Cleaning cavity, underwater cleaning device and wall-climbing robot

Abstract

The utility model provides a cleaning cavity, an underwater cleaning device and a wall-climbing robot. The cleaning cavity comprises a cavity body, and an annular opening is formed in one side of the cavity body; the mounting opening is formed in the cavity and is used for enabling a spray head of underwater cleaning equipment to extend into the cavity; a liquid outlet of the spray head faces the annular opening; and the curtain is arranged on the annular opening curtain so as to prevent bubbles in the cavity from moving towards the visual field area of the underwater cleaning equipment. According to the embodiment of the invention, the cavity and the curtain are adopted to shield the bubbles generated by underwater cleaning operation, so that the visual influence of the bubbles generated by washing operation on the cleaning equipment is avoided, and the cleaning operation is favorably carried out. The technical problem that in the prior art, bubbles generated by underwater cleaning operation affect visual field observation of underwater cleaning equipment is improved or solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater cleaning devices, and more particularly relates to a cleaning cavity, an underwater cleaning device and a wall-climbing robot. BACKGROUND

[0002] On a ship sailing in the open sea, biological attachment is prone to occur on the bottom of the ship. In order to clean the biological attachment, an underwater permanent magnetic adsorption type autonomous mobile robot is used to carry a cavitation jet device to perform cleaning operation. In the related art, a nozzle of the cavitation jet device generates a large amount of bubbles when working, and the bubbles are dissipated to the surroundings of the robot, which easily has an adverse effect on the visual observation of the underwater permanent magnetic adsorption type autonomous mobile robot, thereby affecting the cleaning of the biological attachment on the bottom of the ship. CONTENT OF THE UTILITY MODEL

[0003] To improve or solve the technical problem that bubbles generated in cleaning operation affect the visual observation of the cleaning device in the related art, the purpose of the present application is to provide a cleaning cavity, an underwater cleaning device and a wall-climbing robot.

[0004] In a first aspect, an embodiment of the present application provides a cleaning cavity, comprising:

[0005] a cavity body having a ring-shaped opening on one side;

[0006] a mounting port provided in the cavity body and used for a nozzle of an underwater cleaning device to extend into the cavity body; the liquid outlet of the nozzle faces the ring-shaped opening;

[0007] and a curtain provided at the ring-shaped opening to block the movement of bubbles in the cavity body to a visual field area of the underwater cleaning device.

[0008] Further, the curtain comprises a plurality of first curtains, the plurality of first curtains are suspended at the edge of the ring-shaped opening, and the distance between two adjacent first curtains is the same.

[0009] Further, a flow guide groove is provided on the ring-shaped opening; the flow guide groove comprises:

[0010] a first flow guide groove in communication with the inside of the cavity body at one end and having a first port at the other end;

[0011] and a second flow guide groove opposite to the first flow guide groove in position, in communication with the inside of the cavity body at one end and having a second port at the other end.

[0012] Further, the cavity body comprises:

[0013] a cavity having ring-shaped openings on opposite sides; the ring-shaped openings comprise a first ring-shaped opening and a second ring-shaped opening;

[0014] and a first plate for sealing the first annular opening;

[0015] The mounting port is arranged on the first plate;

[0016] The first plate is a circular structure; and the annular opening is a circular structure;

[0017] The mounting port is located at the center of the first plate;

[0018] The first flow guide groove is arranged at a first position of the cavity, and the second flow guide groove is arranged at a second position of the cavity, and the first position and the second position are arranged in axial symmetry; and an axis of symmetry of the axial symmetry is a diameter of the second annular opening.

[0019] Further, the flow guide groove comprises:

[0020] A flow guide plate;

[0021] A first side plate arranged on one side of the flow guide plate and connected to a first wall of the cavity at one end;

[0022] A second side plate parallel to the first side plate and arranged on the other side of the flow guide plate, opposite to the first side plate, and connected to a second wall of the cavity at one end;

[0023] The first side plate has a first included angle with a tangential direction of the first wall, and the second side plate has a second included angle with a tangential direction of the second wall; the first included angle is an acute angle or a right angle, and the second included angle is an acute angle.

