CN218288065U

CN218288065U - Marine cleaning equipment

Info

Publication number: CN218288065U
Application number: CN202222819191.7U
Authority: CN
Inventors: 袁剑平; 吴锦业; 李震阳; 黄文杰; 蔡展鹏
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-01-13
Anticipated expiration: 2032-10-21

Abstract

The utility model relates to a clean technical field of boats and ships, a marine cleaning equipment is disclosed, including cleaning device, connecting rod and robot, cleaning device passes through the connecting rod and installs on robot, cleaning device includes rotatory sword mechanism, elevating system, main shaft and nylon brush subassembly, rotatory sword mechanism and elevating system fixed connection, elevating system and main shaft adopt threaded engagement, thereby realize the axial displacement of rotatory sword mechanism along the main shaft, running gear is used for driving robot's removal, advancing device provides power to robot, be equipped with control system and battery in the electrical storage, control system is used for receiving and sending the instruction, the battery is used for supplying power for each mechanism, observation device is including camera and light, be used for providing operation region video image. This hull bottom cleaning device with elevating system can realize the lift of rotatory sword mechanism, and is better with the hull laminating nature during clean, can be effectively clean the hull bottom, and clean effect is better.

Description

Cleaning equipment for ship

Technical Field

The utility model relates to a clean technical field of boats and ships especially relates to a marine cleaning device.

Background

At present, marine bottom pollution is a main way for introducing marine organisms into another geographically isolated water area, and if the marine organisms rapidly propagate in large quantities in the local area due to the factors of strong viability competitiveness, lack of natural enemies, suitable local living environment and the like, the local ecosystem is possibly damaged, and the threat to the local environment, economy and personnel health is brought. Besides the threat of ecological invasion, the ship bottom pollution can also affect the operating cost of the ship and the safety of the ship. The ship bottom is polluted to enable the surface of the ship body to be uneven, the sailing resistance is greatly increased, the sailing speed is greatly reduced, further the fuel consumption and the corresponding pollutant emission are greatly improved, the corrosion of a ship bottom steel plate can be accelerated in a local slightly acidic environment caused by biological metabolism, the normal work of a seawater cooling system, a depth finder, a log, sonar and the like of the ship is influenced, and the safety of the ship is endangered. Although various methods have been used to suppress the formation of fouling on ships, the adhesion of marine organisms cannot be completely prevented, and therefore, periodic cleaning of the ship bottom is inevitable. The ship bottom cleaning method mainly comprises three methods, one method is to clean the ship bottom by using a high-pressure water gun, sand blasting and the like when the ship enters a dock, and the cleaning method consumes huge time, manpower, material resources and financial resources. The second method is to employ divers who have received training in corrosion control and problem recognition and can make professional assessment of the ship bottom condition, and to clean the ship body with a high-pressure water gun or to scrape the ship body with special equipment. The third is that adopt the robot clean, at the cleaning brush cleaning device of robot bottom installation, be close to the hull bottom surface through cleaning brush cleaning device, clean totally with the hull bottom, but cleaning brush cleaning device all is connected to the robot through fixed rod spare on, self can not realize going up and down, relatively poor to the laminating nature of ship face, and clean effect is not good.

The prior art discloses a ship bottom cleaning brush cleaning robot, which comprises a frame, an electric cabin is arranged on the frame, a walking device, a propeller, a cleaning brush cleaning device and an image scanning device, a control system is arranged in the electric cabin, a cleaning brush attaching mechanism is arranged on the cleaning brush cleaning device, the cleaning brush attaching mechanism is connected with the cleaning brush cleaning device and drives a cleaning brush in the cleaning brush cleaning device to attach to the surface of a ship body when cleaning, the cleaning brush attaching mechanism comprises a paddle, the paddle is fixedly connected with a cleaning brush rotating shaft of the cleaning brush, the cleaning brush cleaning device can be composed of a motor, the cleaning brush and a cleaning brush rotating shaft, an adjusting and pressing mechanism is arranged on the cleaning brush, and the adjusting and pressing mechanism can be composed of a spring, a supporting rod, a limiting plate, a limiting rod and a nut and can also be composed of a spring and a supporting rod. This prior art cleaning brush can not go up and down, can not fine laminating ship face, and cleaning effect is not good.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an aim at: the utility model provides a marine cleaning equipment to it can not go up and down to provide current cleaning machines people cleaning device in the above-mentioned background art to solve, laminating ship face that can not be fine leads to the not good problem of cleaning performance.

