CN216580925U - Ship cleaning device - Google Patents

Abstract

The utility model provides a ship cleaning device, which comprises a robot shell, four traveling mechanisms, a cleaning device, a recovery device and a control cabin; the walking mechanisms are correspondingly connected to two sides of the robot shell in pairs, and the cleaning device and the recovery device are connected to the bottom of the robot shell; the control cabin is fixed in the robot shell; the walking mechanism comprises a first section of leg structure, a second section of leg structure, a third section of leg structure and a wheel structure which are connected in sequence. The utility model discloses a boats and ships belt cleaning device adsorbs on the boats and ships surface through the permanent magnet wheel, adopts flexible wheel leg combined type moving mechanism, and the complicated wall of adaptable arbitrary camber possesses residue recovery processing ability simultaneously.

Description

Ship cleaning device

Technical Field

The utility model relates to a boats and ships belt cleaning device field especially relates to a boats and ships belt cleaning device.

Background

The ship cleaning business in China still mainly takes divers to carry cleaning equipment to launch, or the ship is cleaned in dock, so that the economic cost is high, a large amount of labor is consumed, and the cleaning time is long. In the design scheme of the currently proposed ship cleaning device, the problem that a rigid body structure cannot be completely adapted to a complex variable-curvature wall surface of a ship generally exists in the magnetic adsorption type; the propeller thrust adsorption is restricted by the use environment and can only be used for underwater operation, so that the ship needs to be cleaned in a full load manner, the cargo transportation is delayed, and the motion control precision is low. In addition, no consideration is given to adding a residue recovery device in the existing design scheme.

Disclosure of Invention

To the not enough among the above-mentioned prior art, the utility model provides a boats and ships belt cleaning device adsorbs on the boats and ships surface through the permanent magnet wheel, adopts flexible wheel leg combined type moving mechanism, and the complicated wall of adaptable arbitrary camber possesses the residue recovery processing ability simultaneously.

In order to achieve the above object, the present invention provides a ship cleaning device, which comprises a robot housing, four traveling mechanisms, a cleaning device, a recovery device and a control cabin; the walking mechanisms are correspondingly connected to two sides of the robot shell in pairs, and the cleaning device and the recovery device are connected to the bottom of the robot shell; the control cabin is fixed in the robot shell; the walking mechanism comprises a first section of leg structure, a second section of leg structure, a third section of leg structure and a wheel structure which are connected in sequence.

Preferably, the robot housing comprises a cover, a cross brace, a plurality of pull rings, a plurality of hooks, a plurality of pull ring fixing seats, a plurality of upper buoyancy materials and a plurality of lower buoyancy materials; the two ends of the cross supporting plate are respectively fixed with the upper buoyancy material and the lower buoyancy material through screw threads; the pull ring fixing seats are arranged at the two ends of the cross supporting plate; the pull ring is rotatably connected with the pull ring fixing seat; the hooks are arranged at two ends of the cover and matched with the pull ring; the cover is detachably fixed on the cross support plate through the hook and the pull ring; a first through hole is formed in the middle of the top surface of the cover; a second through hole is formed in the middle of the cross supporting plate, and a third through hole is formed in the outer side of the second through hole.

Preferably, the one-section leg structure comprises a leg mounting groove, a one-section leg frame, a torsion spring, an in-groove shaft, two first hand screws, a cross rod, two sliding blocks, a compression spring, a cross rod sleeve and a one-section leg frame supporting flange plate; the leg mounting groove is fixed with the cross supporting plate in a threaded manner; both ends of the in-groove shaft are fixed in the leg mounting grooves through the first hand-screwed screws; the torsion spring and the first end of the section of leg frame are arranged on the in-groove shaft in a penetrating mode, the middle of the torsion spring is fixed in the leg installation groove, and spring arms on two sides of the torsion spring are inserted in the section of leg frame; two sides of the second end of the section of leg frame are respectively provided with a first sliding groove, and the left end and the right end of the cross rod are respectively connected with the first sliding grooves along the first sliding grooves in a sliding manner through a sliding block; the section of leg support flange plate is connected to the inner side of the section of leg in front of the cross rod, and the cross rod sleeve is fixed in the middle of the section of leg support flange plate; the front end of the cross rod penetrates through the cross rod sleeve; the compression spring is sleeved at the front end of the cross rod.

