Underwater cleaning robot system

Abstract

The utility model relates to the technical field of underwater cleaning, and discloses an underwater cleaning robot system. The system comprises a robot, a cable, a first recovery device and a second recovery device, the first recovery device comprises a rotating mechanism, a lifting mechanism and a suspension arm mechanism; the rotating mechanism is fixed with the lifting mechanism, and the suspension arm mechanism is fixed with the rotating mechanism or the lifting mechanism; the second recovery device comprises a frame body, a cable winding assembly and a cable arranging assembly; one end of the cable is fixed to the cable winding assembly, the frame body is provided with a waterway connector, the cable winding assembly is rotationally connected to the waterway connector, and the two ends of the waterway connector are communicated with an external water inlet pipe and the cable respectively; the cable arrangement assembly is movably arranged on the frame body, and a cable penetrates through the cable arrangement assembly; the robot is detachably connected with the suspension arm mechanism, and the cable is connected with the robot; the cable comprises a pipe body and a cable body, the pipe body wraps the cable body, and the cable body comprises a waterway pipe and a circuit pipe. The robot and the cable can be recycled, the cable can be automatically arranged, and the robot recycling convenience and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater cleaning, and in particular to an underwater cleaning robot system. Background Art

[0002] When the underwater cleaning robot is performing cleaning operations underwater, it is necessary to use cables and hoses to connect it to the corresponding pipelines on the shore. The cables are used for power supply and data transmission, and the hoses are used to transport high-pressure water. When the underwater cleaning robot is in operation, the cables and hoses are basically placed in the water, but after cleaning, the underwater cleaning robot, cables, and hoses need to be moved to the shore together. At this time, due to the long length of the cables and hoses, placing them scattered on the shore will cause a mess on the site, occupy a large space, and the cables and hoses are often stepped on, which can easily cause damage to the cables and hoses.

[0003] In order to avoid the above situation, the robot is often recovered first, and then the cables and hoses are manually rolled up. Although this method avoids the problem of damage to the cables and hoses and the mess on site to a certain extent, the labor intensity of the workers is high, which is time-consuming and labor-intensive, affecting the convenience and efficiency of the underwater cleaning robot recovery. Therefore, it is objectively necessary to develop a recycling device that is easy to use and can recycle the robot and the rolled cables and hoses. Utility Model Content

[0004] The technical problem to be solved by the present application is to provide a recovery device which is easy to use and can recover the robot as well as the rolled cables and hoses, so as to improve the convenience and efficiency of the recovery of the underwater cleaning robot.

[0005] In order to solve the above problems, the present application provides an underwater cleaning robot system, including a robot, a cable, a first recovery device and a second recovery device; the first recovery device includes a rotating mechanism, a lifting mechanism and an arm mechanism; the rotating mechanism is fixedly connected to the lifting mechanism, and the arm mechanism is fixed to the rotating mechanism or the lifting mechanism; the second recovery device includes a frame, a cable winding assembly and a cable arrangement assembly; one end of the cable is fixed in the cable winding assembly, and one end of the frame is provided with a waterway connector, the cable winding assembly is rotatably arranged on the frame, and one end of the cable winding assembly is rotatably connected to the waterway connector, and the two ends of the waterway connector are respectively connected to an external water inlet pipe and the cable; the cable arrangement assembly is movably arranged on the frame, and the cable passes through the cable arrangement assembly; the robot is detachably connected to the arm mechanism, and the other end of the cable is fixedly connected to the robot; the cable includes a tube body and a cable body, the tube body is wrapped around the outside of the cable body, and the cable body includes a waterway pipe and a circuit pipe.

[0006] Preferably, the waterway pipe is a high-pressure water pipe, the circuit pipe is an optoelectronic composite cable, the cable body further includes a filling strip, the tube body wraps the optoelectronic composite cable, the filling strip and the high-pressure water pipe, and the high-pressure water pipe is connected to the waterway connector.

[0007] Preferably, the tube body is composed of a heat shrink tube and a buoyancy cotton layer, and the buoyancy cotton layer is arranged on the inner wall of the heat shrink tube.

