CN220410849U - Ship bottom cleaning robot - Google Patents

Abstract

The utility model relates to the field of underwater mechanical equipment, in particular to a ship bottom cleaning robot, which comprises a rack, wherein a cleaning mechanism is arranged on the rack, a walking driving mechanism is arranged at the lower end of the rack, the walking driving mechanism comprises a front walking wheel, a rear walking wheel, a wheel shaft, a bearing and a walking driving motor, the wheel shaft of the rear walking wheel is driven by the walking driving motor, the cleaning mechanism can be composed of a brush, a brush frame and a brush driving motor, the cleaning mechanism can also be composed of a rotary slip ring, a connecting water pipe, a water pump motor, a rotary driving motor, a guide water pipe and a spray head, a cleaning shovel is arranged at the front end of the rack, a shovel blade reciprocating mechanism is arranged between the cleaning shovel and the rack, the shovel blade reciprocating mechanism comprises a shovel blade frame, a crankshaft and a shovel blade driving motor, and a guide mechanism is arranged between the rack and the shovel blade frame.

Description

Ship bottom cleaning robot

Technical Field

The utility model relates to the field of underwater mechanical equipment, in particular to a ship bottom cleaning robot.

Background

At present, underwater robots have become an important tool for developing the ocean, ships, ocean oil gas platforms, offshore wind power foundations and other large-scale ocean structures, the underwater robots are soaked in the sea for a long time, marine organisms can be adsorbed on the surfaces of the marine vessels and grow and propagate rapidly to cause serious fouling, ship navigation resistance is increased, ship oil consumption is further increased, and the corrosion speed of metal objects can be accelerated by mucus of the marine organisms, so that the safety and service life of the large-scale ocean structures such as the ships, the ocean oil gas platforms and the offshore wind power foundations are affected, and therefore periodic cleaning is required, the applicant has the patent number of CN215236055U in 2021, the utility model patent of the underwater cleaning robot is named as an utility model patent of the underwater cleaning robot, the underwater robot comprises a rack, a jet cleaning mechanism is arranged on the front end of the rack, the cleaning shovel is positioned in front of a spray head of the jet cleaning mechanism, one end of the cleaning shovel is fixedly connected with the rack, and the other end of the cleaning shovel is a cleaning end, and the defects of the patent are: firstly, the driving force of the rotation of the spray head in the patent comes from the reaction force of the spray water sprayed by the spray head, the rotation direction of the spray head cannot be controlled, the cleaning force is weak, and some intractable attachments are difficult to clean; secondly, the cleaning mode of the patent is single, and for some attachments with stronger adhesive force, the water flow cannot be washed away, so that the attachments are difficult to clean; thirdly, when the cleaning shovel in the above patent hits hard attachment, the effort that the cleaning shovel was shoveled forward comes from the propeller, on the one hand increased the waste of the energy, on the other hand the propeller adjustment is very not on the other hand, in addition, when the attachment of ship bottom surface is harder, the cleaning shovel is pushed forward and is not moved, the cleaning shovel receives the reaction force and is pushed away, it is easy to drive whole robot to overturn backward, lead to the robot landing, the robot needs to readjust the gesture, clean again, greatly reduced cleaning efficiency, fourth, the robot passes through the propeller realization front and back, control and reciprocate, this makes the robot movable amplitude great, especially when the abominable operating mode appears, the robot receives effort such as sea water, can skew or topple over, lead to clean incompletely, unclean, in the above-mentioned patent cleaning shovel in addition, jet cleaning mechanism all sets up in the frame front end, lead to whole robot front end too heavy, very easily the focus is unstable, easy landing, need many times adjust the robot gesture, the energy waste has been greatly increased.

