Magnetic adsorption mobile underwater cleaning detection robot

Abstract

The invention provides a magnetic adsorption mobile underwater cleaning detection robot, and belongs to the technical field of underwater cleaning detection. Comprising a vehicle body frame, a damping mechanism, a power mechanism, a mounting base, a swing mechanism, a high-pressure water pipe, an adjusting mechanism and a cleaning mechanism; the vehicle body frame is provided with an electronic cabin; four groups of damping mechanisms are arranged; four groups of power mechanisms are arranged and are connected with the vehicle body frame through the damping mechanism; the mounting seat is arranged on the vehicle body frame; the swing mechanism is arranged in the mounting seat; the high-pressure water pipe is rotationally connected with the mounting disc; the adjusting mechanism is arranged on the mounting disc; and the cleaning mechanism is arranged on the high-pressure water pipe. Through cooperative arrangement of the swing mechanism, the cleaning mechanism and the high-pressure water gun, the high-pressure water gun swings to wash and clean the jacket structure or the bottom of the ship body, meanwhile, the cleaning mechanism works to scrub the jacket structure or the bottom of the ship body, and the cleaning quality and cleaning efficiency of the jacket structure or the bottom of the ship body are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater cleaning and detection, and particularly to a magnetically adsorbed mobile underwater cleaning and detection robot. Background Art

[0002] The magnetic adsorption underwater cleaning and detection robot is a robot specifically designed for underwater cleaning and detection tasks. It uses magnetic adsorption technology to attach to the surface to be cleaned or detected. The magnetic adsorption underwater cleaning and detection robot is usually equipped with a permanent magnet adsorption trolley, a console, a towing cable or a cleaning and detection mechanism. These robots can carry tools such as a high-pressure water system and a monitoring camera according to the work needs to complete the cleaning work on the outer surface of the ship. In addition, they can also be used for the detection of underwater structures, collecting data through high-precision cameras and other sensors, providing important information for subsequent maintenance and repair.

[0003] The Chinese patent with the publication number CN212980379U discloses a wall-climbing robot with a high-pressure water gun. The wall-climbing robot is adsorbed on the exterior wall of a building through a suction cup at the lower part of the wall-climbing robot body, and in the process of moving, the water in the water tank is sucked and pressurized through the high-pressure water gun, and then sprayed onto the exterior wall of the building for cleaning. The technical solution has the following disadvantages: due to the complex underwater conditions, the simple method of flushing and cleaning with a high-pressure water gun is not only difficult to ensure sufficient and effective cleaning of underwater structures, but also has low cleaning efficiency and poor practicability.

[0004] At present, the existing magnetic adsorption underwater cleaning and detection robots have two major deficiencies: one is that most of them use permanent magnet adsorption. If the external contact structure and anti-slip material are not well designed, it is easy to fall off due to insufficient adsorption force under the impact of water flow and uneven working surfaces, affecting efficiency and possibly damaging the robot; the other is that although they can operate underwater, in terms of cleaning, most rely on fixed high-pressure water guns, which are difficult to deal with complex dirt and cannot flexibly adjust the cleaning method, resulting in incomplete cleaning and low efficiency; in terms of detection, the functions of sensors and cameras are single, and the data collection is not comprehensive and accurate enough to meet the needs of complex underwater detection. Summary of the Invention

[0005] The object of the present invention is to propose a magnetically adsorbed mobile underwater cleaning and detection robot aiming at the problems existing in the background art.

