Underwater cleaning vehicle capable of sailing on water surface
By adopting buoyancy and gravity tilt navigation combined with a mechanical cleaning system on the underwater cleaning vehicle, the problems of falling off and difficulty in posture adjustment of existing underwater cleaning vehicles are solved, and an efficient cleaning effect with a compact structure and easy operation is achieved.
Patent Information
- Application Number
- CN202520129202.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-20
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2035-01-20
AI Technical Summary
Existing underwater unmanned cleaning vehicles have problems such as falling off during the ship cleaning process, large size, heavy weight, high price, and difficulty in posture adjustment. In addition, high-pressure jet cleaning can easily cause the cleaning vehicle to fall off, resulting in low efficiency.
The buoyancy blocks and gravity are used to make the cleaning vehicle sail naturally at an angle on the water surface. The horizontal thrusters are used to provide power. Combined with the mechanical cleaning system, the high-pressure water supply system is eliminated. The wall cleaning is achieved through the vertical downward pressure thrusters and independent walking system.
The working efficiency and posture adjustment flexibility of the cleaning vehicle are improved, the size, weight and price of the cleaning vehicle are reduced, the cleaning is more continuous and stable, and the driving resistance and control difficulty are reduced.
Smart Images
Figure CN223479284U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of ship cleaning vehicle technology, specifically to an underwater cleaning vehicle that can navigate on the water surface. Background Technology
[0002] After years of sailing, a thick layer of scale forms on the hull below the waterline of a ship. This scale consists of algae, shellfish, and other marine organisms, as well as other contaminants. Furthermore, after many years of operation, ships inevitably experience extensive corrosion, which severely impacts their speed and lifespan. It also increases fuel consumption, causing a speed reduction of approximately 10% and a fuel consumption increase of up to 40%, delaying voyages and increasing operating costs. To extend the ship's lifespan and ensure its economical and safe operation, regular cleaning is essential. This involves using various equipment and methods to treat the hull surface and remove scale and rust. Traditionally, ship cleaning involves manual diving. In recent years, to address the problems of low efficiency, high labor intensity, and significant safety hazards associated with manual cleaning, various unmanned underwater cleaning vehicles have been developed to replace manual labor.
[0003] Currently, most underwater unmanned cleaning vehicles (UDVs) employ high-power jet cleaning, using tracks to move across the surface of ships to complete the cleaning work. However, in practical use, the following problems have been identified: First, before cleaning, the cleaning vehicle needs to be delivered to the area requiring cleaning. Some UDVs are equipped with magnets, using magnetic attraction and the thrust generated by a vertical propeller to adhere the vehicle to the surface of the ship. The vehicle is then moved underwater until it reaches the desired cleaning location. This method can lead to the cleaning vehicle detaching from the ship's surface, preventing it from smoothly reaching its intended position and reducing cleaning efficiency. Second, some UDVs are transported to a location close to the ship by transport vessels, and then the cleaning... The traditional method of underwater cleaning vehicles involves placing them in the water and controlling their attitude to navigate to the target vessel. However, this method often requires multiple propellers for underwater steering and vertical movement, resulting in bulky, heavy, and expensive vehicles. The overall weight and drag of these vehicles are significant, making attitude adjustments difficult. Furthermore, underwater navigation relies entirely on camera monitoring, which is not directly observable by the naked eye, further complicating attitude control. Secondly, while high-powered jet cleaning is often used, the jets generate significant recoil, potentially causing the vehicle to detach from the vessel's hull. Therefore, developing a more efficient, surface-navigable underwater cleaning vehicle is essential. Utility Model Content
[0004] The purpose of this invention is to provide an underwater cleaning vehicle that is easy to operate, has a compact structure, and can improve work efficiency by navigating on the water surface.