Disclosure of Invention

The utility model aims to solve the defects in the prior art and provide the ship bottom cleaning robot which has the advantages of reasonable structure, comprehensive cleaning, strong cleaning force, stable gravity center of the robot, automatic reciprocating operation of a shovel blade and energy conservation.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a ship bottom cleaning robot, includes the frame, be equipped with wiper mechanism in the frame, its characterized in that: the walking driving mechanism comprises front walking wheels, rear walking wheels, wheel shafts, bearings and a walking driving motor, wherein the front walking wheels are arranged on two sides of the front part of the lower end of the frame respectively, the rear walking wheels are arranged on two sides of the rear part of the lower end of the frame respectively, the wheel shafts of the front walking wheels are fixedly connected with the frame through the bearings, the wheel shafts of the rear walking wheels are driven by the walking driving motor, the wheel shafts of the rear walking wheels are fixedly connected with the frame through the bearings, and the walking driving motor is fixed on the frame so as to facilitate the walking of a robot controlled by the walking motor, avoid overlarge movement range of the robot and are clean and comprehensive.

The cleaning mechanism can be composed of a brush, a brush frame and a brush driving motor, wherein at least one brush is arranged in the middle of the lower end of the frame, the brush is fixed on the brush frame, the brush frame is driven to rotate by the brush driving motor, and the brush driving motor is fixed on the frame so as to facilitate repeated brushing and cleaning of the bottom of a ship through rotation of the brush.

The cleaning mechanism also comprises a rotary slip ring, a connecting water pipe, a water pump motor, a rotary driving motor, a guide water pipe and a spray head, wherein the lower end of the machine frame is at least provided with one cleaning mechanism, the middle part of the lower end of the machine frame is provided with the rotary slip ring, the upper end of the fixed part of the rotary slip ring is fixedly connected with the machine frame, the upper end of the fixed part of the rotary slip ring is fixedly provided with the connecting water pipe, the lower end of the fixed part of the rotary slip ring is fixedly connected with the plug in a sealing manner, a water flow channel is arranged in the middle of the fixed part of the rotary slip ring, the side wall of the fixed part of the rotary slip ring is at least provided with one water outflow opening, the water outflow opening is communicated with the connecting water pipe through the water flow channel, the connecting water pipe is connected with the water outlet of the water pump, the water inlet end of the water pump is connected with a water source through the water flow channel, the water pump is driven by the water pump motor, the rotary part of the rotary slip ring is driven by the rotary driving motor, the rotary part of the rotary slip ring is at least provided with one guide water pipe, the rotary part of the rotary slip ring is fixedly connected with the rotary part of the rotary slip ring, one end of the guide water pipe is fixedly connected with the rotary part of the rotary slip ring, one water flow channel is fixedly connected with the water outflow opening, the water outlet is rotatably, the water outlet is fixedly connected with the water pipe, the water outlet is through the water pipe, and the water is communicated with the water pump through the water pipe, and the water pump is in the water through the water outlet is and the water through the water.

According to the utility model, the outer side of the hairbrush or the nozzle is provided with the universal wheel, the upper end of the universal wheel is fixedly connected with the frame through the bracket, so that the hairbrush or the nozzle is supported and guided through the universal wheel, and meanwhile, the adhesion between the hairbrush and the attachment on the bottom of a ship is avoided.

The front end of the frame is fixedly provided with a cleaning shovel so as to remove attachments on the bottom surface of the ship through the cleaning shovel.

The cleaning shovel comprises a cleaning shovel and a frame, wherein a shovel blade reciprocating mechanism is arranged between the cleaning shovel and the frame and comprises a shovel blade rest, a crankshaft and a shovel blade driving motor, the shovel blade rest is arranged at the rear end of the cleaning shovel and fixedly connected with the cleaning shovel, an adjusting hole is formed in the shovel blade rest, the length of the front wall and the rear wall of the adjusting hole is smaller than the length of the left wall and the right wall of the adjusting hole, the crankshaft is arranged in the adjusting hole and abuts against the front wall or the rear wall of the adjusting hole, the crankshaft is driven by the shovel blade driving motor, and the shovel blade driving motor is fixed on the frame so as to drive the crankshaft to rotate through the shovel blade driving motor, so that the front and rear movement of the cleaning shovel is realized.