[0006] To achieve the above object, the technical solution of the present invention is implemented as follows: A magnetically adsorbed mobile underwater cleaning and detection robot, comprising: a vehicle body frame and an electronic cabin arranged on the vehicle body frame. A power mechanism and a mounting seat are installed on the vehicle body frame. Four power mechanisms are respectively arranged at the four corners of the vehicle body frame. The top of the mounting seat is provided with a mounting disc. A swinging mechanism is arranged inside the mounting seat. At the same time, the output end of the swinging mechanism is connected to the mounting disc and is used to drive the mounting disc to rotate. A high-pressure water pipe is rotatably connected to the mounting disc. One end of the high-pressure water pipe is communicated with a high-pressure water gun. A cleaning mechanism is connected to the position of the high-pressure water pipe near the high-pressure water gun. The cleaning mechanism is used to cooperate with the high-pressure water gun for cleaning operations. An angle adjustment mechanism for adjusting the angle between the high-pressure water pipe and the mounting disc is also installed on the mounting disc. One end of the adjustment mechanism is connected to the high-pressure water pipe.

[0007] Further, shock-absorbing mechanisms are respectively arranged at the four corner positions of the bottom of the vehicle body frame. There are four groups of shock-absorbing mechanisms. The four groups of shock-absorbing mechanisms correspond to the four groups of power mechanisms one by one. The power mechanism is connected to the vehicle body frame through the shock-absorbing mechanism.

[0008] Further, the driving wheels of the power mechanism adopt magnetic adsorption wheels. Under the action of the magnetic adsorption wheels, the power mechanism can roll along the jacket structure or the bottom of the hull in a fitting manner.

[0009] Further, the cleaning mechanism includes a mounting box, a mounting shaft, a cleaning head and a power component; the mounting box is fixedly connected to the high-pressure water pipe. The mounting shaft and the power component are both arranged inside the mounting box. At the same time, both ends of the mounting shaft respectively penetrate and extend to the outside of the mounting box. There are two cleaning heads. The two cleaning heads are respectively detachably connected to both ends of the mounting shaft.

[0010] Further, the power component includes a power motor, a power worm and a power worm gear; the power worm and the power worm gear are respectively arranged inside the mounting box. The power worm gear is sleeved on the mounting shaft and fixedly connected to the mounting shaft. At the same time, the power worm gear meshes with the power worm. The power motor is arranged outside the mounting box and fixedly connected to the mounting box. One end of the power worm penetrates the mounting box and is connected to the output end of the power motor. The other end of the power worm is arranged inside the mounting box and is rotatably connected to the mounting box.

[0011] Further, the swinging mechanism includes a support shaft, a driving motor, a driving rod and a transmission component; one end of the support shaft is arranged inside the mounting seat. The other end of the support shaft penetrates the top side wall of the mounting seat and is fixedly connected to the mounting seat. The driving motor is arranged outside the mounting seat and fixedly connected to the mounting seat. One end of the driving rod is connected to the output end of the driving motor. The other end of the driving rod extends into the mounting seat. One end of the transmission component is connected to the driving rod. The other end of the transmission component is connected to the support shaft.

[0012] Further, the transmission assembly includes a driving gear and a driven gear; the driving gear is fixedly connected to the driving rod, the driven gear is fixedly connected to the support shaft, and the driving gear meshes with the driven gear.

[0013] Further, the adjusting mechanism includes a telescopic rod and a sliding sleeve; one end of the telescopic rod is fixedly connected to the mounting plate, the other end is rotatably connected to the sliding sleeve, and the sliding sleeve is sleeved outside the high-pressure water pipe and slidably connected to the high-pressure water pipe.

[0014] Further, an observation head is provided on the front surface of the mounting seat, and a searchlight is provided above the observation head on the front surface of the mounting seat.

[0015] Further, a control system is provided in the electronic cabin, and the drive motor, the power motor, the observation head, the searchlight, and the control unit of the power mechanism are electrically connected to the control system respectively. The control system can not only control the drive motor to rotate forward or backward and start or stop, the power motor to rotate forward or backward and start or stop, but also control the opening or closing of the observation head, the opening or closing of the searchlight, and control the power mechanism to perform actions.

[0016] Compared with the prior art, the magnetic adsorption mobile underwater cleaning and detection robot of the present invention has the following advantages:

[0017] (1) Through the cooperative setting among the swinging mechanism, the cleaning mechanism and the high-pressure water gun, the swinging mechanism drives the high-pressure water gun to swing back and forth to wash and clean the jacket structure or the bottom of the hull.