[0024] Further, the flow guide plate is a quadrilateral structure; and the flow guide plate comprises:

[0025] A hypotenuse side;

[0026] An arc-shaped side opposite to the hypotenuse side and in communication with a side wall of the second annular opening;

[0027] A first side connected to one end of the hypotenuse side and one end of the arc-shaped side at two ends respectively;

[0028] A second side parallel to the first side and connected to the other end of the hypotenuse side and the other end of the arc-shaped side at two ends respectively;

[0029] The hypotenuse side, the arc-shaped side, the first side and the second side enclose the flow guide plate; the first side plate is arranged on the first side, and the second side plate is arranged on the second side; and an included angle between the first side and the hypotenuse side is 30-60°.

[0030] Further, the line connecting the first flow guide groove and the second flow guide groove divides the second annular opening into a first arc-shaped side and a second arc-shaped side; the first arc-shaped side and the second arc-shaped side are both provided with the plurality of first curtains; the distance between two adjacent first curtains on the first arc-shaped side is the same, and the distance between two adjacent first curtains on the second arc-shaped side is the same.

[0031] Further, the material of the cleaning cavity is aluminum alloy or stainless steel; the surface of the cleaning cavity is plated with an oxide protective layer; the diameter of the first annular opening is smaller than the diameter of the second annular opening, the diameter of the first annular opening is 120-160 mm, and the diameter of the second annular opening is 170-220 mm; and / or, the material of the curtain is a flexible material; the curtain has a porous structure, the thickness of the curtain is 1-3 mm, the length of the curtain is 100-200 mm, the width of the curtain is 30-60 mm, and / or, the flexible material is polyurethane or silicone, the temperature resistance range of the curtain is -20-80℃; and / or, the elongation at break of the curtain is greater than or equal to 30%, and the tensile strength of the curtain is greater than or equal to 50 MPa.

[0032] In a second aspect, the embodiments of the present application provide an underwater cleaning device, comprising the cleaning cavity.

[0033] In a third aspect, the embodiments of the present application provide a wall-climbing robot, comprising the underwater cleaning device or the cleaning cavity.

[0034] The cleaning cavity, the underwater cleaning device and the wall-climbing robot provided by the embodiments of the present application can shield the bubbles generated by underwater cleaning operation by using the cavity and the curtain, avoid the influence of the bubbles generated by water washing operation on the visual field of the cleaning device, and thus facilitate the cleaning operation, and solve the technical problem that the bubbles generated by underwater cleaning operation affect the visual field observation of the underwater cleaning device in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0036] Figure 1 It is a perspective view of the cleaning cavity from one angle.

[0037] Figure 2 It is a perspective view of the cleaning cavity from another angle.

[0038] Figure 3A schematic view of a bottom structure of the cleaning cavity.

[0039] Figure 4 A schematic view of a bottom structure of the cleaning cavity. Figure 3 A schematic view of a bottom structure of the cleaning cavity.

[0040] Figure 5 A schematic view of a bottom structure of the cleaning cavity. Figure 3 A schematic view of a bottom structure of the cleaning cavity.

[0041] In the drawings, each of the following signs represents:

[0042] 1 - first plate, 2 - mounting port, 3 - first flow guide groove, 4 - second flow guide groove, 5 - cavity, 6 - first side plate, 7 - drainage plate, 8 - arc-shaped side, 9 - bevel side, 10 - second side plate, 11 - first tangent direction, 12 - second tangent direction, 13 - second wall surface, 14 - first wall surface, 15 - first arc-shaped side, 16 - second arc-shaped side, 17 - hanging hole, 18 - first side, 19 - second side. DETAILED DESCRIPTION

[0043] In order to make the technical problems to be solved, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0046] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0047] In a long-distance sailing ship, biological attachment is prone to occur on the bottom of the ship. In order to clean the biological attachment, an underwater permanent magnetic adsorption type autonomous mobile robot is used to carry out cleaning operation by using a cavitation jet device. In the related art, the nozzle of the cavitation jet device generates a large amount of bubbles when working, and these bubbles are dissipated to the surroundings of the robot, which easily has adverse effects on the visual observation of the underwater permanent magnetic adsorption type autonomous mobile robot, thereby affecting the cleaning of the biological attachment on the bottom of the ship.