[0005] The purpose of this utility model is achieved as follows: it includes a frame and a power system mounted on the frame. A buoyancy block is provided on the frame. Independently operating walking systems are symmetrically mounted on both sides of the frame. A vertical thruster is mounted on the frame near the power system, with the thrust direction of the vertical thruster perpendicular to the forward direction of the walking system. A crash beam is provided at the front end of the frame. Two horizontal thrusters are arranged side-by-side at the rear end of the frame, with the thrust direction of the horizontal thrusters parallel to the forward direction of the walking system. The two horizontal thrusters are respectively connected to the walking systems on both sides of the frame. The power system is located at the rear of the frame and is connected to both the walking system and the vertical thruster. A mechanical cleaning system is provided in the middle of the frame, and the shaft of the vertical thruster is connected to the mechanical cleaning system.
[0006] Furthermore, the power system includes a vertical motor unit, an electrical sealed cabin, and two horizontal motor units. The two horizontal motor units are respectively connected to the two travel systems, and the vertical motor unit is connected to the vertical downward thruster.
[0007] Furthermore, each walking system includes two walking wheels, and worm gears are installed on the axles of the walking wheels. The horizontal motor unit includes a sealed housing and a dual-axis motor installed inside the sealed housing. The output shafts of the dual-axis motors extend out of the sealed housing at both ends and are respectively provided with a worm, which meshes with the corresponding worm gear.
[0008] Furthermore, the mechanical cleaning system includes three cleaning brushes arranged in a row. Each cleaning brush includes a brush plate holder and a nylon brush plate mounted on the brush plate holder. A square hole is machined in the middle of the brush plate holder, and a square shaft is movably inserted into the square hole. A linkage gear is set at the upper end of each square shaft. The three linkage gears mesh with each other. A spring is set on the square shaft, and the two ends of the spring are fixedly connected to the linkage gear and the brush plate holder, respectively. A drive gear is set on the rotating shaft of the vertical downward pusher, and the drive gear meshes with the linkage gear located in the middle.
[0009] Furthermore, a negative pressure cover is installed on the frame outside the brush holder.
[0010] Furthermore, a self-lubricating bushing is provided on the square shaft between the spring and the brush plate holder.
[0011] Furthermore, a cleaning and crushing soft hammer is inclined outward on the outer side of the brush plate fixing frame.
[0012] Furthermore, a soft pad is installed on the brush plate holder, and the distance between the end of the soft pad and the brush plate holder is greater than the distance between the cleaning and crushing soft hammer and the brush plate holder.
[0013] Furthermore, adjustable buoyancy material is provided on both sides of the frame.
[0014] Furthermore, a top camera is installed on the upper side of the front end of the frame, and headlights and close-up cameras are installed on both sides of the front end of the frame, respectively. A tail camera and taillights are installed at the rear end of the frame, with the tail camera and taillights located between the two horizontal thrusters.
[0015] The beneficial effects of this utility model are as follows:
[0016] I. Before cleaning a ship, this utility model is first placed in water. Due to the buoyancy blocks, it can overcome its own weight and float on the water surface. Simultaneously, because the power system and two horizontal propellers are mounted rearward on the frame, the center of gravity of the entire cleaning vehicle shifts rearward, placing it at the rear of the vehicle. Under the combined effects of buoyancy and gravity, the cleaning vehicle naturally tilts on the water surface, forming a certain angle with the water. By controlling the rotation direction and speed of the two horizontal propellers, the cleaning vehicle can move and navigate on the water surface. In this way, the cleaning vehicle navigates to the surface of the ship to be cleaned, with the anti-collision beam touching the ship's surface. Then, the vertical downward thrusters are activated. Under the downward pressure, the rear of the cleaning vehicle moves downward, approaching the surface of the ship to be cleaned, achieving autonomous wall contact. Once the cleaning vehicle has adhered to the wall, the downward pressure of the vertical thrusters keeps the cleaning vehicle in contact with the surface to be cleaned. The independently operating walking systems, symmetrically installed on both sides of the frame, allow the cleaning vehicle to move forward and backward and turn on the ship's surface by adjusting its speed and direction. At the same time, the two horizontal thrusters at the stern operate to propel the cleaning vehicle, assisting in its movement, reducing slippage during movement, and improving its underwater obstacle-crossing ability.