The utility model discloses a scraper knife rack, which is characterized in that a guide mechanism is arranged between the rack and the scraper knife rack, the guide mechanism comprises a guide seat and a guide rod, the scraper knife rack is provided with the guide seat, the guide seat is fixedly connected with the scraper knife rack, a guide groove is formed in the guide seat, the guide rod is arranged in the guide groove and is in sliding connection with the guide groove, and the guide rod is fixedly connected with the rack so as to guide the scraper knife rack to move forwards and backwards through the guide seat and the guide rod.

According to the utility model, the bearing is fixedly arranged on the crankshaft, the bearing inner ring is fixedly connected with the crankshaft, and the bearing outer ring is abutted against the front and rear inner walls of the adjusting hole, so that sliding friction is converted into rolling friction through arranging the bearing, and the flexibility of the cleaning shovel in front and rear movement is improved.

Due to the adoption of the structure, the automatic cleaning machine has the advantages of reasonable structure, comprehensive cleaning, strong cleaning force, stable gravity center of the robot, automatic reciprocating operation of the shovel blade, energy conservation and the like.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic view of a cleaning mechanism according to the present utility model.

FIG. 3 is an enlarged cross-sectional view of the cleaning mechanism of FIG. 2 in accordance with the present utility model.

FIG. 4 is a schematic view of another structure of the cleaning mechanism of the present utility model.

Fig. 5 is an enlarged cross-sectional view of the cleaning mechanism of fig. 4 in accordance with the present utility model.

Fig. 6 is an enlarged schematic view of the reciprocating mechanism of the blade in the present utility model.

FIG. 7 is an enlarged schematic cross-sectional view of the reciprocating knife mechanism of the present utility model.

Reference numerals: the cleaning machine comprises a frame 1, a cleaning mechanism 2, a walking driving mechanism 3, a front walking wheel 4, a rear walking wheel 5, a walking driving motor 6, a brush 7, a brush frame 8, a brush driving motor 9, a rotary slip ring 10, a connecting water pipe 11, a rotary driving motor 12, a guide water pipe 13, a spray head 14, a water flow channel 15, a water flow outlet 16, a universal wheel 17, a cleaning shovel 18, a shovel blade reciprocating mechanism 19, a shovel blade frame 20, a crankshaft 21, a shovel blade driving motor 22, an adjusting hole 23, a guide mechanism 24, a guide seat 25, a guide rod 26, a bearing 27 and a plug 28.

Detailed Description

The following describes the embodiments of the present utility model in further detail with reference to the accompanying drawings.

Example 1:

referring to fig. 1 to fig. 3, and referring to fig. 5 to fig. 7, a ship bottom cleaning robot comprises a frame 1, wherein a cleaning mechanism 2 is arranged on the frame 1, and is characterized in that: the cleaning mechanism 2 comprises a cleaning part and a cleaning driving part, the cleaning driving part drives the cleaning part to rotate and clean, the cleaning part is a brush 7, the cleaning driving part is a brush driving motor 9, at least one brush 7 is arranged in the middle of the lower end of the frame 1, the brush 7 is fixed on a brush frame 8, the brush frame 8 is driven to rotate by the brush driving motor 9, the brush driving motor 9 is fixed on the frame 1 so as to facilitate repeated brushing and cleaning of the ship bottom through the rotation of the brush, the lower end of the frame 1 is provided with a walking driving mechanism 3, the walking driving mechanism 3 comprises front walking wheels 4, rear walking wheels 5, wheel shafts, bearings and a walking driving motor 6, the front two sides of the lower end of the frame 1 are respectively provided with front walking wheels 4, the two sides of the rear part of the lower end of the frame 1 are respectively provided with rear walking wheels 5, the wheel shafts of the front walking wheels 4 are fixedly connected with the frame 1 through bearings, the rear walking wheels 5 are driven by the walking driving motor 6, the wheel shafts of the rear walking wheels 5 are fixedly connected with the frame 1 through bearings, the walking driving motor 6 are fixedly arranged on the frame 1 so as to facilitate the control of the walking driving motor to avoid the large-scale robot walking.

