paint brush driving wheel 13 and the paint brush driven wheel 14. The paint brush driving motor 15 is arranged on the frame 34, so as to drive the paint brush driving wheel to rotate through the paint brush driving motor, and then drive the synchronous belt to move. A brush guide rail 16 is provided below the synchronous belt 11. The brush guide rail 16 is fixedly connected to the frame 34. The paint brush tube 9 is slidably connected to the brush guide rail 16 through a brush slider, so as to guide the reciprocating movement of the paint brush tube through the brush guide rail.

[0069] The reciprocating drive component 4 of the paint brush of the present utility model can also be composed of a rack 36, a drive gear 37, and a gear drive motor 38. A rack 36 is provided on one side of the paint brush tube 9. The rack 36 is fixedly connected to the frame 34. The drive gear 37 is in meshing transmission with the rack 36. The drive gear 37 is driven by the gear drive motor 38. The gear drive motor 38 is fixedly connected to the paint brush tube 9. To drive the drive gear 37 to rotate through the gear drive motor 38, the drive gear 37 moves along the rack 36, driving the gear drive motor 38 and the paint brush tube 9 to reciprocate. A brush guide plate 39 is fixedly provided at the lower end of the rack 36. The first slider and the second slider are fixedly provided on both sides of the brush guide plate 39. A guide frame 40 is provided on the gear drive motor 38. The guide frame 40 is fixedly connected to the gear drive motor 38. The first slideway 41 and the second slideway 42 are fixedly provided on the guide frame 40. The guide frame 40 covers the rack 36 and the drive gear 37. One side of the guide frame 40 is slidably connected to the first slider through the first slideway 41, and the other side is slidably connected to the second slider through the second slideway 42. To guide the movement of the paint brush tube 9 through the first slideway 41, the first slider, the second slideway 42, and the second slider, so that the movement of the paint brush tube 9 is smooth and stable.

[0070] A paint brush component retracting mechanism 17 is provided on the frame 34 of the present utility model. The paint brush component retracting mechanism 17 includes an adjusting tube 18, an adjusting slider 19, and a lifting slideway 20. An adjusting tube 18 is provided between the paint brush tube 9 and the paint brush plate 10. The upper end of the adjusting tube 18 extends into the paint brush tube 9 and is slidably connected to the paint brush tube 9. The lower end surface of the adjusting tube 18 extends downward and outward and is fixedly connected to the upper end surface of the paint brush plate 10. An adjusting slider 19 is fixedly provided on the outer wall of the adjusting tube 18. A lifting slideway 20 is provided on the frame 34. The adjusting tube 18 is slidably connected to the lifting slideway 20 through the adjusting slider 19. The lifting slideway 20 is fixedly connected to the frame 34. The lifting slideway 20 includes a low section 21 of the slideway, a transition section 22 of the slideway, and a high section 23 of the slideway. A high section 23 of the slideway is provided at one end of the frame 34. The height of the high section 23 of the slideway is higher than the height of the low section 21 of the slideway. The width of the high section 23 of the slideway is smaller than the width of the low section 21 of the slideway. One end of the transition section 22 of the slideway is fixedly connected to the high section 23 of the slideway upward, and the other end is fixedly connected to the low section 21 of the slideway downward. To facilitate that when the adjusting tube slides to the high section of the slideway through the adjusting slider, the adjusting tube rises, driving the paint brush plate to rise and retracting the paint brush plate, and the brush stops painting. When the adjusting tube slides to the low section of the slideway through the adjusting slider, the adjusting tube descends, driving the paint brush plate to descend and lowering the paint brush plate, and the brush contacts the hull surface to start painting.

[0071] The paint supply component of the present utility model includes a paint bucket 5 and a paint extrusion component 6. The paint brush component 3 is connected to the paint bucket 5 through an oil pipe. The paint bucket 5 is installed on the frame 34. The paint bucket 5 is provided with a paint extrusion component 6. The paint in the paint bucket 5 is driven by the paint extrusion component 6, so that when in use, the paint in the paint bucket flows into the paint brush component through the oil pipe driven by the paint extrusion component. The paint brush component reciprocates under the action of the paint brush reciprocating drive component to automatically complete the painting operation.