[0048] In addition, the biological attachment washed down by the cavitation jet device is prone to accumulate, and if not cleaned in time, it will cause the blockage of the cleaning cavity, and even seriously affect the normal operation of the robot.

[0049] Therefore, it is necessary to effectively control the bubbles generated during cleaning when the robot is working underwater, so as to not affect the observation field of view of the robot, and to timely discharge the dirt generated during cleaning during the working process of the robot.

[0050] In the first aspect, referring to Figures 1-5 The cleaning cavity provided by the embodiments of the present application includes a cavity 5, a mounting port and a curtain. One side of the cavity 5 has an annular opening. The mounting port 2 is arranged on the cavity, and is used for the nozzle of the underwater cleaning device to extend into the cavity. The liquid outlet of the nozzle faces the annular opening. The curtain is arranged on the annular opening to block the bubbles in the cavity from moving to the visual field area of the underwater cleaning device.

[0051] Referring to Figure 1 The cavity can be a bowl-shaped or basin-shaped structure having an annular opening, which is not limited here. The mounting port 2 is arranged on the cavity, and is used for the nozzle of the underwater cleaning device to extend into the cavity. The underwater cleaning device can be a water cleaning robot, etc. The liquid outlet of the nozzle faces the annular opening, so that the liquid of the nozzle can be sprayed out of the annular opening during cleaning. The curtain is arranged on the annular opening, and when the bubbles carried by the liquid sprayed by the nozzle escape to the outside of the annular opening, the curtain blocks the bubbles, so that the bubbles break on the curtain or are hindered from escaping to the visual field area of the underwater cleaning device.

[0052] Therefore, by using the cavity and the curtain to block the bubbles generated during underwater cleaning operation, the visual influence of the bubbles generated during underwater cleaning operation on the underwater cleaning device is avoided, which is beneficial to the cleaning operation, and improves or solves the technical problem in the related art that the bubbles generated during underwater cleaning operation affect the visual observation of the underwater cleaning device.

[0053] In some embodiments, the curtain includes a plurality of first curtains (not shown in the figure), which are suspended on the edge of the annular opening, and the distance between any two adjacent first curtains is the same.

[0054] Optionally, the plurality of first curtains are uniformly arranged at the edge of the annular opening. Optionally, each first curtain can be hung in a hanging manner at the edge of the annular opening, and there can be a gap between two adjacent first curtains or there can be no gap, as long as the bubbles do not move to the visual field area of the underwater cleaning equipment.

[0055] To avoid the accumulation of the washed down attached organisms in the cleaning cavity, causing the cleaning cavity to be blocked, a flow guide groove is arranged on the annular opening; the flow guide groove includes a first flow guide groove 3 and a second flow guide groove 4; one end of the first flow guide groove 3 is in communication with the inside of the cavity, and the other end of the first flow guide groove 3 has a first port; and the second flow guide groove 4 is opposite to the position of the first flow guide groove, one end of the second flow guide groove 4 is in communication with the inside of the cavity, and the other end has a second port.

[0056] Referring to FIGS. 1 and 2, Figure 1 and 2 The water flow can enter and exit the cleaning cavity from the first port and the second port, so that the water flow can carry away the accumulated substances in the cleaning cavity under the flow guiding action of the first flow guide groove 3 and the second flow guide groove 4, avoiding the accumulation of substances in the cleaning cavity.