The outer side of the hairbrush 7 is provided with the universal wheel 17, and the upper end of the universal wheel 17 is fixedly connected with the frame 1 through the bracket so as to support and guide the hairbrush through the universal wheel and avoid adhesion of the hairbrush and attachments on the bottom of a ship.

The front end of the frame 1 is fixedly provided with a cleaning shovel 18 so as to remove attachments on the bottom surface of a ship through the cleaning shovel.

The utility model discloses a scraper knife reciprocating mechanism 19 arranged between a cleaning shovel 18 and a frame 1, wherein the scraper knife reciprocating mechanism 19 comprises a scraper knife rest 20, a crankshaft 21 and a scraper knife driving motor 22, the rear end of the cleaning shovel 18 is provided with the scraper knife rest 20, the scraper knife rest 20 is fixedly connected with the cleaning shovel 18, an adjusting hole 23 is arranged on the scraper knife rest 20, the length of the front and rear inner wall of the adjusting hole 23 is smaller than the length of the left and right inner wall of the adjusting hole 23, the crankshaft 21 is arranged in the adjusting hole 23, the crankshaft 21 abuts against the front wall or the rear wall of the adjusting hole 23, the crankshaft 21 is driven by the scraper knife driving motor 22, and the scraper knife driving motor 22 is fixed on the frame 1 so as to drive the crankshaft to rotate through the scraper knife driving motor, so that the front and rear movement of the cleaning shovel is realized.

The utility model discloses a scraper knife rest, which is characterized in that a guide mechanism 24 is arranged between a frame 1 and the scraper knife rest 20, the guide mechanism 24 comprises a guide seat 25 and a guide rod 26, the scraper knife rest 20 is provided with the guide seat 25, the guide seat 25 is fixedly connected with the scraper knife rest 20, the guide seat 25 is provided with a guide groove, a guide rod 26 is arranged in the guide groove, the guide rod 26 is slidably connected with the guide groove, and the guide rod 26 is fixedly connected with the frame 1 so as to guide the front and back movement of the scraper knife rest through the guide seat and the guide rod.

According to the utility model, the bearing 27 is fixedly arranged on the crankshaft 21, the inner ring of the bearing 27 is fixedly connected with the crankshaft 21, and the outer ring of the bearing 27 abuts against the front and rear inner walls of the adjusting hole 23, so that sliding friction is converted into rolling friction through the arrangement of the bearing, and the flexibility of the cleaning shovel in front and rear movement is improved.

As shown in the accompanying drawings 1-3, in the embodiment, a cleaning mechanism adopts brushes to rotate and clean attachments on the bottom surface of a ship, the machine frame can be provided with a control system, a floating body, a propeller, a camera, an illuminating lamp and other existing equipment, the installation mode is the same as that of the prior art, and the cleaning mechanism is not repeated, the control system is used for conveniently controlling the whole robot, a walking driving motor, a brush driving motor and a shovel blade driving motor are controlled by the control system, meanwhile, the machine frame can be provided with cables, the control system is conveniently connected with a water control platform through the cables, an operator can know the operation condition of the robot under water on the shore at all times, as shown in the accompanying drawings 2 and 3, three brushes are arranged at intervals in the middle of the lower end of the machine frame, the number of the brushes can be set according to requirements, a brush frame of each brush is driven by the brush driving motor, a protective cover is arranged above the brushes, the protective cover covers downwards in a horn shape and can be arranged below the protective cover, and is fixedly connected with the machine frame.

Example 2:

referring to fig. 1 and fig. 4-fig. 7, a ship bottom cleaning robot comprises a frame 1, wherein a cleaning mechanism 2 is arranged on the frame 1, and is characterized in that: the cleaning mechanism 2 comprises a cleaning component and a cleaning driving component, the cleaning driving component drives the cleaning component to rotate and clean, the cleaning component comprises a rotating slip ring 10, a connecting water pipe 11, a water pump motor, a guide water pipe 13 and a spray head 14, the cleaning driving component is a rotating driving motor 12, at least one cleaning mechanism 2 is arranged at the lower end of the frame 1, the rotating slip ring 10 is arranged in the middle of the lower end of the frame 1, the upper end of a fixed part of the rotating slip ring 10 is fixedly connected with the frame 1, the upper end of the fixed part of the rotating slip ring 10 is fixedly connected with the connecting water pipe 11, the lower end of the fixed part of the rotating slip ring 10 is fixedly connected with a plug 28 in a sealing way, a water flow channel 15 is arranged in the middle of the fixed part of the rotating slip ring 10, at least one water flow outlet 16 is arranged on the side wall of the fixed part of the rotating slip ring 10 and is communicated with the connecting water pipe 11 through the water flow channel 15, the connecting water pipe 11 is connected with a water outlet of the water pump, a water inlet end of the water pump is connected with a water source through a water pipe, the water pump is driven by a water pump motor, a rotating part of the rotating slip ring 10 is driven by a rotating driving motor 12, at least one guide water pipe 13 is arranged on the rotating part of the rotating slip ring 10, the guide water pipe 13 is fixedly connected with the rotating part of the rotating slip ring 10 in a sealing way, one end of the guide water pipe 13 is communicated with a water outlet 16, a spray head 14 is fixed at the other end of the guide water pipe 13, so that the rotating slip ring is driven by the rotating driving motor to rotate, the guide water pipe is driven to rotate in a specified direction, the spray head is further rotated in a specified direction, a walking driving mechanism 3 is arranged at the lower end of the frame 1, the walking driving mechanism 3 comprises a front walking wheel 4, a rear walking wheel 5, a wheel shaft, a bearing and a walking driving motor 6, front travelling wheels 4 are respectively arranged on two sides of the front portion of the lower end of the frame 1, rear travelling wheels 5 are respectively arranged on two sides of the rear portion of the lower end of the frame 1, an axle of each front travelling wheel 4 is fixedly connected with the frame 1 through a bearing, an axle of each rear travelling wheel 5 is driven by a travelling driving motor 6, an axle of each rear travelling wheel 5 is fixedly connected with the frame 1 through a bearing, and each travelling driving motor 6 is fixed on the frame 1 so as to facilitate the travelling of a robot controlled by the travelling motors, avoid overlarge moving amplitude of the robot and be clean and comprehensive.

The outer side of the spray head 14 is provided with the universal wheel 17, and the upper end of the universal wheel 17 is fixedly connected with the frame 1 through a bracket so as to support and guide the spray head through the universal wheel.

The front end of the frame 1 is fixedly provided with a cleaning shovel 18 so as to remove attachments on the bottom surface of a ship through the cleaning shovel.

The utility model discloses a scraper knife reciprocating mechanism 19 arranged between a cleaning shovel 18 and a frame 1, wherein the scraper knife reciprocating mechanism 19 comprises a scraper knife rest 20, a crankshaft 21 and a scraper knife driving motor 22, the rear end of the cleaning shovel 18 is provided with the scraper knife rest 20, the scraper knife rest 20 is fixedly connected with the cleaning shovel 18, an adjusting hole 23 is arranged on the scraper knife rest 20, the length of the front and rear inner wall of the adjusting hole 23 is smaller than the length of the left and right inner wall of the adjusting hole 23, the crankshaft 21 is arranged in the adjusting hole 23, the crankshaft 21 abuts against the front wall or the rear wall of the adjusting hole 23, the crankshaft 21 is driven by the scraper knife driving motor 22, and the scraper knife driving motor 22 is fixed on the frame 1 so as to drive the crankshaft to rotate through the scraper knife driving motor, so that the front and rear movement of the cleaning shovel is realized.

The utility model discloses a scraper knife rest, which is characterized in that a guide mechanism 24 is arranged between a frame 1 and the scraper knife rest 20, the guide mechanism 24 comprises a guide seat 25 and a guide rod 26, the scraper knife rest 20 is provided with the guide seat 25, the guide seat 25 is fixedly connected with the scraper knife rest 20, the guide seat 25 is provided with a guide groove, a guide rod 26 is arranged in the guide groove, the guide rod 26 is slidably connected with the guide groove, and the guide rod 26 is fixedly connected with the frame 1 so as to guide the front and back movement of the scraper knife rest through the guide seat and the guide rod.