[0072] The paint extrusion component 6 of the present utility model includes an extrusion cover 24 and a paint extrusion electric push rod 25. The paint bucket 5 is provided with an extrusion cover 24. The extrusion cover 24 is slidably connected to the paint bucket 5. The extrusion cover 24 is driven by the paint extrusion electric push rod 25. The paint extrusion electric push rod 25 is fixedly arranged on the frame 34 to push the extrusion cover through the paint extrusion electric push rod to extrude the paint in the paint bucket, so that the paint enters the paint brush tube through the oil pipe.

[0073] The frame 34 of the present utility model is provided with a paint extrusion guiding mechanism 26. The paint extrusion electric push rod 25 is connected to the extrusion cover 24 through the paint extrusion guiding mechanism 26 to guide the movement of the paint extrusion electric push rod through the paint extrusion guiding mechanism and ensure uniform extrusion of the paint bucket.

[0074] The frame 34 of the present utility model is provided with a paint extrusion guiding mechanism 26. The paint extrusion guiding mechanism 26 includes an extrusion guiding rod 27, a paint push rod 28, and a connecting plate 29.

[0075] The extrusion guiding rod 27 is fixedly arranged on the frame 34. The paint push rod 28 is provided on the extrusion cover 24. One end of the paint push rod 28 is fixedly connected to the extrusion cover 24, and the other end is provided with a connecting plate 29. The paint push rod 28 is fixedly connected to the connecting plate 29. The connecting plate 29 is sleeved on the extrusion guiding rod 27 and is slidably connected to the extrusion guiding rod 27. The connecting plate 29 is driven by the paint extrusion electric push rod 25 to guide the sliding of the extrusion cover through the connecting plate and the extrusion guiding rod.

[0076] A waterproof housing 30 is provided above the paint bucket 5 of the present utility model. The waterproof housing 30 covers the paint bucket 5, the paint extrusion electric push rod 25, and the paint brush drive motor 15. The waterproof housing 30 is fixedly connected to the frame 34 to protect the paint bucket through the waterproof housing.

[0077] A protective cover 31 is provided above the paint brush component 3 of the present utility model. The protective cover 31 covers the synchronous belt 11 and the paint brush component 3. The protective cover 31 is fixedly connected to the frame 34 to protect the synchronous belt and the paint brush component through the protective cover.

[0078] On the frame 34 or the shield 31 of the present utility model, a drag chain 32 is provided. One end of the drag chain 32 is fixedly connected to the frame 34 or the shield 31, and the other end is arranged towards the paint brush tube 9. The oil pipe passes through the drag chain 32 and is fixedly connected to the paint brush tube 9. The oil pipe is fixedly connected to the drag chain 32 to guide the movement of the oil pipe through the drag chain and protect the oil pipe.

[0079] On the frame 34 of the present utility model, a scraper cleaning mechanism 71 is provided. The scraper cleaning mechanism 71 includes a scraper 72 and a scraper driving component 73. A scraper 72 is provided in front of the frame 34. The scraper 72 is driven by the scraper driving component 73. The scraper driving component 73 is installed on the frame 34 to facilitate driving the scraper to move back and forth through the scraper driving component, so as to remove the marine organisms adhering to the hull surface.

[0080] The scraper driving component 73 of the present utility model includes a scraper driving motor 74, a first connecting rod 75, a second connecting rod 76, and a scraper holder 77. A scraper driving motor 74 is provided on the frame 34. A first connecting rod 75 is provided on the output shaft of the scraper driving motor 74. One end of the first connecting rod 75 is fixedly connected to the output shaft of the scraper driving motor 74, and the other end is hinged to one end of the second connecting rod 76. The other end of the second connecting rod 76 is hinged to the scraper holder 77. The scraper holder 77 is slidably connected to the frame 34. The rear end of the scraper 72 is fixedly connected to the scraper holder 77. The front end of the scraper 72 extends forward and downward to form a cleaning end, so as to facilitate the use. When in use, the scraper driving motor 74 drives the first connecting rod 75 to rotate. The first connecting rod 75 drives the second connecting rod 76 to move back and forth relative to the frame 34. The second connecting rod 76 drives the scraper holder 77 to move back and forth, realizing the back and forth movement of the scraper 72, and removing the marine organisms adhering to the hull surface.