Preferably, the two-section leg structure comprises a first and a second section leg frames, a first and a second section leg frame inner shaft, two shaft fixing screws, two shaft sleeves, a U-shaped frame and a first and a second section leg frame supporting flange plate; two ends of the inner shaft of the two-section leg frame are fixed on the inner side of the two-section leg frame through the shaft fixing screws; the U-shaped frame can be rotatably arranged on the second-section leg frame inner shaft in a penetrating mode, and the shaft sleeve is sleeved on the second-section leg frame inner shaft between the U-shaped frame and the second-section leg frame; the first end of the second section of leg frame is pivoted with the second end of the first section of leg frame; the end part of the U-shaped frame is pivoted on the cross rod; the second leg support flange plate is connected to a second end of the second leg.

Preferably, the three-section leg structure comprises a three-section leg frame, a limiting shaft, a groove aluminum, an opening pin, a second hand-screwed screw and a leg wheel connecting frame; the top of the three-section leg frame is fixed below the two-section leg frame supporting flange plate in a threaded manner; the groove aluminum is rotatably connected in the three-section leg frame through the limiting shaft; one end of the limiting shaft extending out of the three-section leg frame is connected with the cotter pin; an arc-shaped groove is formed in one side of the three-section leg frame, and the second hand-screwed screw penetrates through the arc-shaped groove and is in threaded connection with the groove aluminum; the leg wheel connecting frame is fixed at the bottom of the groove aluminum.

Preferably, the wheel structure comprises a driving motor, a wheel carrier, two magnetic wheels, a transmission belt, two synchronous pulleys and a plurality of thin rubber wheels; the driving motor and the magnetic wheel are arranged on the wheel carrier; the wheel frame is connected below the leg wheel connecting frame; one ends of rotating shafts of the two magnetic wheels are respectively connected with the synchronous belt wheel, and an output shaft of the driving motor is in transmission connection with the two magnetic wheels through the transmission belt and the synchronous belt wheel; and the thin rubber wheels are respectively fixed on two sides of the magnetic wheel.

Preferably, the cleaning device comprises a cleaning disc, a plurality of Z-shaped mounting frames, a plurality of universal wheels, a high-pressure water pipe, a connecting sleeve, a cleaning head, a plurality of bolts and a plurality of springs; the cleaning disc is fixed below the cross support plate through the bolt, and the spring is sleeved outside the bolt; the Z-shaped mounting frames are uniformly connected to the outer surface of the cleaning disc along the circumferential direction; the universal wheels are mounted at the bottom end of the Z-shaped mounting rack; the cleaning head is fixed in the cleaning disc; the high-pressure water pipe is connected with the cleaning disc through the connecting sleeve and is communicated with the cleaning head; the high-pressure water pipe penetrates out of the second through hole and the first through hole.

Preferably, the recovery device comprises a recovery cover, a corrugated pipe and a plurality of auxiliary permanent magnets; the recovery cover is fixed below the cross support plate and covers the cleaning disc; the auxiliary permanent magnet blocks are fixed on the bottom edge of the recovery cover; one end of the corrugated pipe is communicated with the recovery cover, and the other end of the corrugated pipe penetrates out of the third through hole and the first through hole.

Preferably, the control cabin comprises a front end cover, a rear end cover, two sealing rings, a cabin barrel, a control cabin mounting seat, two hoops, a plurality of watertight plugs and a control unit; the front end cover and the rear end cover are respectively connected to two ends of the cabin barrel, and the sealing rings are arranged between the front end cover and the cabin barrel and between the rear end cover and the cabin barrel; the control unit is arranged in the cabin barrel, and the watertight plug is arranged on the rear end cover and is electrically connected with the control unit; the cabin barrel is connected to the control cabin mounting seat through the hoop sleeved outside the cabin barrel; the control cabin mounting seat is fixed on the cross supporting plate.

The utility model discloses owing to adopted above technical scheme, make it have following beneficial effect:

the flexible wheel-leg combined type moving mechanism is obtained by matching the first-section leg structure, the second-section leg structure, the third-section leg structure and the wheel structure, and can adapt to complex wall surfaces with any curvature; meanwhile, the recovery device can realize residue recovery treatment.

