CN212243750U

CN212243750U - Hull shell under-waterline inspection and decontamination robot

Info

Publication number: CN212243750U
Application number: CN202021937278.9U
Authority: CN
Inventors: 裴正强; 曹广东; 时洪涛; 商成刚; 吴俣
Original assignee: Sinotrans & Csc Holdings Co ltd
Current assignee: Sinotrans & Csc Holdings Co ltd
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2020-12-29
Anticipated expiration: 2030-09-07

Abstract

The utility model discloses a hull shell under-waterline inspection and decontamination robot, which comprises a body, wherein crawler wheel assemblies are arranged on two sides of the body, and an inspection and decontamination assembly is arranged on the body; the crawler wheel assembly comprises a plurality of driving shafts and driven shafts which penetrate out of the body, and driving wheels and driven wheels are respectively arranged on the driving shafts and the driven shafts in a penetrating manner; an electric cavity is arranged in the body, and a first power machine in transmission connection with the driving shaft is arranged in the electric cavity; a crawler belt is sleeved between the driving wheel and the driven wheel, and an adsorption device capable of being adsorbed on the hull shell is arranged on the crawler belt; the inspection and decontamination assembly comprises a working arm connected to the body, an inspection device is arranged on the working arm, and a decontamination device is arranged at the tail end of the working arm. The utility model provides a pair of inspection trash removal robot under hull shell waterline, the multistage formula structure of formula track and body is inhaled to the cooperation magnetism, can realize that the whole process of in-process robot of decontaminating adsorbs steadily on the hull surface, avoids droing, and it is effectual and the scope is big to decontaminate, efficient.

Description

Hull shell under-waterline inspection and decontamination robot

Technical Field

The utility model relates to a hull underwater part clearance technical field, concretely relates to hull shell waterline is examined and is decontaminated robot and method of decontaminating thereof.

Background

The part of the surface of the ship body under water is in long-term contact with the water body and is easily adsorbed by animals and plants such as seaweed, oyster and the like. If the ship is not cleaned for a long time, on one hand, the streamline of the surface of the ship body is damaged, so that the resistance of the ship body is increased when the ship body runs in water, and the oil consumption of the ship is increased; on the other hand, the secretion of the aquatic animals and plants in the adsorption process can slowly destroy the coating on the surface of the ship body, so that the ship body material is directly contacted with the seawater, and the service life of the ship body can be reduced. Therefore, the traditional ship industry can adopt the method that the ship body is lifted away from the water surface to clean the surface of the ship body or a diver works underwater to clean the surface of the ship body, which is inefficient in cleaning and high in cost.

In recent years, some underwater devices are attached to the surface of a ship body, and the underwater part of the surface of the ship body is cleaned through remote control, but in practical application, the underwater devices have many use limitations: for example, when passing through a welding seam or a plane corner (for example, moving to the junction between the side surface of the ship body and the bottom surface of the ship body), the stability of the adsorption of the equipment cannot be ensured, and in addition, if the weight of the equipment is large, the equipment is very easy to fall off from the ship body.

SUMMERY OF THE UTILITY MODEL

In order to solve the shortcoming that exists among the above-mentioned prior art, the utility model provides a hull shell waterline is examined trash cleaning robot down, and concrete scheme is as follows:

the device comprises a body, wherein crawler wheel assemblies are arranged on two sides of the body, and an inspection and decontamination assembly is arranged on the body;

the crawler wheel assembly comprises a plurality of driving shafts and driven shafts which penetrate out of the body, and driving wheels and driven wheels are respectively arranged on the driving shafts and the driven shafts in a penetrating manner; an electric cavity is arranged in the body, and a first power machine in transmission connection with the driving shaft is arranged in the electric cavity; a crawler belt is sleeved between the driving wheel and the driven wheel, and an adsorption device capable of being adsorbed on the hull shell is arranged on the crawler belt;

the inspection and decontamination assembly comprises a working arm connected to the body, an inspection device is arranged on the working arm, and a decontamination device is arranged at the tail end of the working arm.