[0018] (2) The cleaning mechanism drives the cleaning head to rotate to brush the jacket structure or the bottom of the hull, which can effectively improve the cleaning quality and efficiency of the jacket structure or the bottom of the hull.

[0019] (3) The image of the jacket structure or the bottom of the hull is collected through the setting of the observation head, which is convenient for observing the cleaning situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0021] Figure 1 is a perspective view of an embodiment proposed by the present invention;

[0022] Figure 2 is a schematic structural diagram of the cooperation connection of the mounting seat, the mounting plate, the high-pressure water pipe, and the cleaning mechanism in an embodiment proposed by the present invention;

[0023] Figure 3Schematic structural diagram of a swing mechanism in an embodiment proposed by the present invention;

[0024] Figure 4 Schematic structural diagram of a cleaning mechanism in an embodiment proposed by the present invention.

[0025] Explanation of reference numerals:

[0026] 1, vehicle body frame; 2, adjustment mechanism; 3, swing mechanism; 4, cleaning mechanism; 5, electronic cabin; 6, shock absorption mechanism; 7, power mechanism; 8, mounting seat; 9, mounting disc; 10, high-pressure water pipe; 11, high-pressure water gun; 12, observation head; 13, searchlight;

[0027] 21, telescopic rod; 22, sliding sleeve; 31, support shaft; 32, drive motor; 331, driving gear; 332, driven gear; 34, drive rod; 41, mounting box; 42, mounting shaft; 43, cleaning head; 441, power motor; 442, power worm; 443, power worm gear. Detailed implementation manners

[0028] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0029] The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0030] Embodiment 1

[0031] As Figures 1 - 4 shown, the present invention provides a magnetically adsorbed mobile underwater cleaning and detection robot, including a vehicle body frame 1, a shock absorption mechanism 6, a power mechanism 7, a mounting seat 8, a swing mechanism 3, a high-pressure water pipe 10, an adjustment mechanism 2 and a cleaning mechanism 4;

[0032] The vehicle body frame 1 is provided with an electronic cabin 5 thereon, and a control system and a power supply are arranged in the electronic cabin 5. The control system and the power supply are electrically connected, and the control system is remotely wirelessly connected to a control room on the ground; the control room is a prior art.

[0033] The shock absorption mechanism 6 is provided with four groups, and the four groups of shock absorption mechanisms 6 are respectively arranged at the four corners of the bottom of the vehicle body frame 1;

[0034] The power mechanism 7 is provided with four groups and corresponds to the shock absorption mechanism 6 one by one. The power mechanism 7 is connected to the vehicle body frame 1 through the shock absorption mechanism 6; the driving wheels of the power mechanism 7 are magnetic adsorption wheels, and the power mechanism 7 can roll along the jacket structure or the bottom of the hull under the action of the magnetic adsorption wheels. The control unit of the power mechanism 7 is respectively electrically connected to the control system and the power supply arranged in the electronic cabin 5. The control system can control the power mechanism 7 to perform actions, so as to realize the forward, backward or turning actions of the driving wheels. The power mechanism 7 and the cabin are prior arts respectively.

[0035] The mounting base 8 is arranged on the vehicle body frame 1, and a mounting plate 9 is rotatably connected to the top of the mounting base 8;

[0036] The swing mechanism 3 is arranged in the mounting base 8, and the output end of the swing mechanism 3 is connected to the mounting plate 9 and is used to drive the mounting plate 9 to rotate;

[0037] The high-pressure water pipe 10 is rotatably connected to the mounting plate 9 at the middle position thereof, and one end of the high-pressure water pipe 10 communicates with a high-pressure water gun 11; the high-pressure water gun 11 is electrically connected to the control system and the power supply arranged in the electronic cabin 5 respectively, and the control system can control the high-pressure water gun 11 to be turned on or off.

