A cleaning device and underwater robot for cleaning across waterline

Abstract

The present invention relates to the technical field of underwater cleaning, and provides a cleaning device and an underwater robot for cleaning across the waterline. The cleaning device includes a cleaning disc assembly, a linear electric push-pull rod, a slide rail assembly, and a ducted fan. The cleaning device is installed on the underwater robot, and can move in and out of the robot carrier horizontally to complete the cleaning of the upper and lower walls of the waterline, effectively solving the problem that the underwater robot cannot cross the waterline to clean the area above the waterline, and realizes a set of underwater robots to complete the cleaning operation of the upper and lower areas of the waterline. The underwater robot equipped with the cleaning device can completely replace the manual underwater cleaning operation mode, greatly reducing the operational difficulty and operating cost of cleaning across the waterline.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater cleaning, and in particular to a cleaning device and an underwater robot for cleaning across a waterline. Background Art

[0002] Objects such as ships, ports, and docks that have been immersed in seawater for a long time will have a large number of marine organisms such as shellfish, seaweed, and barnacles attached to their surfaces, which need to be cleaned frequently or regularly. Usually, when the ship is fully loaded, the tide is high, the water level is high, and the marine organisms attached to the surface of the ship, port, and dock are all submerged underwater. At this time, they can be cleaned by underwater robots; however, when the ship is lightly loaded, the tide is low, and the water level is low, some of the attached marine organisms will emerge from the water. For the cleaning of these marine organisms that are exposed to the water, the current underwater robots are basically powerless. In actual operations, especially in the ship cleaning industry, it is common that some of the attached organisms on the water cannot be cleaned. At this time, it is necessary to add an additional step of manually going into the water to remove the marine organisms on the water, which not only increases the difficulty of operation, but also greatly increases the operating cost. Therefore, it is urgent to develop an underwater cleaning device that can cross the waterline to clean the water part of the operation object, completely replace the operation mode of manual cleaning, and solve the problem of difficulty in cross-waterline cleaning operation and high operating cost. Summary of the invention

[0003] (1) Purpose of the Invention

[0004] In order to overcome the defect that existing underwater robots cannot cross the waterline to clean marine life above the waterline, the present invention proposes a new cleaning device and a corresponding underwater robot that can cross the waterline for cleaning, so as to achieve the purpose of a set of underwater robots completing full coverage cleaning operations above and below the waterline.

[0005] (2) Technical solution

[0006] In order to solve the above problems, the present invention provides the following technical solutions:

[0007] According to some embodiments of the present invention, the cleaning device for cleaning across the waterline of the present invention comprises a cleaning disc assembly 1, a linear electric push-pull rod 2, a slide rail assembly 3 and a ducted fan 4; wherein:

[0008] The cleaning disc assembly 1 comprises a cleaning disc 11, a rocker arm 12, an assembly frame 13, a compression spring 14, a connecting plate 15, and a push-pull plate 16; there are three cleaning discs 11, which are distributed in a triangular shape and are respectively hingedly mounted on the assembly frame 13 through the rocker arm 12, a compression spring 14 is mounted on the rocker arm 12 to provide a pressing force, the connecting plate 15 is fixedly mounted on the upper end surface of the assembly frame 13, and the push-pull plate 16 is fixedly mounted on the middle of the front side of the assembly frame 13;

[0009] The linear electric push-pull rod 2 has a multi-stage telescopic function, including a first set of rods 21, a second set of rods 22, a third set of rods 23, a joint 24, and a mounting plate 25; the lower end of the first set of rods 21 is fixedly mounted on the mounting plate 25, the second set of rods 22 is slidably connected to the center hole of the upper end of the first set of rods 21, and the sliding contact surface is equipped with a first sealing ring 26, the third set of rods 23 is slidably connected to the center hole of the upper end of the second set of rods 22, and the sliding contact surface is equipped with a second sealing ring 27; the joint 24 is axially limitedly connected to the push-pull plate 16, and the mounting plate 25 is fixedly connected to the underwater robot;