[0057] Further, the cavity includes: a hollow cavity having an annular opening on opposite sides; the annular opening includes a first annular opening and a second annular opening; and a first plate 1 for sealing the first annular opening; the mounting port is arranged on the first plate 1; the first plate is a circular structure; the annular opening is a circular structure; the mounting port is located at the center of the first plate; the first flow guide groove is arranged at a first position of the hollow cavity, and the second flow guide groove is arranged at a second position of the hollow cavity, and the first position and the second position are arranged in axial symmetry; the symmetry axis of the axial symmetry is the diameter of the second annular opening.

[0058] Referring to FIGS. 1 and 2, Figures 1-3 The first plate 1 seals the first annular opening, the mounting port is arranged on the first plate 1, and the second annular opening is used to arrange the first flow guide groove 3 and the second flow guide groove 4. By arranging the first position and the second position in axial symmetry, the first flow guide groove and the second flow guide groove can be arranged oppositely, avoiding the rotation of the cleaning cavity under the impact of the water flow.

[0059] In some embodiments, the flow guide groove includes: a flow guide plate 7, a first side plate 6 and a second side plate 10; the first side plate 6 is arranged on the lower side of the flow guide plate 7, and the right end of the first side plate 6 is connected with the first wall surface 14 of the hollow cavity;

[0060] The second side plate 10 is parallel to the first side plate, is arranged on the upper side of the flow guide plate, is opposite to the first side plate in position, and is connected with the second wall surface 13 of the cavity at the right end.

[0061] The first side plate 6 has a first included angle with the first tangential direction 11 of the first wall surface, and the second side plate 10 has a second included angle with the second tangential direction 12 of the second wall surface. The first included angle is an acute angle or a right angle, and the second included angle is an acute angle.

[0062] Referring to Figure 3 The first included angle is 70-90°, and is 70°, 80° or 90°. The second included angle is 10-30°, and is 10°, 15°, 25° or 30°.

[0063] The first side plate and the second side plate are arranged in a non-tangential manner with the wall surface of the cavity, so that when the water flow impacts the first side plate and the second side plate from the tangential direction of the wall surface of the cavity, the first side plate can play a certain role in resisting the impact of the water flow, and the rotation of the cavity caused by the impact of the water flow is improved.

[0064] Referring to Figure 3 In some embodiments, the flow guide plate is a quadrilateral structure, and includes a bevel side 9, an arc side 8, a first side 18 and a second side 19. The arc side 8 is opposite to the bevel side, and is in communication with the side wall of the second annular opening. The two ends of the first side 18 are respectively connected with the upper end of the bevel side and the upper end of the arc side.

[0065] The second side 19 is parallel to the first side 18, and the two ends of the second side 19 are respectively connected with the lower end of the bevel side and the lower end of the arc side.

[0066] The bevel side, the arc side, the first side and the second side form the flow guide plate. The first side plate is arranged on the first side, and the second side plate is arranged on the second side. The included angle between the first side and the bevel side is 30-60°. Optionally, the included angle between the first side and the bevel side is 30°, 40°, 45° or 60°.

[0067] In some embodiments, the line connecting the first flow guide groove and the second flow guide groove divides the second annular opening into a first arc-shaped side 15 and a second arc-shaped side 16; the first arc-shaped side and the second arc-shaped side are each provided with the plurality of first curtains suspended through the hanging holes 17; optionally, there is a gap between two adjacent first curtains on the first arc-shaped side; further, the distance between two adjacent first curtains on the first arc-shaped side is the same, and there is a gap between two adjacent first curtains on the second arc-shaped side, and the distance between two adjacent first curtains on the second arc-shaped side is the same.

[0068] Referring to Figures 3-5 As shown, the first arc-shaped side 15 and the second arc-shaped side 16 are each distributed with 7 hanging holes 17 for suspending the curtains. Optionally, the curtains are connected with the hanging holes through bolt connection or buckle connection, so that the connection is more stable. Optionally, the diameter of the hanging hole is 10 mm, the distance between the 7 hanging holes on the first arc-shaped side 15 is 70 mm, and the distance between the 7 hanging holes on the second arc-shaped side 16 is 70 mm.

[0069] Optionally, the material of the cleaning cavity is aluminum alloy or stainless steel.

