Underwater cleaning robot and water body cleaning system

Abstract

The utility model provides an underwater cleaning robot and a water body cleaning system, and the underwater cleaning robot comprises a main body which comprises an assembly plate; the driving mechanism comprises a horizontal driver and a vertical driver; the pickup arm comprises an extension part, a rotating part and a clamping assembly; an acquisition camera; and the acquisition camera and the pickup arm are respectively connected to the control mechanism. Moving driving force is provided through the driving mechanism, the collecting camera can capture the condition of the water surface in real time in the moving process, and when pollutants such as garbage are detected by the collecting camera, the picking arm can be driven through the control mechanism to clamp the garbage. In the process, flexible adjustment of the actual operation position of the clamping assembly is achieved through cooperation between the extending part and the rotating part, meanwhile, the clamping assembly is made to be far away from the driving mechanism, and the influence of turbulent flow fluctuation generated by the driving mechanism on the clamping position is reduced; therefore, the cleaning device has the remarkable advantages of flexibility in use, small size, simple structure, wide application scene, high cleaning efficiency and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cleaning equipment, specifically underwater cleaning robot and water body cleaning system. BACKGROUND

[0002] With the improvement of water resource protection consciousness and the increase of water environment management demand, the water surface cleaning robot as a kind of efficient automatic cleaning equipment is widely used in river, lake, landscape pool and other scenes, is used to remove the garbage floating on the water surface, to maintain water body clean and ecological environment stability.

[0003] At present, the cleaning method of water surface garbage still has significant limitations, the traditional salvage ship is low in efficiency and high in cost, and the operating personnel are exposed to contaminated water for a long time, which has safety hazards, and more importantly, for small river, park water scene and other narrow shallow water environment, the ship is difficult to enter, resulting in a large number of blind areas in garbage cleaning. In order to break through the limitation of manual operation, some mechanized cleaning equipment has appeared in the industry, and large hydraulic control double-body type pollution removal ship is one of the existing mainstream equipment, but it depends on complex hydraulic control system, not only high in manufacturing cost, bulky in structure, but also large in size, only suitable for open water area such as river, completely unable to adapt to the operation demand of small water area, helpless in city landscape lake, community artificial waterway and other scenes. Even the water surface garbage cleaning robot developed for small water area has not achieved ideal practical effect, such as the common problems of complex internal structure design, high cost, low use flexibility and the need for real-time manual participation in regulation and control.

[0004] In summary, based on the above problems, the industry urgently needs a technical scheme that can balance the processing cost, operation efficiency, collection accuracy and structural flexibility to improve the comprehensive operation performance of water surface cleaning robot. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problems of complex structure and low use flexibility of the water body cleaning equipment in the prior art, and to provide an underwater cleaning robot and water body cleaning system.

[0006] To solve the above technical problems, the utility model provides an underwater cleaning robot, it includes: main body, the main body is located below water surface, it includes assembly board, drive mechanism, the drive mechanism includes horizontal driver and vertical driver, horizontal driver and vertical driver are connected to the assembly board respectively, wherein, the power output direction of horizontal driver is parallel with the plane that the assembly board is in, the power output direction of vertical driver is perpendicular to the plane that the assembly board is in, pick up arm, pick up arm and horizontal driver are connected to the both sides of the assembly board thickness direction respectively, pick up arm includes extension, rotating part and clamping assembly, wherein, the one end of extension is connected to the assembly board, and the other end extends perpendicularly to the assembly board, the one end of rotating part is rotatably connected to the extension end of extension, and the other end is connected to clamping assembly, collection camera, collection camera is connected to the assembly board, and is towards water surface setting, control mechanism, collection camera and pick up arm are connected to the control mechanism respectively.

[0007] In an embodiment of the utility model, the main body further includes a containing cylinder, the containing cylinder is connected to the middle part of the main body, and the control mechanism is arranged in the containing cylinder.

[0008] In an embodiment of the utility model, the main body includes two assembly boards, the two assembly boards are symmetrically arranged on the two sides of the containing cylinder, and the driving mechanism, the pick up arm and the collection camera are arranged on the assembly board.

[0009] In an embodiment of the utility model, the containing cylinder includes a cylinder body, a fastening ring and a sealing cover, one end of the cylinder body is provided with an opening, the opening is detachably connected to the assembly board through the fastening ring, the control mechanism is arranged in the cylinder body, and the sealing cover is connected to the opening of the cylinder body.