Furthermore, the body comprises a plurality of machine bodies, one end of each machine body is provided with a vertically arranged groove, and a horizontally arranged hinge shaft is arranged in each groove; the other end of the machine body is provided with a bulge matched with the groove, and a through hole matched with the hinge shaft is formed in the bulge;

the width of the crawler belt is greater than the width of the driving wheel and the driven wheel, blocking pieces are arranged on one sides, located on the driving wheel and the driven wheel, of the inner wall of the crawler belt, the blocking pieces are arranged along the moving direction of the crawler belt, and the top ends of the blocking pieces are bent ninety degrees towards the machine body direction to form blocking plates; a plurality of stop rods which avoid the driving wheel and the driven wheel are vertically arranged on the side wall of the machine body, and stop wheels are sleeved on the stop rods and are arranged between the baffle and the crawler;

the crawler belt is made of non-ferromagnetic materials, and a plurality of adsorption cavities are formed in the inner wall of the crawler belt and positioned on the other side of the driving wheel and the driven wheel; the adsorption device comprises a neodymium magnet arranged in the adsorption cavity.

Furthermore, a limiting rod is vertically arranged on the bottom surface of the adsorption cavity, and a magnet box which can be opened and closed and used for placing the neodymium magnet penetrates through the limiting rod; an elastic element cavity is formed in the bottom surface of the adsorption cavity and located around the limiting rod, an elastic element made of a non-ferromagnetic material is arranged in the elastic element cavity, two ends of the elastic element are fixedly connected with the magnet box and the elastic element cavity respectively, and a limiting head is arranged at the top of the limiting rod;

the magnet box is just right the side of fuselage is equipped with the regulation pole, is in to be equipped with arc separation blade on the most terminal fuselage of direction of travel, the outer radian on edge of arc separation blade with the track cooperation, the radian on edge is less than the radian on outer edge in the arc separation blade, and is along with when the magnet box extremely during the track motion during the arc separation blade, thereby adjust the pole and can follow the interior along motion messenger of arc separation blade the magnet box along the gag lever post motion.

Further, the inspection apparatus includes an image capturing device and an illumination device connected to the working arm.

Furthermore, the dirt cleaning device comprises a cleaning disc arranged at the tail end of the working arm through a cleaning shaft, and the cleaning disc is connected with a second power machine in a transmission manner; the bottom surface of the cleaning disc is provided with a plurality of scrapers which are arranged along the radial direction, a rubber strip groove is further formed between two adjacent scrapers on the bottom surface of the cleaning disc, a rubber strip is arranged in the rubber strip groove, and the distance between the bottom surface of the rubber strip and the bottom surface of the cleaning disc is larger than the distance between the blade surface of each scraper and the bottom surface of the cleaning disc.

Furthermore, the working arm is connected with the body through a connecting seat, a vertical connecting shaft is vertically arranged on the bottom surface of the connecting seat, the connecting shaft is connected to the body through a bearing seat, and the connecting shaft is further in transmission connection with a third power machine.

Further, still be equipped with on the body and sink and float the chamber, sink and float the top in chamber and be equipped with the business turn over gas port, sink and float the bottom in chamber and be equipped with the inlet outlet.

Furthermore, a flexible waterproof sleeve is arranged on the body, a cable and an air pipe are arranged in the waterproof sleeve, the first power machine, the second power machine, the third power machine, the image acquisition equipment and the lighting equipment are connected with power supply equipment and control equipment on a ship through the cable, and the air inlet and the air outlet are connected with air supply equipment on the ship through the air pipe.

Furthermore, a plurality of air bags which are evenly spaced are connected to the waterproof sleeve, the air bags are communicated with the air pipe through pipelines, and valves connected with the cables are arranged on the pipelines.

The beneficial effects of the utility model reside in that:

the utility model provides a pair of inspection trash removal robot under hull shell waterline, the multistage formula structure of formula track and body is inhaled to the cooperation magnetism, can realize that the whole process of in-process robot of decontaminating adsorbs steadily on the hull surface, avoids droing, and it is effectual and the scope is big to decontaminate, efficient.

Drawings

Figure 1 is a schematic view of the working state of the utility model,

FIG. 2 is a schematic structural view of the utility model,

figure 3 is a schematic structural view of the fuselage of the invention,

figure 4 is an enlarged view I (from a top view) of the track wheel assembly of the present invention,

figure 5 is an enlarged view I I (in cross-sectional view) of the track wheel assembly of the present invention,

FIG. 6 is a schematic structural view of the adsorption device of the present invention,

FIG. 7 is a schematic view of the position of the arc-shaped baffle of the present invention,

figure 8 is a schematic structural view of the sewage disposal device of the present invention,

FIG. 9 is a schematic structural view of the bottom surface of the cleaning plate of the present invention,

FIG. 10 is a schematic view of the connection between the rubber strip and the cleaning plate of the present invention,

FIG. 11 is a schematic view of the connection between the working arm and the body of the present invention,

figure 12 is a schematic view of the internal structure of the utility model,

fig. 13 is a schematic view of the connection between the waterproof sleeve and the body according to the present invention.