[0017] II. This utility model utilizes the cleaning vehicle's own weight and buoyancy to allow the entire vehicle to tilt naturally on the water surface, with the front higher than the rear. Then, using a horizontal propeller to provide power, the cleaning vehicle can move and navigate on the water surface in a suitable posture to reach the predetermined position. This process replaces the current method of attaching to the surface of a ship and sailing in the water, which can prevent the problem of falling off during movement, improve the working efficiency of the cleaning vehicle, reduce the difficulty of controlling the cleaning vehicle during movement, reduce the number of propellers on the cleaning vehicle, and thus reduce the size, weight and price of the cleaning vehicle, making the cleaning vehicle structure more compact. Moreover, since the cleaning vehicle sails on the water surface, the resistance is less than that when sailing in the water, and the posture adjustment is more convenient. When the distance is not far, it can also be observed with the naked eye, making posture adjustment and control more convenient, flexible and precise.
[0018] Third, compared with the existing underwater cleaning vehicles that are equipped with high-pressure water supply systems and a large number of drive motors, this utility model uses a mechanical cleaning system to replace the high-power jet cleaning device, eliminating the installation of the high-pressure water supply system, making the cleaning more continuous and stable, with higher cleaning efficiency and better cleaning effect.
[0019] In summary, this invention utilizes the cleaning vehicle's own weight and buoyancy, enabling it to move and navigate on water in a suitable posture to reach the predetermined position. This avoids the problem of detachment during movement, improves the cleaning vehicle's work efficiency, reduces the difficulty of control during movement, decreases the number of propellers, and thus reduces the vehicle's size, weight, and price. The resulting structure is more compact, with less resistance, and more convenient, flexible, and precise attitude adjustment and control. Furthermore, the use of a mechanical cleaning brush effectively removes scale and rust from the hull, eliminating the need for a high-pressure water supply system, resulting in more continuous and stable cleaning, higher cleaning efficiency, and better cleaning effects. In conclusion, this invention offers advantages such as convenient operation, compact structure, improved work efficiency, and the ability to navigate on water. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of this utility model when it is navigating on the water surface;
[0021] Figure 2 This is a schematic diagram of the structure of the present invention when it reaches the clean surface;
[0022] Figure 3 This is a schematic diagram of the structure of this utility model during cleaning operations;
[0023] Figure 4 This is a schematic diagram of the external structure of this utility model;
[0024] Figure 5 This is a schematic diagram of the bottom structure of this utility model;
[0025] Figure 6 This is a schematic diagram of the structure of the frame 1 of this utility model;
[0026] Figure 7 This is a schematic diagram of the power system of this utility model;
[0027] Figure 8 This is a schematic diagram of the structure of the horizontal motor unit of this utility model;
[0028] Figure 9 This is a schematic diagram of the external structure of the cleaning brush of this utility model;
[0029] Figure 10 This is a cross-sectional view of the cleaning brush of this utility model;
[0030] In the diagram: 1-Frame, 2-Buoyancy block, 3-Vertical downward thruster, 4-Bumper beam, 5-Horizontal thruster, 6-Vertical motor unit, 7-Electrical sealed chamber, 8-Walking wheel, 9-Worm gear, 10-Sealed shell, 11-Dual-axis motor, 12-Worm, 13-Brush plate holder, 14-Square shaft, 15-Linkage gear, 16-Spring, 17-Drive gear, 18-Negative pressure cover, 19-Self-lubricating bushing, 20-Washing and crushing soft hammer, 21-Soft pad, 22-Adjustable buoyancy material, 23-Top camera, 24-Headlight, 25-Close-up camera, 26-Tail camera, 27-Taillight, 28-Output shaft, 29-Nylon brush plate, 30-Handle. Detailed Implementation
[0031] The present invention will be further described below with reference to the accompanying drawings, but this description is not intended to limit the present invention in any way. Any changes or improvements made based on the present invention shall fall within the protection scope of the present invention.