In order to realize the above-mentioned purpose, the utility model provides a marine cleaning equipment, including cleaning device, connecting rod and robot, cleaning device passes through the connecting rod and installs on robot, cleaning device includes rotatory cutter mechanism, elevating system and main shaft, the one end of main shaft with the connecting rod rotates to be connected, the last first driver that is equipped with of robot, first driver with spindle drive connects in order to drive the main shaft rotates, rotatory cutter mechanism includes blade disc and a plurality of blade, the blade with the blade disc is connected, the blade disc is equipped with the connecting hole, the main shaft is located in the connecting hole, elevating system includes mount pad, driving medium and second driver, the mount pad suit is in outside the main shaft, the mount pad with the blade disc is connected, the second driver set up in on the mount pad, the driving medium with the mount pad rotates to be connected, the second driver with the driving medium transmission is connected in order to drive the driving medium rotates, the driving medium is equipped with first transmission structure, the outer wall of main shaft is equipped with the second transmission structure, the driving medium with the main shaft passes through first transmission structure with the second transmission structure cooperatees and forms the rotation to turn into linear motion the driving medium can be followed during the axial displacement mechanism.

As a preferred scheme, the first driver is connected with the main shaft through a first driving mechanism, the first driver is a motor, the first driver is installed on the robot body, the first driving mechanism comprises a rotating conveyor belt, a first driving gear and a first driven gear, the first driving gear is sleeved on an output shaft of the first driver, the first driven gear is sleeved on the main shaft, the rotating conveyor belt and the first driving gear are located inside the connecting rod, the rotating conveyor belt is wound on the first driving gear and the first driven gear, and the rotating conveyor belt is provided with a first rack which is meshed with the first driving gear and the first driven gear.

Preferably, the first transmission structure and the second transmission structure are both threads, so that the transmission member is a nut, the main shaft is a screw rod, the transmission member is sleeved on the main shaft, and the transmission member is in threaded connection with the main shaft.

As a preferred scheme, the transmission member is connected with the second driver through a second driving mechanism, the second driver is a motor, the second driving mechanism is a gear, second racks distributed along the circumferential direction of the transmission member are arranged on the outer surface of the transmission member, the second driving mechanism is sleeved on an output shaft of the second driver, and the second driving mechanism is meshed with the second racks.

Preferably, the lifting mechanism further comprises a guide rod, a positioning hole is formed in the mounting seat, the middle of the guide rod is located in the positioning hole, the upper portion and the lower portion of the guide rod are located above and below the mounting seat respectively, the guide rod is parallel to the main shaft, and the guide rod is attached to the main shaft.

Preferably, the main shaft is further provided with a limiting mechanism, and the limiting mechanism is used for limiting the up-and-down movement of the rotary conveyor belt and limiting the up-and-down movement of the main shaft, so that the main shaft is prevented from being deviated.

Preferably, the cleaning device further comprises a nylon brush assembly, the nylon brush assembly comprises a nylon brush and a connecting frame, the connecting frame is mounted on the robot body, the nylon brush is rotatably connected with the connecting frame, and the nylon brush is located closer to the robot body than the rotary knife mechanism.

As a preferred scheme, the robot body is provided with a walking device, a propelling device, an observation device and an electrical bin, the walking device is used for driving the robot body to move, the propelling device provides power for the robot body, a control system and a battery are arranged in the electrical bin, the control system is used for receiving and sending instructions, the battery is electrically connected with the walking device, the propelling device and the cleaning device, the battery is used for supplying power for all devices, the observation device is used for providing operation area video images for operating personnel, and the walking device, the propelling device, the observation device and the cleaning device are in communication connection with the control system.