Figure number and name: 1. the device comprises a body, 11, a body, 12, a groove, 13, a hinge shaft, 14, a protrusion, 15, a sinking and floating cavity, 16, an air inlet and an air outlet, 17, an water inlet and an air outlet, 2, a crawler wheel assembly, 21, a driving shaft, 22, a driven shaft, 23, a driving wheel, 24, a driven wheel, 25, a crawler belt, 3, an inspection and decontamination assembly, 31, a working arm, 4, an adsorption device, 41, an adsorption cavity, 42, a neodymium magnet, 43, a limiting rod, 44, a magnet box, 45, an elastic element cavity, 46, an elastic element, 47, an adjusting rod, 5, an inspection device, 6, a decontamination device, 61, a cleaning shaft, 62, a cleaning disc, 63, a scraper, 64, a rubber strip groove, 65, a rubber strip, 7, a baffle plate, 71, a baffle plate, 72, a baffle rod, 73, a baffle wheel, 8, an arc baffle plate, 9, a waterproof sleeve, 91.

Detailed Description

In order to explain the technical content, structural features, achieved objects and functions of the present invention in detail, the following embodiments are described in detail with reference to the accompanying drawings.

With reference to fig. 1 and 2, the utility model discloses a hull shell underwater inspection and decontamination robot, which comprises a body 1, wherein crawler wheel assemblies 2 are arranged on two sides of the body 1, and an inspection and decontamination assembly 3 is arranged on the body 1;

the crawler wheel assembly 2 comprises a plurality of driving shafts 21 and driven shafts 22 which penetrate out of the body 1, and driving wheels 23 and driven wheels 24 are respectively arranged on the driving shafts 21 and the driven shafts 22 in a penetrating manner; an electric cavity is arranged in the body 1, and a first power machine (not shown in the drawing) in transmission connection with the driving shaft 21 is arranged in the electric cavity; a crawler belt 25 is sleeved between the driving wheel 23 and the driven wheel 24, and an adsorption device 4 capable of being adsorbed on the hull shell is arranged on the crawler belt 25;

the inspection and decontamination assembly 3 comprises a working arm 31 connected to the body 1, an inspection device 5 is arranged on the working arm 31, and a decontamination device 6 is arranged at the tail end of the working arm 31.

As shown in fig. 3, the body 1 comprises a plurality of bodies 11, one end of each body 11 is provided with a vertically arranged groove 12, and a horizontally arranged hinge shaft 13 is arranged in each groove 12; the other end of the machine body 11 is provided with a bulge 14 matched with the groove 12, and a through hole matched with the hinge shaft 13 is formed in the bulge 14;

with reference to fig. 4 and 5, the width of the crawler 25 is greater than the widths of the driving wheel 23 and the driven wheel 24, the outer edge of the crawler 25 extends towards the inner wall to form a baffle 7, the baffle 7 is arranged along the moving direction of the crawler 25, and the top end of the baffle 7 is bent ninety degrees towards the machine body 11 to form a baffle 71; a plurality of blocking rods 72 avoiding the driving wheel 23 and the driven wheel 24 are vertically arranged on the side wall of the machine body 11, blocking wheels 73 are sleeved on the blocking rods 72, and the blocking wheels 73 are arranged between the baffle plates 71 and the crawler 25; the mutual action of the catch wheels and the baffle plates is utilized to ensure that the relative position of the catch rod and the crawler belt is kept stable, so that the posture of the machine body can be adjusted quickly according to the shape of the crawler belt.

As shown in fig. 6, the caterpillar 25 is made of non-ferromagnetic material, and a plurality of adsorption cavities 41 are arranged on the inner wall of the caterpillar 25 at the other side of the driving wheel 23 and the driven wheel 24; the adsorption means 4 comprises a neodymium magnet 42 arranged inside the adsorption chamber 41. The utility model provides a track adopts macromolecular material to make, guarantees that the track does not have under the ferromagnetic prerequisite, makes the separation blade can enough warp along with the motion of track and have certain intensity again simultaneously and play the effect that the restriction kept off the wheel.

The caterpillar band has no attraction force, and the caterpillar band is tightly attached to the ship body by utilizing the neodymium magnet in the adsorption cavity.