[0010] The slide rail assembly 3 includes a first side rail 31, a second side rail 32, a first crossbeam 33, a second crossbeam 34, a first support arm 35, a second support arm 36, and a third support arm 37; wherein the first side rail 31 and the second side rail 32 have the same structure, including a base 31-1, a first-stage slide rail 31-2, a second-stage slide rail 31-3, a slider 31-4, a left limit plate 31-5, a right limit plate 31-6, a top block 31-7, a limit ball 31-8, and a V-shaped spring 31-9; the first-stage slide rail 31-2 is fixedly installed on the base 31-1, and the inner side of the first-stage slide rail 31-2 is connected to the second-stage slide rail 31- The outer side of the second-stage slide rail 31-3 is connected by ball sliding, and the inner side of the second-stage slide rail 31-3 is connected to the outer side of the slider 31-4 by ball sliding; the left and right end surfaces of the second-stage slide rail 31-3 are fixedly connected to the left limit plate 31-5 and the right limit plate 31-6 respectively; a V-shaped spring 31-9 is installed between the first-stage slide rail 31-2 and the second-stage slide rail 31-3 near the right side, and a limit ball 31-8 is installed on the upper part of the V-shaped spring 31-9, and the limit ball 31-8 limits the sliding of the second-stage slide rail 31-3 through the limit hole 31-10 on the second-stage slide rail 31-3; the top block 31-7 is fixedly installed on the inner side of the slider 31-4;

[0011] The ducted fan 4 is installed in the middle of the rear side of the assembly frame 13.

[0012] Further, according to some embodiments of the present invention, the three cleaning discs 11 in the cleaning device for cleaning across the waterline of the present invention are all cavitation jet cleaning discs. When cleaning in water, cavitation water jet cleaning is performed, and when moving out of the water surface and cleaning in the air, high-pressure water flushing is performed.

[0013] Further, according to some embodiments of the present invention, in the cleaning device for cleaning across the waterline of the present invention, the first arm 35, the second arm 36, and the third arm 37 are respectively welded at the front, middle and rear ends between the first beam 33 and the second beam 34, and the first arm 35, the second arm 36, and the third arm 37 form a whole with the first beam 33 and the second beam 34; the first arm 35 and the third arm 37 are respectively fixedly connected to the sliders 31-4 of the first side rail 31 and the second side rail 32; the connecting plate 15 is fixedly installed between the first beam 33, the second beam 34 and the first arm 35, the second arm 36.

[0014] Further, according to some embodiments of the present invention, the stroke zero position of the linear electric push-pull rod 2 in the cleaning device for cross-waterline cleaning of the present invention is at the leftmost end of the first-level slide rail 31-2, and the maximum stroke is less than the maximum extension distance of the second-level slide rail 31-3. The linear electric push-pull rod 2 can self-lock at any position to limit the movement of the cleaning disc assembly 1.

[0015] Preferably, according to some embodiments of the present invention, the front lower edge of the top block 31-7 in the cleaning device for cleaning across the waterline of the present invention is provided with an upward inclination angle, which is not greater than the ratio of the height / radius of the limiting ball 31-8; the limiting hole 31-10 is a conical hole.

[0016] In addition, the present invention also relates to the use of the above-mentioned cleaning device for cleaning across the waterline in underwater cleaning operations.

[0017] On the other hand, the present invention further provides an underwater robot, which is a frame structure and has the above-mentioned cleaning device for cleaning across the waterline installed inside.

[0018] (3) Beneficial effects

[0019] Compared with the existing underwater cleaning device, the cleaning device of the present invention has the following advantages:

[0020] 1) The present invention uses an electric push-pull rod and a telescopic slide rail combination to push the cleaning disc assembly to move horizontally out of the underwater robot carrier. The robot walks underwater, driving the cleaning disc assembly to move and clean above the waterline, so that a set of underwater robots can complete the full coverage cleaning operation above and below the waterline.

[0021] 2) The multi-stage linear electric push-pull rod and telescopic slide rail provided by the present invention have short installation dimensions, can effectively utilize the internal space of the underwater robot, do not occupy the external space of the robot, and can extend to the outside of the robot carrier to the greatest extent.

[0022] 3) The three cleaning discs of the present invention have the ability to move with multiple degrees of freedom through hinged connection and spring compression, and have good work surface adaptability and obstacle surmounting ability.

