An underwater cleaning robot

Abstract

The application belongs to the field of underwater pipeline cleaning and specifically discloses an underwater cleaning robot, which comprises a bionic sucker type adhering walking mechanism, a wrapping type self-adaptive cleaning device and a buoyancy adjusting mechanism, the wrapping type self-adaptive cleaning device is arranged on the bionic sucker type adhering walking mechanism, and the buoyancy adjusting mechanism is arranged on the bionic sucker type adhering walking mechanism. The underwater cleaning robot has the advantages of pipe diameter self-adaption, wrapping type cleaning, buoyancy adjusting energy saving, stable walking and environment friendliness.

Description

Technical Field

[0001] This invention belongs to the field of underwater pipeline cleaning technology, specifically referring to an underwater cleaning robot. Background Technology

[0002] With the continuous development of modern industry and urbanization, underwater pipeline systems have been widely used in many fields, such as water supply and drainage engineering, oil and gas transportation, and submarine cable protection. However, during long-term use, the surface of underwater pipelines is prone to the accumulation of various dirt, biofilms, corrosion products, and other impurities. These deposits not only affect the normal function of the pipeline, such as reducing its transport efficiency and increasing fluid resistance, but may also accelerate corrosion, shorten its service life, and potentially lead to leaks and other safety hazards, resulting in serious economic losses and environmental risks.

[0003] Traditional underwater pipe cleaning methods often face numerous challenges. Manual cleaning is inefficient and dangerous due to the complex underwater environment; factors such as water pressure and low temperatures pose threats to the health and safety of divers. Furthermore, some chemical cleaning methods may damage pipe materials or pollute the surrounding aquatic environment. Mechanical cleaning tools are often poorly adapted to pipes with irregular shapes and varying diameters, making comprehensive and effective cleaning difficult. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, this invention provides an underwater cleaning robot that features adaptive pipe diameter wrapping cleaning, buoyancy adjustment for energy saving, stable walking, and environmental friendliness.

[0005] The technical solution adopted by this invention is as follows: This invention provides an underwater cleaning robot, including a biomimetic suction cup-type conforming walking mechanism, a wrap-around adaptive cleaning device, and a buoyancy adjustment mechanism. The wrap-around adaptive cleaning device is disposed on the biomimetic suction cup-type conforming walking mechanism, and the buoyancy adjustment mechanism is disposed on the biomimetic suction cup-type conforming walking mechanism. The wrap-around adaptive cleaning device includes a fixed mounting component, a fixed conforming cleaning component, a symmetrical hugging cleaning component, a staggered hugging cleaning component, and an auxiliary moving hugging cleaning component. The fixed mounting component is disposed on the biomimetic suction cup-type conforming walking mechanism, the fixed conforming cleaning component is disposed on the fixed mounting component, the symmetrical hugging cleaning component is disposed on the fixed mounting component and below the fixed conforming cleaning component, the staggered hugging cleaning component is disposed on the biomimetic suction cup-type conforming walking mechanism and below the symmetrical hugging cleaning component, and the auxiliary moving hugging cleaning component is disposed on the biomimetic suction cup-type conforming walking mechanism and below the staggered hugging cleaning component.

[0006] Furthermore, the fixed bonding cleaning component includes a fixed bonding plate, an adaptive cleaning blade, a spring, and cleaning bristles. The fixed bonding plate is disposed on the fixed mounting component, the spring is inclinedly disposed on the upper wall of the fixed bonding plate, the adaptive cleaning blade is disposed on the spring, and the cleaning bristles are disposed on the side wall of the fixed bonding plate.

[0007] Preferably, the symmetrical embracing cleaning component includes a drive gear, a meshing gear, a left cleaning component, a right cleaning component, and a drive motor. The drive gear is rotatably mounted on the fixed mounting component, the meshing gear is rotatably mounted on the fixed mounting component, the meshing gear is meshed with the drive gear, the left cleaning component is connected to the drive gear, the right cleaning component is connected to the meshing gear, the drive motor is mounted on the fixed mounting component, and the output end of the drive motor is connected to the drive gear.