[0038] The adjusting mechanism 2 is arranged on the mounting plate 9, and one end of the adjusting mechanism 2 is connected to the high-pressure water pipe 10 and is used to adjust the angle between the high-pressure water pipe 10 and the mounting plate 9;

[0039] The cleaning mechanism 4 is arranged on the high-pressure water pipe 10 and is used to cooperate with the high-pressure water gun 11 for cleaning operations.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0041] Embodiment 2

[0042] Such as Figures 1 - 3As shown in the figure, a magnetically adsorbed mobile underwater cleaning and detection robot proposed by the present invention specifically discloses the structure of the swing mechanism 3 compared with Embodiment 1; the swing mechanism 3 includes a support shaft 31, a drive motor 32, a drive rod 34 and a transmission component; one end of the support shaft 31 is arranged in the mounting seat 8, and the other end of the support shaft 31 penetrates through the top side wall of the mounting seat 8 and is fixedly connected to the mounting seat 8. The drive motor 32 is arranged outside the mounting seat 8 and is fixedly connected to the mounting seat 8. The drive motor 32 is a waterproof motor with the function of forward and reverse rotation, and is electrically connected to the control system and power supply arranged in the electronic cabin 5 through wires. The control system can not only control the drive motor 32 to perform forward or reverse rotation actions, but also control the start or stop of the drive motor 32. The swing mechanism 3 can drive the cleaning head 43 to swing back and forth, so that the swing range of the cleaning head 43 covers the width of the cleaning robot. One end of the drive rod 34 is connected to the output end of the drive motor 32, and the other end of the drive rod 34 extends into the mounting seat 8. One end of the transmission component is connected to the drive rod 34, and the other end of the transmission component is connected to the support shaft 31. The transmission component includes a driving gear 331 and a driven gear 332; the driving gear 331 is fixedly connected to the drive rod 34, the driven gear 332 is fixedly connected to the support shaft 31, and the driving gear 331 meshes with the driven gear 332.

[0043] When it is necessary to swing the high-pressure water gun 11 or the cleaning mechanism 4, when the drive motor 32 rotates forward, the forward rotation of the drive motor 32 can drive the driving gear 331 to rotate clockwise through the drive rod 34. The clockwise rotation of the driving gear 331 drives the driven gear 332 and the support shaft 31 to rotate clockwise together through meshing. The rotation of the support shaft 31 can drive the mounting disk 9 to rotate clockwise, and through the rotation of the mounting disk 9, the high-pressure water gun 11 and the cleaning mechanism 4 can be driven to rotate clockwise around the support shaft 31 together; similarly, when the motor rotates in reverse, the reverse rotation of the drive motor 32 can drive the driving gear 331 to rotate counterclockwise through the drive rod 34. The counterclockwise rotation of the driving gear 331 drives the driven gear 332 and the support shaft 31 to rotate counterclockwise together through meshing. The rotation of the support shaft 31 can drive the mounting disk 9 to rotate counterclockwise, and through the rotation of the mounting disk 9, the high-pressure water gun 11 and the cleaning mechanism 4 can be driven to rotate counterclockwise around the support shaft 31 together. Finally, the forward and reverse rotation of the drive motor 32 can drive the high-pressure water gun 11 and the cleaning mechanism 4 to swing together.