[0032] like Figures 1-10As shown, this utility model includes a frame 1 and a power system mounted on the frame 1. The power system provides power for the operation of the entire cleaning vehicle. A buoyancy block 2 is mounted on the frame 1, providing the main buoyancy for the cleaning vehicle. The buoyancy block 2 is typically made of glass microspheres or polyurethane foam with a density of approximately 0.2. Two independently operating walking systems are symmetrically mounted on both sides of the frame 1. These two walking systems are located on opposite sides of the frame 1 and can operate independently while cooperating with each other. By controlling parameters such as rotation speed and steering, the cleaning vehicle can move forward, backward, and turn. A vertical thruster 3 is mounted on the frame 1 near the power system. The thrust direction of the vertical thruster 3 is perpendicular to the forward direction of the walking system. The vertical thruster 3 is used to keep the cleaning vehicle close to the cleaning surface of the vessel. A crash beam 4 is mounted at the front end of the frame 1. The crash beam 4 serves as a fulcrum for the cleaning vehicle to rest against the cleaning surface when it reaches it, providing a point of support for the vehicle's rotation and attitude adjustment. The rear end of the frame 1... The vehicle is equipped with two horizontal thrusters 5, whose thrust direction is parallel to the forward direction of the walking system. These thrusters are used to assist in propulsion during surface navigation and underwater climbing, reducing slippage during the cleaning vehicle's movement. The two horizontal thrusters 5 are connected to the walking system on both sides of the frame 1. When the walking system is running, it drives the horizontal thrusters 5. The power system is located at the rear of the frame 1. With both the power system and the horizontal thrusters 5 located at the rear of the frame 1, the cleaning vehicle floats on the water with a front-high and rear-low orientation. The horizontal thrusters 5 are located in the water, facilitating the movement of the cleaning vehicle. The power system is connected to the walking system and the vertical downward thruster 3. A mechanical cleaning system is located in the middle of the frame 1. The shaft of the vertical downward thruster 3 is connected to the mechanical cleaning system. This invention uses a mechanical cleaning system, which uses a rotating nylon brush 29 to clean the surface of the ship. Other structural forms can also be used, which can be driven by the vertical downward thruster 3.
[0033] Before cleaning a ship, this invention is first placed in water. Due to the buoyancy block 2, it can overcome its own weight and float on the water surface. Simultaneously, because the power system and two horizontal thrusters 5 are mounted on the rear of the frame 1, the center of gravity of the entire cleaning vehicle shifts rearward, located at the rear of the vehicle. Under the combined effects of buoyancy and gravity, the cleaning vehicle naturally tilts on the water surface, with the front higher than the rear. At this point, the cleaning vehicle forms a certain angle with the water surface, ideally between 20° and 40°. Then, by controlling the rotation direction and speed of the two horizontal thrusters 5, the cleaning vehicle can move and navigate on the water surface. Through this method, the cleaning vehicle navigates to the surface of the ship to be cleaned, with the anti-collision beam 4 pressing against the ship's surface. Then, the vertical downward thruster 3 is activated. Under the downward pressure, the rear of the cleaning vehicle moves downward, approaching the surface of the ship to be cleaned, achieving autonomous wall contact. After the cleaning vehicle has finished adhering to the wall, the downward pressure of the vertical thruster 3 is maintained to keep the cleaning vehicle in contact with the surface to be cleaned. The independently operating walking systems symmetrically installed on both sides of the frame 1 enable the cleaning vehicle to move back and forth and turn on the ship's surface by adjusting its speed and direction. At the same time, the two horizontal thrusters 5 at the rear operate to propel the cleaning vehicle, which plays an auxiliary role in walking, reduces slippage during walking, and improves the obstacle-crossing ability of underwater walking.