[0010] In an embodiment of the utility model, the control mechanism includes a main control unit, a signal transceiver unit and a battery connected to each other, the collection camera includes an image acquisition unit and a distance sensing unit connected to each other, the distance sensing unit is connected to the signal transceiver unit, and the main control unit is connected to the pick up arm.

[0011] In an embodiment of the utility model, the pick up arm includes a base and a rotary driver, the base is arranged between the extension and the assembly board, the rotary driver is arranged at the extension end of the extension, and the power output end of the rotary driver is connected to the rotating part to drive the rotating part to rotate.

[0012] In one embodiment of the utility model, the clamping assembly includes fixed jaw, mobile jaw and clamping driver, the fixed jaw is fixedly connected in rotating portion, the clamping driver is arranged in rotating portion, and its power output end is connected to mobile jaw, to drive mobile jaw to move close to / far from fixed jaw.

[0013] In one embodiment of the utility model, the picking arm further includes at least two angle limit blocks, the angle limit blocks are respectively arranged on the extension part and the rotating part, wherein the angle limit block located on the rotating part rotates synchronously with the rotating part, and can abut against the limit block on the extension part, to limit the rotation angle of the rotating part.

[0014] In one embodiment of the utility model, the underwater cleaning robot further includes a water quality sensor arranged on the main body and connected with the control mechanism.

[0015] The utility model further provides a water body cleaning system which includes at least one underwater cleaning robot as described above.

[0016] The above technical solution of the utility model has the following advantages compared with the prior art:

[0017] The underwater cleaning robot and the water body cleaning system provide driving force for the free movement of the underwater cleaning robot in the water area through the driving mechanism, the collection camera can capture the water surface condition in real time during the movement, and when it detects garbage or other pollutants, the picking arm can be driven by the control mechanism to clamp the garbage, so that the water surface cleaning process is realized. In the above process, the picking arm can realize flexible adjustment of the actual working position of the clamping assembly through the cooperation between the extension part and the rotating part, and also makes the clamping assembly away from the driving mechanism, reduces the influence of the driving mechanism on the clamping position caused by the disturbance fluctuation. Compared with the conventional water surface cleaning equipment at the present stage, the present application has the advantages of flexible use, small size, simple structure, wide application scene, high cleaning efficiency and the like, and provides a new structural design idea for water surface cleaning technology. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to make the content of the utility model more easily understood clearly, the utility model is further described in detail in combination with the drawings according to the specific embodiments of the utility model.

[0019] Figure 1 It is the structure schematic view of underwater cleaning robot in preferred embodiment of the utility model;

[0020] Figure 2 It is Figure 1 The top view of underwater cleaning robot shown in the figure;

[0021] Figure 3 is Figure 1 is a bottom view of the underwater cleaning robot.

[0022] Explanation of the drawing: 100, main body; 110, assembly plate; 120, containment cylinder; 121, cylinder body; 122, fastening ring; 123, sealing cover; 200, drive mechanism; 210, horizontal drive; 220, vertical drive; 300, acquisition camera; 400, picking arm; 410, extension; 420, rotating part; 430, base; 440, clamping assembly; 441, fixed claw; 442, moving claw; 443, clamping drive; 450, angle limiting block; 460, rotating drive; 500, water quality sensor. DETAILED DESCRIPTION

[0023] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it, but the embodiments are not intended to limit the present application.

[0024] Example one:

[0025] Referring to Figures 1 to 3 The present embodiment provides an underwater cleaning robot, which comprises: a main body 100 located below the water surface, comprising an assembly plate 110; a drive mechanism 200 comprising a horizontal drive 210 and a vertical drive 220, the horizontal drive 210 and the vertical drive 220 being connected to the assembly plate 110 respectively, wherein the power output direction of the horizontal drive 210 is parallel to the plane on which the assembly plate 110 lies, and the power output direction of the vertical drive 220 is perpendicular to the plane on which the assembly plate 110 lies; a picking arm 400 connected to both sides of the assembly plate 110 in the thickness direction respectively with the horizontal drive 210, the picking arm 400 comprising an extension 410, a rotating part 420 and a clamping assembly 440, wherein one end of the extension 410 is connected to the assembly plate 110, and the other end extends perpendicularly to the assembly plate 110, one end of the rotating part 420 is rotationally connected to the extension end of the extension 410, and the other end is connected to the clamping assembly 440; an acquisition camera 300 connected to the assembly plate 110 and arranged towards the water surface; a control mechanism, the acquisition camera 300 and the picking arm 400 being connected to the control mechanism respectively.