[0044] Embodiment 3

[0045] As Figures 1 - 2As shown in the figure, a magnetically adsorbed mobile underwater cleaning and detection robot proposed by the present invention specifically discloses the structure of the adjustment mechanism 2 compared with Embodiment 2; the adjustment mechanism 2 includes a telescopic rod 21 and a sliding sleeve 22; one end of the telescopic rod 21 is fixedly connected to the mounting plate 9, and the other end is rotatably connected to the sliding sleeve 22. The sliding sleeve 22 is sleeved outside the high-pressure water pipe 10 and is slidably connected to the high-pressure water pipe 10. The telescopic rod 21 is an electric telescopic rod and is electrically connected to the control system and power supply provided in the electronic cabin 5 through a wire. The electric telescopic rod is a prior art and will not be elaborated here. The control system can not only control the electric telescopic rod to extend or shorten, but also control the opening or shutdown of the electric telescopic rod. When the telescopic rod 21 extends, the high-pressure water pipe 10 rotates clockwise along its rotational hinge point with the mounting plate 9, and at the same time, the sliding sleeve 22 slides along the outer wall of the high-pressure water pipe 10, and the end of the high-pressure water pipe 10 provided with the high-pressure water gun 11 descends, thereby realizing the lowering of the position of the high-pressure water gun 11; when the telescopic rod 21 shortens, the high-pressure water pipe 10 rotates counterclockwise along its rotational hinge point with the mounting plate 9, and at the same time, the sliding sleeve 22 slides along the outer wall of the high-pressure water pipe 10, and the end of the high-pressure water pipe 10 provided with the high-pressure water gun 11 rises, thereby realizing the elevation of the position of the high-pressure water gun 11.

[0046] Embodiment 4

[0047] As Figures 2 - 4 As shown in the figure, a magnetically adsorbed mobile underwater cleaning and detection robot proposed by the present invention specifically discloses the structure of the cleaning mechanism 4 compared with Embodiment 3; the cleaning mechanism 4 includes a mounting box 41, a mounting shaft 42, a cleaning head 43 and a power assembly; the mounting box 41 is fixedly connected to the high-pressure water pipe 10, the mounting shaft 42 is arranged inside the mounting box 41, and at the same time, both ends of the mounting shaft 42 respectively penetrate and extend outside the mounting box 41. There are two cleaning heads 43, and the two cleaning heads 43 are respectively detachably connected to both ends of the mounting shaft 42, which is convenient to replace different cleaning heads 43 according to different cleaning environments and cleaning requirements. The cleaning head 43 is a wheel structure. In order to improve the cleaning effect, the outer surface of the cleaning head 43 can be provided with bristles, and at the same time, the bristles are arranged on the outer circumference of the wheel, or the outer surface of the cleaning head 43 is provided with an anti-slip structure that can increase roughness. When the cleaning head rotates, the outer surface of the cleaning head contacts the cabin body and can continuously brush the cabin body, thereby realizing the cleaning of the cabin body.

[0048] The power assembly is arranged inside the installation box 41. The output end of the power assembly is in transmission connection with the installation shaft 42. The power assembly includes a power motor 441, a power worm 442 and a power worm gear 443. The power worm 442 and the power worm gear 443 are respectively arranged inside the installation box 41. The power worm gear 443 is sleeved on the installation shaft 42 and fixedly connected to the installation shaft 42. At the same time, the power worm gear 443 meshes with the power worm 442. The power motor 441 is arranged outside the installation box 41 and fixedly connected to the installation box 41. The power motor 441 is a waterproof motor and is electrically connected to the control system and the power supply arranged in the electronic cabin 5 through wires. The control system can not only control the forward or reverse rotation of the power motor 441, but also control the startup or stop of the power motor 441. One end of the power worm 442 passes through the installation box 41 and is connected to the output end of the power motor 441. The other end of the power worm 442 is arranged inside the installation box 41 and rotatably connected to the installation box 41. Preferably, a bearing is installed on the inner wall of the installation box 41, and the power worm 442 is rotatably connected to the installation box 41 through the bearing.

[0049] When it is necessary to use the cleaning head 43 to brush the jacket structure or the bottom of the hull, when the power motor 441 rotates forward, the forward rotation of the power motor 441 can drive the power worm gear 443 and the installation shaft 42 to rotate clockwise together through the power worm 442. The rotation of the installation shaft 42 can drive the cleaning head 43 to rotate clockwise. When the power motor 441 rotates reversely, the reverse rotation of the power motor 441 can drive the power worm gear 443 and the installation shaft 42 to rotate counterclockwise together through the power worm 442. The rotation of the installation shaft 42 can drive the cleaning head 43 to rotate counterclockwise.