As preferred scheme, running gear is including chassis, track driver, action wheel, follow driving wheel, mounting bracket and track, the chassis with robot body fixed connection, the track driver is the motor, the track driver is installed on the chassis, the track driver with the battery electricity is connected, the mounting bracket is installed on the chassis, the action wheel with follow the driving wheel with the mounting bracket rotates to be connected, the track centers on the action wheel with follow the periphery of driving wheel, just the track with the action wheel with follow the meshing of driving wheel, the track driver with the action wheel transmission is connected.

Preferably, the propelling device comprises a propeller thruster and a thruster motor, the thruster motor is installed at the tail part of the robot body, the thruster motor is electrically connected with the battery, and the propeller thruster is connected to an output shaft of the thruster motor.

Compared with the prior art, the beneficial effects of the utility model reside in that:

the utility model discloses a revolving knife mechanism passes through elevating system and is connected with the main shaft, when using, second driver through elevating system drives the driving medium and rotates, the first drive structure of driving medium and the second drive structure of main shaft cooperate and form the mechanism that turns into linear motion with rotating, thereby make the driving medium along the axial displacement of main shaft, the lift of revolving knife mechanism has been realized, because revolving knife mechanism can go up and down, make revolving knife mechanism can laminate completely with the hull often, the laminating becomes better, can be effectively clean the hull bottom, clean effect is better.

Drawings

Fig. 1 is a first view angle connection diagram of the rotary knife mechanism, the lifting mechanism and the connecting rod of the present invention;

fig. 2 is a second view angle connection diagram of the rotary knife mechanism, the lifting mechanism and the connecting rod of the present invention;

fig. 3 is a schematic perspective view of the marine cleaning apparatus with a lifting mechanism according to the present invention;

fig. 4 is a schematic view of the whole three-dimensional structure of the walking device of the present invention.

Fig. 5 is a schematic structural view of the transmission member and the spindle according to the second embodiment of the present invention.

Fig. 6 is a schematic structural diagram of the transmission member and the spindle according to the third embodiment of the present invention.

In the figure, 1, connecting rod; 101. a horizontal segment; 102. a first vertical section; 103. a second vertical section; 2. a main shaft; 3. a cutter head; 4. a blade; 5. a mounting seat; 6. a transmission member; 7. an electric bin; 8. rotating the conveyor belt; 9. a nylon brush; 10. a connecting frame; 11. a driving wheel; 12. a driven wheel; 13. a mounting frame; 14. a crawler belt; 15. a propeller thruster; 16. a propeller motor; 17. a camera; 18. a lighting lamp; 19. a robot body; 20. a sleeve; 21. a limiting ring; 22. a spring; 23. a second driver; 24. a third rack.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Example one

As shown in fig. 1-4, the utility model discloses marine cleaning equipment of preferred embodiment of embodiment, including cleaning device, connecting rod 1 and robot 19, cleaning device passes through connecting rod 1 and installs on robot 19, cleaning device includes rotatory sword mechanism, elevating system and main shaft 2, the one end and the connecting rod 1 of main shaft 2 rotate and are connected, be equipped with first driver on the robot 19, first driver is connected in order to drive main shaft 2 and rotate with the transmission of main shaft 2, rotatory sword mechanism includes blade disc 3 and a plurality of blade 4, blade 4 is connected with blade disc 3, blade disc 3 is equipped with the connecting hole, main shaft 2 is arranged in the connecting hole, it rotates to drive rotatory sword mechanism to do benefit to first driver rotation drive main shaft 2 when rotating, elevating system includes mount pad 5, driving medium 6 and second driver 23, mount pad 5 suit is outside main shaft 2, mount pad 5 is connected with blade disc 3, second driver 23 sets up on mount pad 5, driving medium 6 rotates with mount pad 5 to be connected with driving medium 6 and rotates in order to drive driving medium 6, driving medium 6 is equipped with first drive structure, the outer wall of main shaft 2 is equipped with the second drive structure, the last driving medium is converted into the linear motion along the axial motion of main shaft 2 and the last linear motion of the last driving medium mechanism of the last driving mechanism of being connected of the structure, the linear motion of spindle motion of the mechanism, the last linear motion of being connected of the linear motion of spindle 2, the linear motion of main shaft is accomplished.

