CN116750151A - An underwater cleaning robot for the bottom of a ship - Google Patents

Abstract

The invention discloses a ship bottom underwater cleaning robot, which includes: a longitudinal support forward member, which includes a longitudinal forward support member and a forward adsorption member, and the forward adsorption member is adsorbed on the ship side; a transverse support sliding member, which includes A circumferential rotation sliding member, a transverse forward support member and a transverse adsorption member. The circumferential rotation sliding member slides back and forth along the longitudinal direction of the longitudinal advance support member, and is connected to the transverse forward support member. The moving support member provides circumferential rotational torque, and the lateral movement adsorption member is adsorbed on the ship side; the high-pressure cleaning member includes a cleaning sliding member and a high-pressure flushing cleaning member, and the cleaning sliding member moves forward in the transverse direction. The support member slides back and forth in the transverse direction. The invention has reasonable structural design, simple structure, high degree of automation, high cleaning efficiency, can adapt to the cleaning requirements of uneven ship sides, can automatically transition back and forth between the ship side and the bottom of the ship, and simultaneously meets the cleaning requirements of the ship side and the bottom of the ship.

Description

An underwater cleaning robot for the bottom of a ship

Technical field

The present invention relates to the technical field of underwater robots, and more specifically, the present invention relates to an underwater cleaning robot for a ship bottom.

Background technique

With the rapid development of social economy, shipping transportation mode is of extremely important significance in international trade. Ocean shipping ships sail in oceans rich in aquatic life all year round, and a large number of marine life will adhere to the hull below the waterline. For example, there are many marine organisms such as shellfish, oysters, and barnacles attached to the ship, which will use the hull as a reef to live in it for a long time. For some large ships, the amount of marine life attached to the bottom of the ship can reach dozens of tons, which seriously drags down the power of the ship, increases the ship's fuel consumption, and even corrodes the outer wall of the ship, reducing the safety of the ship's navigation.

Therefore, the bottom of the ship needs to be cleaned regularly. There are three commonly used solutions for cleaning the bottom of the ship. The first is cleaning in the dock. This solution requires the ship body to be driven into the dock. The number of docks is limited and the cost of use is high, especially for large-scale Docks are generally only used for large-scale inspections and repairs on the ship's hull, and cleaning in the docks takes a long time, which increases the ship's outage losses. The second is manual cleaning by divers. This method has low cleaning efficiency and is very demanding on divers. Qualified divers with underwater work experience are required, and only after approval by relevant departments can they carry out underwater cleaning operations. Moreover, underwater cleaning operations are extremely dangerous and are considered high-risk operations. A slight carelessness may cause loss of life and property. . The third method is to use a crawler-type underwater cleaning robot to dive into the water to clean the bottom of the ship. However, the crawler-type underwater cleaning robot can only adsorb and move around on flatter ship walls, and cannot clean ships with large undulations. The side walls are adsorbed and moved for cleaning, and it is not possible to automatically move from the side walls of the ship to the bottom of the ship for cleaning.

Contents of the invention

In order to overcome the above defects, the present invention provides an underwater cleaning robot for a ship bottom, which specifically adopts the following technical solutions:

An underwater cleaning robot for a ship bottom, including:

A longitudinal support forward member, which includes a longitudinal forward support member and a forward adsorption member. The forward adsorption member is adsorbed on the ship side and provides support and facilitates the longitudinal forward support member to which it is connected. The moving support member moves longitudinally;

A transverse support sliding member is provided on the longitudinal advance support member and includes a circumferential rotation sliding member, a transverse advance support member and a transverse adsorption member. The circumferential rotation sliding member is in the longitudinal direction. The forward support member slides back and forth along its longitudinal direction, and provides circumferential rotational torque to the transverse forward support member connected to it. Forward-moving supports provide support;

A high-pressure cleaning member is provided on the lateral advance support member and includes a cleaning sliding member and a high-pressure flushing cleaning member. The cleaning sliding member slides back and forth laterally on the lateral advance support member to drive the The high-pressure washing cleaning component connected thereto automatically cleans the ship side.

Preferably, the longitudinal forward movement support member includes a longitudinal forward movement support rod, a front end forward movement force member and a rear end forward movement force member, and the front end forward movement force member and the rear end forward movement force member are both arranged at the On the longitudinal forward movement support rod; the front end forward movement force member includes a longitudinal sliding seat, a first motor, a gear and a rack, the longitudinal sliding seat is in the shape of a C-shaped groove, and the longitudinal sliding seat is buckled On both side walls of the longitudinally moving support rod, the first motor is arranged on the longitudinal sliding seat, the gear is sleeved on the free end of the rotating shaft of the first motor, and the rack is embedded in the It is installed in the longitudinal groove on the longitudinally moving support rod, and the rack meshes with the gear; the rear end forward moving force member has the same structure as the front end forward moving force member, and the rear end forward moving force member has the same structure. The moving force member is arranged on the other end of the longitudinal forward moving support rod, and the connection relationship between the rear end forward moving force member and the longitudinal forward moving support rod and the front end forward moving force member and the longitudinal forward moving force member are The connection relationship of the support rods is the same.

Preferably, the forward-moving adsorption part includes a front-end forward-moving adsorbing part and a rear-end forward-moving adsorbing part, the front-end forward-moving adsorbing part is arranged on the front-end forward moving force part, and the rear-end forward-moving adsorbing part is arranged on On the rear end forward moving force member; the front end forward moving adsorption member includes a telescopic power member and a jet cleaning adsorption member, the telescopic power member is provided on the front end forward moving force member, the jet cleaning adsorption member It is arranged on the telescopic power part; the telescopic power part includes a telescopic tube, a telescopic rod, a second motor and a transmission rod. One end of the telescopic tube is arranged on the longitudinal sliding seat, and one end of the telescopic rod is embedded. At the other end of the telescopic tube, the telescopic rod can slide back and forth along the axial direction and be locked circumferentially in the telescopic tube; the second motor is embedded in one end of the telescopic tube, and one end of the transmission rod is connected on the rotating shaft of the second motor, and the other end of the transmission rod is fitted in the threaded hole on the telescopic rod.

