Underwater track surface cleaning mechanism

Abstract

The utility model discloses an underwater track surface cleaning mechanism which comprises a supporting plate, a pair of cleaning plates and a rod assembly. The upper ends of the clearing plates are rotationally mounted on the supporting plate, and the lower ends of the clearing plates are close to the surface of the track; each rod assembly can stretch out and draw back in the basic length, and the two ends of each rod assembly are rotationally connected with the lower portion of the clearing plate and the supporting block correspondingly. When the cleaning plate close to the moving direction is blocked and increased and rotates in the forward direction, the corresponding rod assembly is shortened, and the other rod assembly extends in a linkage mode to enable the cleaning plate far away from the moving direction to rotate in the forward direction; and when the cleaning plate close to the moving direction is blocked and reduced and rotates reversely, the corresponding rod assembly extends, and the other rod assembly is shortened until the pair of rod assemblies is recovered to the basic length. According to the material scraping and shoveling device, the removing effect is better in a material scraping and shoveling mode, the single removing mode is avoided, and different attached obstacles can be removed.

Description

TECHNICAL FIELD

[0001] The utility model relates to track removal technology belongs to underwater operation field, concretely relates to a underwater track surface removal mechanism. BACKGROUND

[0002] The track used by the mobile trolley can be made of metal or high-strength plastic, forming a fixed path, which is suitable for high-repetition and fixed-path scenarios due to its high stability and strong load-bearing capacity. The mobile trolley contacts the track in the form of a sliding block or a roller to achieve corresponding movement. The cleanliness of the upper surface of the track is very important for the movement of the mobile trolley.

[0003] Common track removal mechanisms mainly install scrapers or powered cleaning rollers on one side of the moving direction of the trolley to achieve the purpose of removing obstacles. However, this removal mechanism is suitable for ground tracks, and when removing underwater tracks, the removal mechanism has a single removal form or the removal effect is not obvious.

[0004] Specifically, due to the influence of complex underwater environments such as water bodies and organisms, there are obstacles such as silt and adsorbed organisms on the surface of the track. On the one hand, the fixedly arranged scraper cannot be adjusted to the distance of the track surface, causing problems such as incomplete removal when the distance is large, or excessive friction or resistance when the distance is small. Or the fixedly arranged scraper has a consistent angle and a single removal form, which cannot handle obstacles with different adhesion levels, such as the Chinese invention patent with publication number CN118811394A: a underwater Christmas tree operation equipment bearing sliding track trolley, which discloses a dredging system 106 including a first scraper support 7 and a first concave scraper 8. When the first concave scraper 8 moves back and forth on the track of the track system with the load trolley 102, the first concave scraper 8 slides with the horizontal track 26, thereby cleaning and scraping the silt, marine organisms, and other attached materials attached to the horizontal track 26. The first concave scraper in this disclosure has the above-mentioned problems. On the other hand, the matching of the powered cleaning roller used underwater is poor, that is, the force of the rotating cleaning roller acting on the obstacle is reduced due to the influence of water resistance, resulting in poor cleaning effect. SUMMARY

[0005] The utility model aims at providing a underwater track surface removal mechanism, which not only makes the removal effect better in the way of scraping and shoveling, avoids a single removal form, but also can remove obstacles with different adhesion levels.

[0006] To achieve the above-mentioned purpose, the underwater track surface removal mechanism comprises:

[0007] The support plate is connected to the moving direction side of the mobile platform.

[0008] A pair of cleaning plates and a pair of rod assemblies, the pair of cleaning plates is arranged in an inverted "8" structure, and the upper ends are respectively rotatably installed on the support plates, and the lower ends are close to the track surface moved by the moving platform;

[0009] Each rod assembly can be telescopic on a basic length, and the two ends of the rod assembly are rotatably connected with the lower part of the cleaning plate and the support block;

[0010] The support block is located between the pair of cleaning plates and is connected with the support plate.

[0011] The pair of rod assemblies are assembled and linked with the basic length, when the cleaning plate close to the moving direction is blocked and increased, the corresponding rod assembly is shortened, and the other rod assembly is linked and lengthened, so that the cleaning plate away from the moving direction is rotated forward, when the cleaning plate close to the moving direction is blocked and decreased, the corresponding rod assembly is lengthened, and the other rod assembly is shortened, until the pair of rod assemblies return to the basic length.