[0008] Preferably, the cable arrangement assembly includes a cable arrangement bracket and a fifth driving member, the fifth driving member includes a cable arrangement motor, a reciprocating screw and a sliding rod; the reciprocating screw is rotatably connected to the frame, the sliding rod is fixed to the frame and parallel to the reciprocating screw, the reciprocating screw and the sliding rod respectively pass through the cable arrangement bracket, and the cable arrangement motor drives the reciprocating screw to rotate to drive the cable arrangement bracket to move.

[0009] Preferably, the cable arrangement bracket is provided with a roller at one end close to the cable winding assembly, and the cable arrangement bracket is provided with a cable threading opening, and the cable passes through the cable threading opening and is slidably connected to the roller.

[0010] Preferably, the cable arrangement bracket is flared from one end of the cable threading opening toward an end away from the cable threading opening.

[0011] Preferably, the cable winding assembly includes a cable winding roller and a fourth driving member; the cable winding roller is rotatably connected to the frame, one end of the cable is fixed in the cable winding roller, and this end of the cable winding assembly is rotatably connected to the waterway connector; the fourth driving member is arranged on one side of the frame, and the fourth driving member is connected to the other end of the cable winding roller.

[0012] Preferably, the rotating mechanism includes a pillar, a first rotating component and a second rotating component, the first rotating component is respectively connected to the pillar and the lifting mechanism to drive the lifting mechanism to rotate horizontally; the lifting mechanism is connected to the second rotating component, and the second rotating component is fixed to the boom mechanism to drive the boom mechanism to rotate horizontally.

[0013] Preferably, the lifting mechanism includes a first driving member, a connecting member and an arm lifting bracket; the arm lifting bracket is connected to the first rotating assembly, the first driving member is fixed to the arm lifting bracket, the driving end of the first driving member is rotatably connected to one end of the connecting member, the connecting member is rotatably connected to the arm lifting bracket, and the other end of the connecting member is connected to the second rotating assembly.

[0014] Preferably, the lifting mechanism further comprises a stabilizing member, one end of which is rotatably connected to the connecting member, and the stabilizing member is rotatably connected to the arm-lifting bracket, and the other end of the stabilizing member is used to abut against the arm-lifting bracket.

[0015] Compared with the prior art, the present invention has at least one of the following beneficial technical effects:

[0016] When the underwater cleaning robot system is working, the first recovery device is started to connect the boom mechanism to the robot, and the robot is lifted from the shore to the water through the cooperation of the rotating mechanism and the lifting mechanism. Then the boom mechanism is separated from the robot. During the working process of the robot, the second recovery device reels in or releases the cable as needed. Here, the cable fixed on the cable winding assembly is connected to the external water inlet pipe through the waterway connector to supply water for the cleaning operation of the robot. After the cleaning operation is completed, the robot swims to the shore, and then the first recovery device is started to connect the boom mechanism to the robot, and the robot is lifted from the water to the shore through the cooperation of the rotating mechanism and the lifting mechanism. During this process, the second recovery device automatically reels in the cable. In this regard, the underwater cleaning robot system is easy to use, can recycle the robot and the cable, and automatically arrange the cable, which improves the convenience and efficiency of robot recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of the underwater cleaning robot system provided in this application.

[0019] Figure 2 A cross-sectional view of the cable provided for this application.

[0020] Figure 3 This is a schematic structural diagram of the second recovery device provided in this application.

[0021] Description of reference numerals: 1. robot; 2. cable; 3. first recovery device; 4. second recovery device; 5. tube body; 6. heat shrink tube; 7. buoyancy cotton; 8. cable body; 9. waterway tube; 10. circuit tube; 11. filling strip; 12. rotating mechanism; 13. support; 14. first rotating assembly; 15. first connecting part; 16. second connecting part; 17. second driving member; 18. second rotating assembly; 19. third connecting part; 20. third driving member; 21. lifting mechanism; 22. first driving member; 2 3. Connecting piece; 24. Boom bracket; 25. Stabilizing piece; 26. Stabilizing connecting part; 27. Boom mechanism; 28. Connecting arm; 29. ​​Connecting rope; 30. Hook; 31. Frame; 32. Waterway connector; 33. Handle; 34. Wheel; 35. Support rod; 36. Cable winding assembly; 37. Cable winding roller; 38. Fourth driving piece; 39. Cable arrangement assembly; 40. Cable arrangement bracket; 41. Roller; 42. Cable threading port; 43. Fifth driving piece; 44. Cable arrangement motor; 45. Reciprocating screw rod; 46. Sliding rod. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0024] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0025] It should be further understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] Please refer to Figures 1 to 3An embodiment of the present application provides an underwater cleaning robot system, which is used for cleaning operations on underwater surfaces, such as marine ranches, ship bottoms, etc., thereby replacing traditional manual cleaning and improving the safety and convenience of underwater surface cleaning operations.