Preferably, the jet cleaning adsorption member includes an auxiliary adsorption support member, a first high-pressure nozzle and an electromagnet. The auxiliary adsorption support member and the electromagnet are both arranged on the telescopic power member. The first high-pressure nozzle It is arranged on the auxiliary adsorption support; the auxiliary adsorption support includes a first auxiliary support plate, a spring, a second auxiliary support plate and an auxiliary support leg. The first auxiliary support plate is fixedly sleeved on the other side of the telescopic rod. On one end, the spring is sleeved on the other end of the telescopic rod, and one end of the spring is connected to the first auxiliary support plate, the second auxiliary support plate is slidably sleeved on the other end of the telescopic rod, and The second auxiliary support plate is connected to the other end of the spring; a plurality of the auxiliary support legs are evenly distributed around the circumference of the second auxiliary support plate; the first high-pressure nozzle is provided on the second auxiliary support plate On the bottom surface, the first high-pressure nozzle is connected to the first high-pressure hose; the electromagnet is connected to the other end surface of the telescopic rod through a spherical hinge seat; the rear-end forward-moving adsorption piece is connected to the front-end The structures of the forward-moving adsorbing parts are the same, and the connection relationship between the rear-end forward-moving adsorbing part and the rear-end forward-moving power part is the same as the connection relationship between the front-end forward-moving adsorbing part and the front-end forward moving power part.

Preferably, the circumferential rotating sliding member includes a longitudinal sliding member and a circumferential rotating member. The longitudinal sliding member is provided on the longitudinal forward support rod, and the circumferential rotating member is provided on the longitudinally moving support rod. On the sliding member; the longitudinal sliding member has the same structure as the front-end forward moving force member, the longitudinal sliding member is arranged at the middle end position of the longitudinal forward moving support rod, and the longitudinal sliding member is connected with the front-end forward moving force member. The connection relationship of the longitudinally forward moving support rod is the same as the connection relationship between the front end forward moving force member and the longitudinally forward moving support rod.

Preferably, the circumferential rotating member includes a rotating bearing bucket, a second motor and a rotating transmission shaft. The rotating bearing bucket mouth is arranged vertically on the longitudinal sliding seat of the longitudinal sliding member. The second motor The longitudinal sliding seat of the longitudinal sliding member is fixedly embedded in the rotating bearing barrel. One end of the rotating transmission shaft penetrates into the rotating bearing barrel, and one end of the rotating transmission shaft is connected with the third The rotating shafts of the two motors are connected; a suspension load-bearing plate is fixedly mounted on one end of the rotation transmission shaft, and a thrust ball bearing is provided between the suspension load-bearing plate and the bottom of the rotation load-bearing barrel.

Preferably, the lateral advancement support member includes a lateral advancement support rod and a lateral advancement force member. The lateral advancement support rod is provided on the circumferential rotation member, and the lateral advancement force member is provided on the circumferential rotation member. The transverse forward support rod has the same structure as the longitudinal forward support rod, and the longitudinal center of the transverse forward support rod is set on the other end of the rotation transmission shaft; the transverse forward support rod has the same structure as the longitudinal forward support rod. The forward moving force member includes a left end forward moving force member and a right end forward moving force member. The left end forward moving force member and the right end forward moving force member are both arranged on the transverse forward moving support rod; the left end forward moving force member The structure of the front-end forward moving force member is the same as that of the left-end forward-moving force member. The left-end forward-moving force member is arranged on one end of the lateral forward-moving support rod, and the connection relationship between the left-end forward moving force member and the lateral forward-moving support rod is The front-end forward-moving force member has the same connection relationship with the longitudinal forward-moving support rod; the right-end forward-moving force member has the same structure as the rear-end forward-moving force member, and the right-end forward moving force member is arranged in the transverse direction. The other end of the forward moving support rod is on the other end, and the connection relationship between the right end forward moving force member and the transverse forward moving support rod is the same as the connection relationship between the rear end forward moving force member and the longitudinal forward moving support rod.

Preferably, the lateral movement adsorption part includes a left-end forward adsorption part and a right-end forward adsorption part, the left-end forward adsorption part is provided on the left-end forward movement force member, and the right-end forward adsorption part is provided on the left-end forward movement force member. on the right-end forward moving force member; the left-end forward-moving adsorbing member has the same structure as the front-end forward-moving adsorbing member, and the connection relationship between the left-end forward-moving adsorbing member and the left-end forward moving force member is the same as that of the front-end forward moving adsorbing member. The adsorption member has the same connection relationship with the front-end forward moving force member; the right-end forward-moving adsorption member has the same structure as the rear-end forward-moving adsorption member, and the right-end forward-moving adsorption member is connected to the right-end forward moving force member The relationship is the same as the connection relationship between the rear end forward moving adsorption member and the rear end forward moving force member.

Preferably, the cleaning sliding member has the same structure as the front-end forward moving force member, and the cleaning sliding member has a connection relationship with the transverse forward-moving support rod and the front-end forward moving force member has a connection relationship with the longitudinal front-end moving force member. The connection relationship of the moving support rod is the same; the high-pressure flushing and cleaning part includes a circumferential rotating power part, a rotating support plate, a flushing support rod, a second high-pressure nozzle, a swing power part and a camera, and the circumferential rotating power part is arranged on the On the longitudinal sliding seat of the cleaning sliding part, the rotating support plate is horizontally arranged on the circumferential rotating power part; one end of the flushing support rod is sleeved on the first rotating shaft on the bottom end of the rotating support plate. , the second high-pressure nozzle is arranged on the other end of the flushing support rod, and the second high-pressure nozzle is connected through the second high-pressure hose; the swing power part includes a third motor, a transmission plate and a transmission relay rod , the third motor is arranged on the rotating support plate, the transmission plate is horizontally arranged on the rotating shaft of the third motor, one end of the transmission relay rod is hinged on the transmission plate, and the transmission medium The other end of the relay rod is hinged on the flushing support rod, the camera is arranged on the first transmission shaft, and a fill light is provided around the camera.

Preferably, the method of using the bottom underwater cleaning robot includes:

S1: The staff lowers the folded underwater cleaning robot from the deck to the outside of the ship to a predetermined depth below the water surface;

S2: Simultaneously start the first high-pressure nozzle of the left-end forward-moving adsorbent part and the first high-pressure nozzle of the right-end forward-moving adsorbent part, and all the objects to be adsorbed by the left-end forward-moving adsorbent part and the right-end forward-moving adsorbent part are Carry out high-pressure spray cleaning on the outer wall of the ship's side. After cleaning for a predetermined time, start the electromagnets of the left-end forward adsorption member and the right-end forward-moving adsorption member so that they are firmly adsorbed on the ship's side outer wall;

S3: Start the circumferential rotating member to rotate the longitudinal support forward member 90 degrees, and then simultaneously start the first high-pressure nozzle of the front-end forward-moving adsorption member and the first high-pressure nozzle of the rear-end forward-moving adsorption member. A high-pressure nozzle is used to perform high-pressure spray cleaning on the outer wall of the shipboard where the front-end forward adsorption part and the rear-end forward-moving adsorption part are to be adsorbed. After cleaning for a predetermined time, the front-end forward adsorption part and the rear end are started. Move the electromagnet of the adsorption member forward to adsorb it on the outer wall of the ship's side;