Drawings

Fig. 1 is a schematic structural view of a first direction of a ship cleaning device according to an embodiment of the present invention;

fig. 2 is a schematic view of an internal structure of the ship cleaning device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a second direction of the ship cleaning device according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first direction of a housing of a robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a second direction of the robot housing according to the embodiment of the present invention;

fig. 6 is a schematic structural view of a traveling mechanism according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a leg structure according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a two-stage leg structure according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a three-section leg structure according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a wheel structure according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a cleaning device according to an embodiment of the present invention in a first direction;

fig. 12 is a schematic structural view of a second direction of the cleaning device according to the embodiment of the present invention;

fig. 13 is a schematic structural diagram of a recycling device according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a control cabin according to an embodiment of the present invention;

fig. 15 is an exploded view of a control pod according to an embodiment of the present invention.

Detailed Description

The following description of the preferred embodiments of the present invention will be given with reference to the accompanying drawings, fig. 1 to 15, and will make the functions and features of the present invention better understood.

Referring to fig. 1 to 15, a ship cleaning device according to an embodiment of the present invention includes a robot housing 1, four traveling mechanisms 2, a cleaning device 3, a recovery device 4, and a control cabin 5; the walking mechanisms 2 are correspondingly connected to two sides of the robot shell 1 in pairs, and the cleaning device 3 and the recovery device 4 are connected to the bottom of the robot shell 1; the control cabin 5 is fixed in the robot shell 1; the walking mechanism 2 comprises a first section leg structure, a second section leg structure, a third section leg structure and a wheel structure which are connected in sequence.

The robot shell 1 comprises a cover 11, a cross bracing plate 12, a plurality of pull rings 13, a plurality of hooks 14, a plurality of pull ring fixing seats 15, a plurality of upper buoyancy materials 16 and a plurality of lower buoyancy materials 17; an upper buoyancy material 16 and a lower buoyancy material 17 are fixed at the two ends of the cross support plate 12 respectively through screw threads; two ends of the cross bracing plate 12 are provided with pull ring fixing seats 15; the pull ring 13 is rotatably connected with the pull ring fixing seat 15; hooks 14 are arranged at two ends of the cover 11, and the hooks 14 are matched with the pull rings 13; the cover 11 is detachably fixed on the cross bracing plate 12 through a hook 14 and a pull ring 13; a first through hole is formed in the middle of the top surface of the cover 11; a second through hole is formed in the middle of the cross plate 12, and a third through hole is formed in the outer side of the second through hole. First through-hole is used for high-pressure water pipe and bellows 42 to insert from the outside, and the cross bracing plate 12 side is opened the third through-hole and is used for bellows 42 to get into the robot cabin from the recovery cover 41 of robot bottom, makes the whole cleaner and tidier pleasing to the eye of robot, avoids high-pressure water pipe 34, cable, bellows 42 etc. to cause the interference to the walking operation of robot simultaneously.

The first leg structure comprises a leg mounting groove 211, a first leg frame 212, a torsion spring 213, a groove inner shaft 214, two first hand screws 215, a cross rod 216, two sliding blocks 217, a compression spring 218, a cross rod sleeve 219 and a first leg frame support flange plate 2110; the leg mounting groove 211 is fixed with the cross support plate 12 in a threaded manner; both ends of the in-slot shaft 214 are fixed in the leg mounting slots 211 by first hand screws 215; the first ends of the torsion spring 213 and the leg frame 212 are inserted into the inner groove shaft 214, the middle part of the torsion spring 213 is fixed in the leg installation groove 211, and the spring arms at the two sides of the torsion spring 213 are inserted into the leg frame 212; two sides of the second end of the leg frame 212 are respectively provided with a first sliding groove, and the left end and the right end of the cross rod 216 are respectively connected with the first sliding grooves along the first sliding grooves in a sliding way through a sliding block 217; a leg support flange plate 2110 is attached to the inside of a leg 212 forward of the cross bar 216, and the cross bar sleeve 219 is secured to the middle of the leg support flange plate 2110; the front end of the cross rod 216 passes through the cross rod sleeve 219; the compression spring 218 is sleeved on the front end of the cross rod 216.

The two-section leg structure comprises a two-section leg frame 221, a two-section leg frame inner shaft 222, two shaft fixing screws 223, two shaft sleeves 224, a U-shaped frame 225 and a two-section leg frame supporting flange plate; both ends of the second-stage leg inner shaft 222 are fixed to the inner side of the second-stage leg 221 by shaft fixing screws 223; the U-shaped frame 225 is rotatably arranged on the second-section leg inner shaft 222 in a penetrating way, and a shaft sleeve 224 is sleeved on the second-section leg inner shaft 222 between the U-shaped frame 225 and the second-section leg 221; the first end of the second leg frame 221 is pivoted with the second end of the first leg frame 212; the ends of the U-shaped frame 225 are pivotally connected to the cross bar 216; the two-section leg support flange plate is connected to a second end of the two-section leg 221.

