Underwater cleaning robot

Abstract

The invention provides an underwater cleaning robot. The underwater cleaning robot comprises a shell assembly, a sweeping assembly, a walking assembly, a collecting assembly and an obstacle avoiding assembly. The robot with the waterproof function is adopted to achieve underwater cleaning work of fountains, pools and the like, the sweeping assembly arranged at the front end is used for scraping impurities at the water bottom, further treatment is achieved in cooperation with the brush and the brush cloth, when the impurities in the water are scraped and suspended on the water surface, suspended impurities are absorbed through the collecting assembly, and the cleaning efficiency is improved. When the robot walks to a complex position, the robot can exit through buoyancy in water and water pressure, edge cleaning can be achieved through the flexible disc, the flexible disc is extruded and deformed to make the robot make contact with the inner wall of a swimming pool and the inner wall of a water pool, and the cleaning effect is ensured; the flexible disc can be effectively utilized for efficient cleaning, impurities are collected and filtered through water flow, and the underwater cleaning effect is ensured.

Description

Technical Field

[0001] The present invention relates to an underwater cleaning robot, belonging to the technical field of robots. Background Art

[0002] An underwater cleaning robot is a machine for performing cleaning work underwater. A machine with underwater cleaning capabilities can be applied in fields such as swimming pools and water tanks. Since underwater fountains are left underwater for a long time, a lot of underwater garbage and sediment will accumulate. When the underwater fountain is operated again, when the fountain sucks water, it is very likely that the water inlet will suck in garbage, sediment or become blocked due to underwater garbage or accumulated sediment, resulting in the malfunction of the fountain or damage to the internal structure of the fountain.

[0003] When a cleaning robot is applied to scenarios such as underwater fountains, due to the variety of garbage dropped by underwater fountains, it is difficult to effectively remove the impurities accumulated for a long time, and metal foreign objects that may exist during removal will damage the robot. Since the edges of swimming pools and water tanks are not easy to clean effectively, and the impurities after cleaning are not easy to collect. It is easy to float away with the water flow when scraping foreign objects, and it is not easy to effectively and completely collect them. When the underwater robot is cleaning, it is easy to encounter a more complex environment and cannot move effectively, making it difficult for the robot to turn quickly, resulting in incomplete cleaning effect. Moreover, the robot has a single function and it is not easy to detect the equipment in the pool or water tank while cleaning. Summary of the Invention

[0004] The present invention provides an underwater cleaning robot to solve the technical problems of poor cleaning effect and low efficiency of underwater cleaning robots.

[0005] The present invention solves the above technical problems through the following technical solutions: The present invention provides an underwater cleaning robot, which includes: A housing assembly, the housing assembly is composed of a housing. A suction disc is fixedly connected to the front end of the housing. A magnet is fixedly installed inside the suction disc. A flexible disc is rotatably connected to the bottom of the tail end of the housing. A plurality of elastically deformable sheets are provided at the edge of the flexible disc, and a brush cloth is fixedly connected to the bottom of the flexible disc; A cleaning assembly, the cleaning assembly is composed of a cover housing. The cover housing is fixedly installed inside the front end of the housing. A cleaning roller brush is rotatably connected inside the cover housing, and a turntable is rotatably connected to the bottom of the housing on one side of the flexible disc; A traveling assembly, the traveling assembly includes a traveling mechanism and a steering mechanism. The traveling mechanism is installed on both sides of the front end of the housing, and the steering mechanism is installed in the middle of the tail end of the housing; A collection assembly, the collection assembly is composed of a flow deflector. The flow deflector is fixedly installed in the middle of the bottom end of the housing. One end of the flow deflector is correspondingly arranged on one side of the cleaning roller brush, and the other end of the flow deflector is located at the tail end of the housing. A flow guiding mechanism is provided in the middle of the top end of the flow deflector; Obstacle avoidance components, which are fixedly installed on both sides of the housing. The obstacle avoidance components are respectively communicated with the bottom of the housing and the side wall of the tail end of the housing, and the obstacle avoidance components are arranged outside the turntable.

[0006] In this technical solution, a detector housing is fixedly connected to the top of the housing. Both the housing and the detector housing are made of waterproof materials. A radar detection device is fixedly installed on the top of the detector housing. The suction cup is located at the bottom of the housing, and the magnet inside the suction cup is correspondingly arranged above the ground.