[0026] The underwater cleaning robot described in the embodiment provides driving force for its free movement in the water area through the driving mechanism 200, and the acquisition camera 300 can capture the water surface situation in real time during movement. When it detects pollutants such as garbage, it can drive the picking arm 400 to clamp the garbage through the control mechanism, thereby realizing the water surface cleaning process. In the above process, the picking arm 400 can realize flexible adjustment of the actual working position of the clamping assembly 440 through the cooperation between the extension part 410 and the rotating part 420, and at the same time make the clamping assembly 440 away from the driving mechanism 200, reduce the influence of the driving mechanism 200 on the clamping position. Compared with the conventional water surface cleaning equipment at the present stage, the application has the advantages of flexible use, small size, simple structure, wide application scene, high cleaning efficiency and the like, and provides a new structural design idea for water surface cleaning technology.

[0027] In the embodiment, the main body 100 is the basic bearing structure of the entire underwater cleaning robot. The assembly plate 110 in it serves as an integrated platform for various functional components, and plays a key role in connection and support. The driving mechanism 200, the picking arm 400, the acquisition camera 300 and other core components are directly or indirectly connected to it. Through reasonable layout design, it ensures that each structure does not interfere with each other in work, while maintaining the stability of the overall structure of the robot, and providing a foundation for the realization of subsequent functions.

[0028] Further, the main body 100 further comprises a containing cylinder 120, the containing cylinder 120 is connected to the middle part of the main body 100, and the control mechanism is arranged in the containing cylinder 120. The containing cylinder 120 houses the control mechanism inside, which can effectively isolate water, silt, impurities and the like in the water environment, avoid erosion or damage of these substances to the circuit and elements of the control mechanism, and ensure the stable operation of the control mechanism. At the same time, the layout design of connecting the containing cylinder 120 in the middle part of the main body 100 can make the control mechanism in the center area of the robot, which is convenient for signal connection with the acquisition camera 300, the picking arm 400 and other components on the assembly plate 110, and can also make the overall center of gravity of the robot more balanced, and improve the stability during movement and operation.

[0029] Specifically, the container 120 in the embodiment includes a cylinder 121, a fastening ring 122, and a sealing cover 123. The cylinder 121 is provided with an opening at one end, is detachably connected to the assembly plate 110 through the fastening ring 122, the control mechanism is arranged inside the cylinder 121, and the sealing cover 123 is connected to the opening of the cylinder 121. The cylinder 121 serves as the main frame of the container 120, is provided with an opening at one end, has a hollow structure inside, is used for accommodating and bearing the control mechanism, and provides a basic mounting space and preliminary protection for the control mechanism. The fastening ring 122 is a key component for connecting the cylinder 121 and the assembly plate 110. The cylinder 121 is fixed on the assembly plate 110 through bolts, buckles or other connecting components, which not only ensures the stability of the installation of the cylinder 121, but also facilitates the subsequent maintenance, maintenance or replacement of the control mechanism. The sealing cover 123 is connected to the opening end of the cylinder 121, is used for closing the opening of the cylinder 121, cooperates with the cylinder 121 to form a closed space, can effectively isolate water and impurities in the water area from entering the inside of the cylinder 121, avoids the erosion of the control mechanism, and further improves the protection performance of the control mechanism. In different embodiments, a sealing ring or the like can be arranged between the sealing cover 123 and the cylinder 121 to further improve the sealing and protection performance of the container 120.

[0030] In the embodiment, the main body 100 includes two assembly plates 110, the two assembly plates 110 are symmetrically arranged on both sides of the container 120, a pair of driving mechanisms 200, a pair of pickup arms 400 and a pair of collection cameras 300 are connected to any assembly plate 110, and the driving mechanisms 200, the pickup arms 400 and the collection cameras 300 are symmetrically distributed on the corresponding assembly plates 110.