[0008] Furthermore, the left cleaning component includes a left embracing cleaning plate, a connecting spring, and a left cleaning blade. The left embracing cleaning plate is connected to a drive gear, and left cleaning bristles are provided on the side wall of the left embracing cleaning plate. The connecting spring is inclinedly disposed on the upper wall of the left embracing cleaning plate, and the left cleaning blade is disposed on the connecting spring. The structure of the right cleaning component is the same as that of the left cleaning component.

[0009] The misaligned embracing cleaning component includes an upper embracing cleaning component and a lower embracing cleaning component. The upper embracing cleaning component includes a fixed frame plate, an upper embracing cleaning plate, an upper connecting spring, an upper cleaning blade, upper cleaning bristles, and a cleaning motor. The fixed frame plate is mounted on a biomimetic suction cup-type conforming walking mechanism. The upper embracing cleaning plate is rotatably mounted in the fixed frame plate. The upper connecting spring is inclinedly mounted on the upper upper embracing cleaning plate wall. The upper cleaning blade is mounted on the upper connecting spring. The upper cleaning bristles are mounted on the side wall of the upper embracing cleaning plate. The cleaning motor is mounted on the fixed frame plate, and the output end of the cleaning motor is connected to the upper embracing cleaning plate. The structure of the lower embracing cleaning component is the same as that of the upper embracing cleaning component.

[0010] Furthermore, the auxiliary mobile hugging and cleaning component includes a fixing component, an auxiliary hugging and cleaning plate, an auxiliary cleaning spring, an auxiliary cleaning blade, an auxiliary fixing frame, an auxiliary wheel, and an auxiliary motor. The fixing component is mounted on the bionic suction cup-type adhesion and walking mechanism. The auxiliary hugging and cleaning plate is rotatably mounted on the fixing component. The auxiliary cleaning spring is inclinedly mounted on the upper wall of the auxiliary hugging and cleaning plate. The auxiliary cleaning blade is mounted on the auxiliary cleaning spring. The auxiliary fixing frame is mounted on the auxiliary hugging and cleaning plate. The auxiliary wheel is rotatably mounted on the auxiliary fixing frame. The auxiliary motor is mounted on the fixing component. The output end of the auxiliary motor is connected to the auxiliary hugging and cleaning plate.

[0011] As a further preferred embodiment of the present invention, the buoyancy adjustment mechanism includes a float, a water pump, and a connecting pipe. The float is mounted on a biomimetic suction cup-type conforming walking mechanism, the water pump is mounted on a fixed mounting component, one end of the connecting pipe is connected to the water pump, and the other end of the connecting pipe is connected to the float through the water pump.

[0012] Furthermore, the biomimetic suction cup-type adhesive walking mechanism includes a fixed support connector and a tracked walking component, wherein the tracked walking component is symmetrically arranged on the fixed support connector; the tracked walking component includes a fixed plate, a drive gear, a track, and a walking motor, wherein the drive gear is rotatably mounted on the fixed plate, the track is sleeved on the drive gear, the fixed support connector has a drive cavity, the walking motor is located in the drive cavity, and the output end of the walking motor is connected to the drive gear.

[0013] The inner sidewall of the track is provided with a meshing groove, and the track is connected to the drive toothed disc through the meshing groove.

[0014] Furthermore, the outer wall of the track is provided with biomimetic suction cups to enhance the adhesion to the pipe and effectively prevent the robot from slipping.

[0015] The beneficial effects achieved by the present invention using the above structure are as follows:

[0016] 1. When the robot of the present invention is working, it drives multiple hugging cleaning plates (left hugging cleaning plate, upper hugging cleaning plate, auxiliary hugging cleaning plate, etc.) to rotate through the drive motor, so as to achieve a hugging and tight wrapping of the pipe to be cleaned. This wrapping design allows the cleaning components to fully contact the pipe surface. Whether it is a symmetrical hugging cleaning component, a staggered hugging cleaning component, or an auxiliary moving hugging cleaning component, they all participate in the cleaning process, ensuring that the pipe is cleaned in all directions without leaving any dead corners.