Optionally, the first driver of this embodiment is connected with the main shaft 2 through a first driving mechanism, the first driver is a motor, the first driver is installed on the robot body 19, the first driving mechanism includes a rotating conveyor belt 8, a first driving gear and a first driven gear, the first driving gear is sleeved on an output shaft of the first driver, the first driven gear is sleeved on the main shaft 2, the rotating conveyor belt 8 and the first driving gear are located inside the connecting rod 1, the rotating conveyor belt 8 is wound on the first driving gear and the first driven gear, and the rotating conveyor belt 8 is provided with a first rack engaged with the first driving gear and the first driven gear. The first driver output shaft rotates to drive the first driving gear to rotate, so that the rotating conveying belt 8 meshed with the first driving gear is driven to rotate, the rotating conveying belt 8 drives the driven gear to rotate, the main shaft 2 is driven to rotate, the rotating of the rotating knife mechanism is achieved, and ship attachments are cleaned.

Specifically, the connecting rod 1 is divided into a horizontal section 101, a first vertical section 102 and a second vertical section 103, wherein the first vertical section 102 is fixedly connected with the robot body 19 and is perpendicular to the robot body 19, the horizontal section 101 is perpendicular to the first vertical section 102, the second vertical section 103 is fixedly connected with the horizontal section 101 and is parallel to the first vertical section 102, the rotating conveyor belt 8 is located in the horizontal section 101, the rotating conveyor belt 8 is connected with the main shaft 2 located in the second vertical section 103, a bearing seat and a bearing are installed in the second vertical section 103, the bearing seat is fixedly connected with the second vertical section 103, the bearing is sleeved on the main shaft 2, and the bearing is located in the bearing seat, so that the main shaft 2 is connected with the second vertical section 103 and can rotate in the second vertical section 103.

The main shaft 2 is also provided with a limiting mechanism which is used for limiting the up-and-down movement of the rotary conveyor belt 8 and the up-and-down movement of the main shaft 2 so as to prevent the main shaft 2 from deviating.

Stop gear includes spacing collar 21 and spring 22, spacing collar 21 is located 2 tops of main shaft, spacing

collar

21 and 2 fixed connection of main shaft, and spacing collar 21 diameter is greater than the diameter of main shaft 2, make rotation conveyer belt 8 be located between spacing collar 21 and the bearing frame, so that restriction rotation conveyer belt 8 reciprocates, spring 22 is located between main shaft 2 and the horizontal segment 101 upper wall, spring 22 has elasticity, have the effort of push down to main shaft 2, thereby restriction main shaft 2 reciprocates in second vertical segment 103, prevent the skew of main shaft 2.

The lifting mechanism is connected to the rotary knife mechanism through a sleeve 20. The sleeve 20 is sleeved outside the main shaft 2, the upper end and the lower end of the sleeve 20 are respectively connected with the mounting seat 5 and the cutter head 3, and the mounting seat 5 is located in the second vertical section 103 of the connecting rod 1. And the diameter of the sleeve 20 is smaller than that of the second vertical section 103, so that the lifting mechanism is positioned in the second vertical section 103 and plays a role in protecting the lifting mechanism. When the lifting mechanism and the rotary cutter mechanism are lifted, the mounting base 5 moves along the axial direction of the main shaft 2, the sleeve 20 and the cutter head 3 move along with the mounting base 5 to realize lifting, so that the sleeve 20 can extend out and retract relative to the second vertical section 103, and the second vertical section 103 and the sleeve 20 can also guide the movement of the mounting base 5 and the cutter head 3.