[0012] In some examples of the utility model, the rod assembly has a first rod, a second rod, a piston cylinder and a pair of first elastic members;

[0013] The second rod is rotatably connected with the support block at one end and fixedly connected with the piston cylinder at the other end;

[0014] The first rod is rotatably connected with the cleaning plate at one end, and the piston moves in the piston cylinder and divides it into two cavities;

[0015] The pair of first elastic members are located in the two cavities respectively;

[0016] Among them, the cavities close to the support block in the pair of piston cylinders are connected with each other through pipelines and sealedly filled with oil.

[0017] In some examples of the utility model, the rod assembly is a telescopic rod connected with the controller;

[0018] The telescopic rod is provided with a sensor for identifying the telescopic length;

[0019] When the telescopic rod is blocked and shortened, the controller receives the signal of the sensor and controls the other telescopic rod to be linked and lengthened, when the telescopic rod is not blocked and shortened, the controller controls the pair of telescopic rods to return to the basic length.

[0020] In some examples of the utility model, the support plate is fixed with a fixed plate;

[0021] The support block is driven to slide up and down on the fixed plate.

[0022] In some examples of the utility model, the support plate is slidably installed on the moving platform, and a second elastic member is arranged therebetween;

[0023] The second elastic members are in contact with the support plate and the moving platform respectively; under the action of the second elastic members, the support plate bears downward elastic force.

[0024] In some examples of the utility model, in the moving direction, both sides of the cleaning plate are equipped with a pair of second inclined surfaces, and the pair of second inclined surfaces are symmetrically arranged at the center of the cleaning plate to make the end face of the cleaning plate into an angular structure.

[0025] In some examples of the utility model, in the moving direction, both sides of the lower end of the cleaning plate are equipped with first inclined surfaces.

[0026] The pair of first inclined surfaces make the lower end of the cleaning plate into a "sharp" structure.

[0027] In some examples of the utility model, the lower end of the cleaning plate is also equipped with a pair of support plates.

[0028] The connecting line of the pair of support plates is perpendicular to the moving direction and close to the lateral end face of the track.

[0029] Compared with the prior art, the underwater track surface cleaning mechanism can make the cleaning effect better in the way of scraping and shoveling, avoid single cleaning form, and make the cleaning plate close to the moving direction scrape the easily cleaned obstacles and the cleaning plate far from the moving direction shovel the difficultly cleaned obstacles, so that the underwater track surface cleaning mechanism can be applied to the underwater track.

[0030] The support block is driven to slide up and down, thereby driving the pair of cleaning plates to change the angle relative to the support block and the distance from the track surface, so as to be suitable for different use environments; in addition, the support plate is slid up and down and installed on the moving platform, and the second elastic member is arranged between the support plate and the moving platform, so that the cleaning mechanism can be elastically adjusted upward relative to the moving platform, thereby avoiding damage to the cleaning plate and the track.

[0031] The pair of second inclined surfaces are symmetrically arranged at the center of the cleaning plate to make the end face of the cleaning plate into an angular structure, and when the cleaning plate moves and contacts the obstacles, the pair of second inclined surfaces on the side face of the cleaning plate can help the obstacles to move to both sides, thereby avoiding the obstacles from being accumulated on one side of the cleaning plate along with the movement of the moving platform; in addition, the first inclined surfaces are arranged on both sides of the lower end of the cleaning plate, so that the cleaning effect of scraping and shoveling is better. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the front view of the cleaning mechanism of the utility model installed on the moving platform;

[0033] Figure 2 is the front view of the cleaning mechanism of the utility model;

[0034] Figure 3 is a pair of rod assemblies linkage main view in the utility model;

[0035] Figure 4 is a schematic view of the cleaning plate in the utility model;

[0036] Figure 5 is a pair of cleaning plate adjustment sketch when the moving platform moves to the left in the utility model;

[0037] Figure 6 is a pair of cleaning plate adjustment sketch when the support block moves up and down in the utility model;

[0038] Figure 7 is a main view of the support plate slidingly installed on the moving platform in the utility model;

[0039] In the figure: 11, track, 12, moving platform, 13, first roller, 14, second roller, 15, second elastic member;

[0040] 200, cleaning mechanism;

[0041] 30, support plate, 31, fixed plate;

[0042] 40, cleaning plate, 41, first inclined surface, 42, second inclined surface;

[0043] 50, rod assembly, 51, first rod member, 52, piston cylinder, 53, second rod member, 54, first elastic member, 55, pipeline;

[0044] 60, support block. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme of the utility model embodiment will be described clearly and completely in the following with the drawings of the utility model embodiment. The same reference signs in the drawings represent the same parts. It should be noted that the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the scope of protection of the utility model.