S4: Activate the longitudinal sliding member to slide the transverse support sliding member along the longitudinal forward support rod to a position close to the rear end forward adsorbing member; then activate the cleaning sliding member to move all The high-pressure cleaning piece slides to the right-end forward adsorption piece;

S5: Start the second high-pressure nozzle and the swing power part to clean the outer wall of the ship's side, and then intermittently start the cleaning sliding part to bring the high-pressure flushing cleaning part forward along the longitudinal direction of the support rod and The laterally moving support rod makes a Z-shaped trajectory to automatically clean the outer wall of the ship's side;

S6: After the underwater cleaning robot at the bottom of the ship cleans from the stern to the bow, and after completing a cleaning track, the underwater cleaning robot at the bottom of the ship moves downward to the next cleaning track, and then cleans along the bow to the stern;

S7: After the cleaning of the ship side on one side of the ship shell is completed and it needs to be moved to the bottom of the ship, extend one end of the longitudinal forward support rod diagonally to the bottom of the ship, and then bring the telescopic power part to the bottom of the ship. The shrunken jet cleaning adsorbing member moves toward one end of the longitudinally forward-moving support rod. After it crosses the bend between the ship side and the bottom of the ship, the jet cleaning adsorbing member is extended and Attach the electromagnet to the bottom of the ship;

S8: Rotate the circumferential sliding member so that the other end of the transverse forward support rod extends obliquely to the bottom of the ship to adsorb the right end forward adsorption member to the bottom of the ship; and then control the The position of the front end forward moving force member and the rear end forward moving force member on the longitudinal forward moving support rod and the rotation of the circumferential rotation sliding member are completed to complete the movement of the bottom underwater cleaning robot from the ship side. Automatic transition to the bottom of the vessel for cleaning operations.

The present invention at least includes the following beneficial effects:

1) The underwater cleaning robot for the ship bottom of the present invention has reasonable structural design, simple structure, high degree of automation, high cleaning efficiency, can adapt to the cleaning requirements of uneven ship sides, and can automatically transition back and forth between the ship side and the bottom of the ship, while meeting the requirements of the ship side. and vessel bottom cleaning requirements;

2) The underwater cleaning robot for the bottom of the ship of the present invention is provided with a forward-moving adsorption part, a longitudinal forward-moving support rod, a longitudinal forward-moving power part, and a rear-moving adsorption part. The longitudinal forward-moving power part passes through the forward-moving adsorption part and the rear-moving adsorption part. The component adsorbs the longitudinal forward support rod to the ship side, and can automatically move the longitudinal forward support rod back and forth longitudinally according to the program to provide support for the transverse forward support rod. The high-pressure cleaning component moves along the transverse direction. The forward-moving support rod automatically cleans the ship's side along the transverse direction, and the longitudinally-moving support rod automatically cleans along the longitudinal direction, which significantly improves the cleaning efficiency of the outer wall of the ship's shell; and through the forward-moving support rod that can automatically extend and shorten The adsorption part and the backward-moving adsorption part realize the adsorption of uneven ship sides to meet the cleaning requirements of uneven ship sides;

3) The bottom underwater cleaning robot of the present invention is equipped with a longitudinal forward support rod, a transverse forward support rod, and an electromagnet. The longer longitudinal forward support rod can be adsorbed across the hinged electromagnet at the same time by cooperating with the hinged electromagnet. The ship side and the bottom of the ship, and through the cooperation of the laterally moving support rod and the circumferential rotation sliding member, the reciprocating transition between the ship side and the bottom of the ship can be automatically realized, thereby meeting the cleaning requirements of the ship side and the bottom of the ship.

Other advantages, objects, and features of the present invention will be apparent in part from the description below, and in part will be understood by those skilled in the art through study and practice of the present invention.

Description of the drawings

Figure 1 is a top view of the underwater cleaning robot at the bottom of the ship according to the present invention;

Figure 2 is a bottom view of the underwater cleaning robot at the bottom of the ship according to the present invention;

Figure 3 is a schematic three-dimensional structural diagram of the underwater cleaning robot at the bottom of the ship of the present invention;

Figure 4 is a partial enlarged view of B in Figure 3 of the ship bottom underwater cleaning robot of the present invention;

Figure 5 is a schematic diagram of the bottom three-dimensional structure of the underwater cleaning robot at the bottom of the ship of the present invention, viewed from above;

Figure 6 is a schematic three-dimensional structural diagram of the section A-A direction in Figure 1 of the underwater cleaning robot for the bottom of the ship of the present invention;

Fig. 7 is a partial enlarged view of C in Fig. 6 of the underwater cleaning robot at the bottom of the ship according to the present invention.

Among them: 1-Longitudinal forward movement support rod, 2-front end forward movement force member, 3-rear end forward movement force member, 4-longitudinal sliding seat, 5-first motor, 6-gear, 8-detent slider , 9-front-end forward-moving adsorption piece, 10-rear-end forward-moving adsorption piece, 13-telescopic tube, 14-telescopic rod, 15-second motor, 16-transmission rod, 17-auxiliary adsorption support, 18-first High-pressure nozzle, 19-electromagnet, 20-first auxiliary support plate, 21-spring, 22-second auxiliary support plate, 23-auxiliary support leg, 24-longitudinal sliding member, 25-circumferential rotating member, 26- Lateral forward movement support rod, 27-left end forward movement force member, 28-right end forward movement force member, 29-left end forward movement adsorption member, 30-right end forward movement adsorption member, 31-cleaning sliding member, 32-circumferential rotation Power parts, 33-rotating support plate, 34-flushing support rod, 35-second high-pressure nozzle, 36-camera, 37-third motor, 38-transmission plate, 39-transmission relay rod.

