Sliding type underwater cleaning robot

Abstract

The utility model provides a sliding type underwater cleaning robot. The sliding type underwater cleaning robot comprises a frame, a propeller, an underwater control cabin assembly, a cleaning mechanism and a floating body, according to the technical scheme, the propellers are used as power, the machine body is tightly attached to the netting through the vertically-arranged propellers, driving force is provided through the horizontally-arranged propellers, and the robot slides on the netting. Through the arrangement of multiple propellers, the robot has good movement performance, all-terrain obstacle crossing in various net cages can be achieved, the ROV complete movement function is achieved, and pitching, transverse rolling and heading automatic control can be achieved. The whole robot adopts a wrapping type smooth structure design, the whole robot is smooth and free of edges and corners, and netting cannot be damaged in the sliding process; all the propellers are hidden in the machine body and isolated from the outside through the grating, the propellers are prevented from being drawn into cultured fishes and soft nettings, and therefore the fishes and the nettings are protected in the cleaning process.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and more specifically, to a gliding underwater cleaning robot. Background Technology

[0002] With the development of domestic marine fisheries, the number of aquaculture cages has gradually increased in recent years, and the types of cages have also become more diverse, including not only traditional PE cages, but also steel-structured bottom-mounted cages and floating hanging cages. However, regardless of the type of netting, biological attachment on the netting is a critical issue that cage aquaculture must address. Algae, shellfish (such as barnacles and oysters) and other organisms attached to the netting surface can clog the mesh, hindering water exchange between the inside and outside of the cage. Poor water flow reduces oxygen levels inside the cage, affecting fish respiration and growth. Fish excrement and uneaten feed cannot be discharged in time, increasing the concentration of harmful substances such as ammonia nitrogen and hydrogen sulfide, causing stress or disease in fish. The attachment of hard-shelled organisms such as mussels and oysters can wear down the netting fibers, shortening the netting's lifespan and increasing replacement costs. Large amounts of attached organisms can increase the weight of the netting, leading to deformation or even breakage of the cage structure, especially in windy waves or ocean currents. Cleaning the netting of biological attachments is not only a key measure to maintain aquaculture efficiency and economic benefits, but also a necessary means to protect fish health and reduce ecological risks.

[0003] Currently, most net cleaning robots in my country are tracked or wheeled crawling robots, such as Yanmar's Submariner and MPI net cleaning robots. These are suitable for operating on rigid nets, such as metal mesh, turtle shell mesh, or nets with very high tension. However, most PE net cages in my country use soft polymer nets without upper and lower tension structures, making the nets very loose. Tracked robots have difficulty operating on such soft nets. In recent years, gliding robots have developed rapidly abroad, but these are mostly large net cleaning robots. These robots are large and heavy, requiring large ships to carry them when cleaning small PE net cages. When cleaning large deep-sea net cages, their large size makes it difficult to effectively clean the junction between the side and bottom nets, resulting in a large accumulation of organisms at the corners where the side and bottom nets meet. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model provides a gliding underwater cleaning robot, which is mainly designed for cleaning and inspecting netting and is highly adaptable, small in size, and flexible in movement.

[0005] This utility model is achieved through the following technical solution: a gliding underwater cleaning robot, including a frame and a thruster, an underwater control cabin assembly, a cleaning mechanism and a float installed inside the frame. The frame includes an upper plate and a bottom plate. The edges between the upper plate and the bottom plate are supported and fixed by vertical support plates. Several metal support plates are vertically fixed inside the upper plate and the bottom plate. An inspection cover is provided in the middle of the upper plate.

[0006] The propulsion system includes three vertical propulsion units and two horizontal propulsion units passing through it. The two vertical propulsion units are symmetrically installed at the front of the frame, and one vertical propulsion unit and two horizontal propulsion units are installed at the rear of the frame. The two horizontal propulsion units are symmetrically located on the left and right sides of the vertical propulsion unit at the rear.