[0050] Embodiment 5

[0051] As Figures 1 - 2 shown, a magnetically adsorbed mobile underwater cleaning and detection robot proposed by the present invention, compared with Embodiment 4, this embodiment further includes that an observation head 12 is arranged on the front surface of the mounting seat 8, and a searchlight 13 is arranged above the observation head 12 on the front surface of the mounting seat 8. The observation head 12 and the searchlight 13 are respectively electrically connected to the control system and the power supply arranged in the electronic cabin 5 through wires. At the same time, the control system can control the opening or closing of the observation head 12 and the opening or closing of the searchlight 13. Images of the jacket structure or the bottom of the hull are collected through the observation head 12, which is convenient for operators to observe the cleaning situation. The searchlight 13 provides supplementary light to facilitate image collection by the observation head 12.

[0052] During the actual working process, the underwater situation can be observed through the observation head 12. The control system in the electronic cabin 5 controls the movement of the power mechanism 7 according to the observed underwater situation. The movement of the power mechanism 7 drives the robot to move. The high-pressure water pipe 10 is connected to an external high-pressure water supply system to provide high-pressure water for the high-pressure water gun 11. The high-pressure water gun 11 sprays high-pressure water to scour the jacket structure or the bottom of the hull. The rotation of the drive motor 32 can drive the rotation of the driving gear 331 through the drive rod 34. The rotation of the driving gear 331 drives the driven gear 332 and the support shaft 31 to rotate together through meshing. The rotation of the support shaft 31 can drive the installation disk 9 to rotate. By rotating the installation disk 9, the high-pressure water gun 11 and the cleaning mechanism 4 can be driven to rotate around the support shaft 31 together. Finally, the forward and reverse rotation of the drive motor 32 can drive the high-pressure water gun 11 and the cleaning mechanism 4 to swing together. The operation of the power motor 441 can drive the power worm gear 442 to drive the power worm wheel 443 and the installation shaft 42 to rotate together. The rotation of the installation shaft 42 can drive the cleaning head 43 to rotate, so as to realize the scrubbing of the jacket structure or the bottom of the hull, thereby improving the cleaning quality and cleaning efficiency of the jacket structure or the bottom of the hull. The external high-pressure water supply system is a prior art.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetically adsorbed mobile underwater cleaning and detection robot, characterized in that, Including: A vehicle body frame (1) and an electronic cabin (5) arranged on the vehicle body frame (1). A power mechanism (7) and a mounting seat (8) are installed on the vehicle body frame (1). Four power mechanisms (7) are respectively arranged at the four corners of the vehicle body frame (1). The top of the mounting seat (8) is provided with a mounting disc (9). A swinging mechanism (3) is arranged inside the mounting seat (8). At the same time, the output end of the swinging mechanism (3) is connected to the mounting disc (9) and is used to drive the mounting disc (9) to rotate. A high-pressure water pipe (10) is rotatably connected to the mounting disc (9). One end of the high-pressure water pipe (10) is communicated with a high-pressure water gun (11). A cleaning mechanism (4) is connected to the position of the high-pressure water pipe (10) close to the high-pressure water gun (11). The cleaning mechanism (4) is used to cooperate with the high-pressure water gun (11) for cleaning operations. An adjusting mechanism for adjusting the angle between the high-pressure water pipe (10) and the mounting disc (9) is also installed on the mounting disc (9). One end of the adjusting mechanism (2) is connected to the high-pressure water pipe (10).

2. The magnetic adsorption mobile underwater cleaning and detection robot according to claim 1, characterized in that: Shock-absorbing mechanisms (6) are respectively arranged at the four corner positions of the bottom of the vehicle body frame (1). There are four groups of shock-absorbing mechanisms (6). The four groups of shock-absorbing mechanisms (6) correspond to the four groups of power mechanisms (7) one by one. The power mechanism (7) is connected to the vehicle body frame (1) through the shock-absorbing mechanism (6).