Detailed ways

The technical solution of the present invention will be described in detail by way of embodiments with reference to the accompanying drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

The term "and/or" in this article is just an association relationship that describes related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, B exists alone, and A and A exist simultaneously. In the three cases of B, the term "/and" in this article describes another associated object relationship, which means that there can be two relationships. For example, A/ and B can mean: A alone exists, and A and B exist alone. , In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

According to Figures 1 to 7, an underwater cleaning robot and method for a ship bottom include a longitudinal support forward member, a transverse support sliding member and a high-pressure cleaning member. The transverse support sliding member is arranged in front of the longitudinal support. On the moving part, the high-pressure cleaning part is arranged on the transverse support sliding part. The longitudinal support and advance member includes a longitudinal advance support member and an advance adsorption member, and the advance adsorption member is arranged on the longitudinal advance support member. The longitudinal forward support member includes a longitudinal forward support rod 1 and a longitudinal forward force member. The longitudinal forward support rod 1 has a T-shaped cross section, and both ends of the longitudinal forward support rod 1 are provided with limited stops. block, and the limiting block can limit the longitudinal forward moving force member. The longitudinal forward moving force member includes a front end forward moving force member 2 and a rear end forward moving force member 3. Both the front end forward moving force member 2 and the rear end forward moving force member 3 are arranged on the longitudinal forward moving support. On pole 1. The front-end forward moving force member 2 includes a longitudinal sliding seat 4, a first motor 5, a gear 6 and a rack. The longitudinal sliding seat 4 is in the shape of a C-shaped groove and is buckled at the position. On both side walls of the longitudinally advancing support rod 1, the longitudinal sliding seat 4 can slide on the longitudinally advancing support rod 1. The first motor 5 is fixedly installed on the longitudinal sliding seat 4, and the rotating shaft of the first motor 5 penetrates horizontally into the slot of the longitudinal sliding seat 4, and the gear 6 is fixedly mounted on the longitudinal sliding seat 4. On the free end of the rotating shaft of a motor 5, the length of the rack is no longer than the length of the longitudinal advance support rod 1, the rack is embedded in the longitudinal groove on the longitudinal advance support rod 1, and the The thickness of the rack is no greater than the depth of the longitudinal groove, and at the same time, the rack meshes with the gear 6 . Further, the two ends of the longitudinal sliding seat 4 are respectively provided with buckling sliders 8. The buckling sliders 8 are in the shape of a rectangular block. The buckling sliders 8 are horizontally arranged on the longitudinal forward support rod. The end of the longitudinal sliding seat 4 below 1, the longitudinal sliding seat 4 is vertically locked on the longitudinal forward support rod 1 through the buckling slider 8 to prevent the longitudinal sliding seat 4 swings during the sliding process on the longitudinal forward support rod 1 to improve the stability of the longitudinal sliding seat 4 sliding on the longitudinal forward support rod 1 to provide stable support for the forward adsorption member. .

As an option, the first motor 5 is a waterproof motor, and the rack and the gear 6 are made of white copper to adapt to seawater corrosion and working hardness requirements. When the first motor 5 drives the gear 6 to rotate according to instructions, the rack will drive the longitudinal sliding seat 4 to reciprocate along the axial direction of the longitudinal forward support rod 1 .

The rear end forward moving force member 3 has the same structure as the front end forward moving force member 2. The rear end forward moving force member 3 is provided on the other end of the longitudinal forward moving support rod 1, and the rear end forward moving force member 3 has the same structure as the front end forward moving force member 2. The connection relationship between the moving force member 3 and the longitudinal forward moving support rod 1 is the same as the connection relationship between the front end forward moving force member 2 and the longitudinal forward moving support rod 1, so that the rear end forward moving force member 3 can Slide longitudinally on the longitudinally forward supporting rod 1 .

The forward-moving adsorption part includes a front-end forward-moving adsorbing part 9 and a rear-end forward-moving adsorbing part 10. The front-end forward-moving adsorbing part 9 is provided on the front-end forward moving force member 2. The rear-end forward-moving adsorbing part 2 10 is provided on the rear end forward moving force member 3. The front-end forward movement adsorption part 9 includes a telescopic power part and a jet cleaning adsorption part. The telescopic power part is provided on the front-end forward movement part 2, and the jet cleaning adsorption part is provided on the telescopic power part. The telescopic power part includes a telescopic tube 13, a telescopic rod 14, a second motor 15 and a transmission rod 16. One end of the telescopic tube 13 is fixed vertically on the longitudinal sliding seat 4, and one end of the telescopic rod 14 is embedded in the telescopic tube 13. It is installed in one end of the telescopic tube 13, and the first slide groove on the telescopic rod 14 cooperates with the first slide block on the inner wall of the telescopic tube 13, so that the telescopic rod 14 can be inside the telescopic tube 13. It slides back and forth in the axial direction, and is circumferentially locked by the first slide groove and the first slide block to improve the stability during axial sliding. The second motor 15 is fixedly embedded in one end of the telescopic tube 13, one end of the transmission rod 16 is fixedly connected to the rotating shaft of the second motor 15, and the axis of the transmission rod 16 is connected with the second The rotating shafts of the motors 15 are overlapped, and the other end of the transmission rod 16 is fitted in the threaded hole on the telescopic rod 14 . As an option, the transmission rod 16 is a threaded rod. When the second motor 15 drives the transmission rod 16 to rotate, the transmission rod 16 pushes the telescopic rod 14 to reciprocate in the axial direction in the telescopic tube 13 through the threaded hole.

Further, in order to improve the axial locking capacity of the telescopic rod 14 in the telescopic tube 13, an upper load-bearing plate and a lower load-bearing plate are fixedly mounted on one end of the transmission rod 16, and the upper load-bearing plate and There is a predetermined distance between the lower side load-bearing plates. A load-bearing ring is fixedly embedded on the inner wall of one end of the telescopic tube 13. The load-bearing ring is in the shape of an annular plate. The inner ring of the load-bearing ring is placed outside the transmission rod 16, and the load-bearing ring is located on the upper load-bearing plate. A first thrust ball bearing is provided between the lower load-bearing plate, the upper load-bearing plate and the upper end face of the load ring, and the lower load-bearing plate and the lower end face of the load ring. .