[0017] 2. The self-adaptive cleaning blade in the fixed-fit cleaning component can elastically and adhesively scrape off the deposits on the pipe. After scraping, the cleaning brush can also be used for washing. This dual cleaning method of scraping first and then washing can effectively remove various dirt from the pipe surface, greatly improving the efficiency and quality of cleaning.

[0018] 3. Because the robot achieves its contact with the pipe by rotating multiple gripping cleaning plates, this structural design allows the robot to adapt to underwater pipes of different diameters. Whether the pipe diameter is large or small, the robot can adjust the angle and position of the gripping cleaning plates to fit tightly against the pipe surface and achieve effective cleaning, thus improving the robot's versatility.

[0019] 4. The robot's adaptive cleaning disc and cleaning brushes can be flexibly adjusted according to the undulations of the pipe surface. During the cleaning process, the cleaning disc and cleaning brushes can always maintain good contact with the pipe surface, ensuring the cleaning effect on pipes of different shapes.

[0020] 5. The robot is equipped with a float and a water pump. Operators can adjust the robot's buoyancy by adding or removing water from the float as needed. When cleaning upwards, adding water to the float increases buoyancy, thereby reducing the resistance when the robot is cleaning upwards; the opposite is true when cleaning downwards. This buoyancy adjustment method can effectively reduce the energy required for the robot to move vertically, achieving energy saving and efficiency improvement.

[0021] 6. The walking motor drives the drive gear plate to rotate, which in turn drives the track to rotate. With the help of the bionic suction cup, the robot can move steadily on the pipe. This stable movement ensures that the robot will not slip or shake during the cleaning process, thus ensuring the continuity and stability of the cleaning work and further improving the cleaning efficiency.

[0022] 7. Unlike some chemical cleaning methods that may cause environmental pollution, this robot mainly uses mechanical cleaning methods, such as scraping and scrubbing, which will not release harmful substances into the water, making it friendly to the surrounding water environment and meeting modern environmental protection requirements. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of an underwater cleaning robot proposed in this invention;

[0024] Figure 2 This is a left view of an underwater cleaning robot proposed in this invention;

[0025] Figure 3 This is a front view of an underwater cleaning robot proposed in this invention;

[0026] Figure 4 This is a top view of an underwater cleaning robot proposed in this invention;

[0027] Figure 5 This is a bottom view of an underwater cleaning robot proposed in this invention;

[0028] Figure 6 A structural diagram of the fixed bonding cleaning component;

[0029] Figure 7 This is a structural diagram of the fixed mounting component;

[0030] Figure 8 This is a structural schematic diagram of a symmetrical hugging and cleaning component;

[0031] Figure 9 This is a structural diagram of the misaligned hugging and cleaning component;

[0032] Figure 10 A schematic diagram of the structure of the auxiliary mobile hugging and cleaning component;

[0033] Figure 11 This is a schematic diagram of the buoyancy adjustment mechanism;

[0034] Figure 12 A schematic diagram of a biomimetic suction cup-type adhesive walking mechanism;

[0035] Figure 13 This is a structural schematic diagram of a tracked walking component;

[0036] Figure 14 This is a sectional view of the tracked walking component;

[0037] Figure 15 This is a structural diagram of a fixed support connector.

