CN116750151B - Underwater cleaning robot for ship bottom - Google Patents
Underwater cleaning robot for ship bottom Download PDFInfo
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- CN116750151B CN116750151B CN202310949687.2A CN202310949687A CN116750151B CN 116750151 B CN116750151 B CN 116750151B CN 202310949687 A CN202310949687 A CN 202310949687A CN 116750151 B CN116750151 B CN 116750151B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 144
- 238000001179 sorption measurement Methods 0.000 claims description 108
- 230000005540 biological transmission Effects 0.000 claims description 52
- 239000007921 spray Substances 0.000 claims description 41
- 238000011010 flushing procedure Methods 0.000 claims description 24
- 239000000725 suspension Substances 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 238000011086 high cleaning Methods 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 1
- 229910000570 Cupronickel Inorganic materials 0.000 description 1
- 241000237502 Ostreidae Species 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
Abstract
The invention discloses a ship bottom underwater cleaning robot, which comprises: the device comprises a longitudinal support forward moving part, a longitudinal support forward moving part and a forward moving absorbing part, wherein the forward moving absorbing part is absorbed on a ship board; a lateral support skid including a circumferential rotation skid, a lateral advance support, and a lateral suction member, the circumferential rotation skid reciprocating on the longitudinal advance support along a longitudinal direction thereof and providing a circumferential rotation torque to the lateral advance support to which it is connected, the lateral suction member being sucked on the boat side; a high pressure cleaning member comprising a wash glide and a high pressure rinse cleaning member, the wash glide reciprocally sliding in a lateral direction on the laterally advancing support. The invention has reasonable structural design, simple structure, high automation degree and high cleaning efficiency, can meet the cleaning requirement of the uneven ship side, can automatically reciprocate between the ship side and the bottom of the ship, and simultaneously meets the cleaning requirement of the ship side and the bottom of the ship.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a ship bottom underwater cleaning robot.
Background
With the rapid development of social economy, the sea transportation mode in international trade has extremely important significance. Ocean-going transport vessels are sailed throughout the year in seas with a rich variety of aquatic organisms, and the hulls below the hull water line can attach a large amount of marine organisms. For example, are attached with a number of marine organisms such as shellfish, oysters and barnacles, which will allow the hull to live as reefs for a long period of time. For some large ships, the marine organisms attached to the bottom of the ship can reach tens of tons, so that the power of the ship is seriously tired, the oil consumption of the ship is increased, the outer wall of the ship is corroded, and the sailing safety of the ship is reduced.
Therefore, the bottom of the ship needs to be cleaned regularly, three schemes are commonly used for cleaning the bottom of the ship, the first scheme is cleaning in a dock, the ship needs to be driven into the dock, the number of the docks is limited, the use cost is high, particularly, the large-scale dock is generally used only when the ship is subjected to large-scale inspection and maintenance, moreover, the cleaning time in the dock is long, and the navigation loss of the ship is increased. The second is manual cleaning by divers, which is inefficient and requires high divers. The diver who needs qualification and has underwater working experience can carry out underwater cleaning operation after approval by related departments, and the underwater cleaning operation has extremely high risk, belongs to high-risk operation, and can cause life and property loss by a little careless. The third is to use the crawler-type underwater cleaning robot to submerge and clean the ship bottom, but the crawler-type underwater cleaning robot can only adsorb and can only move and clean on the ship wall with flatness, but can not adsorb and move and clean the ship side wall with large fluctuation, and can not automatically move from the ship side wall to the ship bottom for cleaning.
Disclosure of Invention
In order to overcome the defects, the invention provides a ship bottom underwater cleaning robot, which adopts the following technical scheme:
a bilge underwater cleaning robot comprising:
a longitudinal support advance member including a longitudinal advance support member and an advance suction member, the advance suction member being suctioned on a boat side and providing support for the longitudinal advance support member to which it is connected and facilitating movement of the longitudinal advance support member in a longitudinal direction;
a lateral support skid provided on the longitudinally advancing support, including a circumferential rotation skid that slides reciprocally in a longitudinal direction on the longitudinally advancing support and provides a circumferential rotation torque to the laterally advancing support to which it is connected, a laterally advancing support, and a laterally shifting absorbing member that absorbs on the boat side and provides a support to the laterally advancing support to which it is connected;
the high-pressure cleaning piece is arranged on the transverse forward moving supporting piece and comprises a cleaning sliding piece and a high-pressure flushing cleaning piece, and the cleaning sliding piece transversely and reciprocally slides on the transverse forward moving supporting piece so as to drive the high-pressure flushing cleaning piece connected with the cleaning sliding piece to automatically clean the ship board.
Preferably, the longitudinal forward support piece comprises a longitudinal forward support rod, a front end forward power piece and a rear end forward power piece, wherein the front end forward power piece and the rear end forward power piece are arranged on the longitudinal forward support rod; the front-end forward moving power piece comprises a longitudinal sliding seat, a first motor, a gear and a rack, wherein the longitudinal sliding seat is in a C-shaped groove shape, the longitudinal sliding seat is buckled on two side walls of the longitudinal forward moving support rod, the first motor is arranged on the longitudinal sliding seat, the gear is sleeved on the free end of a rotating shaft of the first motor, the rack is embedded in a longitudinal groove on the longitudinal forward moving support rod, and the rack is meshed with the gear; the rear end forward moving power piece and the front end forward moving power piece are identical in structure, the rear end forward moving power piece is arranged at the other end of the longitudinal forward moving support rod, and the connection relation between the rear end forward moving power piece and the longitudinal forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod.
Preferably, the forward moving adsorption member includes a front end forward moving adsorption member and a rear end forward moving adsorption member, the front end forward moving adsorption member is disposed on the front end forward moving power member, and the rear end forward moving adsorption member is disposed on the rear end forward moving power member; the front-end forward-moving adsorption piece comprises a telescopic power piece and an injection cleaning adsorption piece, wherein the telescopic power piece is arranged on the front-end forward-moving power piece, and the injection cleaning adsorption piece is arranged on the telescopic power piece; the telescopic power piece comprises a telescopic pipe, a telescopic rod, a second motor and a transmission rod, one end of the telescopic pipe is arranged on the longitudinal sliding seat, one end of the telescopic rod is embedded at the other end of the telescopic pipe, and the telescopic rod can axially slide back and forth and be locked circumferentially in the telescopic pipe; the second motor is embedded in one end of the telescopic pipe, 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 embedded in a threaded hole in the telescopic rod in a matched mode.