[0031] Through such a comprehensive and symmetrical layout, the power balance and structural stability of the robot during movement are improved, and the cleaning operation range and the pollution detection efficiency are also improved. Specifically, the driving mechanisms 200 on the two assembly plates 110 work symmetrically, which can avoid deviation of the robot during horizontal or vertical movement due to uneven power, so that the movement is more stable and accurate; the pair of pickup arms 400 can simultaneously or separately perform cleaning operations from both sides, and the pair of collection cameras 300 can synchronously monitor the water surface from different angles, which greatly improves the cleaning coverage area and the pollution detection efficiency; the symmetrical distribution of the components makes the overall center of gravity of the robot concentrated in the central region of the container 120, reduces the inclination caused by the deviation of the center of gravity during operation, and ensures stable operation in complex water environments. In different embodiments, the specific number and installation position of the driving mechanisms 200, the collection cameras 300 and the pickup arms 400 can be adaptively adjusted according to actual use requirements, and the utility model does not make specific limitations on this.

[0032] Referring toFigures 1 to 3 As shown, the driving mechanism 200 is a power source for the robot to freely move in the water area, which is composed of two parts, a horizontal driver 210 and a vertical driver 220. The power output direction of the horizontal driver 210 is parallel to the plane where the assembly plate 110 is located, which is mainly responsible for providing the robot with horizontal movement power. The power output direction of the vertical driver 220 is perpendicular to the plane where the assembly plate 110 is located, which is mainly used to drive the robot to move in the vertical direction to adapt to the operation requirements of different water depths or adjust the distance from the water surface, hovering at any position in the water body. The two cooperate to realize the multi-directional and flexible position adjustment of the robot in the water area, providing protection for a wider range of cleaning operations. Specifically, the horizontal driver 210 and the vertical driver 220 in the embodiment are both configured as vector drivers, which can make the underwater cleaning robot more flexible and accurate in horizontal and vertical movement by precisely controlling the size and direction of power output. It can realize multi-dimensional and fine motion adjustment according to the operation requirements, further improving the response speed and control accuracy of the robot in adjusting the position and aligning the target pollutants in the complex water environment.

[0033] In the embodiment, the pickup arm 400 is the core executive component for performing garbage clamping cleaning operation, which is connected to the two sides of the assembly plate 110 in the thickness direction respectively, avoiding structural interference with the driving mechanism 200. It is composed of an extension part 410, a rotating part 420 and a clamping assembly 440. One end of the extension part 410 is connected to the assembly plate 110, and the other end extends outward perpendicular to the assembly plate 110, which can expand the operation range. One end of the rotating part 420 is rotationally connected to the extension part 410, and the other end is connected to the clamping assembly 440, which can adjust the spatial angle and position of the clamping assembly 440 through rotation. The clamping assembly 440 is the terminal executive component, which directly completes the pickup and clamping of garbage and other pollutants. In addition, the extension part 410 makes the clamping assembly 440 away from the driving mechanism 200, which can reduce the influence of the disturbance generated by the driving mechanism 200 on the clamping accuracy when it works. The cooperation of the extension part 410 and the rotating part 420 can make the operation position of the clamping assembly 440 more flexible, improving the cleaning efficiency.

[0034] Further, the picking arm 400 comprises a base 430 arranged between the extension 410 and the assembly plate 110, and a rotary driver 460 arranged at the extension end of the extension 410, and the power output end of the rotary driver 460 is connected to the rotary part 420 to drive the rotary part 420 to rotate. The base 430 is arranged between the extension 410 and the assembly plate 110, and is a transition component connecting the two, and the core function is to strengthen the mounting stability of the extension 410. It can more firmly fix the extension 410 on the assembly plate 110, and disperse the concentrated pressure of the extension 410 and subsequent components on the assembly plate 110, so as to avoid loosening and deviation of the extension 410 in operation due to stress or vibration, and provide basic support for stable operation of the whole picking arm 400. The rotary driver 460 is installed at the extension end of the extension 410, and is a power source for driving the rotary part 420 to rotate. The power output end thereof is directly connected to the rotary part 420, and can accurately output power to drive the rotary part 420 to rotate according to the instruction of the control mechanism, and then drive the clamping assembly 440 to adjust the angle and position.