[0081] A fixing frame 78 is provided at the rear side of the scraper 72 of the present utility model. The upper end of the fixing frame 78 is fixedly connected to the frame 34. A slideway is provided on the fixing frame 78. The scraper holder 77 includes a fixing rod 79, a guiding slide rail 80, and a connecting frame 81. The other end of the second connecting rod 76 is hinged to the fixing rod 79. One end of the guiding slide rail 80 is fixedly connected to the fixing rod 79, and the other end passes through the slideway and is fixedly connected to the connecting frame 81. The guiding slide rail 80 is slidably connected to the slideway. The front end of the connecting frame 81 is provided with the scraper 72 at intervals. The scraper 72 is fixedly connected to the connecting frame 81 to guide the back and forth movement of the scraper through the guiding slide rail and the slideway.

[0082] Support wheels 82 are provided on both sides of the lower end of the fixing frame 78 of the present utility model. The support wheels 82 are fixedly connected to the fixing frame 78 through a support shaft and a bearing to support the scraper holder through the support wheels, so that the front end of the scraper is always inclined downward, which is convenient for cleaning.

[0083] The support wheel 82 of the present utility model is provided with a lifting adjustment mechanism 83. The lifting adjustment mechanism 83 includes an adjustment frame 84, a screw rod, and a nut. The two sides of the lower end of the fixed frame 78 are respectively provided with the adjustment frame 84. The fixed frame 78 is provided with adjustment holes 85 at intervals. The adjustment frame 84 is provided with an adjustment groove. The screw rod passes through the adjustment groove and the adjustment holes 85 and is locked by the nut to fixedly connect the adjustment frame 84 with the fixed frame. The support wheel is fixedly connected with the adjustment frame 84 through a support shaft and a bearing. By setting a plurality of adjustment holes 85, the position of the adjustment frame 84 is adjusted, and thus the height adjustment of the support wheel is realized.

[0084] As shown in the appendix Figures 1 - 18 , the present utility model has two embodiments. One is as shown in the appendix Figures 1 - 3 . Three brush mechanisms 43 are arranged at intervals at the lower end of the frame 34. One brush mechanism 43 is located in front of the driving wheel 66, and the other two brush mechanisms 43 are located in front of the driven wheel 67; the other is as shown in the appendix Figure 16 . One scraping knife cleaning mechanism 71 and two brush mechanisms 43 are arranged at the lower end of the frame 34. The scraping knife cleaning mechanism 71 is located in front of the driving wheel 66, and the two brush mechanisms 43 are still located in front of the driven wheel 67. That is, in the two embodiments, only one in front of the driving wheel 66 is provided with a brush mechanism 43, and one is provided with a scraping knife cleaning mechanism 71. The rest of the structures are the same. Compared with the brush mechanism 43, the scraping knife cleaning mechanism 71 can be used to remove the attachments on the hull surface with strong adhesion and relatively hard. And because a plurality of scraping knives are provided, the scraping knife cleaning area is large. There are two embodiments and two cleaning structures, which can be selected and installed according to the needs;

[0085] A control system can be arranged on the frame 34 of the present utility model. The control system is such as a PLC control system and is connected to the water control platform through a cable, which is convenient for the operator to understand the underwater conditions in real time on the shore. The driving motor 15, the paint extrusion electric push rod 25, the gear transmission motor 38, the magnet rotation motor 48, the brush rotation motor 59, the walking driving motor 68, the walking steering motor 69, and the driven driving motor 70 are all controlled by the control system. That is, the underwater walking, attitude adjustment, hull cleaning, and paint replenishment of the present utility model are all automatically controlled by the control system. Existing equipment such as floating body materials, thrusters, cameras, and lighting lamps are also arranged on the frame 34. These equipment can be installed according to the needs. A lifting frame is fixedly arranged on the frame 34 for convenient lifting. The present utility model can be used for cleaning the hull surface and can also perform paint replenishment operations on the hull surface.