[0023] 4) A ducted fan is installed on the cleaning disk assembly of the present invention. When the cleaning device extends above the waterline to work, the ducted fan is turned on. The thrust generated by the ducted fan can greatly offset the reaction force of the cleaning disk during high-pressure water flushing to prevent the underwater robot from overturning. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention, not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is an overall structural diagram of a waterline-crossing cleaning device according to an embodiment of the present invention;

[0026] Figure 2 This is a structural diagram of a cleaning disc assembly according to an embodiment of the present invention;

[0027] Figure 3 This is a structural diagram of a linear electric push-pull rod according to an embodiment of the present invention;

[0028] Figure 4 This is a structural diagram of a linear electric push-pull rod (partially enlarged) according to an embodiment of the present invention;

[0029] Figure 5 A side rail structure diagram of an embodiment of the present invention;

[0030] Figure 6 A cross-sectional view of a side rail according to an embodiment of the present invention;

[0031] Figure 7 A sectional view of a side rail (partially enlarged) of an embodiment of the present invention;

[0032] Figure 8 This is a diagram of installing a cleaning device according to an embodiment of the present invention on an underwater robot;

[0033] Fig. 9 This is a schematic diagram of the cleaning device of an embodiment of the present invention extending outside the underwater robot;

[0034] Reference numerals:

[0035] 1. Cleaning plate assembly; 11. Cleaning plate; 12. Rocker arm; 13. Assembly frame; 14. Compression spring; 15. Connecting plate; 16. Push-pull plate; 2. Linear electric push-pull rod; 21. First set of rods; 22. Second set of rods; 23. Third set of rods; 24. Joint; 25. Mounting plate; 26. First sealing ring; 27. Second sealing ring; 3. Slide rail assembly; 31. First side rail; 32. Second side rail; 33. First crossbeam; 34. Second crossbeam; 35. First arm; 36 , second arm; 37, third arm; 31-1, base; 31-2, first-stage slide rail; 31-3, second-stage slide rail; 31-4, slider; 31-5, left limit plate; 31-6, right limit plate; 31-7, top block; 31-8, limit ball; 31-9, V-shaped spring; 31-10, limit hole; 4, ducted fan; 5, underwater robot; 51, push rod mounting plate; 52, first column; 53, second column; 54, third column; 55, fourth column. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and the present invention can also be implemented or applied through other different specific implementation methods. The details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0037] At the same time, it should be understood that the protection scope of the present invention is not limited to the specific embodiments described below; it should also be understood that the terms used in the embodiments of the present invention are for describing specific embodiments rather than for limiting the protection scope of the present invention.

[0038] Embodiment 1: The present invention is a cleaning device capable of cleaning across a waterline. Figure 1-9 The embodiments of the present invention are described in detail, and the specific implementation methods of the present invention are further explained.

[0039] Reference Figure 1 The cleaning device for cleaning across the waterline of the present invention is composed of a cleaning disc assembly 1, a linear electric push-pull rod 2, a slide rail assembly 3 and a ducted fan 4.

[0040] Reference Figure 2The cleaning disc assembly 1 includes a cleaning disc 11, a rocker arm 12, an assembly frame 13, a compression spring 14, a connecting plate 15, and a push-pull plate 16; there are three cleaning discs 11 in total, and the three cleaning discs 11 have exactly the same structure and are distributed in a triangular shape, and are respectively hingedly mounted on the assembly frame 13 through the rocker arm 12, and the bottom of each cleaning disc is supported by three universal wheels; a compression spring 14 is installed on the rocker arm 12 to provide a clamping force for the cleaning disc, the connecting plate 15 is fixedly mounted on the upper end surface of the assembly frame 13, and the push-pull plate 16 is fixedly mounted on the middle of the front side of the assembly frame 13.