[0007] The underwater control cabin assembly includes a main control cabin body, with fixing clamps fixedly mounted at both the front and rear ends of the main control cabin body. The fixing clamps are fixedly mounted on the base plate, and two shock absorbers are installed at the lower end of each fixing clamp.

[0008] The cleaning mechanism includes two large cleaning discs, one small cleaning disc, a diversion valve block, and high-pressure water rotary joints that are fixed to the top of the two large cleaning discs and the one small cleaning disc by screws. The two large cleaning discs are symmetrically installed in the middle of the lower surface of the base plate, and the small cleaning disc is installed in front of the two large cleaning discs on the lower surface of the base plate. The diversion valve block is provided with four interfaces, three of which are connected to the high-pressure water rotary joints installed in the two large cleaning discs and the one small cleaning disc by high-pressure connecting pipes.

[0009] The high-pressure water rotary joint includes a water supply shaft, a rotating housing cover, a rotating housing, angular contact bearings, a first Glyd ring, a second Glyd ring, a lock nut, a bushing, a first sealing O-ring, and a second sealing O-ring. The rotating housing is fitted onto the outside of the water supply shaft. Two angular contact bearings are installed in the middle between the rotating housing and the water supply shaft. A bushing is installed between the two angular contact bearings and fitted onto the water supply shaft. The lock nut fixes the two angular contact bearings and the bushing to the water supply shaft. The rotating housing cover is installed on the top of the rotating housing with screws, and a first sealing O-ring is installed between the two. The first and second Glyd rings are respectively located at the upper and lower ends of the two angular contact bearings and fitted onto the water supply shaft. A second sealing O-ring is installed at the bottom of the rotating housing.

[0010] As a preferred embodiment, the vertical support plate includes a front support plate fixed vertically at the front edge between the upper plate and the bottom plate, side support plates on the left and right sides, and a rear support plate at the rear.

[0011] As a preferred option, the upper and lower plates are made of polypropylene or polyoxymethylene plastic sheets with a thickness of 30-80mm.

[0012] As a preferred option, the metal support plate is made of aluminum alloy, titanium alloy, or stainless steel.

[0013] As a preferred option, two front supports are fixedly installed at the front end of the frame.

[0014] As a preferred option, the upper plate and the bottom plate are equipped with thruster grids at the positions where the three vertical thrusters are installed, and the space enclosed by the edge between the upper plate and the bottom plate and the vertical support plate is equipped with a fuselage grid.

[0015] As a preferred option, underwater high-definition wide-angle cameras and lighting are installed at both the front and rear ends of the frame.

[0016] As a preferred option, the upper surface of the upper plate is provided with lifting rings.

[0017] This utility model, by adopting the above technical solutions, has the following beneficial effects compared with the prior art: The structure of the mesh cleaning robot in this utility model adopts an overall near-circular design, with a smooth overall structure that will not damage the mesh. The circular layout allows the washing tray to be as close as possible to the edge of the robot's frame, reducing blind spots when cleaning the edges of the mesh. The mesh cleaning robot uses a gliding motion, capable of cleaning various types of mesh, including metal mesh, tortoise shell mesh, loose and soft mesh, and even nuclear power plant barrier nets. It has low mechanical complexity; the gliding mechanism typically does not require complex transmission devices (such as gears, tracks, etc.), reducing potential mechanical failure points. Maintenance costs are low; compared to wheeled and tracked robots, it has fewer power components, reducing operating costs. The gliding design can closely conform to the curved surface of the mesh, avoiding cleaning blind spots. The robot's small size allows it to clean the junctions of side and bottom meshes that are inaccessible to larger foreign robots. Even pressure is applied; during gliding, the entire bottom presses against the mesh, distributing the robot's weight and preventing excessive local pressure that could deform or damage the mesh.

[0018] Within the same width constraint, the gliding robot can clean a wider area than a tracked robot because there are no tracks obstructing its sides, thus improving cleaning efficiency. Furthermore, this gliding cleaning robot is small in size, lightweight, and easy to deploy.