[0086] During use, place the present utility model in water. The robot leans against the hull surface by the propulsion of the thruster. The driving plate 47 is rotated by the magnet rotating motor 48. The driving plate 47 drives the first magnet mounting seat 51 and the second magnet mounting seat 52 to swing, and then drives the magnet sheets 45 in the first magnet mounting seat 51 and the second magnet mounting seat 52 to rotate, so that the magnet sheets 45 face the hull surface directly. Through the attraction between the magnet sheets 45 and the hull surface, the robot is adsorbed on the hull surface. Then drive the brush mechanism 43. The brush rotating motor 59 drives the brush holder 57 to rotate, and then drives the cleaning shovel 60 and the brush 58 to rotate to remove the marine organisms adhered to the hull surface. If the shovel cleaning mechanism 71 is installed on the frame 34 as attached Figure 16 , meanwhile, for the shovel cleaning mechanism 71, the shovel driving motor 74 drives the first connecting rod 75 to rotate. The first connecting rod 75 drives the second connecting rod 76 to move back and forth relative to the frame 34. The second connecting rod 76 drives the shovel holder 77 to move back and forth, realizing the back and forth movement of the shovel 72 to remove the marine organisms adhered to the hull surface;

[0087] After the cleaning is completed, start the magnet rotating motor 48. The magnet rotating motor 48 drives the driving plate 47 to rotate. The driving plate 47 drives the first magnet mounting seat 51 and the second magnet mounting seat 52 to swing, and then drives the magnet sheets 45 in the first magnet mounting seat 51 and the second magnet mounting seat 52 to rotate, so that the magnet sheets 45 rotate 90°. The magnet sheets 45 deviate from the hull surface and lose the adsorption force, which will not hinder the robot from walking. At the same time, in the present utility model, the brush is located in front of the walking mechanism to clear the path for the walking mechanism to walk, making it more convenient for the robot to walk and indirectly accelerating the cleaning speed of the robot,

[0088] When the paint on the hull surface peels off and needs to be repainted, the control system drives the walking mechanism 44 to move the paint brushing mechanism 2 to one side of the hull that needs to be repaired with paint, so that the paint bristles of the paint brush component 33 are just on the hull surface to be repaired with paint. The paint bristles contact the hull surface. The control system drives the paint extrusion electric push rod 25 to extend, driving the paint cover 24 to squeeze the paint in the paint bucket 5. The paint enters the brush tube 9 through the oil pipe and then leaks out from the paint outlet holes 8 of the brush tray 10 and drips onto the bristles. The control system simultaneously drives the gear transmission motor 38 or the driving motor 15 to drive the brush tube 9, the adjusting tube 18, and the paint bristles to move back and forth to realize paint brushing. When the brushing is completed, the drive system controls the gear transmission motor 38 or the driving motor 15. The adjusting tube 18 moves to the high section 23 of the slideway through the adjusting slider 19, and the height of the bristles rises to retract the bristles. The walking mechanism 44 drives the paint brushing mechanism 2 to move to the next place that needs to be repainted to continue the repainting operation. There are two types of drives in the paint brushing mechanism 2 of the present utility model. One type is as attached Figures 8 - 10, the gear drive motor 38 drives the drive gear 37 to reciprocate along the rack 36, realizing the reciprocating movement of the brush tube 9 and achieving the paint replenishment operation. Another example is as shown in the appendix Figures 11 - 15 , the drive motor 15 drives the synchronous belt 11 to reciprocate, and the synchronous belt 11 drives the brush tube 9, the adjusting tube 18, and the bristles to reciprocate, realizing the paint brushing. These two methods can be selected according to requirements. For example Figure 15 , all components of the paint brushing mechanism 2 of the present utility model can be installed on the mounting bracket 1 to form a module, and then installed on the frame 34, as shown in the appendix Figure 15 , mounting seats are fixedly arranged on both sides and the bottom of the mounting bracket 1, and mounting holes 33 are provided on the mounting seats. The paint brushing mechanism 2 can be quickly installed on the frame 34 through the mounting holes 33 and screws. The paint brushing mechanism 2 can be installed in the middle of the frame 34 or on the outer edge of the frame 34, and can be installed according to requirements.