[0046] Unless otherwise defined, technical terms or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms "first", "second", and similar terms do not imply any order, quantity, or importance, but are used to distinguish one element from another, and are used only to distinguish different components. Similarly, the terms "one" or "a" or "an" do not necessarily mean "one", "single" or "only one". The terms "including", "comprising", "consisting of", and the like mean the elements or objects listed after such terms are encompassed as members of a group, and do not exclude other elements or objects. The terms "connected", "coupled", and the like do not necessarily mean physically or mechanically connected, but can include electrical connection, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0047] As shown in Figure 1 , Figure 2 , the underwater track surface cleaning mechanism, the cleaning mechanism 200 includes:

[0048] The support plate 30 is connected to the moving direction side of the moving platform 12;

[0049] A pair of cleaning plates 40 and rod assemblies 50, the pair of cleaning plates 40 are arranged in an inverted "eight" shape structure, and the upper ends are respectively rotatably installed on the support plate 30, and the lower ends are close to the surface of the track 11 moved by the moving platform 12;

[0050] Each rod assembly 50 can be telescopic with a basic length, and the two ends are rotatably connected with the lower part of the cleaning plate 40 and the support block 60;

[0051] Among them, the support block 60 is located between the pair of cleaning plates 40 and connected to the support plate 30;

[0052] The pair of rod assemblies 50 are assembled with a basic length and linked, when the cleaning plate 40 close to the moving direction is blocked and increased, the corresponding rod assembly 50 is shortened, and the other rod assembly 50 is linked to elongate so that the cleaning plate 40 far away from the moving direction is rotated forward; when the cleaning plate 40 close to the moving direction is blocked and decreased, the corresponding rod assembly 50 is elongated, and the other rod assembly 50 is shortened, until the pair of rod assemblies 50 return to the basic length.

[0053] Specifically, the moving platform 12 can move on the track 11 by the first roller 13 driven to rotate, and the second roller 14 can be provided on the moving platform 12, the second roller 14 contacts with the side end of the track 11 to limit, so as to prevent the moving platform 12 from derailing, which is a conventional moving mode;

[0054] The cleaning mechanism 200 can be installed on both sides of the moving platform 12 due to the reciprocating movement of the moving platform 12 on the track 11;

[0055] The cleaning plate 40 is connected to the middle support block 60 through the rod assembly 50, and the lower end of the cleaning plate 40 is close to the surface of the track 11 to clean the obstacles thereon. The rod assembly 50 has a certain basic length, and when the cleaning plate 40 is assembled through the rod assembly 50, the rod assembly 50 can be stretched and contracted according to the obstruction of the cleaning plate 40, and a pair of rod assemblies 50 are linked, for example, when one of the rod assemblies 50 is compressed and shortened, the other rod assembly 50 is linked and elongated. When the rod assembly 50 is stretched and contracted, the lower end of the cleaning plate 40 rotates relative to the upper end, thereby adjusting the distance from the lower end of the cleaning plate 40 to the surface of the track 11;

[0056] The cleaning mechanism 200 in use defines the moving platform 12 moving horizontally to the left on the track 11, and the cleaning mechanism 200 includes two cleaning plates 40 in inverted "eight" structure, the left cleaning plate 40 follows the moving direction (forms an acute angle with the left side of the track 11), and the right cleaning plate 40 is opposite to the moving direction (forms an obtuse angle with the left side of the track 11). In the initial state, the rod assembly 50 is in the basic length, and under the support of the rod assembly 50, the lower end of a pair of cleaning plates 40 is close to the surface of the track 11;

[0057] As shown in Figure 2 , Figure 5 When encountering obstacles that are easy to clean, such as mud or solid objects with weak adhesion, the left cleaning plate 40 first "scrapes" the obstacles in the moving direction, and then the right cleaning plate 40 further "shovels" the obstacles in the opposite direction, so that the two different cleaning methods make the cleaning effect better. When encountering obstacles that are not easy to clean, such as biological or fixed objects with strong adhesion, the left cleaning plate 40 cannot effectively clean the obstacles and is blocked to rotate counterclockwise (clockwise) around the upper end to press the left rod assembly 50. After the left rod assembly 50 is shortened, the right rod assembly 50 is linked and elongated, thereby driving the right cleaning plate 40 to rotate counterclockwise (clockwise). The right cleaning plate 40 can be closer to the surface of the track 11 and opposite to the moving direction, and can effectively "shovel" the obstacles. After the obstacles are cleaned, the left cleaning plate 40 rotates clockwise (counterclockwise) due to the decrease of the obstruction, the left rod assembly 50 is elongated, and the right rod assembly 50 is linked and shortened, thereby driving the right cleaning plate 40 to rotate clockwise (counterclockwise). Until the pair of rod assemblies 50 returns to the basic length, that is, the cleaning plate 40 is in the initial state;