[0019] The cleaning disc can be replaced depending on the type of deposit. When cleaning oysters or barnacle shells, a cleaning disc with a wear-resistant titanium alloy guard plate or a fiber-reinforced wear-resistant engineering plastic disc can be installed to protect the disc from rapid wear. When cleaning floating dust, straw worms, seaweed, etc., a cleaning disc with a pure engineering plastic surface can be used.

[0020] The cleaning disc is made of self-lubricating engineering plastic, with a smooth, rounded shape that won't damage the mesh during rotation. The cleaning disc and high-pressure water rotating component are not integrated; they are connected via O-ring seals and screws, making disassembly and replacement simple and convenient. Compared to manifold-type cleaning discs, disassembly, maintenance, and replacement are much easier. Different cleaning discs can be quickly replaced to meet different needs.

[0021] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0024] Figure 2 A side view diagram showing the structure after removing the thruster grille and fuselage grille;

[0025] Figure 3 This is a schematic diagram of the propulsion system layout.

[0026] Figure 4 This is a schematic diagram of the front support structure;

[0027] Figure 5 This is a bottom view of the structure of this utility model;

[0028] Figure 6 This is a schematic diagram of the three-dimensional structure of the frame;

[0029] Figure 7 A cross-sectional schematic diagram of the high-pressure water rotary joint and cleaning disc;

[0030] Figure 8 A three-dimensional structural diagram of the underwater control cabin components;

[0031] in, Figures 1 to 8 The correspondence between the reference numerals and components in the attached drawings is as follows:

[0032] Frame 1 (including: upper plate 16, front support plate 17, bottom plate 18, side support plate 19, rear support plate 20, metal support 36), thruster grid 2, inspection cover 3, lifting ring 4, fuselage grid 5, front support 6, lighting 7, wide-angle camera 8, vertical thruster 9, horizontal thruster 10, underwater control compartment assembly 11 (including: main control compartment 33, main control compartment fixing clamp 34, shock absorber 35), float 12, large cleaning plate 13, small cleaning plate 14, high-pressure water rotary joint 15 (including: water supply shaft 21, rotating shell cover 22, rotating shell 23, angular contact bearing 24, first Glyd ring 25, second Glyd ring 29, lock nut 26, bushing 27, sealing O-ring 28, sealing O-ring 30), diversion valve block 31. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0034] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0035] The following is combined Figures 1 to 8 The gliding underwater cleaning robot of this utility model will be described in detail below.

[0036] like Figure 1 , Figure 2 As shown, this utility model proposes a gliding underwater cleaning robot, including a frame 1 and a thruster, an underwater control cabin assembly 11, a cleaning mechanism, and a float 12 installed inside the frame 1. The float 12 provides buoyancy for the robot, maintaining a normal floating state to achieve zero buoyancy in seawater and reducing the robot's weight in the water. The frame 1 includes an upper plate 16 and a bottom plate 18. The edges between the upper plate 16 and the bottom plate 18 are supported and fixed by vertical support plates. The vertical support plates include a front support plate 17 fixed at the front of the edge between the upper plate 16 and the bottom plate 18, side support plates 19 on the left and right sides, and a rear support plate 20. The upper plate 16 and the bottom plate 18 are made of polypropylene or polyoxymethylene plastic sheets with a thickness of 30-80mm. Several metal support plates 36 are vertically fixed inside the space between the upper plate 16 and the bottom plate 18. The metal support plates 36 are made of aluminum alloy, titanium alloy, or stainless steel. This mesh cleaning robot features a near-circular overall design with a smooth, rounded structure free of protrusions or sharp corners. Three vertical thrusters are mounted on the metal support plate 36, while horizontal thrusters can be fixed to either the upper or lower plate. Several rotating cleaning discs are fixed to the lower plate, allowing for overlapping water jets. The robot's base plate 18 is made of self-lubricating engineering plastic, and the surface in contact with the mesh is precision-machined to ensure a smooth surface, reducing friction and protecting the mesh during gliding. Two front supports 6 are fixedly mounted at the front end of the frame 1. These supports assist in overcoming obstacles and support the soft mesh. Depending on the type of mesh, the front supports 6 can be replaced with components of different curvatures or angles. For soft, high-molecular-weight mesh, angled and rounded upper front supports can be used, as shown in the attached diagram. Figure 4The front support 6-1, with its upper arc, can stretch the mesh close to the camera, preventing the soft mesh from directly touching the camera and affecting the field of view. The front support 6-1 can also be used when there are high obstacles in the mesh, as its large slope at the bottom is conducive to crossing higher obstacles. When the tension is good and there are only small obstacles such as netting on the mesh, the front support 6-2 can be installed. When encountering a very flat mesh without obstacles, the front support can be omitted.