According to the utility model, the bearing 27 is fixedly arranged on the crankshaft 21, the inner ring of the bearing 27 is fixedly connected with the crankshaft 21, and the outer ring of the bearing 27 abuts against the front and rear inner walls of the adjusting hole 23, so that sliding friction is converted into rolling friction through the arrangement of the bearing, and the flexibility of the cleaning shovel in front and rear movement is improved.

As shown in the accompanying drawings 1, 4-7, in this embodiment, the cleaning mechanism adopts a spray head with driving force to clean attachments on the bottom surface of a ship, the rack of the utility model can be provided with a control system, a floating body, a propeller, a camera, an illuminating lamp and other existing devices, the installation mode is the same as that of the prior art, and the installation mode is not repeated, the control system such as a PLC control system is convenient for controlling the whole robot, a walking driving motor, a rotating driving motor and a shovel blade driving motor are controlled by the control system, and meanwhile, the rack can be provided with a cable, so that the control system is convenient for being connected with a control platform on water through the cable, thus operators can know the operation condition of the robot under water on the shore at regular intervals, as shown in the accompanying drawings 4 and 5, the middle part of the lower end of the rack is provided with three cleaning mechanisms, the number of the cleaning mechanisms is set according to the requirement, each cleaning mechanism comprises a rotating slip ring, the rotating driving motor is used for controlling the rotation direction of the spray head, and the attachments on certain specific positions on the bottom surface of the ship can be intensively sprayed and cleaned.

The two cleaning modes are selected according to the requirements, when the robot is placed near a ship body through a cable, the robot falls to the bottom surface of the ship through the propeller, a control system starts a walking driving motor, the robot walks on the bottom surface of the ship, starts a shovel blade driving motor of a shovel blade reciprocating mechanism, drives a cleaning shovel to continuously shovel off attachments on the bottom surface of the ship, and simultaneously starts a cleaning mechanism to clean and clean the bottom surface of the ship, which is shoveled off by a brush or a spray nozzle, so that the bottom surface of the ship can be cleaned quickly and comprehensively, the cleaning efficiency is high. The cleaning device comprises a cleaning shovel, a scraper knife driving motor, a cleaning shovel, a walking driving mechanism, a robot, a cleaning mechanism and a cleaning mechanism, wherein the scraper knife driving motor is used for driving the cleaning shovel to drive the cleaning shovel to reciprocate back and forth, the scraper knife driving motor is used for driving the cleaning shovel to drive the cleaning shovel to clean the attached objects, the scraper knife driving motor is used for driving the cleaning shovel to reciprocate back and forth, the cleaning shovel is used for driving the cleaning shovel to drive the cleaning shovel to clean the attached objects, the cleaning shovel is used for cleaning the attached objects, and the cleaning shovel is used for cleaning the attached objects.

Due to the adoption of the structure, the automatic cleaning machine has the advantages of reasonable structure, comprehensive cleaning, strong cleaning force, stable gravity center of the robot, automatic reciprocating operation of the shovel blade, energy conservation and the like.

Claims (9)

1. The utility model provides a ship bottom cleaning robot, includes frame (1), its characterized in that: the cleaning mechanism (2) is arranged in the middle of the frame (1), the cleaning mechanism (2) comprises a cleaning part and a cleaning driving part, and the cleaning driving part drives the cleaning part to rotate for cleaning.

2. The bilge cleaning robot of claim 1, wherein: the cleaning part is a brush (7), the cleaning driving part is a brush driving motor (9), at least one brush (7) is arranged in the middle of the lower end of the frame (1), the brush (7) is driven by the brush driving motor (9), and the brush driving motor (9) is fixed on the frame (1).