Preferably, the spray cleaning adsorption piece comprises an auxiliary adsorption support piece, a first high-pressure spray head and an electromagnet, wherein the auxiliary adsorption support piece and the electromagnet are both arranged on the telescopic power piece, and the first high-pressure spray head is arranged on the auxiliary adsorption support piece; the auxiliary adsorption supporting piece comprises a first auxiliary supporting plate, a spring, a second auxiliary supporting plate and auxiliary supporting legs, wherein the first auxiliary supporting plate is fixedly sleeved on the other end of the telescopic rod, the spring is sleeved on the other end of the telescopic rod, one end of the spring is connected with the first auxiliary supporting plate, the second auxiliary supporting plate is sleeved on the other end of the telescopic rod in a sliding manner, and the second auxiliary supporting plate is connected with the other end of the spring; the auxiliary supporting legs are uniformly distributed around the circumference of the second auxiliary supporting plate; the first high-pressure spray head is arranged on the bottom surface of the second auxiliary supporting plate and is in through connection with the first high-pressure hose; the electromagnet is connected to the other end face of the telescopic rod through a spherical hinge seat; the rear end forward adsorption piece and the front end forward adsorption piece have the same structure, and the connection relation between the rear end forward adsorption piece and the rear end forward force piece is the same as the connection relation between the front end forward adsorption piece and the front end forward force piece.
Preferably, the circumferential rotation slider includes a longitudinal slider provided on the longitudinally advancing support bar and a circumferential rotation member provided on the longitudinal slider; the longitudinal sliding piece and the front end forward moving power piece are identical in structure, the longitudinal sliding piece is arranged at the middle end position of the longitudinal forward moving support rod, and the connection relation between the longitudinal sliding piece and the longitudinal forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod.
Preferably, the circumferential rotating member comprises a rotating carrying barrel, a fourth motor and a rotating transmission shaft, the rotating carrying barrel is vertically arranged on a longitudinal sliding seat of the longitudinal sliding member, the fourth motor is fixedly embedded on the longitudinal sliding seat of the longitudinal sliding member in the rotating carrying barrel, one end of the rotating transmission shaft penetrates into the rotating carrying barrel, and one end of the rotating transmission shaft is connected with a rotating shaft of the fourth motor; the other end of the rotary transmission shaft is fixedly sleeved with a suspension bearing plate, and a thrust ball bearing is arranged between the suspension bearing plate and the rotary bearing barrel bottom.
Preferably, the lateral forward support member comprises a lateral forward support rod and a lateral forward power member, the lateral forward support rod is arranged on the circumferential rotation member, and the lateral forward power member is arranged on the lateral forward support rod; 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 arranged at the other end of the rotary transmission shaft; the transverse forward moving power piece comprises a left end forward moving power piece and a right end forward moving power piece, and the left end forward moving power piece and the right end forward moving power piece are both arranged on the transverse forward moving support rod; the left end forward moving power piece and the front end forward moving power piece are identical in structure, the left end forward moving power piece is arranged at one end of the transverse forward moving support rod, and the connection relation between the left end forward moving power piece and the transverse forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod; the right-end forward moving power piece and the rear-end forward moving power piece are identical in structure, the right-end forward moving power piece is arranged at the other end of the transverse forward moving support rod, and the connection relation between the right-end forward moving power piece and the transverse forward moving support rod is identical to the connection relation between the rear-end forward moving power piece and the longitudinal forward moving support rod.
Preferably, the lateral moving adsorption piece comprises a left end forward adsorption piece and a right end forward adsorption piece, wherein the left end forward adsorption piece is arranged on the left end forward power piece, and the right end forward adsorption piece is arranged on the right end forward power piece; the left-end forward adsorption element and the front-end forward adsorption element have the same structure, and the connection relation between the left-end forward adsorption element and the left-end forward force element is the same as the connection relation between the front-end forward adsorption element and the front-end forward force element; the right-end forward adsorption piece and the rear-end forward adsorption piece have the same structure, and the connection relation between the right-end forward adsorption piece and the right-end forward adsorption piece is the same as the connection relation between the rear-end forward adsorption piece and the rear-end forward adsorption piece.
Preferably, the cleaning sliding piece and the front-end forward moving power piece are identical in structure, and the connection relation between the cleaning sliding piece and the transverse forward moving support rod is identical to the connection relation between the front-end forward moving power piece and the longitudinal forward moving support rod; the high-pressure flushing cleaning piece comprises a circumferential rotation power piece, a rotation supporting disc, a flushing supporting rod, a second high-pressure spray head, a swinging power piece and a camera, wherein the circumferential rotation power piece is arranged on a longitudinal sliding seat of the cleaning sliding piece, and the rotation supporting disc is horizontally arranged on the circumferential rotation power piece; one end of the flushing support rod is sleeved on a first rotating shaft on the bottom end face of the rotating support plate, the second high-pressure spray head is arranged on the other end of the flushing support rod, and the second high-pressure spray head is in through connection with a second high-pressure hose; the swing power piece comprises a third motor, a transmission disc and a transmission relay rod, wherein the third motor is arranged on the rotation support disc, the transmission disc is horizontally arranged on a rotating shaft of the third motor, one end of the transmission relay rod is hinged to the transmission disc, the other end of the transmission relay rod is hinged to the flushing support rod, the camera is arranged on the first rotating shaft, and a light supplementing lamp is arranged around the camera.