[0037] A maintenance cover 3 is located in the middle of the upper plate 16. This sliding mesh cleaning robot has a simple structure and is easy to maintain. By opening the maintenance cover 3, watertight connectors can be easily inserted and the control compartment can be inspected. The frame 1 is the main external structural component of the robot. Its structure is simple, mainly consisting of the upper plate 16 and the bottom plate 18 as the main mounting plates. The two main plates are separated by the front support plate 17, the side support plate 19, the rear support plate 20, and the metal support 36, forming an internal installation space. When a larger horizontal thruster needs to be replaced, only the support components need to be replaced to create more space, increasing the flexibility of horizontal power upgrades for this robot. The frame 1 is semi-circular in shape, with a smooth overall structure and no extra protrusions or sharp corners, making it very gentle on the mesh during mesh cleaning operations and preventing damage to the mesh. The robot uses thrusters as its power source. The vertically arranged thrusters keep the body close to the mesh, while the horizontally arranged thrusters provide driving force, allowing the robot to slide on the mesh. The multiple propellers give the robot excellent mobility, enabling it to traverse all terrains within various net cages. It possesses full ROV mobility capabilities, allowing for automatic pitch, roll, and heading control. The robot features a smooth, enclosed design with no sharp edges, preventing damage to the netting during gliding. All propellers are concealed within the body, isolated from the outside by a grille, preventing them from entangling farmed fish and the soft netting, thus protecting both during the cleaning process.

[0038] The robot's thruster components are completely enclosed within the body. Thruster grilles 2 are installed on the upper plate 16 and the bottom plate 18 at the locations where the three vertical thrusters 9 are installed. A body grille 5 is installed in the space enclosed by the edge between the upper plate 16 and the bottom plate 18 and the vertical support plate, effectively preventing fish and netting from being caught in the thrusters. Underwater high-definition wide-angle cameras 8 and lighting lamps 7 are installed at both the front and rear ends of the frame 1, allowing for manual observation of the differences in cleaning effects before and after the process. The high-definition wide-angle cameras provide a wider field of view, increasing the intuitiveness of operation. A lifting ring 4 is provided on the upper surface of the upper plate 16.

[0039] The layout of the thrusters is shown in the attached figure. Figure 3As shown, the propulsion system includes three vertical propellers 9 and two horizontal propellers 10. The two vertical propellers 9 are symmetrically installed at the front of the frame 1, and one vertical propeller 9 and two horizontal propellers 10 are installed at the rear of the frame 1. The two horizontal propellers 10 are symmetrically located on the left and right sides of the rear vertical propeller 9. The three vertical propellers 9 enable the robot to float and dive, and also enable the robot to flip along the Y-axis. They also provide a force to press the net during the gliding and washing process, so that the robot can press onto the net. The two horizontal propellers 10 enable the robot to move forward, backward, and turn in the water and on the net. During the net cleaning operation, after the robot is lowered into the net cage, it is first propelled to the vicinity of the net by the horizontal thrusters 10. Then, the three vertical thrusters 9 are controlled to rotate along the Y-axis, raising the robot vertically and placing it against the net. The pressure of the three vertical thrusters 9 on the net is adjusted according to the tightness of the net and the current conditions. Finally, the two horizontal thrusters 10 provide power for the robot to slide on the net. Alternatively, after the robot is lowered into the net cage, the three vertical thrusters 9 can be activated directly to lower the robot to the bottom of the net, and then the two horizontal thrusters 10 are activated for gliding.