[0038] Among them, 1. Bionic suction cup-type conforming walking mechanism, 2. Wrap-up adaptive cleaning device, 3. Buoyancy adjustment mechanism, 4. Fixed mounting component, 5. Fixed conforming cleaning component, 6. Symmetrical hugging cleaning component, 7. Offset hugging cleaning component, 8. Auxiliary moving hugging cleaning component, 9. Fixed conforming plate, 10. Adaptive cleaning blade, 11. Spring, 12. Cleaning bristles, 13. Drive gear, 14. Meshing gear, 15. Left cleaning component, 16. Right cleaning component, 17. Drive motor, 18. Left hugging cleaning plate, 19. Connecting spring, 20. Left cleaning blade, 21. Left cleaning bristles, 22. Upper hugging cleaning component, 23. Lower 24. Hugging cleaning component, 25. Fixed frame plate, 26. Upper hugging cleaning plate, 27. Upper connecting spring, 28. Upper cleaning blade, 29. Upper cleaning bristles, 30. Cleaning motor, 31. Fixing component, 32. Auxiliary hugging cleaning plate, 33. Auxiliary cleaning spring, 34. Auxiliary cleaning blade, 35. Auxiliary fixing frame, 36. Auxiliary wheel, 37. Auxiliary motor, 38. Float, 39. Water pump, 40. Connecting pipe, 41. Fixed support connector, 42. Tracked walking component, 43. Fixed plate, 44. Drive gear, 45. Track, 46. Walking motor, 47. Drive cavity, 48. Engaging groove, 49. Bionic suction cup.

[0039] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the present invention provides an underwater cleaning robot, including a biomimetic suction cup type walking mechanism 1, a wrap-around adaptive cleaning device 2, and a buoyancy adjustment mechanism 3. The wrap-around adaptive cleaning device 2 is disposed on the biomimetic suction cup type walking mechanism 1, and the buoyancy adjustment mechanism 3 is disposed on the biomimetic suction cup type walking mechanism 1.

[0043] like Figure 1 , Figure 12 , Figure 13 , Figure 14 , Figure 15 As shown, the bionic suction cup type adhesive walking mechanism 1 includes a fixed support connector 40 and a tracked walking component 41. The tracked walking component 41 is symmetrically arranged on the fixed support connector 40. The tracked walking component 41 includes a fixed plate 42, a drive gear 43, a track 44, and a walking motor 45. The drive gear 43 is rotatably mounted on the fixed plate 42, and the track 44 is sleeved on the drive gear 43. The fixed support connector 40 has a drive cavity 46, and the walking motor 45 is located in the drive cavity 46. The output end of the walking motor 45 is connected to the drive gear 43. The inner side wall of the track 44 has a meshing groove 47, and the track 44 is connected to the drive gear 43 through the meshing groove 47. The outer side wall of the track 44 has a bionic suction cup 48.

[0044] like Figure 1 , Figure 2 , Figure 7 , Figure 11As shown, the buoyancy adjustment mechanism 3 includes a float 37, a water pump 38, and a connecting pipe 39. The float 37 is mounted on the bionic suction cup type conforming walking mechanism 1, the water pump 38 is mounted on the fixed mounting part 4, one end of the connecting pipe 39 is connected to the water pump 38, and the other end of the connecting pipe 39 is connected to the float 37 through.