3. The magnetically adsorbed mobile underwater cleaning and detection robot according to claim 1, characterized in that: The driving wheels of the power mechanism (7) adopt magnetic wheels. Under the action of the magnetic wheels, the power mechanism (7) can roll along the jacket structure or the bottom of the hull in a fitting manner.

4. The magnetic adsorption mobile underwater cleaning and detection robot according to claim 1, wherein: The cleaning mechanism (4) includes a mounting box (41), a mounting shaft (42), a cleaning head (43) and a power component; the mounting box (41) is fixedly connected to the high-pressure water pipe (10). The mounting shaft (42) and the power component are both arranged inside the mounting box (41). At the same time, both ends of the mounting shaft (42) respectively penetrate and extend to the outside of the mounting box (41). There are two cleaning heads (43). The two cleaning heads (43) are respectively detachably connected to both ends of the mounting shaft (42).

5. The magnetically adsorbed mobile underwater cleaning and detection robot according to claim 4, characterized in that: The power component includes a power motor (441), a power worm (442) and a power worm gear (443); the power worm (442) and the power worm gear (443) are respectively arranged inside the mounting box (41). The power worm gear (443) is sleeved on the mounting shaft (42) and is fixedly connected to the mounting shaft (42). At the same time, the power worm gear (443) meshes with the power worm (442). The power motor (441) is arranged outside the mounting box (41) and is fixedly connected to the mounting box (41). One end of the power worm (442) penetrates out of the mounting box (41) and is connected to the output end of the power motor (441). The other end of the power worm (442) is arranged inside the mounting box (41) and is rotatably connected to the mounting box (41).

6. The magnetically adsorbed mobile underwater cleaning and inspection robot according to claim 1, characterized in that: The swing mechanism (3) includes a support shaft (31), a drive motor (32), a drive rod (34) and a transmission component; one end of the support shaft (31) is arranged in the mounting seat (8), the other end of the support shaft (31) penetrates through the top side wall of the mounting seat (8) and is fixedly connected to the mounting seat (8), the drive motor (32) is arranged outside the mounting seat (8) and is fixedly connected to the mounting seat (8), one end of the drive rod (34) is connected to the output end of the drive motor (32), the other end of the drive rod (34) extends into the mounting seat (8), one end of the transmission component is connected to the drive rod (34), and the other end of the transmission component is connected to the support shaft (31).

7. The magnetically adsorbed mobile underwater cleaning and inspection robot according to claim 6, wherein: The transmission component includes a driving gear (331) and a driven gear (332); the driving gear (331) is fixedly connected to the drive rod (34), the driven gear (332) is fixedly connected to the support shaft (31), and the driving gear (331) meshes with the driven gear (332).

8. The magnetically adsorbed mobile underwater cleaning and inspection robot according to claim 1, characterized in that: The adjusting mechanism (2) includes a telescopic rod (21) and a sliding sleeve (22); one end of the telescopic rod (21) is fixedly connected to the mounting disc (9), the other end is rotatably connected to the sliding sleeve (22), and the sliding sleeve (22) is sleeved outside the high-pressure water pipe (10) and is slidably connected to the high-pressure water pipe (10).

9. The magnetically adsorbed mobile underwater cleaning and detection robot according to claim 1, wherein: An observation head (12) is arranged on the front surface of the mounting seat (8), and a searchlight (13) is arranged on the front surface of the mounting seat (8) and above the observation head (12).

10. The magnetically adsorbed mobile underwater cleaning and inspection robot according to claim 9, characterized in that: A control system is arranged in the electronic cabin (5), and the drive motor (32), the power motor (441), the observation head (12), the searchlight (13) and the control unit of the power mechanism (7) are electrically connected to the control system respectively. The control system can not only control the drive motor (32) to rotate forward or backward and start or stop, the power motor (441) to rotate forward or backward and start or stop, but also control the opening or closing of the observation head (12), the opening or closing of the searchlight (13), and control the power mechanism (7) to realize actions.

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