[0040] The underwater control cabin assembly 11 includes a main control cabin 33. Fixtures 34 are fixedly mounted at both the front and rear ends of the main control cabin 33. The fixtures 34 are fixedly mounted on the base plate 18. Two shock absorbers 35 are installed at the lower end of each fixture 34. The main control cabin 33 of the underwater control cabin assembly 11 contains a large-scale integrated circuit, which includes a high-voltage power supply system, a thruster drive system, a control system, an inertial navigation system for controlling the motion attitude and path planning of the net cleaning robot, and an underwater depth sensor for measuring the water depth of the robot. The control system has thruster entanglement and stall fault protection functions, as well as net damage detection and identification functions. External connections are made via connectors and waterproof cables for power and signal transmission. High-pressure water will generate vibration during cleaning operations. To ensure the stability of the electronic components inside the main control cabin 33, four shock absorbers 35 are installed under the main control cabin fixtures 34 to mitigate the impact of vibration and improve the stability of the electronic components.

[0041] The cleaning mechanism includes two large cleaning discs 13, one small cleaning disc 14, a diversion valve block 31, and high-pressure water rotary joints 15 that are fixed to the top of the two large cleaning discs 13 and the one small cleaning disc 14 by screws. The two large cleaning discs 13 are symmetrically installed in the middle of the lower surface of the base plate 18, and the small cleaning disc 14 is installed on the lower surface of the base plate 18 in front of the two large cleaning discs 13. The diversion valve block 31 is provided with four interfaces, three of which are connected to the high-pressure water rotary joints 15 installed in the two large cleaning discs 13 and the one small cleaning disc 14 by high-pressure connecting pipes. On the ship, a plunger pump is used to generate high-pressure water with a pressure of 10-30 MPa. The high-pressure water enters the diversion valve block 31 through the main pipeline. The diversion valve block 31 has four interfaces that are connected to the main pipeline and the three high-pressure cleaning discs respectively. The connector of the diversion valve block 31 is connected to the high-pressure water rotary joint 15 via a high-pressure connecting pipe. The high-pressure water flows through the water supply shaft 21 into the large cleaning disc 13 and the small cleaning disc 14, and then flows through the internal holes of the discs to the nozzles. Since the axial and radial offset angles between the nozzles and the inner holes of the discs are both between 35° and 60°, the reaction force at the moment the high-pressure water is sprayed pushes the discs to start rotating. The high-pressure water then produces a scouring effect upon encountering the mesh, thereby achieving the purpose of cleaning the mesh. Three high-pressure water discs are used, two large and one small, arranged in a triangular layout with overlapping cleaning areas between each pair, ensuring full coverage of the cleaning width. The high-pressure water discs are installed on the high-pressure water rotary joint, which is connected to the discs via flanges. The discs are easy to disassemble and assemble, and can be quickly replaced.