[0007] In this technical solution, a circular housing is fixedly installed inside the housing. The circular housing is located on both sides of the tail end of the housing. An electric push rod is fixedly installed on the top of the circular housing. The telescopic end of the electric push rod penetrates through the circular housing and extends into the circular housing. A driving device is slidably connected inside the circular housing. The telescopic end of the electric push rod is fixedly connected to the driving device, and the output end of the driving device is fixedly connected to a flexible disc. A circular brush cloth is attached to the bottom of the flexible disc.

[0008] In this technical solution, the traveling mechanism is composed of a circular housing, which is fixedly installed inside the housing. The circular housing is located on both sides of the housing and its side walls are fixedly connected to the traveling motors. A traveling wheel is rotatably connected inside the circular housing, and the output end of the circular housing is fixedly connected to the traveling wheel.

[0009] In this technical solution, the steering mechanism is composed of a spherical housing, which is fixedly installed at the tail end of the housing and is located between the two circular housings. A spherical wheel seat is embedded inside the spherical housing. A steering motor is fixedly installed on the top of the housing. The output end of the steering motor penetrates through the spherical housing and is fixedly connected to the wheel seat, and a steering wheel is rotatably connected inside the wheel seat.

[0010] In this technical solution, the cover is of a semi-circular ring structure and is integrally formed at the bottom of the housing. The cleaning roller brush inside the cover is provided with arc-shaped bristles. One end of the cleaning roller brush is fixedly connected to a connecting shaft, and the connecting shaft is rotatably connected to the inside of the cover in a sealed manner. The end of the connecting shaft extending to the housing is fixedly connected to an end face gear. A connecting seat and a first driving motor are respectively fixedly installed on the inner wall of the housing above the connecting shaft. The output end of the first driving motor is rotatably connected to the inside of the connecting seat, and the output end of the first driving motor is fixedly connected to a driving gear, and the driving gear is meshed with the end face gear.

[0011] In this technical solution, a second driving motor is fixedly installed inside the housing. The output end of the second driving motor is fixedly connected to the turntable. The bottom of the turntable is fixedly connected to a number of uniformly distributed brushes. The number of turntables is two and they are symmetrically distributed, and the rotation directions of the two turntables are opposite.

[0012] In the present technical solution, a water inlet and a water outlet are respectively formed at both ends of the air deflector, the water inlet and the water outlet are respectively located on both sides of the two turntables, and the water inlet is located on one side of the cleaning roller brush, and a filter is embedded in the bottom of the shell at the water outlet, and the filter is installed to the bottom of the shell by a snap buckle, the diameter of the middle part of the air deflector is smaller than the diameter of the two ends, and the guide mechanism is fixedly installed to the middle part of the air deflector.

[0013] In the present technical solution, the guide mechanism is composed of a volute, which is fixedly mounted to the top of the guide cover. An impeller is rotatably connected inside the volute. A third drive motor is fixedly mounted inside a shell located on one side of the guide cover. The output end of the third drive motor is connected to the impeller through a belt inside a transmission shell. The impeller extends into the guide cover for the circulation of water in the guide cover.

[0014] In the present technical solution, the obstacle avoidance component is composed of a shell cover, which is a trapezoidal hollow structure and is arranged on both sides of the shell. The shell cover is connected to the bottom of the shell and is arranged on one side of the brush. A water pump is fixedly installed inside the shell. The water pump is connected to the shell cover through one of the connecting pipes, and the water pump is connected to the other connecting pipe, and the connecting pipe is connected to the rear end of the shell. A valve is fixedly connected to the connecting pipe, and a battery assembly and a controller are respectively fixedly installed inside the shell. The connecting pipe is arranged on one side of the battery assembly. An infrared sensor is fixedly connected to the rear end of the shell, and both the infrared sensor and the water pump are electrically connected to the controller.