[0027] Please refer to Figure 1 The underwater cleaning robot system includes a robot 1, a cable 2, a first recovery device 3 and a second recovery device 4. The first recovery device 3 includes a rotating mechanism 12, a lifting mechanism 21 and a boom mechanism 27. The rotating mechanism 12 is fixedly connected to the lifting mechanism 21, and the boom mechanism 27 is fixed to the rotating mechanism 12 or the lifting mechanism 21. The second recovery device 4 includes a frame 31, a cable winding assembly 36 and a cable arrangement assembly 39. One end of the cable 2 is fixed in the cable winding assembly 36. One end of the frame 31 is provided with a waterway connector 32. The cable winding assembly 36 is rotatably arranged on the frame 31, and one end of the cable winding assembly 36 is rotatably connected to the waterway connector 32. The two ends of the waterway connector 32 are respectively connected to the external water inlet pipe and the cable 2; the cable arrangement assembly 39 is movably arranged on the frame 31, and the cable 2 passes through the cable arrangement assembly 39. The robot 1 is detachably connected to the boom mechanism 27, and the other end of the cable 2 is fixedly connected to the robot 1. The cable 2 includes a tube body 5 and a cable body 8 . The tube body 5 is wrapped around the cable body 8 . The cable body 8 includes a water pipe 9 and a circuit pipe 10 .

[0028] When the underwater cleaning robot system is working, the first recovery device 3 is started, the arm mechanism 27 is connected to the robot 1, and the robot 1 is lifted from the shore to the water through the rotation mechanism 12 and the lifting mechanism 21. Then the arm mechanism 27 is separated from the robot 1. During the working process of the robot 1, the second recovery device 4 reels in or releases the cable according to the work needs. Here, the cable 2 fixed on the cable winding assembly 36 is connected to the external water inlet pipe through the waterway connector 32 to supply water for the cleaning operation of the robot 1. After the cleaning operation is completed, the robot 1 swims to the shore, and then the first recovery device 3 is started, the arm mechanism 27 is connected to the robot 1, and the robot 1 is lifted from the water to the shore through the rotation mechanism 12 and the lifting mechanism 21. During this process, the second recovery device 4 automatically reels in the cable. In this regard, the underwater cleaning robot system is easy to use, can automatically recycle the robot 1 and the cable 2, and automatically arrange the cable 2, which improves the convenience and efficiency of the robot 1 recovery.

[0029] Please refer to Figure 2In a specific embodiment, the water pipe 9 is a high-pressure water pipe, the circuit pipe 10 is an optoelectronic composite cable, the cable body 8 further includes a filling strip 11, the tube body 5 wraps the optoelectronic composite cable, the filling strip 11 and the high-pressure water pipe, and the high-pressure water pipe is connected to the water connector 32, so that the high-pressure water pipe is connected to the external water inlet pipe. Here, the filling strip 11 is used to fill the gap formed by the optoelectronic composite cable and the high-pressure water pipe in the tube body 5, so that the cross-section of the cable 2 is more rounded, and at the same time, the filling strip 11 can make the overall structure of the cable 2 more stable and have greater structural strength.

[0030] Furthermore, the tube body 5 is composed of a heat shrink tube 6 and a buoyancy cotton 7 layer, and the buoyancy cotton 7 layer is arranged on the inner wall of the heat shrink tube 6. On the one hand, the buoyancy cotton 7 is a polyurethane foam material, which has the characteristics of light weight, water resistance, corrosion resistance, and impact resistance. The buoyancy material used to make the cable 2 can enhance the buoyancy of the cable 2, so as to prevent the cable 2 from sinking in the water due to excessive gravity, causing the robot 1 to sink, thereby affecting the cleaning operation of the robot 1. On the other hand, the heat shrink tube 6 has excellent insulation performance, which can prevent the cable 2 from short circuiting due to water infiltration and voltage mutation when it is in an underwater environment.