Cleaning device still includes nylon brush subassembly, nylon brush subassembly includes nylon brush 9 and link 10, link 10 is installed on robot 19, nylon brush 9 rotates with link 10 to be connected, nylon brush 9 is located more near robot 19 department than rotatory sword mechanism, nylon brush 9 is used for cooperating rotatory sword mechanism and cleans, through self rotation, still clean near the object near hull surface with the unclean complete attachment of rotatory sword mechanism or after clean.

Further, the robot body 19 of this embodiment is equipped with running gear, advancing device, observation device and electrical storage 7, running gear is used for driving the removal of robot body 19, advancing device provides power to robot body 19, be equipped with control system and battery in the electrical storage 7, control system passes through the cable and is connected with control platform on water, be used for receiving and sending the instruction, the battery is connected with running gear, advancing device and cleaning device electricity, the battery is used for supplying power for each device, observation device is used for providing operation region video image for operating personnel, running gear, advancing device, observation device and cleaning device and control system communication connection.

Running gear is including the chassis, the track driver, action wheel 11, from driving wheel 12, mounting bracket 13 and track 14, chassis and robot 19 fixed connection, the track driver is the motor, the track driver is installed on the chassis, the track driver is connected with the battery electricity, mounting bracket 13 is installed on the chassis, action wheel 11 with from driving wheel 12 and mounting bracket 13 rotate and be connected, track 14 centers on action wheel 11 and from the periphery of driving wheel 12, and track 14 and action wheel 11 mesh from driving wheel 12, the track driver is connected with 11 transmissions of action wheel, the track driver drives action wheel 11 and rotates, action wheel 11 drives track 14 and rotates from driving wheel 12, thereby realize the walking function, and track 14 is magnetism-type track, be convenient for this device at the walking of aquatic laminating hull, better clearance hull surface.

The propelling device comprises propeller propellers 15 and propeller motors 16, the propeller propellers 15 and the propeller motors 16 are respectively two in number, the propeller motors 16 are respectively installed on two sides of the tail portion of the robot body 19, the propeller motors 16 are electrically connected with the battery, the propeller propellers 15 are connected to the output shafts of the propeller motors 16, and the robot body 19 can move forward, backward, left-right in rotation and the like by forward rotation and reverse rotation of the output shafts of the propeller motors 16, rotation of one of the output shafts and stopping of the other output shaft.

The observation device is including camera 17 and light 18, and 19 front ends at the robot are installed to camera 17, and light 18 is installed at 19 front ends of the robot, and camera 17 both sides all are equipped with light 18, and camera 17 and light 18 are connected with the battery electricity, pass back video image in real time through illumination and the camera 17 of light 18, and this device of control that operating personnel can be convenient carries out cleaning operation.

Example two

The present embodiment is different from the first embodiment in that the present embodiment further describes the first transmission structure and the second transmission structure on the basis of the first embodiment.

As shown in fig. 5, in the present embodiment, the first transmission structure and the second transmission structure are both threaded, such that the transmission member 6 is a nut, the main shaft 2 is a screw, the transmission member 6 is sleeved on the main shaft 2, and the transmission member 6 is in threaded connection with the main shaft 2. The driving medium 6 passes through the second actuating mechanism and is connected with second driver 23, second driver 23 is the motor, second actuating mechanism is the gear, 6 surfaces of driving medium are equipped with along the second rack that its circumference distributes the setting, second actuating mechanism suit is on the output shaft of second driver 23, second actuating mechanism meshes with the second rack mutually, 23 rotatory drive second actuating mechanism that drives of output shaft of second driver rotates, second actuating mechanism drives and rotates rather than meshed driving medium 6, thereby drive driving medium 6 and rotate, driving medium 6 and main shaft 2 are threaded engagement, realize driving medium 6 along 2 axial displacement of main shaft, thereby realize the lift of rotary knife mechanism. The lifting mechanism of this embodiment further includes guide bar 26, is equipped with the locating hole on mount pad 5, and the middle part of guide bar 26 is located the locating hole, and the upper portion and the lower part of guide bar 26 are located the top and the below of mount pad 5 respectively, and guide bar 26 is parallel with main shaft 2, and guide bar 26 pastes with main shaft 2 to it reciprocates to be convenient for mount pad 5 along guide bar 26 direction.

Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.

EXAMPLE III

The present embodiment and the first embodiment are characterized in that, on the basis of the first embodiment, the present embodiment further describes the first transmission structure and the second transmission structure.

As shown in fig. 6, the difference between the present embodiment and the second embodiment is that the first transmission structure and the second transmission structure of the present embodiment are both in a mesh shape, so that the transmission member 6 is a gear, the outer wall of the spindle 2 is provided with a third rack 24, the length direction of the third rack 24 is the same as the axial direction of the spindle 2, the transmission member 6 is meshed with the third rack 24, the transmission member 6 is driven to rotate by the rotation of the output shaft of the second driver 23, the transmission member 6 moves up and down along the length direction of the third rack 24, and then the lifting mechanism is driven to move axially, thereby realizing the axial movement of the rotary cutter mechanism.

The utility model discloses a working process does: when the device is used, according to the structure shown in the figures 1-4, firstly, an operator puts the electrified ship bottom cleaning device with the lifting mechanism into water through a winch on a shore side or a ship, observes the front condition of the cleaning device through the camera 17 and the illuminating lamp 18, utilizes the propeller 15 to provide power for the cleaning device, and rotates the driving wheel 11 and the driven wheel 12 through the crawler driver so as to drive the crawler 14 to rotate, and the magnetic attraction type crawler can move on the surface of the ship bottom.

The available first driver of control personnel drives main shaft 2 through first actuating mechanism and rotates, thereby it is rotatory to drive rotatory sword mechanism, can also control the second driver among the elevating system in the cleaning device and control the positive and negative direction of driving medium 6 through second actuating mechanism, and then control driving medium 6 along the axial displacement of main shaft 2, and then make rotatory sword mechanism reciprocate, the camera 17 of accessible device front end observes the height of adjusting rotatory sword mechanism this moment, then realize the back-and-forth movement of robot through running gear, utilize the nylon brush 9 of link 10 installation on robot body 19 in the nylon brush cleaning subassembly this moment to hug closely the hull bottom, through running gear's removal, realize the effect that the limit is clean to go forward, and then realize the quick clean cleanness with whole hull bottom, this is exactly this hull bottom cleaning device's that has elevating system working process.

To sum up, the embodiment of the utility model provides a marine cleaning equipment, it includes cleaning device, connecting rod 1 and robot 19, cleaning device passes through connecting rod 1 and installs on robot 19, cleaning device includes rotary cutter mechanism, elevating system and main shaft 2, rotary cutter mechanism passes through elevating system and is connected with main shaft 2, when using, second driver 23 through elevating system drives driving medium 6 and rotates, the first drive structure of driving medium 6 and the second drive structure of main shaft 2 mesh mutually, thereby make driving medium 6 along 2 axial displacement of main shaft, the lift of rotary cutter mechanism has been realized, because rotary cutter mechanism can go up and down, rotary cutter mechanism can laminate with the hull face completely constantly, the laminating becomes better, can effectively clean the hull bottom, clean effect is better.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A marine cleaning device, characterized by: including cleaning device, connecting rod (1) and robot (19), cleaning device passes through connecting rod (1) and installs on robot (19), cleaning device includes rotary cutter mechanism, elevating system and main shaft (2), the one end of main shaft (2) with connecting rod (1) rotates and connects, be equipped with first driver on robot (19), first driver with main shaft (2) transmission is connected in order to drive main shaft (2) rotate, rotary cutter mechanism includes blade disc (3) and a plurality of blade (4), blade (4) with blade disc (3) are connected, blade disc (3) are equipped with the connecting hole, main shaft (2) are located in the connecting hole, elevating system includes mount pad (5), driving medium (6) and second driver (23), mount pad (5) suit is in outside main shaft (2), mount pad (5) with blade disc (3) are connected, second driver (23) set up in mount pad (5), driving medium (6) with mount pad (5) rotate the drive pad (6), drive medium (6) and second driver (6) are connected, the outer wall of main shaft (2) is equipped with the second transmission structure, driving medium (6) with main shaft (2) pass through first transmission structure with the cooperation of second transmission structure forms the mechanism that converts rotation into linear motion, makes driving medium (6) can follow when rotating the axial displacement of main shaft (2).