[0058] In addition, the cleaning mechanism 200 is installed on both sides of the reciprocating movement of the moving platform 12, and when the moving platform 12 moves laterally left and right on the track 11, a pair of cleaning mechanisms 200 can both clean the obstacles, for example, when the moving platform 12 moves laterally to the right, the right cleaning plate 40 in the right cleaning mechanism 200 is used for "sweeping" treatment along the moving direction, and the left cleaning plate 40 is used for "shoveling" treatment against the moving direction; the right cleaning plate 40 in the left cleaning mechanism 200 is used for "sweeping" treatment along the moving direction, and the left cleaning plate 40 is used for "shoveling" treatment against the moving direction.

[0059] The cleaning mechanism 200 of the present application can achieve better cleaning effect by means of sweeping and shoveling through the cleaning plate 40 in the inverted "eight" structure, avoid single cleaning form, and the corresponding rod assembly 50 linkage, so that the cleaning plate 40 close to the moving direction can be used for sweeping treatment of easily cleaned obstacles, and the cleaning plate 40 away from the moving direction can be used for shoveling treatment of difficultly cleaned obstacles, which can be applied to underwater track.

[0060] As an example of relative linkage of the rod assembly 50, the rod assembly 50 can be a telescopic rod connected with the controller, and the telescopic rod is provided with a sensor. In the initial state, the telescopic rod has a certain basic length. When the cleaning plate 40 is blocked and the corresponding telescopic rod is stressed to a certain extent, the controller receives the sensor signal and controls the telescopic rod to be compressed and shortened, while controlling the other telescopic rod to be elongated, thus completing the action of a pair of cleaning plates 40. However, this example is applicable to conventional ground track 11 or simple underwater environment such as shallow water, but not applicable to complex underwater environment, especially various corresponding signal transmission, which often requires large cost.

[0061] As another example of relative linkage of the rod assembly 50, as shown in Figure 2 、 Figure 3 The rod assembly 50 has a first rod 51, a second rod 53, a piston cylinder 52, and a pair of first elastic members 54;

[0062] One end of the second rod 53 is rotatably connected with the support block 60, and the other end is fixedly connected with the piston cylinder 52;

[0063] One end of the first rod 51 is rotatably connected with the cleaning plate 40, and the other end of the piston moves in the piston cylinder 52 and divides it into two cavities;

[0064] A pair of first elastic members 54 are respectively located in the two cavities;

[0065] Among them, the cavities close to the support block 60 in a pair of piston cylinders 52 are connected with each other through a pipeline 55 and sealedly filled with oil;

[0066] Specifically, in the left rod assembly 50, the piston at one end of the first rod 51 divides the piston cylinder 52 into cavities A and a, wherein cavity A is close to the support block 60; in the right rod assembly 50, the piston at one end of the first rod 51 divides the piston cylinder 52 into cavities B and b, wherein cavity B is close to the support block 60; the first elastic members 54 are arranged in cavities A, a and cavities B, b, and cavities A and cavities B are in communication and filled with oil; it is explained that cavities a and cavities b can be in communication with the outside for pressure balance.

[0067] When the moving platform 12 moves to the left and the left cleaning plate 40 is pressed against the left rod assembly 50 due to the influence of the obstacle, the volume of cavity A decreases and the first elastic member 54 in cavity A is compressed, the oil enters cavity B through the pipeline 55, the volume of cavity B increases and the first elastic member 54 in cavity b is compressed, at the same time, the right rod assembly 50 is elongated, and then the right cleaning plate 40 is rotated for shovel processing;

[0068] When the obstacle is removed, the oil flows back from cavity B to cavity A under the action of the first elastic members 54 in cavities A and b; it is explained that in the initial state, the first elastic members 54 in cavities A, a and cavities B, b can reach balance, and in this balance, the rod assembly 50 is in the basic length, and in addition, a hydraulic adjusting component can be arranged on the pipeline 55 for adjusting the oil inlet and outlet pressure to avoid slow oil backflow response;

[0069] When the moving platform 12 moves to the left, the right cleaning plate 40 is used for "scraping" processing along the moving direction, and the left cleaning plate 40 is used for "shovel" processing against the moving direction, at this time, the first elastic members 54 in cavities B and a are shortened and rebounded.