3. The bilge cleaning robot of claim 1, wherein: the cleaning component comprises a rotary slip ring (10), a connecting water pipe (11), a water pump motor, a guide water pipe (13) and a spray head (14), wherein the cleaning driving component is a rotary driving motor (12), the middle part of the lower end of the rack (1) is provided with the rotary slip ring (10), the fixed part of the rotary slip ring (10) is fixedly connected with the rack (1), the upper end of the fixed part of the rotary slip ring (10) is fixedly connected with the connecting water pipe (11), the lower end of the fixed part of the rotary slip ring (10) is fixedly connected with a plug (28) in a sealing manner, a water flow channel (15) is arranged in the middle of the fixed part of the rotary slip ring (10), the side wall of the fixed part of the rotary slip ring (10) is at least provided with a water flow outlet (16), the water flow outlet (16) is communicated with the connecting water pipe (11) through the water flow channel (15), the connecting water pipe (11) is connected with a water outlet of the water pump, the water inlet end of the water pump is connected with a water source through the water pipe, the water pump is driven by the water pump motor, the rotary part of the rotary slip ring (10) is driven by the rotary driving motor (12), at least one guide water pipe (13) is arranged on the rotary part of the rotary slip ring (10), at least one guide water pipe (13) is fixedly connected with the rotary water pipe, and is fixedly connected with the water outlet (13, the other end of the guide water pipe (13) is fixed with a spray head (14).

4. A bilge cleaning robot as claimed in claim 1 or 2 or 3, wherein: the front end of the frame (1) is fixedly provided with a cleaning shovel (18).

5. The bilge cleaning robot of claim 4 wherein: the cleaning shovel comprises a cleaning shovel (18) and a frame (1), wherein a shovel blade reciprocating mechanism (19) is arranged between the cleaning shovel (18) and the frame (1), the shovel blade reciprocating mechanism (19) comprises a shovel blade frame (20), a crankshaft (21) and a shovel blade driving motor (22), the shovel blade frame (20) is arranged at the rear end of the cleaning shovel (18), the shovel blade frame (20) is fixedly connected with the cleaning shovel (18), an adjusting hole (23) is formed in the shovel blade frame (20), the length of the inner wall of the adjusting hole (23) is smaller than the length of the inner wall of the adjusting hole (23) in the front and back of the adjusting hole, a crankshaft (21) is arranged in the adjusting hole (23), the crankshaft (21) abuts against the front wall or the back wall of the adjusting hole (23), and the shovel blade driving motor (22) is fixed on the frame (1).

6. The bilge cleaning robot of claim 5, wherein: be equipped with guiding mechanism (24) between frame (1) and spiller frame (20), guiding mechanism (24) are including guide holder (25) and guide bar (26), be equipped with guide holder (25) on spiller frame (20), guide holder (25) and spiller frame (20) fixed connection, be equipped with the guide way on guide holder (25), be equipped with guide bar (26) in the guide way, guide bar (26) and guide way sliding connection, guide bar (26) and frame (1) fixed connection.

7. A bilge cleaning robot as claimed in claim 1 or 2 or 3 or 5 or 6, wherein: the novel walking machine is characterized in that a walking driving mechanism (3) is arranged at the lower end of the frame (1), the walking driving mechanism (3) comprises a front walking wheel (4), a rear walking wheel (5), a wheel shaft and a walking driving motor (6), the front walking wheel (4) is arranged on two sides of the front portion of the lower end of the frame (1), the rear walking wheel (5) is arranged on two sides of the rear portion of the lower end of the frame (1), a wheel shaft of the front walking wheel (4) is fixedly connected with the frame (1) through a bearing, the wheel shaft of the rear walking wheel (5) is driven by the walking driving motor (6), and the walking driving motor (6) is fixed on the frame (1).

8. A bilge cleaning robot as claimed in claim 1 or 2 or 3 or 5 or 6, wherein: the outer side of the cleaning part is provided with a universal wheel (17), and the upper end of the universal wheel (17) is fixedly connected with the frame (1) through a bracket.

9. A bilge cleaning robot as claimed in claim 5 or 6, wherein: the crankshaft (21) is fixedly provided with a bearing (27), the inner ring of the bearing (27) is fixedly connected with the crankshaft (21), and the outer ring of the bearing (27) is abutted against the front inner wall and the rear inner wall of the adjusting hole (23).