[0031] Please refer to Figure 3 In a specific embodiment, the cable arrangement assembly 39 includes a cable arrangement bracket 40 and a fifth driving member 43, wherein the fifth driving member 43 includes a cable arrangement motor 44, a reciprocating screw rod 45 and a sliding rod 46. Specifically, the reciprocating screw rod 45 is rotatably connected to both ends of the frame 31, and the sliding rod 46 is fixed to both ends of the frame 31, and the sliding rod 46, the reciprocating screw rod 45, and the cable winding assembly 36 are arranged parallel to each other. The reciprocating screw rod 45 and the sliding rod 46 respectively penetrate the cable arrangement bracket 40, and the sliding rod 46 is used to support the cable arrangement bracket 40 so that the cable arrangement bracket 40 can slide smoothly along the sliding rod 46. The cable arrangement motor 44 is fixed to one end of the frame 31, and a motor protective shell is provided on the outside of the cable arrangement motor 44; the driving end of the cable arrangement motor 44 is connected to one end of the reciprocating screw rod 45, and the cable arrangement motor 44 is used to drive the reciprocating screw rod 45 to rotate so as to drive the cable arrangement bracket 40 to slide horizontally along the reciprocating screw rod 45, thereby realizing automatic cable arrangement of the cable 2.

[0032] In a specific embodiment, a roller 41 is rotatably arranged near one end of the cable winding assembly 36 of the cable arrangement bracket 40, and a cable threading opening 42 is provided on the cable arrangement bracket 40, and the cable threading opening 42 is located opposite to the roller 41, and the cable 2 passes through the cable threading opening 42 and is slidably connected to the roller 41. Furthermore, the cable arrangement bracket 40 is expanded from one end of the cable threading opening 42 to the end away from the cable threading opening 42. Here, the roller 41 can roll the cable 2 into and out of the second recovery device 4 more smoothly, and the cable 2 is constrained by the cable arrangement bracket 40, so that the cable 2 moves left and right as required to achieve the purpose of cable arrangement.

[0033] In a specific embodiment, the cable winding assembly 36 includes a cable winding roller 37 and a fourth driving member 38. The two ends of the cable winding roller 37 are rotatably connected to the frame 31, and the sliding rod 46, the reciprocating screw rod 45, and the cable winding roller 37 are arranged in parallel with each other. The cable winding roller 37 is used to wind and store the umbilical cable. One end of the cable 2 is fixed in the cable winding roller 37, and the end of the cable winding roller 37 is rotatably connected to the waterway connector 32 so that the waterway pipe 9 of the cable 2 is connected to the external water inlet pipe. The fourth driving member 38 is arranged on the side of the frame 31 away from the waterway connector 32, and the fourth driving member 38 includes an electrically connected winch motor, a photoelectric rotary connector, an electric control board, a control button and an external connector. The driving end of the winch motor is connected to the other end of the cable winding roller 37, and the winch motor drives the cable winding roller 37 to rotate to realize the automatic retraction and release of the cable 2; the photoelectric rotary connector is connected to the circuit tube 10 of the cable 2 through the external connector, so as to maintain the stable transmission of the photoelectric signal.

[0034] Furthermore, handles 33 are provided on both sides of the frame 31, and the staff can lift and move the second recovery device 4 by holding the handles 33; four wheels 34 are also provided at the bottom of the frame 31, and the wheels 34 are provided along the four corners of the frame 31, which further improves the convenience of using the second recovery device 4. In addition, a plurality of support rods 35 are provided around the cable winding roller 37, and the two ends of the support rods 35 are respectively fixed on both sides of the frame 31, and the support rods 35 are parallel to the cable winding roller 37; the number of support rods 35 can be two, four, six, etc. In this embodiment, four support rods 35 are provided.