The three-section leg structure comprises a three-section leg frame 231, a limiting shaft 232, a slot aluminum 233, a cotter pin 234, a second hand screw 235 and a leg wheel connecting frame 236; the top of the three-section leg 231 is screwed and fixed below the two-section leg supporting flange plate; the channel aluminum 233 is rotatably connected in the three-section leg 231 through the limiting shaft 232; one end of the limiting shaft 232 extending out of the three-section leg frame 231 is connected with a cotter pin 234; an arc-shaped groove is formed in one side of the three-section leg frame 231, and a second hand-screwed screw 235 penetrates through the arc-shaped groove to be in threaded connection with the groove aluminum 233; the leg wheel attachment frame 236 is fixed to the bottom of the channel aluminum 233.

The wheel structure comprises a driving motor 241, a wheel carrier 242, two magnetic wheels 243, a transmission belt 244, two synchronous pulleys 245 and a plurality of thin rubber wheels 246; the driving motor 241 and the magnetic wheel 243 are mounted on the wheel carrier 242; the wheel frame 242 is connected below the leg wheel connecting frame 236; one end of the rotating shaft of the two magnetic wheels 243 is respectively connected with a synchronous belt wheel 245, and the output shaft of the driving motor 241 is in transmission connection with the two magnetic wheels 243 through a transmission belt 244 and the synchronous belt wheel 245; a thin rubber wheel 246 is fixed to each side of the magnetic wheel 243.

The cleaning device 3 comprises a cleaning disc 31, a plurality of Z-shaped mounting frames 32, a plurality of universal wheels 33, a high-pressure water pipe 34, a connecting sleeve 35, a cleaning head 36, a plurality of bolts 37 and a plurality of springs 38; the cleaning disc 31 is fixed below the cross support plate 12 through a bolt 37, and a spring 38 is sleeved outside the bolt 37; z-shaped mounting frames 32 are uniformly distributed and connected on the outer surface of the cleaning disc 31 along the circumferential direction; the bottom end of the Z-shaped mounting frame 32 is provided with a universal wheel 33; the cleaning head 36 is fixed in the cleaning disc 31; the high-pressure water pipe 34 is connected with the cleaning disc 31 through a connecting sleeve 35 and communicated with the cleaning head 36; the high-pressure water pipe 34 passes through the second through hole and the first through hole.

The recovery device 4 comprises a recovery cover 41, a corrugated pipe 42 and a plurality of auxiliary permanent magnets 43; the recovery cover 41 is fixed below the cross support plate 12 and covers the cleaning disc 31; the auxiliary permanent magnet 43 is fixed on the bottom edge of the recovery cover 41; one end of the corrugated pipe 42 is communicated with the recovery cover 41, and the other end of the corrugated pipe 42 penetrates out of the third through hole and the first through hole.

The control cabin 5 comprises a front end cover 51, a rear end cover 52, two sealing rings 53, a cabin barrel 54, a control cabin mounting seat 55, two anchor ears 56, a plurality of watertight plugs 57 and a control unit; the front end cover 51 and the rear end cover 52 are respectively connected to two ends of the cabin barrel 54, and sealing rings 53 are arranged between the front end cover 51 and the cabin barrel 54 and between the rear end cover 52 and the cabin barrel 54; the control unit is arranged in the cabin barrel 54, and the watertight plug 57 is arranged on the rear end cover 52 and is electrically connected with the control unit; the cabin barrel 54 is connected to the control cabin mounting seat 55 through a hoop 56 sleeved outside the cabin barrel 54; the control cabin mounting seat 55 is fixed to the cross-brace 12.