A limiting rod 43 is vertically arranged on the bottom surface of the adsorption cavity 41, and a magnet box 44 which can be opened and closed and is used for placing the neodymium magnet 42 penetrates through the limiting rod 43; an elastic element cavity 45 is arranged at the bottom surface of the adsorption cavity 41 and around the limiting rod 43, an elastic element 46 (an extension spring in the drawing) made of non-ferromagnetic material is arranged in the elastic element cavity 45, two ends of the elastic element 46 are respectively fixedly connected with the magnet box 44 and the elastic element cavity 45, and a limiting head is arranged at the top of the limiting rod 43;

with reference to fig. 6 and 7, the magnet box 44 is provided with an adjusting rod 47 facing the side of the machine body 11, the machine body 11 at the most end of the advancing direction is provided with an arc-shaped separation blade 8, the radian of the outer edge of the arc-shaped separation blade is matched with the crawler belt, the radian of the inner edge of the arc-shaped separation blade is smaller than that of the outer edge, and when the magnet box 44 moves along with the crawler belt 27 to the arc-shaped separation blade 8, the adjusting rod can move along the inner edge of the arc-shaped separation blade so as to enable the magnet.

The examination apparatus 5 comprises an image acquisition device and an illumination device (not shown in the drawings) connected to the working arm 31.

With reference to fig. 8-10, the cleaning device 6 comprises a cleaning plate 62 disposed at the end of the working arm 31 via a cleaning shaft 61, the cleaning plate 62 is in transmission connection with a second power machine (not shown in the drawings); the bottom surface of the cleaning disc 62 is provided with a plurality of scrapers 63 which are arranged along the radial direction, a rubber strip groove 64 is further formed between two adjacent scrapers 63 on the bottom surface of the cleaning disc 62, a rubber strip 65 is arranged in the rubber strip groove 64, and the distance between the bottom surface of the rubber strip 65 and the bottom surface of the cleaning disc 62 is larger than the distance between the blade surface of the scraper 63 and the bottom surface of the cleaning disc 62.

Referring to fig. 11, the working arm 31 is connected to the body 1 through a connecting seat 32, a vertical connecting shaft 33 is vertically disposed on a bottom surface of the connecting seat 32, the connecting shaft 33 is connected to the body 1 through a bearing seat, and the connecting shaft 33 is further connected to a third power machine (not shown in the drawings) in a transmission manner.

As shown in fig. 12, the body 1 is further provided with a floating chamber 15, the top of the floating chamber 15 is provided with an air inlet and outlet 16, the bottom of the floating chamber 15 is provided with an air inlet and outlet 17, and partial air is blown in or out through the air inlet and outlet to change the buoyancy of the body.

As shown in fig. 13, a plurality of sets of dirt removing devices are arranged on the body to improve the dirt removing efficiency, a flexible waterproof sleeve 9 which avoids the working range of the working arm is further arranged on the body 1, a cable and an air pipe are arranged in the waterproof sleeve 9, the first power machine, the second power machine, the third power machine, the image acquisition equipment and the lighting equipment are connected with power supply equipment and control equipment on the ship through cables, and an air inlet and an air outlet are connected with air supply equipment on the ship through air pipes.

The waterproof sleeve 9 is connected with a plurality of air bags 91 at uniform intervals, the air bags 91 are communicated with an air pipe through pipelines, and valves connected with cables are arranged on the pipelines. The air inlet and outlet and the air inlet and outlet of the air bag can be realized through the air pipe and the electric cable.

The working process of the utility model is as follows:

after the cable and the air pipe are connected, the robot is hoisted by using traction equipment on the ship, and a track of the robot is controlled to be over against the ship body and adsorbed on the vertical part of the ship body; the neodymium magnet in the adsorption cavity is used for firmly adsorbing the crawler belt on the vertical surface of the ship body. Under normal conditions, the magnet box provided with the neodymium magnet is positioned in the adsorption cavity under the action of the extension spring, and the robot can be firmly fixed on the surface of the ship body by the magnetic attraction force generated between the caterpillar band and the ship body; in the process, the crawler is driven by the driving wheel to start working, when the magnet box moves to the tail end along with the crawler, the adjusting rod on the outer wall of the magnet box moves along the inner ring of the arc-shaped blocking piece, so that the magnet box is forced to move upwards along the limiting rod, and the distance between the neodymium magnet and the ship body is increased to reduce the suction force at the tail end of the crawler of the robot, so that the crawler can be conveniently separated from the shell of the ship body along with the rotation of the driving wheel; after the magnet box moves past the arc-shaped separation blade, under the action of the extension spring, the magnet box enters the adsorption cavity again, so that the crawler belt can conveniently move to the next circle of adsorption (namely, the magnet box moves to the contact surface with the ship body along with the crawler belt).