[0035] Here, when the second recovery device 4 retracts the cable, the capstan motor drives the cable winding roller 37 to rotate, so as to wind the cable 2 on the cable winding roller 37; at the same time, the electric control board drives the cable arrangement motor 44 to rotate, and the cable arrangement motor 44 drives the reciprocating screw rod 45 to rotate. When the cable winding roller 37 rotates one circle, the reciprocating screw rod 45 rotates and drives the cable arrangement bracket 40 to move a distance of the diameter of the cable 2, so that the cables 2 are neatly arranged on the cable winding roller 37. When the cable 2 fills a layer of the cable winding roller 37, the reciprocating screw rod 45 can realize the reverse movement of the cable arrangement bracket 40 without reversing the cable arrangement motor 44, thereby realizing the leap-layer cable arrangement of the cable 2 and increasing the cable storage capacity of the second recovery device 4.

[0036] In a specific embodiment, the rotating mechanism 12 includes a support column 13, a first rotating assembly 14 and a second rotating assembly 18. The bottom of the support column 13 is fixed to the working platform through a chassis, and the first rotating assembly 14 is respectively connected to the top of the support column 13 and the lifting mechanism 21 to drive the lifting mechanism 21 to rotate horizontally; at the same time, the lifting mechanism 21 is connected to the second rotating assembly 18, and the second rotating assembly 18 is fixed to the boom mechanism 27 to drive the boom mechanism 27 to rotate horizontally.

[0037] Please refer to Figure 1In a specific embodiment, the lifting mechanism 21 includes a first driving member 22, a connecting member 23 and an arm support 24. The bottom of the arm support 24 is fixedly connected to the first rotating assembly 14, the bottom of the first driving member 22 is fixed to the bottom of the arm support 24, the driving end of the first driving member 22 is rotatably connected to one end of the connecting member 23, the connecting member 23 is rotatably connected to the top of the arm support 24, and the other end of the connecting member 23 is fixedly connected to the second rotating assembly 18. In this embodiment, the first driving member 22 uses a hydraulic rod, and the first driving member 22 drives the connecting member 23 to be lifted or lowered, thereby driving the boom mechanism 27 to rise or fall.

[0038] Furthermore, the lifting mechanism 21 further includes a stabilizing member 25, and the arm support 24 is provided with a stabilizing connection portion 26. The top of the stabilizing member 25 is rotatably connected to the bottom of the connecting member 23, and the stabilizing member 25 is rotatably connected to the stabilizing connection portion 26, and the bottom of the stabilizing member 25 is used to abut against the arm support 24. In this regard, the stabilizing member 25 has a supporting effect on the connecting member 23, which can improve the stability of the connecting member 23 during the working process.

[0039] In a specific embodiment, the first rotating assembly 14 includes a first connecting portion 15, a second connecting portion 16 and a second driving member 17. The first connecting portion 15 is fixed to the top of the pillar 13, and the first connecting portion 15 is provided with a first gear ring along the circumference; the second connecting portion 16 and the second driving member 17 are respectively fixed to the bottom of the lifting mechanism 21, the first connecting portion 15 is rotatably connected to the second connecting portion 16, and the driving end of the second driving member 17 is meshed with the first gear ring to drive the lifting mechanism 21 to rotate horizontally in both directions. In this embodiment, the second driving member 17 is a rotating motor.

[0040] In a specific embodiment, the second rotating assembly 18 includes a third connecting portion 19 and a third driving member 20. The third connecting portion 19 is rotatably connected to the end of the connecting member 23 away from the first driving member 22, the third connecting portion 19 is fixed to the boom mechanism 27, and the third connecting portion 19 is provided with a second gear ring along the circumferential direction; the third driving member 20 is fixed to the end of the connecting member 23 away from the first driving member 22, and the driving end of the third driving member 20 is meshed with the second gear ring to drive the boom mechanism 27 to rotate horizontally in both directions. In this embodiment, the third driving member 20 is a rotary motor.

[0041] In a specific embodiment, the suspension arm mechanism 27 includes a connecting arm 28, a connecting rope 29 and a hook 30. The two ends of the connecting arm 28 are respectively fixedly connected to the third connecting portion 19 and the connecting rope 29, and the other end of the connecting rope 29 is fixedly connected to the hook 30. The hook 30 is used to connect the robot 1 to lift the robot 1.