The ship cleaning device of the embodiment of the utility model, rely on the magnetic wheel 243 and the auxiliary permanent magnet 43 to adsorb on the wall, when the robot is in the curved wall, one section of leg 212 pushes down the torsion spring 213, the rotation of two sections of leg 221 makes the cross bar 216 push the compression spring 218 inwards, therefore the leg can passively adjust the height and the turnover angle of the magnetic wheel 243 according to the radius of curvature of the wall, the three-section leg structure is combined with the wheel structure and then installed under the two sections of leg support flange plates, the slot aluminum 233 can rotate around the spacing shaft 232 to adjust the wheel structure pitch angle in the arc-shaped slot, ensure that the magnetic wheel 243 is always attached to the wall, the driving motor 241 is installed in the wheel frame 242, the output shaft of the driving motor 241 is connected with the synchronous belt wheel 245 on the rotating shafts of the two magnetic wheels 243 through the driving belt 244, the power transmission is completed, the walking of the robot is realized, thin rubber wheels 246 are installed on both sides of the magnetic wheels 243, the friction force is increased, the cleaning device 3 is arranged below the cross support plate 12 through four bolts 37, a spring 38 is sleeved on each bolt 37, four Z-shaped mounting frames 32 are uniformly distributed outside the cleaning disc 31, universal wheels 33 are arranged at the tail ends of the Z-shaped mounting frames 32, the cleaning disc 31 can be lifted, pressed and inclined along with the shape of the wall surface, so that the cleaning disc 31 is tangent to the wall surface all the time, high-pressure water flow enters the cleaning head 36 from the high-pressure water pipe 34, the cleaning head 36 starts to rotationally wash the wall of the ship to finish cleaning operation under the reactive force of water flow impact, the recovery cover 41 is arranged below the cross support plate 12 through four hole positions at the top to wrap the cleaning disc 31, residues are carried to flow into the recovery cover 41 after high-pressure jet flow washes adsorbates, residues and waste liquid are absorbed through strong vacuum suction in the corrugated pipe communicated with the recovery cover 41, two upper buoyancy materials 16 and two lower buoyancy materials 17 are respectively arranged at the head part and the tail part of the robot, so that the robot can work in water, control elements and the like of the robot are installed in a control cabin 5, a control cabin installation seat 55 is fixed on a cross supporting plate 12 through countersunk screws, the control cabin 5 is placed on the control cabin installation seat 55, a hoop 56 penetrates through a middle slotted hole of the control cabin installation seat 55 and then tightly holds the control cabin 5, after all mechanisms and devices of the robot are installed, a cover 11 is covered, a pull ring 13 is lifted to enable a round hole of the pull ring to be sleeved into a side groove hook 14 of the cover 11, the robot is installed, the robot is manually placed on the wall surface of a ship, and the remote operation robot starts to walk to perform cleaning operation.

The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.

Claims (9)

1. A ship cleaning device is characterized by comprising a robot shell, four traveling mechanisms, a cleaning device, a recovery device and a control cabin; the walking mechanisms are correspondingly connected to two sides of the robot shell in pairs, and the cleaning device and the recovery device are connected to the bottom of the robot shell; the control cabin is fixed in the robot shell; the walking mechanism comprises a first section of leg structure, a second section of leg structure, a third section of leg structure and a wheel structure which are connected in sequence.

2. The marine vessel cleaning device of claim 1, wherein the robot housing includes a hood, a spreader plate, a plurality of pull rings, a plurality of hooks, a plurality of pull ring holders, a plurality of upper buoyant materials, and a plurality of lower buoyant materials; the two ends of the cross supporting plate are respectively fixed with the upper buoyancy material and the lower buoyancy material through screw threads; the pull ring fixing seats are arranged at the two ends of the cross supporting plate; the pull ring is rotatably connected with the pull ring fixing seat; the hooks are arranged at two ends of the cover and matched with the pull ring; the cover is detachably fixed on the cross support plate through the hook and the pull ring; a first through hole is formed in the middle of the top surface of the cover; a second through hole is formed in the middle of the cross supporting plate, and a third through hole is formed in the outer side of the second through hole.

3. The marine cleaning device of claim 2, wherein the one-piece leg structure comprises a leg mounting slot, a one-piece leg frame, a torsion spring, an in-slot shaft, two first hand screws, a cross bar, two sliders, a compression spring, a cross bar sleeve, and a one-piece leg frame support flange plate; the leg mounting groove is fixed with the cross supporting plate in a threaded manner; both ends of the in-groove shaft are fixed in the leg mounting grooves through the first hand-screwed screws; the torsion spring and the first end of the section of leg frame are arranged on the in-groove shaft in a penetrating mode, the middle of the torsion spring is fixed in the leg installation groove, and spring arms on two sides of the torsion spring are inserted in the section of leg frame; two sides of the second end of the section of leg frame are respectively provided with a first sliding groove, and the left end and the right end of the cross rod are respectively connected with the first sliding grooves along the first sliding grooves in a sliding manner through a sliding block; the section of leg support flange plate is connected to the inner side of the section of leg in front of the cross rod, and the cross rod sleeve is fixed in the middle of the section of leg support flange plate; the front end of the cross rod penetrates through the cross rod sleeve; the compression spring is sleeved at the front end of the cross rod.