2. A marine cleaning device according to claim 1, characterised in that: first driver through first actuating mechanism with main shaft (2) are connected, first driver is the motor, first driver is installed on robot body (19), first actuating mechanism is including rotating conveyer belt (8), first driving gear and first driven gear, first driving gear suit is in on the output shaft of first driver, first driven gear suit is in on main shaft (2), rotate conveyer belt (8) with first driving gear is located inside connecting rod (1), it winds to rotate conveyer belt (8) first driving gear with on the first driven gear, just it is equipped with first driving gear with first driven gear engaged with first rack to rotate conveyer belt (8).

3. A marine cleaning device according to claim 1, characterised in that: the first transmission structure and the second transmission structure are threads, so that the transmission piece (6) is a nut, the main shaft (2) is a screw rod, the transmission piece (6) is sleeved on the main shaft (2), and the transmission piece (6) is in threaded connection with the main shaft (2).

4. A marine cleaning device according to claim 3, characterised in that: the transmission piece (6) is connected with the second driver (23) through a second driving mechanism, the second driver (23) is a motor, the second driving mechanism is a gear, second racks are arranged on the outer surface of the transmission piece (6) in a circumferential distribution mode, the second driving mechanism is sleeved on an output shaft of the second driver (23), and the second driving mechanism is meshed with the second racks.

5. Marine cleaning apparatus according to claim 4, characterised in that: the lifting mechanism further comprises a guide rod (26), a positioning hole is formed in the mounting base (5), the middle of the guide rod (26) is located in the positioning hole, the upper portion and the lower portion of the guide rod (26) are located above and below the mounting base (5) respectively, the guide rod (26) is parallel to the main shaft (2), and the guide rod (26) is attached to the main shaft (2).

6. A marine cleaning device according to claim 5, characterised in that: the main shaft (2) is also provided with a limiting mechanism, and the limiting mechanism is used for limiting the up-and-down movement of the rotating conveyor belt (8) and the up-and-down movement of the main shaft (2) so as to prevent the main shaft (2) from deviating.

7. A marine cleaning device according to claim 1, characterised in that: cleaning device still includes nylon brush subassembly, nylon brush subassembly includes nylon brush (9) and link (10), link (10) are installed on robot body (19), nylon brush (9) with link (10) rotate to be connected, nylon brush (9) compare in rotatory sword mechanism is located more closely robot body (19) department.

8. A marine cleaning device according to claim 1, characterised in that: robot (19) are equipped with running gear, advancing device, observation device and electrical storage (7), running gear is used for driving the removal of robot (19), advancing device to robot (19) provide power, be equipped with control system and battery in electrical storage (7), control system is used for receiving and send instruction, the battery with running gear advancing device with the cleaning device electricity is connected, the battery is used for providing the power supply for each device, observation device is used for providing the regional video image of operation for operating personnel, running gear advancing device observing device with cleaning device with control system communication connection.

9. A marine cleaning device according to claim 8, characterised in that: running gear is including chassis, track driver, action wheel (11), follow driving wheel (12), mounting bracket (13) and track (14), the chassis with robot body (19) fixed connection, the track driver is the motor, the track driver is installed on the chassis, the track driver with the battery electricity is connected, mounting bracket (13) are installed on the chassis, action wheel (11) with follow driving wheel (12) with mounting bracket (13) rotate to be connected, track (14) are around action wheel (11) with follow the periphery of driving wheel (12), just track (14) with action wheel (11) with from driving wheel (12) meshing, the track driver with action wheel (11) transmission is connected.

10. A marine cleaning device according to claim 8, characterised in that: the propelling device comprises a propeller thruster (15) and a thruster motor (16), the thruster motor (16) is installed at the tail part of the robot body (19), the thruster motor (16) is electrically connected with the battery, and the propeller thruster (15) is connected to an output shaft of the thruster motor (16).