[0070] Further, the material of the cleaning cavity can be aluminum alloy such as 6061-T6 or stainless steel such as 304, with a thickness of 3-5 mm. Optionally, the width of the first flow guide groove and the second flow guide groove is 170 mm, and the depth is 60 mm.

[0071] Optionally, the surface of the cleaning cavity is plated with an oxide protective layer; further, when the material of the cleaning cavity is aluminum alloy, an oxide layer can be generated by anodic oxidation to protect the cleaning cavity; when the material of the cleaning cavity is stainless steel, passivation treatment is used to improve corrosion resistance.

[0072] The diameter of the first annular opening is smaller than the diameter of the second annular opening, the diameter of the first annular opening is 120-160 mm, and further, the diameter of the first annular opening is 150 mm; the diameter of the second annular opening is 170-220 mm; the diameter of the second annular opening is 200 mm; the material of the curtain is a flexible material.

[0073] The curtain has a porous structure. The use of a porous structure can effectively block the escape of bubbles while allowing biological attachments in water to pass through.

[0074] The curtain is a cleaning curtain. Optionally, the cleaning curtain satisfies at least one of the following parameters:

[0075] Material: polyester fiber cloth, thickness 2 mm, with high wear resistance, high toughness and excellent water resistance.

[0076] Wear resistance: able to withstand the impact of cavitation jet and the friction of biofouling on the hull, with a wear resistance level of 4 or above according to ISO 12947-2 standard.

[0077] Toughness: elongation at break ≥ 30%, tensile strength ≥ 50 MPa, ensuring that the cleaning curtain does not easily break or deform during long-term use.

[0078] Water resistance: no deformation after long-term immersion, temperature resistance range -20℃ to 80℃, suitable for seawater environment.

[0079] Air permeability: moderate fiber structure density effectively blocks air bubbles while allowing water flow and dirt to pass through, improving cleaning efficiency.

[0080] The thickness of the curtain is 1-3mm, the length of the curtain is 100-200mm, the width of the curtain is 30-60mm, the flexible material is polyurethane or silicone, the temperature resistance range of the curtain is -20℃-80℃; the elongation at break of the curtain is ≥ 30%, the tensile strength of the curtain is greater than or equal to 50MPa.

[0081] In a second aspect, the embodiments of the present application provide an underwater cleaning device, comprising the cleaning cavity.

[0082] Optionally, the cleaning device comprises a cavitation jet device and the above-mentioned cleaning cavity.

[0083] The bubbles generated by the cavitation jet of the cleaning device are blocked by the cleaning curtain in the cleaning cavity, avoiding the escape of bubbles affecting the visual observation of the underwater robot. The soft material design of the cleaning curtain can adapt to the water flow fluctuations, ensuring the stability of the bubble blocking effect.

[0084] The dirt generated by cleaning is discharged through the guide groove under the action of water flow, avoiding accumulation and clogging the cleaning cavity. The symmetrical design of the guide groove ensures smooth dirt discharge path, improving cleaning efficiency.

[0085] In a third aspect, the embodiments of the present application provide a wall-climbing robot, comprising the underwater cleaning device or the cleaning cavity.

[0086] When the wall-climbing robot is used as an underwater cleaning robot, it can effectively reduce the escape of cavitation bubbles during the cleaning process of the underwater robot, enhance the clarity of the visual field of the underwater robot, and timely discharge the dirt generated by cleaning, ensuring the reliability of the robot work and cleaning.

[0087] Therefore, the embodiments of the present application block the bubbles generated by underwater cleaning operation by using cavity and curtain, avoiding the visual impact of bubbles generated by water washing operation on the cleaning equipment, thereby facilitating the cleaning operation and improving or solving the technical problem of bubbles generated by underwater cleaning operation affecting the visual observation of underwater cleaning equipment in the related art.

[0088] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning chamber, characterized by, The utility model relates to a cleaning device for underwater cleaning equipment, comprising: a cavity with a ring-shaped opening on one side; a mounting port provided in the cavity for a spray head of the underwater cleaning equipment to extend into the cavity; the liquid outlet of the spray head faces the ring-shaped opening; and a curtain provided in the ring-shaped opening to prevent air bubbles in the cavity from moving into the field of view of the underwater cleaning equipment.