[0034] The power system includes a vertical motor unit 6, an electrical sealed compartment 7, and two horizontal motor units. The two horizontal motor units are connected to the two propulsion systems respectively, and the vertical motor unit 6 is connected to the vertical thruster 3. The power system integrates the vertical motor unit 6, the electrical sealed compartment 7, and the two horizontal motor units. The two horizontal motor units drive the operation of the two propulsion systems respectively, i.e., drive the wheels 8 and the horizontal thruster 5 to rotate. The vertical motor unit 6 drives the vertical thruster 3, which in turn drives the mechanical cleaning system. The electrical sealed compartment 7 houses three motor speed controllers, a navigation controller, an underwater communication module, and an underwater power supply module, reducing sealing elements, the number of components, and the overall weight.
[0035] Each walking system includes two walking wheels 8. The walking wheels are mainly made of aluminum alloy coated with rubber, and are solid structures. The aluminum alloy is lightweight and resistant to seawater corrosion, while the rubber is corrosion-resistant, wear-resistant, and non-slip. Worm gears 9 are installed on the axles of the walking wheels 8. The horizontal motor unit includes a sealed housing 10 and a dual-axis motor 11 installed inside the sealed housing 10. The output shafts 28 of the dual-axis motor 11 extend out of the sealed housing 10 at both ends and are respectively provided with a worm gear 12. The worm gears 12 mesh with the corresponding worm gears 9. During operation, the dual-axis motor 11 drives the output shaft 28 to rotate, which in turn drives the worm gear 12 to rotate, which in turn drives the worm wheel 9 to rotate, thereby driving the traveling wheels 8 to rotate, ultimately moving the entire cleaning vehicle on the cleaning surface. The horizontal propeller 5 is installed at the rear end of the output shaft 28. When the output shaft 28 rotates, it can synchronously drive the horizontal propeller 5 to rotate. During operation, oil can be injected into the sealing housing 10. The dynamic seal between the inside and outside of the sealing housing 10 can be a mechanical seal. An oil-water mixing chamber and a primary seal are added outside the mechanical seal to reduce the chance of mud and sand entering the mechanical seal. At the same time, the two sides of the mechanical seal are oil and oil-water mixture, which provides good lubrication for the mechanical seal and improves its reliability and service life.
[0036] The mechanical cleaning system includes three cleaning brushes arranged in a row. This arrangement creates a wider cleaning width, and the high-speed rotation of each nylon brush disc 29 improves both cleaning efficiency and effectiveness. Each cleaning brush includes a brush disc holder 13 and nylon brush discs 29 mounted on it. A square hole is machined in the center of the brush disc holder 13, through which a square shaft 14 is movably inserted. Each square shaft 14 has a linkage gear 15 at its upper end, and the three linkage gears 15 mesh with each other. A spring 16 is mounted on each square shaft 14, with both ends of the spring 16 fixedly connected to the linkage gear 15 and the brush disc holder 13, respectively. A drive gear 17 is mounted on the shaft of the vertically downward-pressing pusher 3, meshing with the linkage gears 15 located in the center. During operation, the vertical motor unit 6 drives the vertical downward thruster 3 to rotate, which in turn drives the drive gear 17 to rotate. The drive gear 17 drives one of the linkage gears 15 to rotate, which in turn drives all the linkage gears 15 to rotate. The linkage gears 15 then drive the square shaft 14 to rotate, ultimately driving the brush plate holder 13 and the nylon brush plate 29 to rotate, thus cleaning the ship's surface. In addition, since the two ends of the spring 16 are fixedly connected to the linkage gear 15 and the brush plate holder 13 respectively, it can prevent the brush plate holder 13 from slipping off the end of the square shaft 14. At the same time, it can also generate a thrust on the brush plate holder 13, so that the bristles on the nylon brush plate 29 can adhere tightly to the ship's surface, resulting in a better cleaning effect.
[0037] A negative pressure cover 18 is installed on the frame 1 outside the brush plate holder 13. The negative pressure cover 18 covers the three brush plate holders 13 and has two functions: first, to protect the brush plate holders 13 and the cleaning brushes; second, the rotation of the brush plate holders 13 and the cleaning brushes within the negative pressure cover 18 generates a relatively clear negative pressure, allowing the cleaning cart to firmly adhere to the cleaning surface. In actual installation, the distance between the bottom of the negative pressure cover 18 and the cleaning surface is generally between 10mm and 35mm. The distance is adjustable. During use, a larger distance provides better passage but reduces the negative pressure generated.