4. The marine vessel cleaning device of claim 3, wherein the two-section leg structure comprises a two-section leg frame, a two-section leg frame inner shaft, two-shaft fixing screws, two shaft sleeves, a U-shaped frame and a two-section leg frame support flange plate; two ends of the inner shaft of the two-section leg frame are fixed on the inner side of the two-section leg frame through the shaft fixing screws; the U-shaped frame can be rotatably arranged on the second-section leg frame inner shaft in a penetrating mode, and the shaft sleeve is sleeved on the second-section leg frame inner shaft between the U-shaped frame and the second-section leg frame; the first end of the second section of leg frame is pivoted with the second end of the first section of leg frame; the end part of the U-shaped frame is pivoted on the cross rod; the second leg support flange plate is connected to a second end of the second leg.

5. The marine cleaning device of claim 4, wherein the three-section leg structure comprises a three-section leg frame, a limiting shaft, a channel aluminum, a cotter pin, a second hand screw and a leg wheel connecting frame; the top of the three-section leg frame is fixed below the two-section leg frame supporting flange plate in a threaded manner; the groove aluminum is rotatably connected in the three-section leg frame through the limiting shaft; one end of the limiting shaft extending out of the three-section leg frame is connected with the cotter pin; an arc-shaped groove is formed in one side of the three-section leg frame, and the second hand-screwed screw penetrates through the arc-shaped groove and is in threaded connection with the groove aluminum; the leg wheel connecting frame is fixed at the bottom of the groove aluminum.

6. The marine vessel cleaning device according to claim 5, wherein the wheel structure comprises a driving motor, a wheel carrier, two magnetic wheels, a driving belt, two synchronous pulleys and a plurality of thin rubber wheels; the driving motor and the magnetic wheel are arranged on the wheel carrier; the wheel frame is connected below the leg wheel connecting frame; one ends of rotating shafts of the two magnetic wheels are respectively connected with the synchronous belt wheel, and an output shaft of the driving motor is in transmission connection with the two magnetic wheels through the transmission belt and the synchronous belt wheel; and the thin rubber wheels are respectively fixed on two sides of the magnetic wheel.

7. The marine vessel cleaning device of claim 6, wherein the cleaning device comprises a cleaning disc, a plurality of Z-shaped mounting brackets, a plurality of universal wheels, a high pressure water pipe, a connecting sleeve, a cleaning head, a plurality of bolts, and a plurality of springs; the cleaning disc is fixed below the cross support plate through the bolt, and the spring is sleeved outside the bolt; the Z-shaped mounting frames are uniformly distributed and connected on the outer surface of the cleaning disc along the circumferential direction; the universal wheels are mounted at the bottom end of the Z-shaped mounting rack; the cleaning head is fixed in the cleaning disc; the high-pressure water pipe is connected with the cleaning disc through the connecting sleeve and is communicated with the cleaning head; the high-pressure water pipe penetrates out of the second through hole and the first through hole.

8. The marine vessel cleaning device according to claim 7, wherein the recovery device includes a recovery cover, a bellows, and a plurality of auxiliary permanent magnets; the recovery cover is fixed below the cross support plate and covers the cleaning disc; the auxiliary permanent magnet blocks are fixed on the bottom edge of the recovery cover; one end of the corrugated pipe is communicated with the recovery cover, and the other end of the corrugated pipe penetrates out of the third through hole and the first through hole.

9. The marine cleaning device of claim 8, wherein the control cabin comprises a front end cover, a rear end cover, two sealing rings, a cabin barrel, a control cabin mounting seat, two hoops, watertight plugs and a control unit; the front end cover and the rear end cover are respectively connected to two ends of the cabin barrel, and the sealing rings are arranged between the front end cover and the cabin barrel and between the rear end cover and the cabin barrel; the control unit is arranged in the cabin barrel, and the watertight plug is arranged on the rear end cover and is electrically connected with the control unit; the cabin barrel is connected to the control cabin mounting seat through the hoop sleeved outside the cabin barrel; the control cabin mounting seat is fixed on the cross supporting plate.

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