2. The cleaning chamber of claim 1, wherein, The curtain comprises a plurality of first curtains hung on the edge of the ring-shaped opening, and the distance between any two adjacent first curtains is the same.

3. The cleaning chamber of claim 1, wherein, The ring-shaped opening is provided with a flow guide groove, which comprises: a first flow guide groove in communication with the inside of the cavity at one end and having a first port at the other end; and a second flow guide groove opposite the first flow guide groove in position, in communication with the inside of the cavity at one end and having a second port at the other end.

4. The cleaning chamber of claim 3, wherein, The cavity comprises: a hollow cavity with a ring-shaped opening on each side; the ring-shaped opening comprises a first ring-shaped opening and a second ring-shaped opening; a first plate for sealing the first ring-shaped opening; the mounting port is provided in the first plate; the first plate is in a circular structure; the ring-shaped opening is in a circular structure; the mounting port is located at the center of the first plate; the first flow guide groove is provided at a first position of the hollow cavity, and the second flow guide groove is provided at a second position of the hollow cavity, and the first position and the second position are arranged in axial symmetry; the axis of symmetry is the diameter of the second ring-shaped opening.

5. The cleaning chamber of claim 4, wherein, The flow guide groove comprises: a flow guide plate; a first side plate provided on one side of the flow guide plate and connected to a first wall of the hollow cavity at one end; a second side plate parallel to the first side plate and provided on the other side of the flow guide plate opposite the first side plate and connected to a second wall of the hollow cavity at one end; the first side plate and the first wall have a first included angle in the tangential direction, and the second side plate and the second wall have a second included angle in the tangential direction; the first included angle is an acute angle or a right angle, and the second included angle is an acute angle.

6. The cleaning chamber of claim 5, wherein, The flow guide plate is in a quadrilateral structure; the flow guide plate comprises: a diagonal side; an arc-shaped side opposite the diagonal side and in communication with the side wall of the second ring-shaped opening; a first side connected to one end of the diagonal side and one end of the arc-shaped side at both ends; a second side parallel to the first side and connected to the other end of the diagonal side and the other end of the arc-shaped side at both ends; the diagonal side, the arc-shaped side, the first side and the second side form the flow guide plate; the first side plate is provided on the first side, and the second side plate is provided on the second side; the included angle between the first side and the diagonal side is 30-60°.

7. The cleaning chamber of claim 6, wherein, The line connecting the first flow guide groove and the second flow guide groove divides the second ring-shaped opening into a first arc-shaped side and a second arc-shaped side; the plurality of first curtains are hung on the first arc-shaped side and the second arc-shaped side; the distance between any two adjacent first curtains on the first arc-shaped side is the same, and the distance between any two adjacent first curtains on the second arc-shaped side is the same.

8. A cleaning chamber according to any one of claims 4 to 7, wherein The material of the cleaning cavity is aluminum alloy or stainless steel; the surface of the cleaning cavity is plated with an oxide protective layer; the diameter of the first annular opening is smaller than the diameter of the second annular opening, the diameter of the first annular opening is 120-160 mm, and the diameter of the second annular opening is 170-220 mm; and / or the material of the curtain is a flexible material; the curtain has a porous structure, the thickness of the curtain is 1-3 mm, the length of the curtain is 100-200 mm, the width of the curtain is 30-60 mm, and / or the flexible material is polyurethane or silica gel, the temperature resistance range of the curtain is -20-80℃; and / or the elongation at break of the curtain is greater than or equal to 30%, and the tensile strength of the curtain is greater than or equal to 50 MPa.

9. An underwater cleaning device, characterized by The cleaning cavity comprises any one of claims 1-8.

10. A wall-climbing robot, characterized by comprising: The underwater cleaning device of claim 9 or the cleaning cavity of any one of claims 1-8.

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