[0038] A self-lubricating bushing 19 is provided on the square shaft 14 between the spring 16 and the brush plate fixing frame 13. The self-lubricating bushing 19 is existing technology. It is installed between the brush plate fixing frame 13 and the square shaft 14 to prevent the brush plate fixing frame 13 from getting stuck when it slides up and down on the square shaft 14, so as to improve the terrain-following cleaning effect.
[0039] A cleaning and breaking soft hammer 20 is inclined outward on the outer side of the brush holder 13. The cleaning and breaking soft hammer 20 can be made of soft steel rope and hammer. During operation, the cleaning and breaking soft hammer 20 first impacts various dirt, breaking it up before the cleaning brush removes it. Since the scale on the surface of ships is composed of algae, shellfish and other marine organisms or other dirt, the cleaning brush can remove algae, rust and other substances, but some shellfish with strong adhesion and hard shells are not easy to remove. To solve this problem, the cleaning and breaking soft hammer 20 is set. During operation, the cleaning and breaking soft hammer 20 rotates at high speed with the cleaning brush, with strong impact and destructive force. The cleaning and breaking soft hammer 20 first knocks open or breaks up stubborn dirt such as shellfish, and then the cleaning brush removes it. The combination of the two has a better cleaning effect. The cleaning and breaking soft hammer 20 can hammer hard contaminants. When used in conjunction with the cleaning brush, it can effectively clean both hard and soft contaminants.
[0040] A soft pad 21 is installed on the brush plate holder 13. The distance between the end of the soft pad 21 and the brush plate holder 13 is greater than the distance between the cleaning and crushing soft hammer 20 and the brush plate holder 13. During the operation of the cleaning vehicle, because the soft pad 21 is closer to the surface being cleaned than the cleaning and crushing soft hammer 20, direct contact between the cleaning and crushing soft hammer 20 and the surface being cleaned can be prevented, thus avoiding damage to the surface of the ship being cleaned.
[0041] Adjustable buoyancy material 22 is provided on both sides of the frame 1. The adjustable buoyancy material 22 is installed on both sides of the vehicle. The buoyancy of the whole vehicle can be adjusted by adjusting the size and shape of the buoyancy material to adapt to various applicable scenarios. The buoyancy material is generally made of glass microspheres or polyurethane foam with a density of about 0.2.
[0042] A top camera 23 is installed on the upper side of the front end of the frame 1. A headlight 24 and a close-up camera 25 are respectively installed on both sides of the front end of the frame 1. The positions of the headlight 24 and the close-up camera 25 can be interchanged according to actual use needs, so as to facilitate lighting and photography. A tail camera 26 and a tail light 27 are installed at the rear end of the frame 1. Both the tail camera 26 and the tail light 27 are located between the two horizontal thrusters 5. A total of three cameras and two lights are used. The top camera 23 is located high up and shines downwards and forwards, and is used in environments with good visibility of the cleaning water. The head light 24 shines downwards and forwards towards the center of the cleaning vehicle. The close-range camera 25 shines downwards and forwards towards the center of the cleaning vehicle, and is used in environments with low visibility of the cleaning water. It works in conjunction with the top camera 23 to increase the applicable range. The rear camera 26 is a rear-mounted camera, which is placed in the gap between the two horizontal thrusters 5 and shines vertically downwards to monitor the cleaning quality. The rear light 27 is usually small in size and is used as auxiliary lighting for the rear camera, shining vertically downwards.
[0043] This utility model has a compact structure and light weight. Handles 30 can be installed on the frame 1 on both sides of the vertical pressure pusher 3 to lift the cleaning vehicle for easy handling and movement.