[0045] like Figure 1 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10As shown, the wrap-around adaptive cleaning device 2 includes a fixed mounting component 4, a fixed fitting cleaning component 5, a symmetrical hugging cleaning component 6, a staggered hugging cleaning component 7, and an auxiliary moving hugging cleaning component 8. The fixed mounting component 4 is mounted on the bionic suction cup-type fitting and walking mechanism 1. The fixed fitting cleaning component 5 is mounted on the fixed mounting component 4. The symmetrical hugging cleaning component 6 is mounted on the fixed mounting component 4 and is located below the fixed fitting cleaning component 5. The staggered hugging cleaning component 7 is mounted on the bionic suction cup-type fitting and walking mechanism 1 and is located below the symmetrical hugging cleaning component 6. The auxiliary moving hugging cleaning component 8 is mounted on the bionic suction cup-type fitting and walking mechanism 1 and is located below the symmetrical hugging cleaning component 6. Below the misaligned hugging cleaning component 7; the fixed fitting cleaning component 5 includes a fixed fitting plate 9, an adaptive cleaning blade 10, a spring 11, and cleaning bristles 12. The fixed fitting plate 9 is mounted on the fixed mounting component 4, the spring 11 is inclinedly mounted on the upper wall of the fixed fitting plate 9, the adaptive cleaning blade 10 is mounted on the spring 11, and the cleaning bristles 12 are mounted on the side wall of the fixed fitting plate 9; the symmetrical hugging cleaning component 6 includes a drive gear 13, a meshing gear 14, a left cleaning component 15, a right cleaning component 16, and a drive motor 17. The drive gear 13 is rotatably mounted on the fixed mounting component 4, the meshing gear 14 is rotatably mounted on the fixed mounting component 4, and the meshing gear 14 is meshed with the drive gear 13. The left cleaning component 15... The right cleaning component 16 is connected to the drive gear 13, and the right cleaning component 16 is connected to the meshing gear 14. The drive motor 17 is mounted on the fixed mounting component 4, and the output end of the drive motor 17 is connected to the drive gear 13. The left cleaning component 15 includes a left hugging cleaning plate 18, a connecting spring 19, and a left cleaning blade 20. The left hugging cleaning plate 18 is connected to the drive gear 13, and a left cleaning bristle 21 is provided on the side wall of the left hugging cleaning plate 18. The connecting spring 19 is inclinedly mounted on the upper wall of the left hugging cleaning plate 18, and the left cleaning blade 20 is mounted on the connecting spring 19. The structure of the right cleaning component 16 is the same as that of the left cleaning component 15. The misaligned hugging cleaning component 7 includes an upper hugging cleaning component 22 and a lower hugging cleaning component 23. The cuddling cleaning component 22 includes a fixed frame plate 24, an upper cuddling cleaning plate 25, an upper connecting spring 26, an upper cleaning blade 27, an upper cleaning brush 28, and a cleaning motor 29. The fixed frame plate 24 is mounted on the bionic suction cup type adhesion and walking mechanism 1. The upper cuddling cleaning plate 25 is rotatably mounted in the fixed frame plate 24. The upper connecting spring 26 is inclinedly mounted on the upper wall of the upper cuddling cleaning plate 25. The upper cleaning blade 27 is mounted on the upper connecting spring 26. The upper cleaning brush 28 is mounted on the side wall of the upper cuddling cleaning plate 25. The cleaning motor 29 is mounted on the fixed frame plate 24. The output end of the cleaning motor 29 is connected to the upper cuddling cleaning plate 25. The structure of the lower cuddling cleaning component 23 is the same as that of the upper cuddling cleaning component 22.The auxiliary mobile hugging and cleaning component 8 includes a fixing component 30, an auxiliary hugging and cleaning plate 31, an auxiliary cleaning spring 32, an auxiliary cleaning blade 33, an auxiliary fixing frame 34, an auxiliary wheel 35, and an auxiliary motor 36. The fixing component 30 is mounted on the bionic suction cup-type adhesion and walking mechanism 1. The auxiliary hugging and cleaning plate 31 is rotatably mounted on the fixing component 30. The auxiliary cleaning spring 32 is inclinedly mounted on the upper wall of the auxiliary hugging and cleaning plate 31. The auxiliary cleaning blade 33 is mounted on the auxiliary cleaning spring 32. The auxiliary fixing frame 34 is mounted on the auxiliary hugging and cleaning plate 31. The auxiliary wheel 35 is rotatably mounted on the auxiliary fixing frame 34. The auxiliary motor 36 is mounted on the fixing component 30, and its output end is connected to the auxiliary hugging and cleaning plate 31.