Preferably, the method for using the underwater cleaning robot at the bottom of the ship comprises the following steps of,
s1, a worker lowers the folded underwater cleaning robot at the bottom of a ship from a deck to the outside of the ship board to a preset depth below the water surface;
s2, simultaneously starting a first high-pressure spray head of the left-end forward adsorption element and a first high-pressure spray head of the right-end forward adsorption element, performing high-pressure jet cleaning on the positions of the outer walls of the ship board to be adsorbed by the left-end forward adsorption element and the right-end forward adsorption element, and starting electromagnets of the left-end forward adsorption element and the right-end forward adsorption element after cleaning for a preset time to enable the electromagnets to be firmly adsorbed on the outer walls of the ship board;
s3, starting the circumferential rotating piece to enable the longitudinal support forward absorbing piece to rotate by 90 degrees in the circumferential direction, then starting a first high-pressure spray head of the front end forward absorbing piece and a first high-pressure spray head of the rear end forward absorbing piece at the same time, performing high-pressure jet cleaning on the positions of the front end forward absorbing piece and the outer wall of the ship board to be absorbed by the rear end forward absorbing piece, and starting electromagnets of the front end forward absorbing piece and the rear end forward absorbing piece after cleaning for a preset time to enable the electromagnets to be absorbed on the outer wall of the ship board;
S4, starting the longitudinal sliding piece to slide the transverse supporting sliding piece along the longitudinal forward supporting rod to a position close to the rear end forward adsorption piece; then starting the cleaning sliding piece to slide the high-pressure cleaning piece to the position of the right-end forward-moving adsorption piece;
s5, starting the second high-pressure spray head and the swing power piece to clean the outer wall of the ship side, and then intermittently starting the cleaning sliding piece to carry the high-pressure cleaning piece to automatically clean the outer wall of the ship side along Z-shaped tracks of the longitudinal forward support rod and the transverse forward support rod;
s6, after the underwater cleaning robot at the bottom of the ship cleans the ship from the stern to the bow, after one cleaning track is completed, the underwater cleaning robot at the bottom of the ship moves downwards to the next cleaning track, and then the underwater cleaning robot at the bottom of the ship cleans the ship from the bow to the stern;
s7, when the ship board on one side of the ship shell is cleaned and needs to be moved to the bottom of the ship, one end of the longitudinal forward moving supporting rod is obliquely extended to the bottom of the ship, then the telescopic power piece is moved to one end of the longitudinal forward moving supporting rod with the contracted jet cleaning absorbing piece, and after the jet cleaning absorbing piece spans a bending position between the ship board and the bottom of the ship, the jet cleaning absorbing piece is stretched and the electromagnet is absorbed on the bottom of the ship;
S8, rotating the circumferential rotating sliding piece to enable the other end of the transverse forward moving supporting rod to extend to the bottom of the ship in an inclined mode so as to enable the right-end forward moving adsorption piece to be adsorbed on the bottom of the ship; and then the front end forward moving power piece and the rear end forward moving power piece are controlled to be positioned on the longitudinal forward moving support rod and rotate the circumferential rotating sliding piece, so that the cleaning operation of the ship bottom underwater cleaning robot from the ship board to the ship bottom is automatically transited.
The invention at least comprises the following beneficial effects:
1) The underwater cleaning robot at the bottom of the ship has reasonable structural design, simple structure, high automation degree and high cleaning efficiency, can meet the cleaning requirement of the ship board with uneven surface, can automatically reciprocate between the ship board and the bottom of the ship, and simultaneously meets the cleaning requirement of the ship board and the bottom of the ship;
2) The underwater cleaning robot at the bottom of the ship is provided with the forward absorbing part, the longitudinal forward supporting rod, the longitudinal forward power part and the backward absorbing part, the longitudinal forward power part absorbs the longitudinal forward supporting rod on the ship board through the forward absorbing part and the backward absorbing part, the longitudinal forward supporting rod can be automatically and reciprocally moved along the longitudinal direction according to a program to provide support for the transverse forward supporting rod, and the high-pressure cleaning part automatically cleans the ship board along the transverse forward supporting rod and along the longitudinal direction, so that the cleaning efficiency of the outer wall of the ship shell is remarkably improved; the adsorption of the uneven shipboard is realized through the forward adsorption piece and the backward adsorption piece which can be automatically lengthened and shortened, so that the cleaning requirement of the uneven shipboard is met;
3) The underwater cleaning robot at the bottom of the ship is provided with the longitudinal forward support rod, the transverse forward support rod and the electromagnet, the longer longitudinal forward support rod can be transversely adsorbed on the ship side and the bottom of the ship in a crossing manner through being matched with the hinged electromagnet, and the reciprocating transition between the ship side and the bottom of the ship can be automatically realized through being matched with the transverse forward support rod and the circumferential rotating sliding piece, so that the cleaning requirement of the ship side and the bottom of the ship is met.
Drawings
FIG. 1 is a top view of a bottom submerged cleaning robot of the present invention;
FIG. 2 is a bottom view of the subsea cleaning robot of the present invention;
FIG. 3 is a schematic view of a perspective structure of the underwater cleaning robot at the bottom of the ship;
FIG. 4 is an enlarged view of a portion of the bottom underwater cleaning robot of the present invention B of FIG. 3;
FIG. 5 is a schematic view showing a bottom perspective structure of the underwater cleaning robot for the ship bottom;
FIG. 6 is a schematic view showing a perspective view of the underwater cleaning robot of the present invention in the direction A-A in FIG. 1;
fig. 7 is a partial enlarged view of C in fig. 6 of the bilge underwater cleaning robot of the present invention.
Wherein: the device comprises a 1-longitudinal forward support rod, a 2-front forward moving force piece, a 3-rear forward moving force piece, a 4-longitudinal sliding seat, a 5-first motor, a 6-gear, a 8-buckling sliding block, a 9-front forward adsorbing piece, a 10-rear forward adsorbing piece, a 13-telescopic pipe, a 14-telescopic rod, a 15-second motor, a 16-transmission rod, a 17-auxiliary adsorbing support piece, a 18-first high-pressure spray head, a 19-electromagnet, a 20-first auxiliary support plate, a 21-spring, a 22-second auxiliary support plate, a 23-auxiliary support leg, a 24-longitudinal sliding piece, a 25-circumferential rotating piece, a 26-transverse forward support rod, a 27-left forward moving force piece, a 28-right forward moving force piece, a 29-left forward adsorbing piece, a 30-right forward adsorbing piece, a 31-cleaning sliding piece, a 32-circumferential rotating force piece, a 33-rotating support disc, a 34-flushing support rod, a 35-second high-pressure spray head, a 36-camera, a 37-third motor, a 38-transmission rod and a 39-transmission disc.
Detailed Description
The technical solution of the present invention will be described in detail below by way of examples with reference to the accompanying drawings. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: the terms "/and" herein describe another associative object relationship, indicating that there may be two relationships, e.g., a/and B, may indicate that: the character "/" herein generally indicates that the associated object is an "or" relationship.