[0041] Reference Figure 3 and Figure 4 The linear electric push-pull rod 2 has a multi-stage telescopic function, including a first set of rods 21, a second set of rods 22, a third set of rods 23, a joint 24, and a mounting plate 25; the lower end of the first set of rods 21 is fixedly mounted on the mounting plate 25, the second set of rods 22 is slidably connected to the center hole of the upper end of the first set of rods 21, and the sliding contact surface is provided with a first sealing ring 26, the third set of rods 23 is slidably connected to the center hole of the upper end of the second set of rods 22, and the sliding contact surface is provided with a second sealing ring 27, through the inner and outer nested screw rod assemblies, the third set of rods 23 and the second set of rods 22 are driven to telescope simultaneously, realizing the multi-stage telescopic function; the joint 24 is axially limitedly connected to the push-pull plate 16 to push and pull the cleaning disc assembly 1 to move, and when reaching any set position, the push rod can be self-locking and limit the movement of the cleaning disc assembly 1 through the joint 24; the mounting plate 25 is fixedly connected to the underwater robot.

[0042] Reference Figure 1 The slide rail assembly 3 includes a first side rail 31, a second side rail 32, a first crossbeam 33, a second crossbeam 34, a first arm 35, a second arm 36, and a third arm 37; the first arm 35, the second arm 36, and the third arm 37 are respectively welded to the front, middle, and rear ends between the first crossbeam 33 and the second crossbeam 34, and the first arm 35, the second arm 36, and the third arm 37 form a whole with the first crossbeam 33 and the second crossbeam 34; the first side rail 31 and the second side rail 32 are symmetrically arranged, and their sliders 31-4 are fixedly connected to the first arm 35 and the third arm 37 respectively; the connecting plate 15 of the cleaning disk assembly 1 is fixedly installed between the first crossbeam 33, the second crossbeam 34 and the first arm 35, the second arm 36.

[0043] Reference Figure 5-Figure 7The first side rail 31 and the second side rail 32 have the same structure, including a base 31-1, a first-stage slide rail 31-2, a second-stage slide rail 31-3, a slider 31-4, a left limit plate 31-5, a right limit plate 31-6, a top block 31-7, a limit ball 31-8, and a V-shaped spring 31-9; the first-stage slide rail 31-2 is fixedly installed on the base 31-1, the inner side of the first-stage slide rail 31-2 is slidably connected with the outer side of the second-stage slide rail 31-3 through a ball bearing, and the inner side of the second-stage slide rail 31-3 is slidably connected with the outer side of the slider 31-4 through a ball bearing. Sliding connection; the left and right end faces of the second-stage slide rail 31-3 are fixedly connected to the left limit plate 31-5 and the right limit plate 31-6 respectively; a V-shaped spring 31-9 is installed between the first-stage slide rail 31-2 and the second-stage slide rail 31-3 near the right side, and a limit ball 31-8 is installed on the upper part of the V-shaped spring 31-9. The limit ball 31-8 limits the sliding of the second-stage slide rail 31-3 through the limit hole 31-10 on the second-stage slide rail 31-3; the top block 31-7 is fixedly installed on the inner side of the slider 31-4 and slides with the slider 31-4.

[0044] Reference Figure 7 The lower edge of the front end of the top block 31-7 is provided with an upward inclination angle, which is not greater than the ratio of the height / radius of the limiting ball 31-8, and the limiting hole 31-10 is a conical hole.

[0045] Reference Figure 1 The ducted fan 4 is installed in the middle of the rear side of the assembly frame 13, and the ducted fan motor is a sealed structure; the three cleaning discs 11 are all cavitation jet cleaning discs. When cleaning in water, cavitation water jet cleaning has the advantages of high efficiency, good effect, and no damage to paint. The high-speed rotation of the nozzle in the water and the generation of cavitation form a negative pressure inside the cleaning disc, prompting the cleaning disc to automatically adsorb on the wall surface; when the cleaning disc moves horizontally out of the water surface for cleaning in the air, cavitation water jets can no longer be formed. At this time, the water pressure needs to be increased and high-pressure water washing is used, which will generate a large reaction force and form an overturning moment on the underwater robot. The thrust provided by the ducted fan 4 in the air can greatly offset the reaction force of the high-pressure water washing of the cleaning disc to prevent the underwater robot from overturning.

[0046] Reference Figure 8 The underwater robot 5 is a frame structure, and uses four vertical thrusters to provide wall adsorption force. The lower longitudinal beam on one side of the frame is discontinuous, leaving a channel for the cleaning device to move horizontally in and out of the robot carrier.