[0070] In some examples of the utility model, as shown in Figure 2 、 Figure 6 The support plate 30 is fixed with a fixed plate 31;

[0071] The support block 60 is driven to slide up and down on the fixed plate 31;

[0072] Specifically, the support block 60 can move up and down on the fixed plate 31 through an electric cylinder or the like structure;

[0073] When the support block 60 moves upward, the lower ends of the pair of cleaning plates 40 are close to each other and away from the surface of the track 11; when the support block 60 moves downward, the lower ends of the pair of cleaning plates 40 are away from each other and close to the surface of the track 11;

[0074] In this example, the support block 60 is driven to slide up and down, thereby driving the pair of cleaning plates 40 to change the angle relative to the support block 60 and the distance from the surface of the track 11, so as to be suitable for different use environments.

[0075] In some examples of the present application, as shown in Figure 7 The support plate 30 is slidably installed on the moving platform 12 and is provided with a second elastic member 15 therebetween.

[0076] The second elastic member 15 is in contact with the support plate 30 and the moving platform 12 respectively; under the action of the second elastic member 15, the support plate 30 bears downward elastic force and is in the lowermost position.

[0077] Specifically, the support plate 30 is connected with the moving platform 12 through a guide rail, a guide column or the like, and the second elastic member 15 can be a cylindrical spring and is in contact with the support plate 30 and the moving platform 12.

[0078] When the support plate 30 is directly installed on the moving platform 12 and neither of the pair of cleaning plates 40 can clean the obstacle on the track 11, the cleaning plate 40 and the track 11 are likely to be damaged, for example, when the moving platform 12 moves to the left, if the cleaning mechanism 200 encounters a large and difficult-to-clean obstacle, the left cleaning plate 40 is blocked and rotates, the corresponding rod assembly 50 is shortened and exceeds the threshold value, the other rod assembly 50 is linked and elongated too much, so that the right cleaning plate 40 is directly in contact with the track 11 and cannot be adjusted further, at this time, the force between the cleaning plate 40 and the track 11 is too large and the corresponding damage is likely to occur.

[0079] To avoid the above problems, in the present example, the support plate 30 is elastically connected with the moving platform 12, so that the cleaning mechanism 200 can be elastically adjusted upward relative to the moving platform 12, thereby avoiding damage to the cleaning plate 40 and the track 11, that is, when the cleaning mechanism 200 encounters a large and difficult-to-clean obstacle, the cleaning plate 40 cannot be adjusted after rotating, the force causes the cleaning mechanism 200 to move upward as a whole and compress the second elastic member 15, thereby avoiding the obstacle, and when the avoidance is completed, the cleaning mechanism 200 returns to the initial position under the action of the second elastic member 15.

[0080] In some examples of the present application, as shown in Figure 4 In the moving direction, the cleaning plate 40 is provided with a pair of second inclined surfaces 42 on both sides, and the pair of second inclined surfaces 42 are symmetrically arranged with the center of the cleaning plate 40, so that the end surface of the cleaning plate 40 is in an angular structure.

[0081] Specifically, taking the cleaning plate 40 along the moving direction as an example, when the cleaning plate 40 moves and contacts the obstacle, the pair of second inclined surfaces 42 on the side surface of the cleaning plate 40 can help the obstacle to move to both sides, thereby avoiding the obstacle from being accumulated on one side of the cleaning plate 40 as the moving platform 12 moves.

[0082] Further, in the moving direction, two sides of the lower end of the cleaning plate 40 are provided with first inclined surfaces 41;

[0083] The pair of first inclined surfaces 41 make the lower end of the cleaning plate 40 into a "sharp" structure;

[0084] The first inclined surfaces 41 can facilitate the scraping treatment of the obstacles, so that the cleaning effect is better.