According to the embodiments shown in fig. 1-7, a ship bottom underwater cleaning robot and method includes a longitudinal support forward moving member, a lateral support slip member provided on the longitudinal support forward moving member, and a high pressure cleaning member provided on the lateral support slip member. The longitudinal support advancing piece comprises a longitudinal advancing support piece and an advancing adsorption piece, and the advancing adsorption piece is arranged on the longitudinal advancing support piece. The longitudinal forward support piece comprises a longitudinal forward support rod 1 and a longitudinal forward power piece, the cross section of the longitudinal forward support rod 1 is T-shaped, limit stops are arranged at two ends of the longitudinal forward support rod 1, and the limit stops can limit the longitudinal forward power piece. The longitudinal forward moving power piece comprises a front end forward moving power piece 2 and a rear end forward moving power piece 3, and the front end forward moving power piece 2 and the rear end forward moving power piece 3 are arranged on the longitudinal forward moving support rod 1. The front end forward moving force piece 2 comprises a longitudinal sliding seat 4, a first motor 5, a gear 6 and a rack, wherein the longitudinal sliding seat 4 is in a C-shaped groove shape, and the longitudinal sliding seat 4 is buckled on two side walls of the longitudinal forward moving support rod 1, so that the longitudinal sliding seat 4 can slide on the longitudinal forward moving support rod 1. The first motor 5 is fixedly arranged on the longitudinal sliding seat 4, a rotating shaft of the first motor 5 horizontally penetrates into a groove of the longitudinal sliding seat 4, the gear 6 is fixedly sleeved on the free end of the rotating shaft of the first motor 5, the length of the rack is not more than that of the longitudinal forward supporting rod 1, the rack is embedded in a longitudinal groove on the longitudinal forward supporting rod 1, the thickness of the rack is not more than that of the longitudinal groove, and meanwhile the rack is meshed with the gear 6. Further, the two ends of the longitudinal sliding seat 4 are respectively provided with a buckling sliding block 8, the buckling sliding blocks 8 are rectangular blocks, the buckling sliding blocks 8 are horizontally arranged at the end parts of the longitudinal sliding seat 4 below the longitudinal forward supporting rods 1, and the longitudinal sliding seat 4 is vertically locked on the longitudinal forward supporting rods 1 through the buckling sliding blocks 8 so as to prevent the longitudinal sliding seat 4 from swinging in the sliding process of the longitudinal forward supporting rods 1, so that the sliding stability of the longitudinal sliding seat 4 on the longitudinal forward supporting rods 1 is improved, and stable support is provided for the forward adsorption piece.
Alternatively, the first motor 5 is a waterproof motor, and the rack and the gear 6 are both made of white copper, so as to adapt to seawater corrosion and working hardness requirements. When the first motor 5 drives the gear 6 to rotate according to the instruction, the longitudinal sliding seat 4 is driven by the rack to reciprocate along the axial direction of the longitudinal forward support rod 1.
The rear-end forward moving power piece 3 has the same structure as the front-end forward moving power piece 2, the rear-end forward moving power piece 3 is arranged at the other end of the longitudinal forward moving support rod 1, and the connection relation between the rear-end forward moving power piece 3 and the longitudinal forward moving support rod 1 is the same as the connection relation between the front-end forward moving power piece 2 and the longitudinal forward moving support rod 1, so that the rear-end forward moving power piece 3 can longitudinally slide on the longitudinal forward moving support rod 1.
The forward adsorption piece comprises a front-end forward adsorption piece 9 and a rear-end forward adsorption piece 10, wherein the front-end forward adsorption piece 9 is arranged on the front-end forward power piece 2, and the rear-end forward adsorption piece 10 is arranged on the rear-end forward power piece 3. The front-end forward-moving adsorption piece 9 comprises a telescopic power piece and an injection cleaning adsorption piece, wherein the telescopic power piece is arranged on the front-end forward-moving power piece 2, and the injection cleaning adsorption piece is arranged on the telescopic power piece. The telescopic power piece comprises a telescopic pipe 13, a telescopic rod 14, a second motor 15 and a transmission rod 16, one end of the telescopic pipe 13 is vertically and fixedly arranged on the longitudinal sliding seat 4, one end of the telescopic rod 14 is embedded in one end of the telescopic pipe 13, a first sliding groove on the telescopic rod 14 is matched with a first sliding block on the inner wall of the telescopic pipe 13, so that the telescopic rod 14 can axially slide back and forth in the telescopic pipe 13, and the stability during axial sliding is improved through circumferential locking of the first sliding groove and the first sliding block. The second motor 15 is fixedly embedded in one end of the telescopic pipe 13, one end of the transmission rod 16 is fixedly connected to the rotating shaft of the second motor 15, the axis of the transmission rod 16 coincides with the rotating shaft of the second motor 15, and meanwhile, the other end of the transmission rod 16 is embedded in a threaded hole in the telescopic rod 14 in a matched mode. Alternatively, the drive 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 axially slide back and forth in the telescopic tube 13 through the threaded hole.
Further, in order to improve the axial locking bearing capacity of the telescopic rod 14 in the telescopic tube 13, an upper bearing plate and a lower bearing plate are fixedly sleeved on one end of the transmission rod 16, and a predetermined distance is reserved between the upper bearing plate and the lower bearing plate. The inner wall of one end of the telescopic pipe 13 is fixedly embedded with a bearing ring, the bearing ring is annular plate-shaped, the bearing ring is sleeved outside the transmission rod 16, the bearing ring is positioned between the upper bearing plate and the lower bearing plate, and meanwhile, first thrust ball bearings are arranged between the upper bearing plate and the upper end face of the bearing ring and between the lower bearing plate and the lower end face of the bearing ring.