[0046] In practical use, all motors in this invention are waterproof motors. During underwater pipe cleaning operations, the operator first slowly lowers the robot into the water according to the underwater environment and the needs of the cleaning task. The water pump 38 is then started, injecting or pumping water into the float 37 to achieve suitable buoyancy for the robot, allowing it to float to a predetermined position. The robot is then attached to the pipe to be cleaned. The drive motor 17 is then started, rotating the drive gear 13, which in turn rotates the meshing gear 14. Simultaneously, the drive gear 13 rotates, causing the left clamping cleaning plate 18 to rotate and attach to the pipe. The meshing gear 14 rotates, causing the right cleaning component 16 to rotate and attach to the pipe, achieving a clamping and tight fit. The cleaning motor 29 is then started, rotating the upper clamping cleaning plate 25 and attaching it to the pipe. The auxiliary motor 36 is then started, rotating the auxiliary clamping cleaning plate 3... 1. The robot rotates, and the auxiliary hugging cleaning plate 31 rotates to fit the pipe to be cleaned. At the same time, the auxiliary wheel 35 fits the pipe to be cleaned. When it needs to rise for cleaning, the water pump 38 can be started to inject water into the float 37 to increase the buoyancy of the robot and reduce the resistance when the robot rises for cleaning, thus achieving the technical effect of energy saving and efficiency improvement. The opposite is true when it sinks for cleaning. After adjustment, the walking motor 45 is started. The walking motor 45 rotates and drives the drive toothed disc 43 to rotate. The drive toothed disc 43 rotates and drives the track 44 to rotate. Under the action of the bionic suction cup 48, the robot rises steadily, thereby driving the fixed fitting cleaning component 5 to rise. The adaptive cleaning blade 10 in the fixed fitting cleaning component 5 can elastically and adhesively scrape off the attachments on the pipe. After scraping, it can be brushed by the cleaning bristles 12. At the same time, the symmetrical hugging cleaning component 6, the staggered hugging cleaning component 7, and the auxiliary moving hugging cleaning component 8 also perform the above-mentioned cleaning on the pipe, achieving the technical effect of wrapping the pipe for adaptive cleaning. The above is the specific working process of the present invention. This step can be repeated for the next use.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the foregoing and its equivalents.

[0049] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An underwater cleaning robot, characterized by: The application relates to a bionic suction disc type adhering walking mechanism (1), a wrapping type self-adaptive cleaning device (2) and a buoyancy adjusting mechanism (3), wherein the wrapping type self-adaptive cleaning device (2) is arranged on the bionic suction disc type adhering walking mechanism (1), and the buoyancy adjusting mechanism (3) is arranged on the bionic suction disc type adhering walking mechanism (1); the wrapping type self-adaptive cleaning device (2) comprises a fixed mounting piece (4), a fixed adhering cleaning piece (5), symmetrical embracing cleaning pieces (6), staggered embracing cleaning pieces (7) and auxiliary moving embracing cleaning pieces (8), the fixed mounting piece (4) is arranged on the bionic suction disc type adhering walking mechanism (1), the fixed adhering cleaning piece (5) is arranged on the fixed mounting piece (4), the symmetrical embracing cleaning pieces (6) are arranged on the fixed mounting piece (4), the symmetrical embracing cleaning pieces (6) are arranged below the fixed adhering cleaning piece (5), the staggered embracing cleaning pieces (7) are arranged on the bionic suction disc type adhering walking mechanism (1), the staggered embracing cleaning pieces (7) are arranged below the symmetrical embracing cleaning pieces (6), the auxiliary moving embracing cleaning pieces (8) are arranged on the bionic suction disc type adhering walking mechanism (1), and the auxiliary moving embracing cleaning pieces (8) are arranged below the staggered embracing cleaning pieces (7); the fixed adhering cleaning piece (5) comprises a fixed adhering plate (9), a self-adaptive cleaning cutter disc (10), springs (11) and cleaning brush hairs (12), the fixed adhering plate (9) is arranged on the fixed mounting piece (4), the springs (11) are arranged on the upper wall of the fixed adhering plate (9) in an inclined mode, the self-adaptive cleaning cutter disc (10) is arranged on the springs (11), and the cleaning brush hairs (12) are arranged on the side wall of the fixed adhering plate (9); the symmetrical embracing cleaning pieces (6) comprise driving gears (13), meshing gears (14), left cleaning pieces (15), right cleaning pieces (16) and driving motors (17), the driving gears (13) are rotatably arranged on the fixed mounting piece (4), the meshing gears (14) are rotatably arranged on the fixed mounting piece (4), the meshing gears (14) are connected with the driving gears (13) in a meshing mode, the left cleaning pieces (15) are connected with the driving gears (13), the right cleaning pieces (16) are connected with the meshing gears (14), the driving motors (17) are arranged on the fixed mounting piece (4), and the output end of the driving motor (17) is connected with the driving gear (13); the left cleaning piece (15) comprises a left embracing cleaning plate (18), connecting springs (19) and a left cleaning cutter disc (20), the left embracing cleaning plate (18) is connected with the driving gear (13), the side wall of the left embracing cleaning plate (18) is provided with left cleaning brush hairs (21), the connecting springs (19) are arranged on the upper wall of the left embracing cleaning plate (18) in an inclined mode, and the left cleaning cutter disc (20) is arranged on the connecting springs (19); the structure of the right cleaning piece (16) is the same as that of the left cleaning piece (15).