[0042] The high-pressure water rotary joint 15 includes a water supply shaft 21, a rotating housing cover 22, a rotating housing 23, angular contact bearings 24, a first Glyd ring 25, a second Glyd ring 29, a locking nut 26, a bushing 27, a first sealing O-ring 28, and a second sealing O-ring 30. The rotating housing 23 is fitted onto the outside of the water supply shaft 21. Two angular contact bearings 24 are installed in the middle between the rotating housing 23 and the water supply shaft 21. A bushing 27 is provided between the two angular contact bearings 24 and fitted onto the water supply shaft 21. The locking nut 26 fixes the two angular contact bearings 24 and the bushing 27 to the water supply shaft 21. The rotating housing cover 22 is installed on the top of the rotating housing 23 by screws, and a first sealing O-ring 28 is provided between the two. The first Glyd ring 25 and the second Glyd ring 29 are respectively provided at the upper and lower ends of the two angular contact bearings 24 and fitted onto the water supply shaft 21. A second sealing O-ring 30 is provided at the bottom of the rotating housing 23. This gliding mesh cleaning robot adopts a brand-new underwater high-pressure external rotor type high-pressure water rotary joint. The water supply shaft 21 in the middle is a fixed component. The rotating outer shell 23 of the high-pressure water rotary joint 15 is connected to the cleaning discs 13 and 14. When the cleaning disc 13 rotates, it drives the rotating outer shell 23 to rotate around the water supply shaft 21. A Glyd ring seal is installed between the rotating outer shell 23 and the water supply shaft 21 to prevent internal high-pressure water leakage and external water from entering the inner cavity of the rotary joint. The rotating shell cover 22 and the rotating outer shell 23 form a rotating component that rotates together with the washing disc. The two are statically sealed by the first sealing O-ring 28 to prevent external water from entering the inner cavity. Two angular contact bearings 24 provide axial positioning and axial force bearing for the rotating component consisting of the rotating housing cover 22 and the rotating housing 23. A bushing 27 separates the two angular contact bearings 24 by a certain distance, ensuring bearing support at both ends of the rotating housing. This improves the rigidity of the rotating component, reduces vibration, and evenly distributes the load. A locking nut 26 secures the two angular contact bearings 24 and the bushing 27 to the water-passing shaft 21, providing axial fixation for the assembly. A second sealing O-ring 30 forms a seal between the large cleaning disc 13 and the rotating housing 23, preventing high-pressure water from the water-passing shaft from leaking to the outside. The large cleaning disc 13 is fixed to the rotating housing 23 with screws. Replacing the cleaning disc or the rotating joint only requires removing and installing three screws. The flange-type installation method allows for installation regardless of whether the cleaning disc rotates forward or backward, without needing to distinguish between the correct and reverse threads.

[0043] During the cleaning of the bottom netting, the robot's three vertical thrusters 9 can work in conjunction with the inertial navigation system to achieve attitude closed-loop control, ensuring the robot is vertical with the washing tray facing the side netting, or the robot remains horizontal with the washing tray facing the bottom netting and pressed firmly against it. Two horizontal thrusters 10 work together to enable the robot to move forward, backward, and turn on the netting. Simultaneously, the ground high-pressure cleaning pump station outputs high-pressure water, which enters the diversion valve block 31 through pipelines. The diversion valve block 31 distributes the high-pressure water to each washing tray. After flowing through the inner cavity of the washing tray, the high-pressure water enters the nozzle. Since the axial and radial offset angles are both between 35 and 60 degrees, the reaction force at the moment the high-pressure water is sprayed propels the washing tray to start rotating at a speed of 600-800 rpm. This covers the attachments along the robot's path, thereby achieving the purpose of cleaning the netting. Furthermore, the two large washing trays 13 and one small washing tray 14 are arranged in a triangular layout, with overlapping cleaning areas, forming full-range coverage of the cleaning width.

[0044] In addition to cleaning netting, this gliding underwater cleaning robot can also clean the interception nets and net bags of nuclear power plants.