[0035] The clamping assembly 440 in the embodiment comprises a fixed jaw 441 fixedly connected to the rotary part 420, a moving jaw 442, and a clamping driver 443 arranged in the rotary part 420, and the power output end of the clamping driver 443 is connected to the moving jaw 442 to drive the moving jaw 442 to move close to or away from the fixed jaw 441. The fixed jaw 441 is fixedly connected to the rotary part 420, and serves as a fixed reference for clamping operation, and provides support and cooperation for the moving jaw 442 during clamping. The clamping driver 443 is arranged in the rotary part 420, and the power output end thereof is connected to the moving jaw 442, and can output power to drive the moving jaw 442 to move close to or away from the fixed jaw 441 according to the instruction of the control mechanism: when the moving jaw 442 moves close to the fixed jaw 441, the two form a clamping force to firmly clamp the garbage; when the moving jaw 442 moves away from the fixed jaw 441, the clamping assembly 440 is opened, and the picked garbage can be released or the next clamping is prepared. The design of the built-in driver not only saves the component space, but also makes the movement of the moving jaw 442 more accurate, and ensures that different sizes and shapes of garbage can be stably clamped.

[0036] In some embodiments, the picking arm 400 can further be provided with at least two angle limiting blocks 450, which are respectively arranged on the extension part 410 and the rotating part 420. The angle limiting block 450 on the rotating part 420 rotates synchronously with the rotating part 420 and can abut against the limiting block on the extension part 410 to limit the rotation angle of the rotating part 420. Specifically, the angle limiting block 450 on the extension part 410 is fixed, while the angle limiting block 450 on the rotating part 420 rotates synchronously with the rotating part 420. When the rotating part 420 rotates to a preset maximum angle, the angle limiting block 450 on the rotating part 420 abuts against the angle limiting block 450 on the extension part 410, thereby blocking the rotating part 420 from continuing to rotate, limiting the rotation angle of the rotating part 420, avoiding damage to the structure of the rotating part 420 or collision with other parts of the robot due to excessive rotation, and ensuring the safety and stability of the operation of the picking arm 400.

[0037] The collection camera 300 is a visual sensing component of the robot, which is connected to the assembly plate 110 and arranged towards the water surface. Its core function is to capture and transmit image information of the water surface in real time during the movement of the robot, accurately detect whether there is garbage or other pollutants on the water surface and the specific position of the pollutants. These information will be directly transmitted to the control mechanism as an important basis for the control mechanism to determine whether to start the cleaning operation and adjust the working position of the picking arm 400, which is a prerequisite for realizing automatic cleaning. Specifically, the collection camera 300 integrates an image collection unit and a distance sensing unit. The image collection unit is used to capture image information of the water surface, and the distance sensing unit is responsible for detecting the distance between the pollutants and the robot. The distance sensing unit is connected with the signal transceiver unit of the control mechanism and can transmit distance data to the control mechanism.

[0038] The control mechanism is connected with the collection camera 300 and the picking arm 400 respectively, and comprises a master control unit, a signal transceiver unit and a battery connected with each other, wherein the distance sensing unit is connected to the signal transceiver unit, and the master control unit is connected to the picking arm 400. The complete process of the collection driving process is as follows: the battery of the control mechanism supplies power to each component, the image collection unit of the collection camera 300 captures water surface images in real time, the distance sensing unit synchronously detects the distance between the pollutants and the robot, the distance sensing unit transmits distance data to the signal transceiver unit of the control mechanism, the image information of the image collection unit is also synchronously transmitted to the signal transceiver unit, the signal transceiver unit transmits the two types of data to the master control unit after summarizing, the master control unit analyzes the data to determine the position, size and other information of the pollutants, then generates action instructions and directly transmits them to the picking arm 400, the extension part 410 of the picking arm 400 is driven to stretch, the rotating driver 460 drives the rotating part 420 to rotate, thereby adjusting the alignment of the clamping assembly 440 to the pollutants, finally the clamping driver 443 drives the moving claw 442 to approach the fixed claw 441, the clamping of the pollutants is completed, and the full-automatic collection driving process from sensing the pollutants to executing the clamping is realized.

[0039] In addition, the underwater cleaning robot described in the embodiment further comprises a water quality sensor 500 arranged on the main body 100 and connected with the control mechanism. The water quality sensor 500 can collect water quality related data (such as pH value, turbidity, pollutant concentration, etc.) in the water area, and transmit these data to the control mechanism. After receiving the data, the control mechanism can not only judge the pollution degree of the water area through analysis, but also provide reference for subsequent planning of key area of cleaning operation; the water quality data can also be combined with the garbage information detected by the collection camera 300 to comprehensively grasp the pollution situation of the water area, so that the robot can not only clean visible garbage, but also synchronously obtain water quality parameters, thereby expanding the function of the underwater cleaning robot.