After the robot enters water, the buoyancy and the weight of the robot are balanced by controlling the amount of air in the sinking and floating cavity, and the flexibility of the robot moving under the water surface is improved while the stability of the robot in adsorption is ensured.

Then the connection between the traction equipment and the robot is released, the first power machine is driven to work through the control equipment, so that the robot is driven to move along the vertical part of the ship body, and the robot can be controlled to turn by utilizing the difference of the rotating speeds of the driving wheels at the two sides; meanwhile, the control equipment is used for controlling the second power machine to work, so that the cleaning disc is driven to rotate, and the attachments on the surface of the ship body are cleaned; with the rotation of the cleaning disc, the scraper on the bottom surface of the cleaning disc can quickly and effectively remove animals (such as oyster) attached to the surface of the ship body like a shaver; the effect of rubber strip is along with the cleaning disc rotates the attached plant of clearance hull surface (for example marine alga) simultaneously supplementary scraper and drives oyster, and on the other hand can prevent effectively that scraper and hull surface direct contact from destroying the coating.

When the robot is used for cleaning, the control equipment can be used for controlling the third power machine to work, so that the working range of the cleaning disc on the set motion path of the robot is enlarged.

After the vertical part at one side of the ship body is cleaned, the robot moves to the ship bottom to clean the ship bottom, and due to the fact that the body is of a multi-section structure and is matched with the baffle and the blocking wheels, when the track moves to the bottom of the ship body from the side face of the ship body (at a junction, because the neodymium magnet is arranged on the track, the track is tightly attached to the ship body in the whole process), the body can be driven to generate adaptive deformation, and the problems that the robot is separated from the body at the junction due to the fact that the structure of the body is not attached are solved;

when the robot is carrying out the hull bottom when decontaminating, a certain amount of air need be mended to the ups and downs intracavity, increases the buoyancy that the robot received, prevents on the one hand that the robot from dropping inadequately because suction when the motion, and on the other hand increases the pressure of cleaning pan and hull bottom surface contact, improves the effect of decontaminating.

After the ship bottom is cleared, the robot moves to the vertical part on the other side of the ship body to clear the sewage, and a certain amount of air is reduced in the sinking and floating cavity, so that the robot is ensured to be stably adsorbed and the flexibility of the robot moving under the water surface is improved;

and after the decontamination is finished, the robot is recovered by the traction equipment, the robot is moved to the water surface, and then the robot is lifted off the ship body by the traction equipment.

In summary, the preferred embodiments of the present invention are only examples, and the scope of the present invention is not limited thereto, and all equivalent changes and modifications made in accordance with the scope of the present invention and the contents of the specification are within the scope covered by the present invention.

Claims

1. The utility model provides a hull shell waterline is examined and is decontaminated robot down, includes body (1), its characterized in that: crawler wheel assemblies (2) are arranged on two sides of the body (1), and a checking and cleaning assembly (3) is arranged on the body (1);

the crawler belt wheel assembly (2) comprises a plurality of driving shafts (21) and driven shafts (22) which penetrate out of the body (1), and driving wheels (23) and driven wheels (24) are respectively arranged on the driving shafts (21) and the driven shafts (22) in a penetrating mode; an electric cavity is arranged in the body (1), and a first power machine in transmission connection with the driving shaft (21) is arranged in the electric cavity; a crawler belt (25) is sleeved between the driving wheel (23) and the driven wheel (24), and an adsorption device (4) capable of being adsorbed on the hull shell is arranged on the crawler belt (25);

the inspection and decontamination assembly (3) comprises a working arm (31) connected to the body (1), an inspection device (5) is arranged on the working arm (31), and a decontamination device (6) is arranged at the tail end of the working arm (31).