The spray cleaning adsorption piece comprises an auxiliary adsorption support piece 17, a first high-pressure spray head 18 and an electromagnet 19, wherein the auxiliary adsorption support piece 17 and the electromagnet 19 are both arranged on the telescopic power piece, and the first high-pressure spray head 18 is arranged on the auxiliary adsorption support piece 17. The auxiliary adsorption supporting member 17 comprises a first auxiliary supporting plate 20, a spring 21, a second auxiliary supporting plate 22 and auxiliary supporting legs 23, wherein the first auxiliary supporting plate 20 is in a ring-shaped plate shape, the first auxiliary supporting 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, one end of the spring 21 is connected with the first auxiliary supporting plate 20, the second auxiliary supporting plate 22 is in a ring-shaped plate shape, the diameter of the inner ring of the second auxiliary supporting plate 22 is larger than the diameter of the telescopic rod 14, the second auxiliary supporting plate 22 is sleeved on the other end of the telescopic rod 14 in a sliding manner, and the second auxiliary supporting plate 22 is connected with the other end of the spring 21. The second auxiliary supporting plate 22 can compress the spring 21 or be pushed by the spring 21 to reciprocate on the telescopic rod 14 in the axial direction. The auxiliary supporting legs 23 are rod-shaped, one ends of the auxiliary supporting legs 23 are vertically and fixedly arranged on the bottom surface of the second auxiliary supporting plate 22, and four auxiliary supporting legs 23 are uniformly distributed around the circumference of the second auxiliary supporting plate 22. The first high-pressure spray head 18 is fixedly arranged on the bottom surface of the second auxiliary supporting plate 22, and the nozzle axis of the first high-pressure spray head 18 is obliquely intersected with the axis of the telescopic rod 14, so that the electromagnet 19 is adsorbed and is sprayed and cleaned by the first high-pressure spray head 18 before being adsorbed, and the adsorption firmness of the electromagnet 19 is improved. Further, the first high pressure nozzle 18 is connected with a first high pressure hose, and a first electromagnetic valve is arranged on the first high pressure hose to control the first high pressure hose to be connected and disconnected. Further, a pressure sensor is provided between the first auxiliary supporting plate 20 and the spring 21, when the auxiliary supporting leg 23 is abutted against the outer wall of the ship housing, the second auxiliary supporting plate 22 is pushed by the auxiliary supporting leg 23 to compress the spring 21, the spring 21 presses the pressure sensor, and when the pressure sensor detects that the pressure reaches a predetermined value, the first electromagnetic valve is closed to control the first high-pressure sprayer 18 to stop spraying.
The spherical hinge seat is arranged on the electromagnet 19 and comprises a sphere, a circular shell base and a circular shell top seat, the sphere is fixedly arranged on the electromagnet 19, the circular shell base is fixedly arranged on the other end face of the telescopic rod 14, a semicircular groove on the circular shell base is sleeved on the sphere, the circular shell top seat is fixedly sleeved on the circular shell base, and the semicircular groove on the circular shell top seat wraps the sphere. So as to improve the stability of the ball between the circular shell base and the circular shell top seat, and further to meet 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 shell according to the requirement.
The rear end forward adsorption piece 10 has the same structure as the front end forward adsorption piece 9, and the connection relation between the rear end forward adsorption piece 10 and the rear end forward power piece 3 is the same as the connection relation between the front end forward adsorption piece 9 and the front end forward power piece 2. The longitudinal forward moving supporting piece is adsorbed and stabilized on the outer wall of the ship shell by the front end forward moving adsorption piece 9 and the rear end forward moving adsorption piece 10 so as to provide support for the transverse supporting sliding piece and drive the transverse supporting sliding piece to move on the outer wall of the ship shell.
The transverse support sliding piece comprises a circumferential rotation sliding piece, a transverse forward supporting piece and a transverse moving absorbing piece, wherein the circumferential rotation sliding piece is arranged on the longitudinal forward supporting piece, the transverse forward supporting piece is arranged on the circumferential rotation sliding piece, and the transverse moving absorbing piece is arranged on the transverse forward supporting piece. The circumferential rotation slider comprises a longitudinal slider 24 and a circumferential rotation member 25, the longitudinal slider 24 is provided on the longitudinal advance support bar 1, and the circumferential rotation member 25 is provided on the longitudinal slider 24. The longitudinal sliding piece 24 has the same structure as the front end forward moving power piece 2, the longitudinal sliding piece 24 is arranged at the middle end position of the longitudinal forward moving support rod 1, and the connection relation between the longitudinal sliding piece 24 and the longitudinal forward moving support rod 1 is the same as the connection relation between the front end forward moving power piece 2 and the longitudinal forward moving support rod 1, so that the longitudinal sliding piece 24 can slide back and forth on the longitudinal forward moving support rod 1. The circumferential rotation member 25 is provided on the longitudinal slide seat 4 of the longitudinal slide 24.
The circumferential rotating member 25 comprises a rotating carrying barrel, a fourth motor and a rotating transmission shaft, the opening of the rotating carrying barrel is vertically and fixedly arranged on the longitudinal sliding seat 4 of the longitudinal sliding member 24, the fourth motor is fixedly embedded on the longitudinal sliding seat 4 of the longitudinal sliding member 24 in the rotating carrying barrel, one end of the rotating transmission shaft vertically penetrates into the rotating carrying barrel, and one end of the rotating transmission shaft is fixedly connected with the rotating shaft of the fourth motor. The rotating drive shaft is configured to provide support and torque to the laterally advancing support. Further, a suspension bearing plate is fixedly sleeved on one end of the rotation transmission shaft, and a second thrust ball bearing is arranged between the suspension bearing plate and the bottom of the rotation bearing barrel, so that the gravity of the transverse forward support piece is transmitted to the rotation bearing barrel through the suspension bearing plate, and then is applied to the longitudinal sliding piece 24. The rotation bearing barrel can increase the tightness of the fourth motor at the same time, and the influence of seawater on the fourth motor is prevented.
The lateral forward support member includes a lateral forward support bar 26 and a lateral forward power member, the lateral forward support bar 26 is provided on the circumferential rotation member 25, and the lateral forward power member is provided on the lateral forward support bar 26. The structure of the transverse forward support rod 26 is the same as that of the longitudinal forward support rod 1, and the longitudinal center of the transverse forward support rod 26 is fixedly arranged at the other end of the rotary transmission shaft. The length of the transverse forward support rod 26 is smaller than that of the longitudinal forward support rod 1, so that the transverse forward support rod 26 is folded under the longitudinal forward support rod 1, and a worker can conveniently put down the ship bottom underwater cleaning robot from a deck, and adsorb the robot on the side wall of the ship shell and retract the robot.
The transverse forward moving power piece comprises a left end forward moving power piece 27 and a right end forward moving power piece 28, and the left end forward moving power piece 27 and the right end forward moving power piece 28 are arranged on the transverse forward moving support rod 26. The left end forward moving power piece 27 has the same structure as the front end forward moving power piece 2, the left end forward moving power piece 27 is arranged on one end of the transverse forward moving support rod 26, and the connection relation between the left end forward moving power piece 27 and the transverse forward moving support rod 26 is the same as the connection relation between the front end forward moving power piece 2 and the longitudinal forward moving support rod 1. So that the left end forward moving member 27 can slide on the lateral forward moving support bar 26. The right-end forward moving power piece 28 has the same structure as the rear-end forward moving power piece 3, the right-end forward moving power piece 28 is arranged on the other end of the transverse forward moving support rod 26, and the connection relation between the right-end forward moving power piece 28 and the transverse forward moving support rod 26 is the same as the connection relation between the rear-end forward moving power piece 3 and the longitudinal forward moving support rod 1. So that the right-hand forward moving power member 28 can slide on the lateral forward moving support bar 26.