[0047] Reference Figure 8The cleaning device is installed inside the underwater robot 5, the mounting plate 25 of the linear electric push-pull rod 2 is fixedly mounted on the push rod mounting plate 51 on the continuous side of the longitudinal beam of the frame of the underwater robot 5, the base 31-1 of the first side rail 31 is fixedly mounted on the first column 52 and the second column 53 of the underwater robot 5, and the base 31-1 of the first side rail 31 is fixedly mounted on the third column 54 and the fourth column 55 of the underwater robot 5; when the linear electric push-pull rod 2 is at the zero position of the stroke, the cleaning disc assembly 1 is located at the center of the underwater robot 5, and the slider 31-4 is located at the leftmost end of the first-level slide rail 31-2; the maximum stroke of the linear electric push-pull rod 2 is less than the maximum extension distance of the second-level slide rail 31-3.

[0048] Example 2: Working principle and operation process of the cleaning device for cleaning across the waterline of the present invention

[0049] Reference Figure 8 and Fig. 9 When cleaning the underwater area, the linear electric push-pull rod 2 is always located at the zero position of the stroke and self-locked, limiting the cleaning disc assembly 1 to be fixed at the center position of the underwater robot 5, such as Figure 8 As shown, the cavitation water jet cleaning operation is performed as the underwater robot 5 walks; when cleaning the area near the waterline and above the waterline, the second set of rods 22 and the third set of rods 23 of the linear electric push-pull rod 2 are pushed forward to push the cleaning disc assembly 1 to move, and the cleaning disc assembly 1 drives the slider 31-4 to slide along the second-stage slide rail 31-3. At this time, the second-stage slide rail 31-3 is restricted by the limiting ball 31-8, and it has no relative sliding with the first-stage slide rail 31-2. When the slider 31-4 slides to the position of the limiting ball 31-8, the top block 31-7 on the inner side of the slider 31-4 compresses the limiting ball 31-8 to release the limit. At the same time, the slider 31-4 pushes the right limiting plate 31-6 to move, driving the second-stage slide rail 31-3 to slide out of the first-stage slide rail 31-2 until the maximum stroke of the linear electric push-pull rod 2 is reached and self-locking occurs, as shown in FIG. Fig. 9 As shown, at this time, the ducted fan 4 is turned on to apply thrust to the cleaning disc assembly 1, and the water pressure is increased for high-pressure water flushing; when the area above the waterline is cleaned, the ducted fan 4 and the high-pressure water are turned off, and the second set of rods 22 and the third set of rods 23 of the linear electric push-pull rod 2 are retracted toward the robot, and the slider 31-4 is pulled to slide back along the second-stage slide rail 31-3. When the slider 31-4 slides to the left limit plate 31-5 of the second-stage slide rail 31-3, the left limit plate 31-5 is pulled to move, and the second-stage slide rail 31-3 is driven to slide along the first-stage slide rail 31-2 toward the inside of the robot until it reaches the stroke zero position of the linear electric push-pull rod 2 and self-locks. At this time, the limit ball 31-8 is engaged with the V-shaped spring 31-9 and is inserted into the limit hole 31-10 to lock the second-stage slide rail 31-3.