[0015] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0016] The positive and progressive effects of the present invention are: The above-mentioned underwater cleaning robot uses a waterproof robot to perform cleaning work underwater in fountains, pools, etc. It uses a cleaning component set at the front end to scrape off impurities at the bottom of the water, and cooperates with a brush and a brush cloth for further processing, achieving multiple processes during underwater cleaning to ensure the effective removal of deposited impurities. When scraping off and suspending impurities in the water on the water surface, the floating impurities are absorbed through a collection component, and fine impurities are collected after filtration. Before collection, metal impurities are adsorbed by a magnet to avoid subsequent damage to the robot, achieving the effective removal of different types of impurities. When the robot walks to a complex position, it can exit through the buoyancy and water pressure in the water, avoiding the problem of being difficult to effectively retreat when walking to a complex position. An infrared sensor is set to monitor the distance between the rear end of the robot and the obstacle, avoiding the problem of bumping caused by excessive retreat force. At the same time, the flexible disk can be used to clean the edge, and the flexible disk is extruded and deformed to contact the inner wall of the swimming pool or pool, ensuring the cleaning effect. Especially when the edge of the pool is uneven, the flexible disk can be effectively used for effective cleaning, and the impurities are collected and filtered through the water flow to ensure the underwater cleaning effect. Brief Description of the Drawings

[0017] Figure 1 It is a schematic three-dimensional structure diagram of the whole invention.

[0018] Figure 2 It is a schematic three-dimensional structure diagram above the housing of the invention.

[0019] Figure 3 It is a schematic three-dimensional structure diagram inside the housing of the invention.

[0020] Figure 4 It is a schematic three-dimensional structure diagram at the cover of the invention.

[0021] Figure 5 For the invention Figure 4 The partial enlarged structure diagram at A in it.

[0022] Figure 6 It is a schematic three-dimensional structure diagram at the fairing of the invention.

[0023] Figure 7 It is a schematic three-dimensional structure diagram at the turntable of the invention.

[0024] Figure 8 It is a schematic three-dimensional structure diagram at the impeller of the invention.

[0025] Figure 9 It is a schematic bottom view structure diagram of the invention.

[0026] Figure 10 It is a schematic front view structure diagram inside the invention.

[0027] Explanation of the Reference Numerals in the Drawings 100. Housing assembly; 101. Housing; 102. Detector housing; 103. Radar detection device; 104. Suction cup; 105. Magnet; 106. Round shell; 107. Electric push rod; 108. Flexible disc; 109. Brush cloth; 200. Cleaning assembly; 201. Cover shell; 202. Cleaning roller brush; 203. Connecting shaft; 204. End face gear; 205. First driving motor; 206. Connecting seat; 207. Driving gear; 208. Second driving motor; 209. Turntable; 210. Brush; 300. Traveling assembly; 301. Circular housing; 302. Traveling wheel; 303. Traveling motor; 304. Spherical housing; 305. Steering motor; 306. Wheel seat; 307. Steering wheel; 400. Collection assembly; 401. Deflector; 402. Volute; 403. Third driving motor; 404. Transmission housing; 405. Impeller; 406. Water inlet; 407. Water outlet; 408. Filter screen; 500. Obstacle avoidance assembly; 501. Shell cover; 502. Connecting pipe; 503. Water pump; 504. Valve; 505. Battery assembly; 506. Controller; 507. Infrared sensor. Detailed implementation manners

[0028] The present invention will be further described below by way of embodiments, but the present invention is not limited to the scope of the described embodiments.

[0029] As Figures 1-10 shown, the underwater cleaning robot includes: A housing assembly 100, the housing assembly 100 is composed of a housing 101, a suction cup 104 is fixedly connected to the front end of the housing 101, a magnet 105 is fixedly installed inside the suction cup 104, a flexible disc 108 is rotatably connected to the bottom of the tail end of the housing 101, a plurality of elastically deformable sheets are provided at the edge of the flexible disc 108, and a brush cloth 109 is fixedly connected to the bottom of the flexible disc 108; A cleaning assembly 200, the cleaning assembly 200 is composed of a cover shell 201, the cover shell 201 is fixedly installed inside the front end of the housing 101, a cleaning roller brush 202 is rotatably connected inside the cover shell 201, and a turntable 209 is rotatably connected to the bottom of the housing 101 on one side of the flexible disc 108; A traveling assembly 300, the traveling assembly 300 is composed of a traveling mechanism and a steering mechanism, the traveling mechanism is installed on both sides of the front end of the housing 101, and the steering mechanism is installed in the middle of the tail end of the housing 101; Collection component 400, which is composed of a deflector 401. The deflector 401 is fixedly installed at the middle of the bottom end of the housing 101. One end of the deflector 401 is correspondingly arranged on one side of the cleaning roller brush 202, and the other end of the deflector 401 is located at the tail end of the housing 101. And a diversion mechanism is provided at the middle of the top end of the deflector 401; Obstacle avoidance component 500, which is fixedly installed on both sides of the housing 101. The obstacle avoidance component 500 is respectively communicated with the bottom of the housing 101 and the side wall of the tail end of the housing 101. The obstacle avoidance component 500 is arranged outside the turntable 209.