Claims
1. An underwater cleaning vehicle capable of navigating on the water surface, comprising a frame (1) and a power system mounted on the frame (1), characterized in that... The frame (1) is provided with a buoyancy block (2). The two sides of the frame (1) are symmetrically equipped with independent walking systems. A vertical thruster (3) is provided on the frame (1) near the power system. The thrust direction of the vertical thruster (3) is perpendicular to the forward direction of the walking system. The front end of the frame (1) is provided with a crash beam (4). The rear end of the frame (1) is provided with two horizontal thrusters (5). The thrust direction of the horizontal thrusters (5) is parallel to the forward direction of the walking system. The two horizontal thrusters (5) are respectively connected to the walking systems on both sides of the frame (1). The power system is located on the rear side of the frame (1). The power system is connected to the walking system and the vertical thruster (3) respectively. A mechanical cleaning system is provided in the middle of the frame (1). The shaft of the vertical thruster (3) is connected to the mechanical cleaning system.
2. The underwater cleaning vehicle capable of navigating on the water surface according to claim 1, characterized in that... The power system includes a vertical motor unit (6), an electrical sealed cabin (7), and two horizontal motor units. The two horizontal motor units are respectively connected to the two walking systems, and the vertical motor unit (6) is connected to the vertical downward thruster (3).
3. The underwater cleaning vehicle capable of navigating on the water surface according to claim 2, characterized in that... Each walking system includes two walking wheels (8), and a worm gear (9) is provided on the axle of the walking wheel (8). The horizontal motor unit includes a sealed housing (10) and a dual-axis motor (11) provided in the sealed housing (10). The output shaft (28) of the dual-axis motor (11) extends out of the sealed housing (10) at both ends and is provided with a worm (12). The worm (12) meshes with the corresponding worm gear (9).
4. The underwater cleaning vehicle capable of navigating on the water surface according to claim 1, characterized in that... The mechanical cleaning system includes three cleaning brushes arranged in a row. Each cleaning brush includes a brush plate holder (13) and a nylon brush plate (29) mounted on the brush plate holder (13). A square hole is machined in the middle of the brush plate holder (13), and a square shaft (14) is movably inserted into the square hole. A linkage gear (15) is provided at the upper end of each square shaft (14). The three linkage gears (15) mesh with each other. A spring (16) is provided on the square shaft (14). The two ends of the spring (16) are fixedly connected to the linkage gear (15) and the brush plate holder (13) respectively. A drive gear (17) is provided on the rotating shaft of the vertical downward pusher (3). The drive gear (17) meshes with the linkage gear (15) located in the middle.
5. An underwater cleaning vehicle capable of navigating on the water surface according to claim 4, characterized in that... A negative pressure cover (18) is provided on the frame (1) outside the brush holder (13).
6. The underwater cleaning vehicle capable of navigating on the water surface according to claim 4, characterized in that... A self-lubricating bushing (19) is provided on the square shaft (14) between the spring (16) and the brush plate fixing frame (13).
7. An underwater cleaning vehicle capable of navigating on the water surface according to claim 4, characterized in that... The outer side of the brush holder (13) is provided with a cleaning and crushing soft hammer (20) that is inclined outward.
8. An underwater cleaning vehicle capable of navigating on the water surface according to claim 7, characterized in that... A soft pad (21) is installed on the brush plate fixing frame (13). The distance between the end of the soft pad (21) and the brush plate fixing frame (13) is greater than the distance between the cleaning and crushing soft hammer (20) and the brush plate fixing frame (13).
9. An underwater cleaning vehicle capable of navigating on the water surface according to claim 1, characterized in that... The frame (1) is provided with adjustable buoyancy material (22) on both sides.
10. An underwater cleaning vehicle capable of navigating on the water surface according to claim 1, characterized in that... A top camera (23) is provided on the upper side of the front end of the frame (1). A headlight (24) and a close-up camera (25) are provided on both sides of the front end of the frame (1). A tail camera (26) and a taillight (27) are provided at the rear end of the frame (1). The tail camera (26) and the taillight (27) are both located between two horizontal thrusters (5).