[0050] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession can make some changes or modifications to the technical contents disclosed above without departing from the scope of the technical solution of the present invention to obtain equivalent embodiments of equivalent changes. However, any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A cleaning device for cleaning across a waterline, characterized in that: The cleaning device comprises a cleaning disc assembly (1), a linear electric push-pull rod (2), a slide rail assembly (3) and a ducted fan (4); wherein: The cleaning disc assembly (1) comprises a cleaning disc (11), a rocker arm (12), an assembly frame (13), a compression spring (14), a connecting plate (15), and a push-pull plate (16); the cleaning discs (11) are three in total, distributed in a triangular shape and respectively hingedly mounted on the assembly frame (13) through the rocker arm (12); a compression spring (14) is mounted on the rocker arm (12) to provide a pressing force; the connecting plate (15) is fixedly mounted on the upper end surface of the assembly frame (13); and the push-pull plate (16) is fixedly mounted on the middle of the front side of the assembly frame (13); The linear electric push-pull rod (2) has a multi-stage telescopic function, and comprises a first set of rods (21), a second set of rods (22), a third set of rods (23), a joint (24), and a mounting plate (25); the lower end of the first set of rods (21) is fixedly mounted on the mounting plate (25); the second set of rods (22) is slidably connected to the center hole of the upper end of the first set of rods (21), and the sliding contact surface is provided with a first sealing ring (26); the third set of rods (23) is slidably connected to the center hole of the upper end of the second set of rods (22), and the sliding contact surface is provided with a second sealing ring (27); the joint (24) is axially limitedly connected to the push-pull plate (16), and the mounting plate (25) is fixedly connected to the underwater robot; The slide rail assembly (3) comprises a first side rail (31), a second side rail (32), a first crossbeam (33), a second crossbeam (34), a first support arm (35), a second support arm (36), and a third support arm (37); wherein the first side rail (31) and the second side rail (32) have the same structure, and comprise a base (31-1), a first-stage slide rail (31-2), a second-stage slide rail (31-3), a slider (31-4), a left limit plate (31-5), a right limit plate (31-6), a top block (31-7), a limit ball (31-8), and a V-shaped spring (31-9); the first-stage slide rail (31-2) is fixedly mounted on the base (31-1), and the inner side of the first-stage slide rail (31-2) is connected to the inner side of the second-stage slide rail (31-3). The outer side of the slide rail (31-3) is connected by ball sliding, and the inner side of the second-stage slide rail (31-3) is connected by ball sliding to the outer side of the slider (31-4); the left and right end surfaces of the second-stage slide rail (31-3) are respectively fixedly connected to the left limit plate (31-5) and the right limit plate (31-6); a V-shaped spring (31-9) is installed between the first-stage slide rail (31-2) and the second-stage slide rail (31-3) near the right side, and a limit ball (31-8) is installed on the upper part of the V-shaped spring (31-9), and the limit ball (31-8) limits the sliding of the second-stage slide rail (31-3) through the limit hole (31-10) on the second-stage slide rail (31-3); the top block (31-7) is fixedly installed on the inner side of the slider (31-4); The ducted fan (4) is installed in the middle of the rear side of the assembly frame (13).

2. The cleaning device for cleaning across the waterline according to claim 1 is characterized in that: The three cleaning disks (11) are all cavitation jet cleaning disks. When they are cleaned in water, they are cleaned by cavitation water jets. When they are removed from the water surface and cleaned in the air, they are washed by high-pressure water.

3. The cleaning device for cleaning across the waterline according to claim 1 is characterized in that: The first arm (35), the second arm (36) and the third arm (37) are respectively welded to the front, middle and rear ends between the first cross beam (33) and the second cross beam (34); the first arm (35), the second arm (36) and the third arm (37) form a whole with the first cross beam (33) and the second cross beam (34); the first arm (35) and the third arm (37) are respectively fixedly connected to the sliders (31-4) of the first side rail (31) and the second side rail (32); the connecting plate (15) is fixedly installed between the first cross beam (33), the second cross beam (34) and the first arm (35) and the second arm (36).

4. The cleaning device for cleaning across the waterline according to claim 1 is characterized in that: The stroke zero position of the linear electric push-pull rod (2) is at the leftmost end of the first-stage slide rail (31-2), and the maximum stroke is less than the maximum extension distance of the second-stage slide rail (31-3). The linear electric push-pull rod (2) can self-lock at any position to limit the movement of the cleaning tray assembly (1).

5. The cleaning device for cleaning across the waterline according to claim 1, characterized in that: The lower edge of the front end of the top block (31-7) is provided with an upward inclination angle, which is not greater than the ratio of the height to the radius of the limiting ball (31-8); and the limiting hole (31-10) is a tapered hole.

6. Use of the cleaning device for cleaning across the waterline according to any one of claims 1 to 5 in underwater cleaning operations.

7. An underwater robot, characterized in that: The underwater robot is of a frame structure and is internally installed with a cleaning device for cleaning across the waterline as described in any one of claims 1 to 5.

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