[0042] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An underwater cleaning robot system, characterized in that: It includes a robot, a cable, a first recovery device, and a second recovery device; The first recovery device includes a rotating mechanism, a lifting mechanism and a boom mechanism; the rotating mechanism is fixedly connected to the lifting mechanism, and the boom mechanism is fixed to the rotating mechanism or the lifting mechanism; The second recovery device comprises a frame, a cable winding assembly and a cable arrangement assembly; one end of the cable is fixed in the cable winding assembly, one end of the frame is provided with a waterway connector, the cable winding assembly is rotatably arranged on the frame, and one end of the cable winding assembly is rotatably connected to the waterway connector, and the two ends of the waterway connector are respectively connected to an external water inlet pipe and the cable; the cable arrangement assembly is movably arranged on the frame, and the cable passes through the cable arrangement assembly; The robot is detachably connected to the boom mechanism, and the other end of the cable is fixedly connected to the robot; The cable comprises a tube body and a cable body, wherein the tube body is wrapped around the outside of the cable body, and the cable body comprises a water pipe and a circuit pipe.

2. The underwater cleaning robot system according to claim 1, characterized in that: The waterway pipe is a high-pressure water pipe, the circuit pipe is an optoelectronic composite cable, the cable body also includes a filling strip, the tube body wraps the optoelectronic composite cable, the filling strip and the high-pressure water pipe, and the high-pressure water pipe is connected to the waterway connector.

3. An underwater cleaning robot system according to claim 1 or 2, characterized in that: The tube body is composed of a heat shrink tube and a buoyancy cotton layer, and the buoyancy cotton layer is arranged on the inner wall of the heat shrink tube.

4. The underwater cleaning robot system according to claim 1, characterized in that: The cable arrangement assembly includes a cable arrangement bracket and a fifth driving component, and the fifth driving component includes a cable arrangement motor, a reciprocating screw rod and a sliding rod; the reciprocating screw rod is rotatably connected to the frame body, and the sliding rod is fixed to the frame body and parallel to the reciprocating screw rod, and the reciprocating screw rod and the sliding rod respectively pass through the cable arrangement bracket, and the cable arrangement motor drives the reciprocating screw rod to rotate to drive the cable arrangement bracket to move.

5. The underwater cleaning robot system according to claim 4, characterized in that: The cable arrangement bracket is provided with a roller at one end close to the cable winding assembly, and the cable arrangement bracket is provided with a cable threading opening, and the cable passes through the cable threading opening and is slidably connected to the roller.

6. The underwater cleaning robot system according to claim 5, characterized in that: The cable arrangement bracket is in a flared shape from one end of the cable threading opening to an end away from the cable threading opening.

7. The underwater cleaning robot system according to claim 1, characterized in that: The cable winding assembly includes a cable winding roller and a fourth driving member; the cable winding roller is rotatably connected to the frame, one end of the cable is fixed in the cable winding roller, and the end of the cable winding assembly is rotatably connected to the waterway connector; the fourth driving member is arranged on one side of the frame, and the fourth driving member is connected to the other end of the cable winding roller.

8. An underwater cleaning robot system according to claim 1 or 2, characterized in that: The rotating mechanism includes a pillar, a first rotating component and a second rotating component. The first rotating component is respectively connected to the pillar and the lifting mechanism to drive the lifting mechanism to rotate horizontally; the lifting mechanism is connected to the second rotating component, and the second rotating component is fixed to the boom mechanism to drive the boom mechanism to rotate horizontally.

9. The underwater cleaning robot system according to claim 8, characterized in that: The lifting mechanism includes a first driving member, a connecting member and an arm lifting bracket; the arm lifting bracket is connected to the first rotating component, the first driving member is fixed to the arm lifting bracket, the driving end of the first driving member is rotatably connected to one end of the connecting member, the connecting member is rotatably connected to the arm lifting bracket, and the other end of the connecting member is connected to the second rotating component.

10. The underwater cleaning robot system according to claim 9, characterized in that: The lifting mechanism further comprises a stabilizing member, one end of which is rotatably connected to the connecting member, and the stabilizing member is rotatably connected to the arm-lifting bracket, and the other end of the stabilizing member is used for abutting against the arm-lifting bracket.

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