[0040] Embodiment two:

[0041] The embodiment provides a water body cleaning system comprising at least one underwater cleaning robot described in embodiment one.

[0042] In summary, the underwater cleaning robot and water body cleaning system provide driving force for the free movement of the driving mechanism 200 in the water area, the acquisition camera 300 can capture the water surface condition in real time during the movement, when it detects pollutants such as garbage, the pickup arm 400 can be driven by the control mechanism to clamp the garbage, thereby realizing the water surface cleaning process. In the above process, the pickup arm 400 can realize flexible adjustment of the actual working position of the clamping assembly 440 through the cooperation between the extension part 410 and the rotating part 420, and also make the clamping assembly 440 away from the driving mechanism 200, reduce the influence of the driving mechanism 200 on the clamping position. Compared with the conventional water surface cleaning equipment at the present stage, the application has the advantages of flexible use, small size, simple structure, wide application scene, high cleaning efficiency and the like, and provides a new structural design idea for the water surface cleaning technology.

[0043] Obviously, the above embodiments are only examples for clearly illustrating, not limiting the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. An underwater cleaning robot, characterized by: The underwater cleaning robot comprises a main body, a driving mechanism, a pickup arm and a control mechanism. The main body is located below the water surface and comprises an assembly plate. The driving mechanism comprises a horizontal driver and a vertical driver, which are connected to the assembly plate respectively. The power output direction of the horizontal driver is parallel to the plane of the assembly plate, and the power output direction of the vertical driver is perpendicular to the plane of the assembly plate. The pickup arm is connected to the assembly plate on both sides in the thickness direction and comprises an extension, a rotating part and a clamping assembly. One end of the extension is connected to the assembly plate, and the other end extends perpendicularly to the assembly plate.

2. The underwater cleaning robot of claim 1, wherein: One end of the rotating part is rotationally connected to the extension, and the other end is connected to the clamping assembly.

3. The underwater cleaning robot of claim 2, wherein: The collection camera is connected to the assembly plate and is arranged towards the water surface.

4. An underwater cleaning robot according to claim 2 or 3, characterized in that: The collection camera and the pickup arm are connected to the control mechanism.

5. The underwater cleaning robot of claim 1, wherein: The main body further comprises a containing cylinder connected to the middle part of the main body.

6. The underwater cleaning robot of claim 1, wherein: The control mechanism is arranged in the containing cylinder.

7. The underwater cleaning robot of claim 1, wherein: The main body comprises two assembly plates symmetrically arranged on both sides of the containing cylinder.

8. The underwater cleaning robot of claim 1, wherein: Each assembly plate is connected with a pair of driving mechanisms, a pair of pickup arms and a pair of collection cameras, and the driving mechanisms, the pickup arms and the collection cameras are symmetrically distributed on the corresponding assembly plates.

9. The underwater cleaning robot of claim 1, wherein: The containing cylinder comprises a cylinder body, a fastening ring and a sealing cover. One end of the cylinder body is provided with an opening, which is detachably connected to the assembly plate through the fastening ring. The control mechanism is arranged in the cylinder body. The control mechanism comprises a main control unit, a signal transceiver unit and a battery connected to each other. The collection camera comprises an image collection unit and a distance sensing unit connected to each other. The distance sensing unit is connected to the signal transceiver unit, and the main control unit is connected to the pickup arm. The pickup arm comprises a base arranged between the extension and the assembly plate, and a rotating driver arranged at the extension end of the extension. The power output end of the rotating driver is connected to the rotating part to drive the rotating part to rotate. The clamping assembly comprises a fixed claw, a moving claw and a clamping driver. The fixed claw is fixedly connected to the rotating part, and the clamping driver is arranged in the rotating part and connected to the moving claw at the power output end to drive the moving claw to move close to or away from the fixed claw. The pickup arm further comprises at least two angle limiting blocks arranged on the extension and the rotating part respectively. The angle limiting block on the rotating part rotates synchronously with the rotating part and can abut against the limiting block on the extension to limit the rotation angle of the rotating part. The underwater cleaning robot further comprises a water quality sensor arranged on the main body and connected to the control mechanism.

10. A water body cleaning system characterized by: The underwater cleaning robot according to any one of claims 1 to 9.

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