[0089] Compared with the prior art, first, in the present utility model, the magnet sheet can rotate, and the magnet sheet can rotate with the angle of the hull to achieve adsorption or detachment. The magnet sheet in the present utility model is a tile-shaped magnet with a large area and strong adsorption force. When the frame moves, the magnet rotation motor can drive the magnet sheet to rotate 90°. The magnet sheet is placed inside the frame and will not entangle marine organisms, further protecting the magnet sheet; second, the present utility model not only has a brush, but also a cleaning shovel and a shovel knife, with strong cleaning power, and the brush, the cleaning shovel or the shovel knife are arranged in front of the drive wheel to remove obstacles for the robot to walk, so that the drive wheel is close to the hull surface. The drive wheel is close to the hull surface, reducing the distance between the robot and the hull surface, and can also act on the brush, the cleaning shovel and the shovel knife in the opposite direction, making the brush, the cleaning shovel and the shovel knife contact the hull surface tightly, with a large cleaning area, thorough and clean cleaning; third, the present utility model is also provided with a paint brushing mechanism, which can automatically replenish and brush paint on the hull, and is convenient to operate.

[0090] Due to the adoption of the above structure, the present utility model has the advantages of ingenious structure, strong adsorption force, rotatable magnet, brush mechanism or shovel knife cleaning mechanism arranged in front of the drive wheel, thorough and clean cleaning, and the ability to perform paint replenishment operation on the hull surface.

Claims

1. An underwater operation robot, comprising a frame (34), a brush mechanism (43) and a traveling mechanism (44), characterized in that: A magnet sheet (45) is provided at the lower end of the frame (34), and the magnet sheet (45) is rotatably connected to the frame (34).

2. An underwater operation robot according to claim 1, characterized in that: A magnet rotation mechanism (46) is provided between the magnet sheet (45) and the frame (34). The magnet rotation mechanism (46) includes a drive plate (47), a magnet rotation motor (48), a first hinge plate (49), a second hinge plate (50), a first magnet mounting seat (51), and a second magnet mounting seat (52). A drive plate (47) is provided on the frame (34). The drive plate (47) is driven by a magnet rotation motor (48). One end of the drive plate (47) is hinged to the first hinge plate (49), and the other end is hinged to the second hinge plate (50). The magnet rotation motor (48) is fixed on the frame (34). At least one first magnet mounting seat (51) is provided at the end of the first hinge plate (49) away from the drive plate (47). The first magnet mounting seat (51) is hinged to the first hinge plate (49) and is also hinged to the frame (34). A magnet sheet (45) is fixedly provided on the first magnet mounting seat (51). At least one second magnet mounting seat (52) is provided at the end of the second hinge plate (50) away from the drive plate (47). The second magnet mounting seat (52) is hinged to the second hinge plate (50) and is also hinged to the frame (34). A magnet sheet (45) is fixedly provided on the second magnet mounting seat (52).

3. An underwater operation robot according to claim 1 or 2, characterized in that: The brush mechanism (43) includes a brush holder (57), a brush (58), a brush rotation motor (59), and a cleaning spatula (60). Brush holders (57) are provided at intervals on the lower end surface of the frame (34). The brush holders (57) are driven by a brush rotation motor (59). The brush rotation motor (59) is fixed on the frame (34). Cleaning spatulas (60) are provided at intervals on the lower end surface of the brush holders (57). The upper end of the cleaning spatula (60) is fixedly connected to the brush holder (57), and the lower end is the cleaning end. Brushes (58) are provided between adjacent cleaning spatulas (60). The brushes (58) are fixedly connected to the brush holders (57).