The jet cleaning adsorption part includes an auxiliary adsorption support part 17, a first high-pressure nozzle 18 and an electromagnet 19. The auxiliary adsorption support part 17 and the electromagnet 19 are both arranged on the telescopic power part. The first The high-pressure nozzle 18 is provided on the auxiliary adsorption support 17 . The auxiliary adsorption support 17 includes a first auxiliary support plate 20, a spring 21, a second auxiliary support plate 22 and an auxiliary support leg 23. The first auxiliary support plate 20 is in the shape of an annular plate. 20 is fixedly sleeved on the other end of the telescopic rod 14, the spring 21 is sleeved on the other end of the telescopic rod 14, and one end of the spring 21 is connected to the first auxiliary support plate 20, and the second auxiliary support plate 20 is connected to the second auxiliary support plate 20. The support plate 22 is in the shape of an annular plate. The inner ring diameter of the second auxiliary support plate 22 is larger than the diameter of the telescopic rod 14. The second auxiliary support plate 22 is slidably sleeved on the other end of the telescopic rod 14, and the The second auxiliary support plate 22 is connected to the other end of the spring 21 . The second auxiliary support plate 22 can compress the spring 21 or be pushed by the spring 21 to reciprocate in the axial direction on the telescopic rod 14 . The auxiliary support legs 23 are in the shape of a rod. One end of the auxiliary support legs 23 is vertically fixed on the bottom surface of the second auxiliary support plate 22. The four auxiliary support legs 23 surround the second auxiliary support plate 22. Evenly distributed around the circumference. The first high-pressure nozzle 18 is fixedly disposed on the bottom surface of the second auxiliary support plate 22 , and the nozzle axis of the first high-pressure nozzle 18 intersects obliquely with the axis of the telescopic rod 14 so that the electromagnet 19 The adsorption site is sprayed and cleaned by the first high-pressure nozzle 18 before adsorption, so as to improve the adsorption firmness of the electromagnet 19 . Furthermore, the first high-pressure nozzle 18 is connected through with the first high-pressure hose, and a first solenoid valve is provided on the first high-pressure hose to control the passage and disconnection of the first high-pressure hose. Furthermore, a pressure sensor is provided between the first auxiliary support plate 20 and the spring 21. When the auxiliary support leg 23 is against the outer wall of the ship hull, the second auxiliary support plate 22 will be The auxiliary support leg 23 pushes and compresses the spring 21, and the spring 21 exerts pressure on the pressure sensor. When the pressure sensor detects that its pressure reaches a predetermined value, the first solenoid valve will be closed to control all The first high-pressure nozzle 18 stops spraying.

The electromagnet 19 is provided with a spherical hinge seat. The spherical hinge seat includes a ball, a round shell base and a round shell top seat. The ball is fixedly arranged on the electromagnet 19, and the round shell base is fixed. It is arranged on the other end face of the telescopic rod 14, and the semicircular groove on the base of the circular shell is sleeved on the ball, the top seat of the circular shell is fixedly sleeved on the base of the circular shell, and the circular shell base is The semicircular groove on the top of the shell wraps the ball. This is to improve the stability of the ball between the base of the dome and the top of the dome, thereby satisfying the mobility of the connection between the electromagnet 19 and the telescopic rod 14 . The electromagnet 19 can be firmly adsorbed on the outer wall of the ship hull as needed.

The rear end forward adsorption part 10 has the same structure as the front end forward adsorption part 9, and the connection relationship between the rear end forward adsorption part 10 and the rear end forward movement force member 3 is the same as that of the front end forward adsorption part. The connection relationship between the component 9 and the front-end forward moving force component 2 is the same. The longitudinal forward-moving support member is adsorbed and stabilized on the outer wall of the ship hull by the front-end forward-moving adsorbing member 9 and the rear-end forward-moving adsorbing member 10 to provide support for the transverse supporting sliding member and drive the transverse supporting sliding member. The moving parts move on the outer wall of the ship's hull.

The lateral support sliding member includes a circumferential rotation sliding member, a lateral advancement support member and a lateral movement adsorption member. The circumferential rotation sliding member is provided on the longitudinal advancement support member. The lateral advancement support member The support member is provided on the circumferential rotation sliding member, and the transverse adsorption member is provided on the transverse forward support member. The circumferential rotation sliding member includes a longitudinal sliding member 24 and a circumferential rotating member 25. The longitudinal sliding member 24 is provided on the longitudinal forward support rod 1, and the circumferential rotating member 25 is provided on the longitudinally moving support rod 1. on the longitudinal sliding member 24. The longitudinal sliding member 24 has the same structure as the front-end forward moving force member 2. The longitudinal sliding member 24 is arranged at the middle end position of the longitudinal forward moving support rod 1, and the longitudinal sliding member 24 is connected with the front-end forward moving force member 2. The connection relationship of the longitudinally forward moving support rod 1 is the same as the connection relationship between the front end forward moving force member 2 and the longitudinal forward moving support rod 1, so that the longitudinal sliding member 24 can move the support rod forward in the longitudinal direction. 1 reciprocating sliding. The circumferential rotating member 25 is arranged on the longitudinal sliding seat 4 of the longitudinal sliding member 24 .

The circumferential rotating member 25 includes a rotating bearing bucket, a second motor 15 and a rotating transmission shaft. The rotating bearing bucket mouth is vertically fixed on the longitudinal sliding seat 4 of the longitudinal sliding member 24. The two motors 15 are fixedly embedded in the longitudinal sliding seat 4 of the longitudinal sliding member 24 in the rotating bearing barrel. One end of the rotating transmission shaft vertically penetrates into the rotating bearing barrel, and the rotating One end of the transmission shaft is fixedly connected to the rotating shaft of the second motor 15 . The rotation transmission shaft is used to provide support and torque to the lateral advancement support member. Further, a suspension load-bearing plate is fixedly mounted on one end of the rotation transmission shaft, and a second thrust ball bearing is provided between the suspension load-bearing plate and the bottom of the rotation load-bearing barrel to move the support member laterally forward. The gravity force is transmitted to the rotating bearing bucket through the suspended bearing plate, and then applied to the longitudinal sliding member 24 . The rotating carrying barrel can also increase the sealing performance of the second motor 15 and prevent seawater from affecting the second motor 15 .

The lateral advancement support member includes a lateral advancement support rod 26 and a lateral advancement force member. The lateral advancement support rod 26 is provided on the circumferential rotation member 25, and the lateral advancement force member is provided on the circumferential rotation member 25. The above-mentioned laterally moved forward support rod 26. The transverse forward support rod 26 has the same structure as the longitudinal forward support rod 1, and the longitudinal center of the transverse forward support rod 26 is fixedly arranged on the other end of the rotation transmission shaft. The length of the transverse forward support rod 26 is smaller than the length of the longitudinal forward support rod 1 so that the transverse forward support rod 26 can be folded under the longitudinal forward support rod 1 so that the staff can lift it from the deck. The underwater cleaning robot for the bottom of the ship is lowered, adsorbed on the side wall of the ship hull, and retracted.

The lateral forward movement force member includes a left end forward movement force member 27 and a right end forward movement force member 28. The left end forward movement force member 27 and the right end forward movement force member 28 are both arranged on the lateral forward movement support rod 26. superior. The left end forward moving force member 27 has the same structure as the front end forward moving force member 2. The left end forward moving force member 27 is provided on one end of the transverse forward moving support rod 26, and the left end forward moving force member 27 The connection relationship with the transverse forward movement support rod 26 is the same as the connection relationship between the front end forward movement force member 2 and the longitudinal forward movement support rod 1 . This allows the left end forward moving force member 27 to slide on the lateral forward moving support rod 26 . The right end forward moving force member 28 has the same structure as the rear end forward moving force member 3. The right end forward moving force member 28 is provided on the other end of the transverse forward moving support rod 26, and the right end forward moving force member 28 has the same structure as the rear end forward moving force member 3. The connection relationship between the member 28 and the transverse forward support rod 26 is the same as the connection relationship between the rear end forward force member 3 and the longitudinal forward support rod 1 . This allows the right end forward moving force member 28 to slide on the lateral forward moving support rod 26 .