[0045] In the description of this utility model, the term "multiple" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0046] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A gliding underwater cleaning robot comprising a frame (1) and a propeller, an underwater control cabin assembly (11), a cleaning mechanism and a float (12) mounted inside the frame (1), characterized in that The frame (1) comprises an upper plate (16) and a bottom plate (18), the edges between the upper plate (16) and the bottom plate (18) are supported and fixed by vertical support plates, and a plurality of metal support plates (36) are vertically and fixedly installed between the inner part of the upper plate (16) and the bottom plate (18); the middle part of the upper plate (16) is provided with an inspection cover (3); The thruster comprises three vertical thrusters (9) and two horizontal thrusters (10), wherein the two vertical thrusters (9) are symmetrically installed at the front part in the frame (1), one vertical thruster (9) and two horizontal thrusters (10) are installed at the rear part in the frame (1), and the two horizontal thrusters (10) are symmetrically located on the left and right sides of the vertical thruster (9) at the rear part. The underwater control cabin assembly (11) comprises a main control cabin body (33), the front end and the rear end of the main control cabin body (33) are respectively fixedly sleeved with a fixed clamp (34), the fixed clamp (34) is fixedly installed on the bottom plate (18), and the lower end of each fixed clamp (34) is provided with two shock absorbers (35). The cleaning mechanism comprises two large cleaning discs (13), one small cleaning disc (14), a flow divider block (31) and a high-pressure water rotary joint (15) fixedly installed on the top of the two large cleaning discs (13) and the small cleaning disc (14) through screws, the two large cleaning discs (13) are symmetrically installed on the middle part of the lower surface of the bottom plate (18), the small cleaning disc (14) is installed on the lower surface of the bottom plate (18) and located at the front part of the two large cleaning discs (13), and the flow divider block (31) is provided with four interfaces, wherein three interfaces are connected with the high-pressure water rotary joints (15) installed on the two large cleaning discs (13) and the small cleaning disc (14) through high-pressure connecting pipes. The high-pressure water rotary joint (15) comprises a water supply shaft (21), a rotary shell upper cover (22), a rotary shell (23), an angular contact bearing (24), a first Gley ring (25), a second Gley ring (29), a locking nut (26), a shaft sleeve (27), a first sealing O-ring (28) and a second sealing O-ring (30), the rotary shell (23) is sleeved outside the water supply shaft (21), two angular contact bearings (24) are arranged between the rotary shell (23) and the water supply shaft (21), the shaft sleeve (27) is sleeved on the water supply shaft (21) between the two angular contact bearings (24), the locking nut (26) fixes the two angular contact bearings (24) and the shaft sleeve (27) together with the water supply shaft (21), the rotary shell upper cover (22) is installed on the top of the rotary shell (23) through screws, a first sealing O-ring (28) is arranged between the two, the first Gley ring (25) and the second Gley ring (29) are arranged at the upper and lower ends of the two angular contact bearings (24) and are sleeved on the water supply shaft (21), and the bottom of the rotary shell (23) is provided with a second sealing O-ring (30).

2. A skimming underwater cleaning robot according to claim 1, characterized in that The vertical support plate comprises a front support plate (17) vertically fixed at the front part of the edges between the upper plate (16) and the bottom plate (18), side support plates (19) on the left and right sides and a rear support plate (20) at the rear part.

3. The skimming underwater cleaning robot according to claim 1, characterized in that The upper plate (16) and the bottom plate (18) are made of polypropylene or polyformal plastic plate with a thickness of 30-80 mm.

4. The skimming underwater cleaning robot according to claim 1, characterized in that The material of the metal supporting plate (36) is aluminum alloy, titanium alloy or stainless steel.

5. The skimming underwater cleaning robot according to claim 1, characterized in that The front end of the frame (1) is fixedly provided with two front supports (6).

6. The skimming underwater cleaning robot according to claim 1, characterized in that The upper plate (16) and the bottom plate (18) are provided with propeller grid nets (2) at positions where three vertical propellers (9) are installed, and the space surrounded by the vertical supporting plates at the edges between the upper plate (16) and the bottom plate (18) is provided with a body grid net (5).

7. A skimming underwater cleaning robot according to claim 1, characterized in that The front and rear ends of the frame (1) are both provided with underwater high-definition wide-angle cameras (8) and illuminating lamps (7).

8. The skimming underwater cleaning robot according to claim 1, characterized in that The upper surface of the upper plate (16) is provided with a lifting ring (4).

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