2. The hull under-water line inspection and decontamination robot of claim 1, further comprising: the body (1) comprises a plurality of machine bodies (11), one end of each machine body (11) is provided with a vertically arranged groove (12), and a horizontally arranged hinge shaft (13) is arranged in each groove (12); the other end of the machine body (11) is provided with a bulge (14) matched with the groove (12), and a through hole matched with the hinge shaft (13) is formed in the bulge (14);

the width of the crawler belt (25) is greater than the widths of the driving wheel (23) and the driven wheel (24), a baffle plate (7) is arranged on one side, located on the driving wheel (23) and the driven wheel (24), of the inner wall of the crawler belt (25), the baffle plate (7) is arranged along the moving direction of the crawler belt (25), and the top end of the baffle plate (7) is bent ninety degrees towards the direction of the machine body (11) to form a baffle plate (71); a plurality of blocking rods (72) avoiding the driving wheel (23) and the driven wheel (24) are vertically arranged on the side wall of the machine body (11), blocking wheels (73) are sleeved on the blocking rods (72), and the blocking wheels (73) are arranged between the baffle plates (71) and the crawler belts (25);

the crawler belt (25) is made of non-ferromagnetic materials, and a plurality of adsorption cavities (41) are formed in the inner wall of the crawler belt (25) and located on the other side of the driving wheel (23) and the driven wheel (24); the adsorption device (4) comprises a neodymium magnet (42) arranged in the adsorption cavity (41).

3. The hull under-water line inspection and decontamination robot of claim 2, characterized in that: a limiting rod (43) is vertically arranged on the bottom surface of the adsorption cavity (41), and a magnet box (44) which can be opened and closed and is used for placing the neodymium magnet (42) penetrates through the limiting rod (43); an elastic element cavity (45) is formed in the bottom surface of the adsorption cavity (41) and located around the limiting rod (43), an elastic element (46) made of a non-ferromagnetic material is arranged in the elastic element cavity (45), two ends of the elastic element (46) are fixedly connected with the magnet box (44) and the elastic element cavity (45) respectively, and a limiting head is arranged at the top of the limiting rod (43);

magnet box (44) just right the side of fuselage (11) is equipped with regulation pole (47), is equipped with arc separation blade (8) on fuselage (11) that is in the direction of travel most terminal, the radian on the outer edge of arc separation blade with the track cooperation, the radian on the inner edge of arc separation blade is less than the radian on outer edge.

4. The hull under-water line inspection and decontamination robot of claim 1, further comprising: the inspection device (5) comprises an image acquisition device and an illumination device connected to the working arm (31).

5. The hull under-water line inspection and decontamination robot of claim 4, wherein: the dirt cleaning device (6) comprises a cleaning disc (62) arranged at the tail end of the working arm (31) through a cleaning shaft (61), and the cleaning disc (62) is in transmission connection with a second power machine; the bottom surface of the cleaning disc (62) is provided with a plurality of scrapers (63) which are arranged along the radial direction, a rubber strip groove (64) is further formed between two adjacent scrapers (63) on the bottom surface of the cleaning disc (62), a rubber strip (65) is arranged in the rubber strip groove (64), and the distance between the bottom surface of the rubber strip (65) and the bottom surface of the cleaning disc (62) is larger than the distance between the blade surface of each scraper (63) and the bottom surface of the cleaning disc (62).

6. The hull under-water line inspection and decontamination robot of claim 5, further comprising: the working arm (31) is connected with the body (1) through a connecting seat (32), a vertical connecting shaft (33) is vertically arranged on the bottom surface of the connecting seat (32), the connecting shaft (33) is connected to the body (1) through a bearing seat, and the connecting shaft (33) is further in transmission connection with a third power machine.

7. The hull under-water line inspection and decontamination robot of claim 6, further comprising: the body (1) is further provided with a sinking and floating cavity (15), the top of the sinking and floating cavity (15) is provided with an air inlet and outlet (16), and the bottom of the sinking and floating cavity (15) is provided with an water inlet and outlet (17).

8. The hull under-water line inspection and decontamination robot of claim 7, further comprising: the body (1) is provided with a flexible waterproof sleeve (9), a cable and an air pipe are arranged in the waterproof sleeve (9), the first power machine, the second power machine, the third power machine, the image acquisition equipment and the lighting equipment are connected with power supply equipment and control equipment on a ship through the cable, and the air inlet and the air outlet are connected with air supply equipment on the ship through the air pipe.

9. The hull under-water line inspection and decontamination robot of claim 8, further comprising: the waterproof sleeve (9) is connected with a plurality of uniformly spaced air bags (91), the air bags (91) are communicated with the air pipe through pipelines, and valves connected with cables are arranged on the pipelines.