The lateral movement adsorption member includes a left end forward adsorption member 29 and a right end forward adsorption member 30. The left end forward adsorption member 29 is provided on the left end forward movement force member 27, and the right end forward adsorption member 30 is provided on the left end forward movement force member 27. Move the force member 28 forward on the right end. The left-end forward adsorbing part 29 has the same structure as the front-end forward adsorbing part 9, and the connection relationship between the left-end forward adsorbing part 29 and the left-end forward moving force part 27 is the same as that of the front-end forward adsorbing part 9 and The front-end forward moving force member 2 has the same connection relationship. The structure of the right-end forward adsorbing part 30 is the same as that of the rear-end forward-moving adsorbing part 10, and the connection relationship between the right-end forward adsorbing part 30 and the right-end forward-moving power part 28 is the same as that of the rear-end forward adsorbing part 10. 10 has the same connection relationship with the rear end forward moving force member 3.

The high-pressure cleaning part includes a cleaning sliding part 31 and a high-pressure flushing cleaning part. The cleaning sliding part 31 is arranged on the laterally moving support rod 26. The high-pressure flushing cleaning part is arranged on the cleaning sliding part. 31 on. The cleaning sliding member 31 has the same structure as the front-end forward moving force member 2, and the connection relationship between the cleaning sliding member 31 and the lateral forward-moving support rod 26 is the same as that of the front-end forward moving force member 2 and the front-end forward moving force member 2. The longitudinally moving support rod 1 has the same connection relationship, so that the cleaning sliding member 31 can slide back and forth on the transversely moving support rod 26 .

The high-pressure flushing and cleaning parts include a circumferential rotating power part 32, a rotating support plate 33, a flushing support rod 34, a second high-pressure nozzle 35, a swing power part and a camera 36. The circumferential rotating power part 32 is arranged on the cleaning On the longitudinal sliding seat 4 of the sliding member 31, the rotating support plate 33 is horizontally fixedly arranged on the circumferential rotating power member 32. The circumferential rotation power component 32 can drive the rotation support plate 33 to rotate horizontally and circumferentially. One end of the flushing support rod 34 is sleeved on the first rotation axis on the bottom end surface of the rotating support plate 33, so that the flushing support rod 34 can swing circumferentially around the first rotation axis. The second high-pressure nozzle 35 is disposed on the other end of the flushing support rod 34, and the second high-pressure nozzle 35 is connected to the second high-pressure hose. The swing power part includes a third motor 37, a transmission plate 38 and a transmission relay rod 39. The third motor 37 is fixedly arranged on the rotation support plate 33, and the rotating shaft of the third motor 37 vertically passes through it. The rotation support plate 33 and the transmission plate 38 are horizontally fixed on the free end of the rotation shaft of the third motor 37. One end of the transmission relay rod 39 is connected to the transmission plate 38 through the second rotation shaft. The transmission relay rod 39 is allowed to rotate around the second rotation axis, and the other end of the transmission relay rod 39 is connected to the flushing support rod 34 through a third rotation axis, so that the transmission relay rod 39 can Rotate around the second rotation axis. When the third motor 37 drives the transmission plate 38 to rotate at a constant speed, the transmission relay rod 39 will drive the flushing support rod 34 to reciprocate and swing around the first rotation axis at a constant speed. The camera 36 is arranged on the free end of the first transmission shaft. A fill light is provided on the free end of the first transmission shaft around the camera 36. The camera 36 observes the second high-pressure nozzle in real time. 35 on the outer wall of the ship shell, thereby adjusting the injection intensity and swing speed of the second high-pressure nozzle 35 in real time.

The method of using the bottom underwater cleaning robot includes the following steps:

1) The staff lowers the folded underwater cleaning robot from the deck to the outer wall of the ship shell to a predetermined depth below the water surface (the outer wall of the ship shell below the water surface is the area that needs to be cleaned);

2) Simultaneously activate the first high-pressure nozzle 18 of the left-end forward adsorption part 29 and the first high-pressure nozzle 18 of the right-end forward adsorption part 30 to adsorb the left-end forward adsorption part 29 and the right-end forward adsorption part The outer wall of the ship shell to be adsorbed by the part 30 is cleaned by high-pressure spraying. After a predetermined cleaning time, the electromagnets 19 of the left-end forward-moving adsorbing part 29 and the right-end forward-moving adsorbing part 30 are activated to make them firmly adsorbed on the outer wall of the ship shell. On the outer wall of the ship hull, at the same time, the first high-pressure nozzle 18 stops spraying, and the auxiliary adsorption supports 17 of the left-end forward adsorption part 29 and the right-end forward adsorption part 30 respectively provide auxiliary support. ;

3) Start the circumferential rotating member 25 to rotate the longitudinal support forward member 90 degrees, and then start the first high-pressure nozzle 18 of the front-end forward-moving adsorption member 9 and the rear-end forward-moving adsorbing member 10 at the same time. The first high-pressure nozzle 18 performs high-pressure spray cleaning on the outer wall of the ship shell where the front-end forward-moving adsorption part 9 and the rear-end forward-moving adsorbing part 10 are to be adsorbed, and starts the front-end forward movement after cleaning for a predetermined time. The electromagnet 19 of the adsorption part 9 and the rear end of the adsorption part 10 is moved forward to adsorb it on the outer wall of the ship hull;

4) Start the longitudinal sliding member 24 to slide the transverse support sliding member along the longitudinal forward support rod 1 to a position close to the rear end forward adsorbing member 10; then start the cleaning sliding member The component 31 slides the high-pressure cleaning component to the right end forward adsorption component 30;

5) Start the second high-pressure nozzle 35 and the swing power part to clean the outer wall of the ship shell, and then intermittently start the cleaning sliding part 31 to bring the high-pressure flushing cleaning part forward along the longitudinal direction. Move the support rod 1 and the laterally forward-moving support rod 26 to make a Z-shaped trajectory to automatically clean the outer wall of the ship shell;

6) After the underwater cleaning robot at the bottom of the ship cleans from the stern to the bow, after completing a cleaning track, the underwater cleaning robot at the bottom of the ship moves downward to the next cleaning track, and then cleans along the bow to the stern;

7) After one side of the ship shell is cleaned and needs to be moved to the bottom of the ship, extend one end of the longitudinal forward support rod 1 diagonally to the bottom of the ship, and then bring the telescopic power part with it after contraction. The jet cleaning adsorbent moves toward one end of the longitudinal forward support rod 1. After it crosses the bend between the ship side and the bottom of the ship, the jet cleaning adsorbent is extended and the The electromagnet 19 is adsorbed on the bottom of the ship;

8) Rotate the circumferential sliding member so that the other end of the transverse forward support rod 26 extends obliquely to the bottom of the ship to adsorb the right end forward adsorption member 30 to the bottom of the ship; and then pass Control the positions of the front-end forward-moving force member 2 and the rear-end forward-moving force member 3 on the longitudinal forward-moving support rod 1 and rotate the circumferential rotating sliding member to complete underwater cleaning of the bottom of the ship. The robot automatically transitions from the side of the ship to the bottom of the ship for cleaning operations.

Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and embodiments. They can be applied to various fields suitable for the present invention. For those familiar with the art, they can easily Additional modifications may be made, and the invention is therefore not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and equivalent scope.

Claims (10)

1. An underwater cleaning robot for the bottom of a ship, which is characterized in that it includes: A longitudinal support forward member, which includes a longitudinal forward support member and a forward adsorption member. The forward adsorption member is adsorbed on the ship side and provides support and facilitates the longitudinal forward support member to which it is connected. The moving support member moves longitudinally; A transverse support sliding member is provided on the longitudinal advance support member and includes a circumferential rotation sliding member, a transverse advance support member and a transverse adsorption member. The circumferential rotation sliding member is in the longitudinal direction. The forward support member slides back and forth along its longitudinal direction, and provides circumferential rotational torque to the transverse forward support member connected to it. Forward-moving supports provide support; A high-pressure cleaning member is provided on the lateral advance support member and includes a cleaning sliding member and a high-pressure flushing cleaning member. The cleaning sliding member slides back and forth laterally on the lateral advance support member to drive the The high-pressure washing cleaning component connected thereto automatically cleans the ship side. 2. The bottom underwater cleaning robot according to claim 1, characterized in that the longitudinal forward movement support member includes a longitudinal forward movement support rod, a front end forward movement force member and a rear end forward movement force member. The moving force member and the rear end forward moving force member are both arranged on the longitudinal forward moving support rod; the front end forward moving force member includes a longitudinal sliding seat, a first motor, a gear and a rack, and the longitudinal sliding member The moving seat is in the shape of a C-shaped groove, the longitudinal sliding seat is buckled on both side walls of the longitudinal forward support rod, the first motor is arranged on the longitudinal sliding seat, and the gear is set on On the free end of the rotating shaft of the first motor, the rack is embedded in the longitudinal groove on the longitudinal forward support rod, and the rack meshes with the gear; the rear end forward moving force member The structure of the front-end forward-moving force member is the same, the rear-end forward-moving force member is arranged on the other end of the longitudinal forward-moving support rod, and the distance between the rear-end forward-moving force member and the longitudinal forward-moving support rod is The connection relationship is the same as the connection relationship between the front end forward moving force member and the longitudinal forward moving support rod. 3. The underwater cleaning robot of the ship bottom according to claim 2, characterized in that the forward-moving adsorption part includes a front-end forward-moving adsorbing part and a rear-end forward-moving adsorbing part, and the front-end forward-moving adsorbing part is arranged on the The front-end forward-moving force member, the rear-end forward-moving adsorption member is arranged on the rear-end forward-moving force member; the front-end forward-moving adsorption member includes a telescopic power member and a spray cleaning adsorption member, and the telescopic power member is provided with On the front-end forward moving power part, the spray cleaning adsorption part is arranged on the telescopic power part; the telescopic power part includes a telescopic tube, a telescopic rod, a second motor and a transmission rod, and one end of the telescopic tube is provided On the longitudinal sliding seat, one end of the telescopic rod is embedded in the other end of the telescopic tube, and the telescopic rod can slide back and forth in the axial direction and be locked circumferentially in the telescopic tube; the second motor Embedded in one end of the telescopic tube, one end of the transmission rod is connected to the rotating shaft of the second motor, and the other end of the transmission rod is fitted in the threaded hole on the telescopic rod. 4. The underwater cleaning robot of the ship bottom according to claim 3, characterized in that the spray cleaning adsorption member includes an auxiliary adsorption support member, a first high-pressure nozzle and an electromagnet, and the auxiliary adsorption support member and the electromagnet Both are arranged on the telescopic power part, and the first high-pressure nozzle is arranged on the auxiliary adsorption support; the auxiliary adsorption support includes a first auxiliary support plate, a spring, a second auxiliary support plate and an auxiliary support leg. , the first auxiliary support plate is fixedly sleeved on the other end of the telescopic rod, the spring is sleeved on the other end of the telescopic rod, and one end of the spring is connected to the first auxiliary support plate, and the third Two auxiliary support plates are slidably sleeved on the other end of the telescopic rod, and the second auxiliary support plates are connected to the other end of the spring; a plurality of the auxiliary support legs are evenly distributed around the circumference of the second auxiliary support plate. ; The first high-pressure nozzle is arranged on the bottom surface of the second auxiliary support plate, and the first high-pressure nozzle is connected to the first high-pressure hose; the electromagnet is connected to the other side of the telescopic rod through a spherical hinge seat On one end face; the structure of the rear-end forward adsorption piece is the same as that of the front-end forward adsorption piece, and the connection relationship between the rear-end forward adsorption piece and the rear-end forward-moving force member is the same as that of the front-end forward adsorption piece. The connection relationship between the component and the front-end forward moving force component is the same. 5. The bottom underwater cleaning robot according to any one of claims 2 to 4, characterized in that the circumferential sliding member includes a longitudinal sliding member and a circumferential rotating member, and the longitudinal sliding member is provided On the longitudinally moving support rod, the circumferential rotating member is provided on the longitudinal sliding member; the longitudinal sliding member has the same structure as the front-end forward moving force member, and the longitudinal sliding member is provided with At the middle end position of the longitudinally advancing support rod, the connection relationship between the longitudinal sliding member and the longitudinally advancing support rod is the same as the connection relationship between the front end forward moving force member and the longitudinally advancing support rod. . 6. The bottom underwater cleaning robot according to any one of claims 2 to 4, characterized in that the circumferential rotating member includes a rotating load-bearing bucket, a second motor and a rotating transmission shaft, and the rotating load-bearing bucket has a vertical opening. The second motor is fixedly mounted on the longitudinal sliding seat of the longitudinal sliding member, and the second motor is fixedly mounted on the longitudinal sliding seat of the longitudinal sliding member in the rotating bearing barrel. The rotating transmission shaft One end penetrates into the rotating load-bearing bucket, and one end of the rotating transmission shaft is connected to the rotating shaft of the second motor; a suspension load-bearing plate is fixedly mounted on one end of the rotating transmission shaft, and the suspension load-bearing plate is connected to the rotating shaft of the second motor. Thrust ball bearings are arranged between the bottoms of the rotating bearing barrels. 