The lateral moving adsorbing member comprises a left end forward adsorbing member 29 and a right end forward adsorbing member 30, wherein the left end forward adsorbing member 29 is arranged on the left end forward moving member 27, and the right end forward adsorbing member 30 is arranged on the right end forward moving member 28. The left end forward absorbing member 29 has the same structure as the front end forward absorbing member 9, and the connection relationship between the left end forward absorbing member 29 and the left end forward driving member 27 is the same as the connection relationship between the front end forward absorbing member 9 and the front end forward driving member 2. The right-end forward adsorbing member 30 has the same structure as the rear-end forward adsorbing member 10, and the connection relationship between the right-end forward adsorbing member 30 and the right-end forward moving member 28 is the same as the connection relationship between the rear-end forward adsorbing member 10 and the rear-end forward moving member 3.
The high-pressure cleaning member includes a cleaning slider 31 and a high-pressure flushing cleaning member, the cleaning slider 31 is provided on the laterally advancing support bar 26, and the high-pressure flushing cleaning member is provided on the cleaning slider 31. The cleaning sliding piece 31 has the same structure as the front-end forward moving power piece 2, and the connection relation between the cleaning sliding piece 31 and the transverse forward moving support rod 26 is the same as the connection relation between the front-end forward moving power piece 2 and the longitudinal forward moving support rod 1, so that the cleaning sliding piece 31 can slide back and forth on the transverse forward moving support rod 26.
The high-pressure flushing cleaning device comprises a circumferential rotation power piece 32, a rotation supporting disc 33, a flushing supporting rod 34, a second high-pressure spray head 35, a swinging power piece and a camera 36, wherein the circumferential rotation power piece 32 is arranged on the longitudinal sliding seat 4 of the cleaning sliding piece 31, and the rotation supporting disc 33 is horizontally and fixedly arranged on the circumferential rotation power piece 32. The circumferential rotation power member 32 can drive the rotation support plate 33 to horizontally and circumferentially rotate. One end of the flushing support bar 34 is sleeved on a first rotating shaft on the bottom end surface of the rotating support plate 33, so that the flushing support bar 34 can circumferentially swing around the first rotating shaft. The second high-pressure spray head 35 is arranged at the other end of the flushing support bar 34, and the second high-pressure spray head 35 is in through connection with a second high-pressure hose. The swing power piece comprises a third motor 37, a transmission disc 38 and a transmission relay rod 39, the third motor 37 is fixedly arranged on the rotation support disc 33, a rotating shaft of the third motor 37 vertically penetrates through the rotation support disc 33, the transmission disc 38 is horizontally fixedly arranged on a rotating shaft free end of the third motor 37, one end of the transmission relay rod 39 is connected to the transmission disc 38 through a second rotating shaft, so that the transmission relay rod 39 can rotate around the second rotating shaft, and the other end of the transmission relay rod 39 is connected to the flushing support rod 34 through a third rotating shaft, so that the transmission relay rod 39 can rotate around the second rotating shaft. When the third motor 37 drives the transmission disc 38 to rotate at a constant speed, the transmission relay rod 39 drives the flushing support rod 34 to swing at a constant speed around the first rotating shaft in a reciprocating manner. The camera 36 is arranged at the free end of the first transmission shaft, a light supplementing lamp is arranged at the free end of the first transmission shaft around the camera 36, the camera 36 observes the scouring effect of the second high-pressure spray nozzle 35 on the outer wall of the ship shell in real time, and then the spraying intensity and the swinging speed of the second high-pressure spray nozzle 35 are adjusted in real time.
The application method of the ship bottom underwater cleaning robot comprises the following steps:
1) The staff lowers the folded underwater cleaning robot at the bottom of the ship from the deck to the outer wall of the ship shell to a preset depth below the water surface (the outer wall of the ship shell below the water surface is a place needing cleaning);
2) Simultaneously starting the first high-pressure spray heads 18 of the left-end forward adsorption piece 29 and the first high-pressure spray heads 18 of the right-end forward adsorption piece 30, cleaning the positions of the outer walls of the ship shell to be adsorbed by the left-end forward adsorption piece 29 and the right-end forward adsorption piece 30 by high-pressure spraying, starting the electromagnets 19 of the left-end forward adsorption piece 29 and the right-end forward adsorption piece 30 after cleaning for a preset time to firmly adsorb the electromagnets on the outer walls of the ship shell, and simultaneously stopping spraying by the first high-pressure spray heads 18, wherein the auxiliary adsorption supports 17 of the left-end forward adsorption piece 29 and the right-end forward adsorption piece 30 respectively support the electromagnets;
3) Starting the circumferential rotating member 25 to rotate the longitudinal support forward moving member by 90 degrees, then simultaneously starting the first high-pressure spray head 18 of the front end forward moving absorbing member 9 and the first high-pressure spray head 18 of the rear end forward moving absorbing member 10, performing high-pressure spray cleaning on the positions of the outer walls of the ship shell to be absorbed by the front end forward moving absorbing member 9 and the rear end forward moving absorbing member 10, and starting the electromagnets 19 of the front end forward moving absorbing member 9 and the rear end forward moving absorbing member 10 after cleaning for a preset time to enable the electromagnets to be absorbed on the outer walls of the ship shell;
4) Activating the longitudinal slider 24 to slide the lateral support slider along the longitudinal advance support bar 1 to a position close to the rear end advance adsorbent 10; then, the cleaning sliding piece 31 is started to slide the high-pressure cleaning piece to the position of the right-end forward-moving adsorption piece 30;
5) Starting the second high-pressure spray head 35 and the swing power piece to clean the outer wall of the ship shell, and then intermittently starting the cleaning sliding piece 31 to carry the high-pressure cleaning piece to automatically clean the outer wall of the ship shell along the Z-shaped track of the longitudinal forward support rod 1 and the transverse forward support rod 26;
6) After the bottom underwater cleaning robot is cleaned from the stern to the bow, after one cleaning track is completed, the bottom underwater cleaning robot moves downwards to the next cleaning track and then cleans along the bow to the stern;
7) When one side of the ship shell is cleaned, one end of the longitudinal forward support rod 1 is obliquely extended to the bottom of the ship when the ship shell needs to be moved to the bottom of the ship, then the telescopic power piece is moved to one end of the longitudinal forward support rod 1 with the contracted jet cleaning adsorption piece, and after the jet cleaning adsorption piece spans a bending position between the ship side and the bottom of the ship, the jet cleaning adsorption piece is extended and the electromagnet 19 is adsorbed on the bottom of the ship;