2. An underwater cleaning robot according to claim 1, characterized in that: The misaligned embracing cleaning piece (7) comprises an upper embracing cleaning piece (22) and a lower embracing cleaning piece (23), the upper embracing cleaning piece (22) comprises a fixed frame plate (24), an upper embracing cleaning plate (25), an upper connecting spring (26), an upper cleaning cutter (27), an upper cleaning brush (28) and a cleaning motor (29), the fixed frame plate (24) is arranged on the bionic sucker type close walking mechanism (1), the upper embracing cleaning plate (25) is rotatably arranged in the fixed frame plate (24), the upper connecting spring (26) is obliquely arranged on the upper wall of the upper embracing cleaning plate (25), the upper cleaning cutter (27) is arranged on the upper connecting spring (26), the upper cleaning brush (28) is arranged on the side wall of the upper embracing cleaning plate (25), the cleaning motor (29) is arranged on the fixed frame plate (24), the output end of the cleaning motor (29) is connected with the upper embracing cleaning plate (25), and the structure of the lower embracing cleaning piece (23) is the same as that of the upper embracing cleaning piece (22).

3. An underwater cleaning robot according to claim 2, characterized in that: The auxiliary moving embracing cleaning piece (8) comprises a fixed part (30), an auxiliary embracing cleaning plate (31), an auxiliary cleaning spring (32), an auxiliary cleaning cutter (33), an auxiliary fixing frame (34), an auxiliary wheel (35) and an auxiliary motor (36), the fixed part (30) is arranged on the bionic sucker type close walking mechanism (1), the auxiliary embracing cleaning plate (31) is rotatably arranged on the fixed part (30), the auxiliary cleaning spring (32) is obliquely arranged on the upper wall of the auxiliary embracing cleaning plate (31), the auxiliary cleaning cutter (33) is arranged on the auxiliary cleaning spring (32), the auxiliary fixing frame (34) is arranged on the auxiliary embracing cleaning plate (31), the auxiliary wheel (35) is rotatably arranged on the auxiliary fixing frame (34), and the auxiliary motor (36) is arranged on the fixed part (30).

4. An underwater cleaning robot according to claim 3, characterized in that: The buoyancy adjusting mechanism (3) comprises a float (37), a water pump (38) and a communication pipe (39), the float (37) is arranged on the bionic sucker type close walking mechanism (1), the water pump (38) is arranged on the fixed mounting part (4), one end of the communication pipe (39) is connected with the water pump (38), and the other end of the communication pipe (39) is connected with the float (37) in a penetrating mode.

5. An underwater cleaning robot according to claim 4, characterized in that: The bionic sucker type close walking mechanism (1) comprises a fixed support connecting part (40) and a track type walking part (41), the track type walking part (41) is symmetrically arranged on the fixed support connecting part (40); the track type walking part (41) comprises a fixed plate (42), a driving gear disc (43), a track (44) and a walking motor (45), the driving gear disc (43) is rotatably arranged on the fixed plate (42), the track (44) is sleeved on the driving gear disc (43), the fixed support connecting part (40) is provided with a driving cavity (46), the walking motor (45) is arranged in the driving cavity (46), and the output end of the walking motor (45) is connected with the driving gear disc (43).

6. An underwater cleaning robot according to claim 5, characterized in that: The inner side wall of the track (44) is provided with a meshing groove (47), and the track (44) is connected with the driving gear disc (43) through the meshing groove (47).

7. An underwater cleaning robot according to claim 6, characterized in that: The outer side wall of the track (44) is provided with a bionic sucker (48).

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