7. The bottom underwater cleaning robot according to claim 6, wherein the lateral forward support member includes a lateral forward support rod and a lateral forward force member, and the lateral forward support rod is provided on the On the circumferential rotating member, the transverse forward moving force member is arranged on the transverse forward moving support rod; the transverse forward moving support rod has the same structure as the longitudinal forward moving support rod, and the transverse forward moving support rod has the same structure as the longitudinal forward moving support rod. The center is provided on the other end of the rotation transmission shaft; the transverse forward movement force member includes a left end forward movement force member and a right end forward movement force member, and both the left end forward movement force member and the right end forward movement force member are provided On the lateral forward movement support rod; the left end forward movement force member has the same structure as the front end forward movement force member, the left end forward movement force member is provided on one end of the lateral forward movement support bar, and the The connection relationship between the left end forward moving force member and the transverse forward moving support rod is the same as the connection relationship between the front end forward moving force member and the longitudinal forward moving support rod; the right end forward moving force member and the rear end forward moving force member The parts have the same structure, the right end forward moving force member is arranged on the other end of the lateral forward moving support rod, and the connection relationship between the right end forward moving force member and the lateral forward moving support rod is the same as the rear end forward moving force The connection relationship between the parts and the longitudinally moving support rod is the same. 8. The underwater cleaning robot for ship bottom according to claim 7, characterized in that the lateral movement adsorption member includes a left-end forward movement adsorption member and a right-end forward movement adsorption member, and the left-end forward movement adsorption member is disposed on the left end. On the forward movement force member, the right end forward movement adsorption member is arranged on the right end forward movement force member; the left end forward movement adsorption member has the same structure as the front end forward movement adsorption member, and the left end forward movement adsorption member The connection relationship with the left-end forward movement force member is the same as the connection relationship between the front-end forward movement adsorption member and the front-end forward movement force member; the right-end forward movement adsorption member has the same structure as the rear-end forward movement adsorption member, and The connection relationship between the right-end forward-moving adsorbing part and the right-end forward-moving power part is the same as the connection relationship between the rear-end forward-moving adsorbing part and the rear-end forward moving power part. 9. The underwater cleaning robot of the ship bottom according to claim 7, characterized in that the cleaning sliding part and the front-end forward moving force part have the same structure, and the cleaning sliding part and the lateral forward moving support The rod connection relationship is the same as the connection relationship between the front-end forward moving force member and the longitudinal forward-moving support rod; the high-pressure flushing and cleaning part includes a circumferential rotating power part, a rotating support plate, a flushing support rod, a second high-pressure nozzle, a swing Power part and camera, the circumferential rotation power part is arranged on the longitudinal sliding seat of the cleaning sliding part, the rotation support disk is horizontally arranged on the circumferential rotation power part; one end of the flushing support rod It is set on the first rotating shaft on the bottom end surface of the rotating support plate, the second high-pressure nozzle is arranged on the other end of the flushing support rod, and the second high-pressure nozzle is connected to the second high-pressure hose; The swing power part includes a third motor, a transmission plate and a transmission relay rod. The third motor is arranged on the rotating support plate. The transmission plate is horizontally arranged on the rotating shaft of the third motor. The transmission One end of the relay rod is hinged on the transmission plate, and the other end of the transmission relay rod is hinged on the flushing support rod. The camera is arranged on the first transmission shaft, and a fill light is provided around the camera. lamp. 10. The method of using the underwater cleaning robot at the bottom of the ship according to claim 9, characterized in that: S1: The staff lowers the folded underwater cleaning robot from the deck to the outside of the ship to a predetermined depth below the water surface; S2: Simultaneously start the first high-pressure nozzle of the left-end forward-moving adsorbent part and the first high-pressure nozzle of the right-end forward-moving adsorbent part, and all the objects to be adsorbed by the left-end forward-moving adsorbent part and the right-end forward-moving adsorbent part are Carry out high-pressure spray cleaning on the outer wall of the ship's side. After cleaning for a predetermined time, start the electromagnets of the left-end forward adsorption member and the right-end forward-moving adsorption member so that they are firmly adsorbed on the ship's side outer wall; S3: Start the circumferential rotating member to rotate the longitudinal support forward member 90 degrees, and then simultaneously start the first high-pressure nozzle of the front-end forward-moving adsorption member and the first high-pressure nozzle of the rear-end forward-moving adsorption member. A high-pressure nozzle is used to perform high-pressure spray cleaning on the outer wall of the shipboard where the front-end forward adsorption part and the rear-end forward-moving adsorption part are to be adsorbed. After cleaning for a predetermined time, the front-end forward adsorption part and the rear end are started. Move the electromagnet of the adsorption member forward to adsorb it on the outer wall of the ship's side; S4: Activate the longitudinal sliding member to slide the transverse support sliding member along the longitudinal forward support rod to a position close to the rear end forward adsorbing member; then activate the cleaning sliding member to move all The high-pressure cleaning piece slides to the right-end forward adsorption piece; S5: Start the second high-pressure nozzle and the swing power part to clean the outer wall of the ship's side, and then intermittently start the cleaning sliding part to bring the high-pressure flushing cleaning part forward along the longitudinal direction of the support rod and The laterally moving support rod makes a Z-shaped trajectory to automatically clean the outer wall of the ship's side; S6: After the underwater cleaning robot at the bottom of the ship cleans from the stern to the bow, and after completing a cleaning track, the underwater cleaning robot at the bottom of the ship moves downward to the next cleaning track, and then cleans along the bow to the stern; S7: After the cleaning of the ship side on one side of the ship shell is completed and it needs to be moved to the bottom of the ship, extend one end of the longitudinal forward support rod diagonally to the bottom of the ship, and then bring the telescopic power part to the bottom of the ship. The shrunken jet cleaning adsorbing member moves toward one end of the longitudinally forward-moving support rod. After it crosses the bend between the ship side and the bottom of the ship, the jet cleaning adsorbing member is extended and Attach the electromagnet to the bottom of the ship; S8: Rotate the circumferential sliding member so that the other end of the transverse forward support rod extends obliquely to the bottom of the ship to adsorb the right end forward adsorption member to the bottom of the ship; and then control the The position of the front end forward moving force member and the rear end forward moving force member on the longitudinal forward moving support rod and the rotation of the circumferential rotation sliding member are completed to complete the movement of the bottom underwater cleaning robot from the ship side. Automatic transition to the bottom of the vessel for cleaning operations.