8) Rotating the circumferential rotation slider to extend the other end of the lateral advancing support bar 26 obliquely to the bottom of the ship so as to adsorb the right-end advancing adsorption member 30 on the bottom of the ship; and then the front end forward moving power piece 2 and the rear end forward moving power piece 3 are controlled to be positioned on the longitudinal forward moving support rod 1 and rotate the circumferential rotating sliding piece, so that the cleaning operation of the ship bottom underwater cleaning robot from the ship board to the ship bottom is automatically transited.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (6)
1. A bilge underwater cleaning robot, comprising:
a longitudinal support advance member including a longitudinal advance support member and an advance suction member, the advance suction member being suctioned on a boat side and providing support for the longitudinal advance support member to which it is connected and facilitating movement of the longitudinal advance support member in a longitudinal direction; the longitudinal forward support piece comprises a longitudinal forward support rod, a front end forward power piece and a rear end forward power piece, and the front end forward power piece and the rear end forward power piece are both arranged on the longitudinal forward support rod; the front-end forward moving power piece comprises a longitudinal sliding seat, a first motor, a gear and a rack, wherein the longitudinal sliding seat is in a C-shaped groove shape, the longitudinal sliding seat is buckled on two side walls of the longitudinal forward moving support rod, the first motor is arranged on the longitudinal sliding seat, the gear is sleeved on the free end of a rotating shaft of the first motor, the rack is embedded in a longitudinal groove on the longitudinal forward moving support rod, and the rack is meshed with the gear; the rear end forward moving power piece and the front end forward moving power piece are identical in structure, the rear end forward moving power piece is arranged at the other end of the longitudinal forward moving support rod, and the connection relation between the rear end forward moving power piece and the longitudinal forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod;
A lateral support skid provided on the longitudinally advancing support, including a circumferential rotation skid that slides reciprocally in a longitudinal direction on the longitudinally advancing support and provides a circumferential rotation torque to the laterally advancing support to which it is connected, a laterally advancing support, and a laterally shifting absorbing member that absorbs on the boat side and provides a support to the laterally advancing support to which it is connected; the circumferential rotation sliding piece comprises a longitudinal sliding piece and a circumferential rotation piece, the longitudinal sliding piece is arranged on the longitudinal forward support rod, and the circumferential rotation piece is arranged on the longitudinal sliding piece; the longitudinal sliding piece and the front end forward moving power piece are identical in structure, the longitudinal sliding piece is arranged at the middle end position of the longitudinal forward moving support rod, and the connection relation between the longitudinal sliding piece and the longitudinal forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod;
the circumferential rotating piece comprises a rotating bearing barrel, a fourth motor and a rotating transmission shaft, the rotating bearing barrel is vertically arranged on a longitudinal sliding seat of the longitudinal sliding piece, the fourth motor is fixedly embedded on the longitudinal sliding seat of the longitudinal sliding piece in the rotating bearing barrel, and one end of the rotating transmission shaft penetrates into the rotating bearing barrel to be connected with a rotating shaft of the fourth motor; a suspension bearing plate is fixedly sleeved on the other end of the rotation transmission shaft, and a thrust ball bearing is arranged between the suspension bearing plate and the bottom of the rotation bearing barrel;
The transverse forward support piece comprises a transverse forward support rod and a transverse forward power piece, the transverse forward support rod is arranged on the circumferential rotating piece, and the transverse forward power piece is arranged on the transverse forward support rod; 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 arranged at the other end of the rotary transmission shaft; the transverse forward moving power piece comprises a left end forward moving power piece and a right end forward moving power piece, and the left end forward moving power piece and the right end forward moving power piece are both arranged on the transverse forward moving support rod; the left end forward moving power piece and the front end forward moving power piece are identical in structure, the left end forward moving power piece is arranged at one end of the transverse forward moving support rod, and the connection relation between the left end forward moving power piece and the transverse forward moving support rod is identical to the connection relation between the front end forward moving power piece and the longitudinal forward moving support rod; the right-end forward moving power piece and the rear-end forward moving power piece are identical in structure, the right-end forward moving power piece is arranged at the other end of the transverse forward moving support rod, and the connection relation between the right-end forward moving power piece and the transverse forward moving support rod is identical to the connection relation between the rear-end forward moving power piece and the longitudinal forward moving support rod;
The high-pressure cleaning piece is arranged on the transverse forward moving supporting piece and comprises a cleaning sliding piece and a high-pressure flushing cleaning piece, and the cleaning sliding piece transversely and reciprocally slides on the transverse forward moving supporting piece so as to drive the high-pressure flushing cleaning piece connected with the cleaning sliding piece to automatically clean the ship board.
2. The bilge underwater cleaning robot of claim 1, wherein the advance absorbing member includes a front end advance absorbing member and a rear end advance absorbing member, the front end advance absorbing member being provided on the front end advance power member, the rear end advance absorbing member being provided on the rear end advance power member; the front-end forward-moving adsorption piece comprises a telescopic power piece and an injection cleaning adsorption piece, wherein the telescopic power piece is arranged on the front-end forward-moving power piece, and the injection cleaning adsorption piece is arranged on the telescopic power piece; the telescopic power piece comprises a telescopic pipe, a telescopic rod, a second motor and a transmission rod, one end of the telescopic pipe is arranged on the longitudinal sliding seat, one end of the telescopic rod is embedded at the other end of the telescopic pipe, and the telescopic rod can axially slide back and forth and be locked circumferentially in the telescopic pipe; the second motor is embedded in one end of the telescopic pipe, 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 embedded in a threaded hole in the telescopic rod in a matched mode.