[0085] In some examples of the present application, the lower end of the cleaning plate 40 is further provided with a pair of supporting plates;

[0086] The connecting line of the pair of supporting plates is perpendicular to the moving direction, and is close to the lateral end surface of the track 11;

[0087] Specifically, when the moving platform 12 moves horizontally, the pair of supporting plates are longitudinally located on both sides of the cleaning plate 40, which can clean the longitudinal surface of the track 11, especially when the second rollers 14 are longitudinally arranged on the moving platform 12, the supporting plates can clean the longitudinal surface of the track 11 to ensure the contact between the second rollers 14 and the track 11.

[0088] The underwater track surface cleaning mechanism exemplary embodiments proposed by the present application are described in detail above with reference to the preferred embodiments, however, those skilled in the art can understand that various modifications and improvements can be made to the above specific embodiments without departing from the concept of the present application, and various technical features and structures proposed by the present application can be combined in various ways without exceeding the protection scope of the present application, the protection scope of the present application is determined by the appended claims.

Claims

1. An underwater track surface cleaning mechanism, characterized in that, include: A support plate (30) is connected to the moving side of the moving platform (12); A pair of cleaning plates (40) and rod assembly (50), the pair of cleaning plates (40) are arranged in an inverted "V" structure, and the upper ends are respectively rotatably mounted on the support plate (30) and the lower ends are close to the surface of the track (11) on which the moving platform (12) moves; Each rod assembly (50) is telescopic over its base length, and both ends of the rod assembly (50) are rotatably connected to the lower part of the clearing plate (40) and the support block (60); The support block (60) is located between a pair of clearing plates (40) and is connected to the support plate (30); A pair of rod assemblies (50) are assembled and linked together at their basic length. When the clearing plate (40) closer to the direction of movement is obstructed and rotates in the forward direction, the corresponding rod assembly (50) shortens and the other rod assembly (50) extends in conjunction, causing the clearing plate (40) away from the direction of movement to rotate in the forward direction. When the clearing plate (40) closer to the direction of movement is obstructed and rotates in the reverse direction, the corresponding rod assembly (50) extends and the other rod assembly (50) shortens until the pair of rod assemblies (50) return to their basic length.

2. The underwater track surface cleaning mechanism according to claim 1, characterized in that, The rod assembly (50) has a first rod (51), a second rod (53), a piston cylinder (52), and a pair of first elastic members (54); One end of the second rod (53) is rotatably connected to the support block (60), and the other end is fixedly connected to the piston cylinder (52); One end of the first rod (51) is rotatably connected to the clearing plate (40), and the piston at the other end moves inside the piston cylinder (52) and divides it into two chambers; A pair of first elastic elements (54) are located in two cavities respectively; Among them, the cavities of a pair of piston cylinders (52) near the support block (60) are connected to each other through pipes (55) and are sealed and filled with oil.

3. The underwater track surface cleaning mechanism according to claim 1, characterized in that, The rod assembly (50) is a telescopic rod connected to the controller; The telescopic pole is equipped with a sensor to detect the extension length; When the telescopic rod is obstructed and shortens, the controller receives a signal from the sensor and controls the other telescopic rod to extend in tandem; when the telescopic rod is not obstructed and shortens, the controller controls the pair of telescopic rods to return to their base length.

4. The underwater track surface cleaning mechanism according to any one of claims 1 to 3, characterized in that, A fixing plate (31) is fixed on the support plate (30); The support block (60) is driven to slide up and down on the fixed plate (31).

5. The underwater track surface cleaning mechanism according to claim 4, characterized in that, The support plate (30) is slidably mounted on the mobile platform (12) and a second elastic element (15) is provided between them; The second elastic element (15) contacts the support plate (30) and the moving platform (12) respectively; under the action of the second elastic element (15), the support plate (30) bears the downward elastic force.

6. The underwater track surface cleaning mechanism according to any one of claims 1 to 3, characterized in that, In the direction of movement, a pair of second inclined surfaces (42) are provided on both sides of the cleaning plate (40). The pair of second inclined surfaces (42) are arranged symmetrically with respect to the center of the cleaning plate (40) so that the end face of the cleaning plate (40) is angular.

7. The underwater track surface cleaning mechanism according to claim 6, characterized in that, In the direction of movement, the clearing plate (40) has a first inclined surface (41) on both sides of its lower end; A pair of first inclined surfaces (41) make the lower end of the cleaning plate (40) have a "pointed" structure.

8. The underwater track surface cleaning mechanism according to any one of claims 1 to 3, characterized in that, The lower end of the cleaning plate (40) is also provided with a pair of support plates; The line connecting the pair of support plates is perpendicular to the direction of movement and close to the side end face of the track (11).

Images