4. An underwater operation robot according to claim 3, characterized in that: A brush protection mechanism (61) is provided on the brush holder (57). The brush protection mechanism (61) includes an adjustment plate (62), an adjustment column (63), an adjustment spring (64), and a limit block (65). Above the brush holder (57), there is an adjusting plate (62) which is fixedly connected to the output shaft of the brush rotation motor (59). The adjusting plate (62) is provided with guiding perforations at intervals. Between the adjusting plate (62) and the brush holder (57), there is an adjusting column (63). An adjusting spring (64) is sleeved on the adjusting column (63). The upper end of the adjusting column (63) passes through the guiding perforation and is fixedly connected to a limiting block (65). The lower end of the adjusting column (63) is fixedly connected to the brush holder (57). The adjusting column (63) is slidably connected to the adjusting plate (62). One end of the adjusting spring (64) abuts against the adjusting plate (62), and the other end abuts against the brush holder (57).

5. An underwater operation robot according to claim 1 or 2 or 4, characterized in that: The traveling mechanism (44) includes a driving wheel (66), a driven wheel (67), a traveling driving motor (68), and a traveling steering motor (69). The driving wheel (66) is provided at the front of the frame (34), and the driven wheels (67) are provided on both sides at the rear of the frame (34). The driving wheel (66) is driven by the traveling driving motor (68), and the traveling driving motor (68) is driven by the traveling steering motor (69). The traveling steering motor (69) is fixed on the frame (34). The driven wheel (67) is fixedly connected to the frame (34) through a wheel shaft and bearings. The driven wheel (67) is driven by a driven driving motor (70).

6. An underwater operation robot according to claim 5, characterized in that: A brush mechanism (43) is provided in front of the driving wheel (66), and a brush mechanism (43) is also provided in front of the driven wheel (67).

7. An underwater operation robot according to claim 1 or 2 or 4 or 6, characterized in that: A paint brushing mechanism (2) is provided at the rear of the frame (34). The paint brushing mechanism (2) includes a paint brush component (3), a paint brush reciprocating driving component (4), and a paint supply component. The paint brush component (3) is provided on the frame (34). The paint brush component (3) is connected to the frame (34) through the paint brush reciprocating driving component (4). The paint brush component (3) is driven by the paint brush reciprocating driving component (4). The paint brush component (3) is connected to the paint supply component through an oil pipe. The paint supply component is installed on the frame (34).

8. An underwater operation robot according to claim 1 or 2 or 4 or 6, characterized in that: A blade cleaning mechanism (71) is provided on the frame (34). The blade cleaning mechanism (71) includes a blade (72) and a blade driving component (73). The blade (72) is provided in front of the frame (34). The blade (72) is driven by the blade driving component (73). The blade driving component (73) is installed on the frame (34).

9. An underwater operation robot according to claim 8, characterized in that: The scraper driving component (73) includes a scraper driving motor (74), a first connecting rod (75), a second connecting rod (76), and a scraper frame (77). The scraper driving motor (74) is provided on the frame (34). The first connecting rod (75) is provided on the output shaft of the scraper driving motor (74). One end of the first connecting rod (75) is fixedly connected to the output shaft of the scraper driving motor (74), and the other end is hinged to one end of the second connecting rod (76). The other end of the second connecting rod (76) is hinged to the scraper frame (77). The scraper frame (77) is slidably connected to the frame (34). The rear end of the scraper (72) is fixedly connected to the scraper frame (77), and the front end of the scraper (72) extends forward and downward to form a cleaning end.

10. An underwater operation robot according to claim 9, characterized in that: A fixed frame (78) is provided at the rear side of the scraper (72). The upper end of the fixed frame (78) is fixedly connected to the frame (34). A slideway is provided on the fixed frame (78). The scraper frame (77) includes a fixed rod (79), a guiding slide rail (80), and a connecting frame (81). The other end of the second connecting rod (76) is hinged to the fixed rod (79). One end of the guiding slide rail (80) is fixedly connected to the fixed rod (79), and the other end passes through the slideway and is fixedly connected to the connecting frame (81). The guiding slide rail (80) is slidably connected to the slideway. Scrapers (72) are arranged at intervals at the front end of the connecting frame (81). The scrapers (72) are fixedly connected to the connecting frame (81).

Images