3. The bilge underwater cleaning robot of claim 2, wherein the jet cleaning suction member comprises an auxiliary suction support member, a first high-pressure nozzle and an electromagnet, wherein the auxiliary suction support member and the electromagnet are both arranged on the telescopic power member, and the first high-pressure nozzle is arranged on the auxiliary suction support member; the auxiliary adsorption supporting piece comprises a first auxiliary supporting plate, a spring, a second auxiliary supporting plate and auxiliary supporting legs, wherein the first auxiliary supporting plate is fixedly sleeved on the other end of the telescopic rod, the spring is sleeved on the other end of the telescopic rod, one end of the spring is connected with the first auxiliary supporting plate, the second auxiliary supporting plate is sleeved on the other end of the telescopic rod in a sliding manner, and the second auxiliary supporting plate is connected with the other end of the spring; the auxiliary supporting legs are uniformly distributed around the circumference of the second auxiliary supporting plate; the first high-pressure spray head is arranged on the bottom surface of the second auxiliary supporting plate and is in through connection with the first high-pressure hose; the electromagnet is connected to the other end face of the telescopic rod through a spherical hinge seat; the rear end forward adsorption piece and the front end forward adsorption piece have the same structure, and the connection relation between the rear end forward adsorption piece and the rear end forward force piece is the same as the connection relation between the front end forward adsorption piece and the front end forward force piece.
4. The bilge underwater cleaning robot of claim 3, wherein the traversing adsorbing member comprises a left end forward adsorbing member and a right end forward adsorbing member, the left end forward adsorbing member is provided on the left end forward moving member, and the right end forward adsorbing member is provided on the right end forward moving member; the left-end forward adsorption element and the front-end forward adsorption element have the same structure, and the connection relation between the left-end forward adsorption element and the left-end forward force element is the same as the connection relation between the front-end forward adsorption element and the front-end forward force element; the right-end forward adsorption piece and the rear-end forward adsorption piece have the same structure, and the connection relation between the right-end forward adsorption piece and the right-end forward adsorption piece is the same as the connection relation between the rear-end forward adsorption piece and the rear-end forward adsorption piece.
5. The bilge underwater cleaning robot of claim 4 wherein said cleaning slip is of the same construction as said front-end forward moving power member and said cleaning slip is in the same connection with said lateral forward moving support bar and said front-end forward moving power member is in the same connection with said longitudinal forward moving support bar; the high-pressure flushing cleaning piece comprises a circumferential rotation power piece, a rotation supporting disc, a flushing supporting rod, a second high-pressure spray head, a swinging power piece and a camera, wherein the circumferential rotation power piece is arranged on a longitudinal sliding seat of the cleaning sliding piece, and the rotation supporting disc is horizontally arranged on the circumferential rotation power piece; one end of the flushing support rod is sleeved on a first rotating shaft on the bottom end face of the rotating support plate, the second high-pressure spray head is arranged on the other end of the flushing support rod, and the second high-pressure spray head is in through connection with a second high-pressure hose; the swing power piece comprises a third motor, a transmission disc and a transmission relay rod, wherein the third motor is arranged on the rotation support disc, the transmission disc is horizontally arranged on a rotating shaft of the third motor, one end of the transmission relay rod is hinged to the transmission disc, the other end of the transmission relay rod is hinged to the flushing support rod, the camera is arranged on the first rotating shaft, and a light supplementing lamp is arranged around the camera.
6. The method of using a bilge underwater cleaning robot as claimed in claim 5, wherein,
s1, a worker lowers the folded underwater cleaning robot at the bottom of a ship from a deck to the outside of the ship board to a preset depth below the water surface;
s2, simultaneously starting a first high-pressure spray head of the left-end forward adsorption element and a first high-pressure spray head of the right-end forward adsorption element, performing high-pressure jet cleaning on the positions of the outer walls of the ship board to be adsorbed by the left-end forward adsorption element and the right-end forward adsorption element, and starting electromagnets of the left-end forward adsorption element and the right-end forward adsorption element after cleaning for a preset time to enable the electromagnets to be firmly adsorbed on the outer walls of the ship board;
s3, starting the circumferential rotating piece to enable the longitudinal support forward absorbing piece to rotate by 90 degrees in the circumferential direction, then starting a first high-pressure spray head of the front end forward absorbing piece and a first high-pressure spray head of the rear end forward absorbing piece at the same time, performing high-pressure jet cleaning on the positions of the front end forward absorbing piece and the outer wall of the ship board to be absorbed by the rear end forward absorbing piece, and starting electromagnets of the front end forward absorbing piece and the rear end forward absorbing piece after cleaning for a preset time to enable the electromagnets to be absorbed on the outer wall of the ship board;
S4, starting the longitudinal sliding piece to slide the transverse supporting sliding piece along the longitudinal forward supporting rod to a position close to the rear end forward adsorption piece; then starting the cleaning sliding piece to slide the high-pressure cleaning piece to the position of the right-end forward-moving adsorption piece;
s5, starting the second high-pressure spray head and the swing power piece to clean the outer wall of the ship side, and then intermittently starting the cleaning sliding piece to carry the high-pressure cleaning piece to automatically clean the outer wall of the ship side along Z-shaped tracks of the longitudinal forward support rod and the transverse forward support rod;
s6, after the underwater cleaning robot at the bottom of the ship cleans the ship from the stern to the bow, after one cleaning track is completed, the underwater cleaning robot at the bottom of the ship moves downwards to the next cleaning track, and then the underwater cleaning robot at the bottom of the ship cleans the ship from the bow to the stern;
s7, when the ship board on one side of the ship shell is cleaned and needs to be moved to the bottom of the ship, one end of the longitudinal forward moving supporting rod is obliquely extended to the bottom of the ship, then the telescopic power piece is moved to one end of the longitudinal forward moving supporting rod with the contracted jet cleaning absorbing piece, and after the jet cleaning absorbing piece spans a bending position between the ship board and the bottom of the ship, the jet cleaning absorbing piece is stretched and the electromagnet is absorbed on the bottom of the ship;
S8, rotating the circumferential rotating sliding piece to enable the other end of the transverse forward moving supporting rod to extend to the bottom of the ship in an inclined mode so as to enable the right-end forward moving adsorption piece to be adsorbed on the bottom of the ship; and then the front end forward moving power piece and the rear end forward moving power piece are controlled to be positioned on the longitudinal forward moving support rod and rotate the circumferential rotating sliding piece, so that the cleaning operation of the ship bottom underwater cleaning robot from the ship board to the ship bottom is automatically transited.
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