[0030] A detector housing 102 is fixedly connected to the top of the housing 101. Both the housing 101 and the detector housing 102 are made of waterproof materials. A radar detection device 103 is fixedly installed on the top of the detector housing 102. The suction cup 104 is located at the bottom of the housing 101, and the magnet 105 inside the suction cup 104 is correspondingly arranged above the ground; A circular shell 106 is fixedly installed inside the housing 101. The circular shell 106 is located on both sides of the tail end of the housing 101. An electric push rod 107 is fixedly installed on the top of the circular shell 106. The telescopic end of the electric push rod 107 penetrates through the circular shell 106 and extends into the circular shell 106. A driving device is slidably connected inside the circular shell 106. The telescopic end of the electric push rod 107 is fixedly connected to the driving device, and the output end of the driving device is fixedly connected to a flexible disk 108. A circular brush cloth 109 is attached to the bottom of the flexible disk 108.

[0031] In this technical solution, the detector in the detector housing 102 is used to identify the picture and the robot moves based on the picture. The radar detection device 103 is used to monitor the picture in front in real time to identify the situation of underwater equipment. When there is damage or too much water pollution, an alarm can be directly triggered to transmit the data to the terminal network platform. During the movement of the robot, the magnet 105 in the suction cup 104 absorbs metal foreign objects at the bottom of the water, such as screws, etc., which can prevent them from entering the robot and causing problems such as wear. During the movement, the flexible disk 108 is separated from the ground. At this time, the bottom of the water can be cleaned by the cleaning roller brush 202 and the brush 210. When it is necessary to further clean with the brush cloth 109, the electric push rod 107 is used to push the driving device to move downward inside the circular shell 106 and drive the brush cloth 109 to contact the bottom surface. When the driving device is started, it drives the flexible disk 108 and the brush cloth 109 to rotate at the same time. When the edge of the brush cloth 109 contacts the uneven ground, at this time, the sheet body at the edge of the flexible disk 108 undergoes elastic deformation and bends, thereby driving the brush cloth 109 to effectively contact the uneven ground and ensuring the cleaning effect.

[0032] The walking mechanism is composed of a circular housing 301. The circular housing 301 is fixedly installed inside the housing 101. The circular housing 301 is located on both sides of the housing 101 and its side walls are fixedly connected to the walking motor 303. A walking wheel 302 is rotatably connected inside the circular housing 301, and the output end of the circular housing 301 is fixedly connected to the walking wheel 302. The steering mechanism is composed of a spherical housing 304. The spherical housing 304 is fixedly installed at the tail end of the housing 101 and is located between two circular shells 106. A wheel seat 306 with a spherical structure is embedded inside the spherical housing 304. A steering motor 305 is fixedly installed at the top of the housing 101. The output end of the steering motor 305 penetrates through the spherical housing 304 and is fixedly connected to the wheel seat 306, and a steering wheel 307 is rotatably connected inside the wheel seat 306.

[0033] In this technical solution, when the robot is walking, the walking motor 303 drives the walking wheel 302 to rotate inside the circular housing 301, thereby realizing the movement of the housing 101. At this time, the steering motor 305 drives the wheel seat 306 inside the spherical housing 304 to rotate, so that the steering wheel 307 rotates inside the wheel seat 306 to realize the steering operation, thereby realizing the control during the movement of the robot.

[0034] The cover 201 is of a semi-circular ring structure and is integrally formed at the bottom of the housing 101. The cleaning brush 202 inside the cover 201 is provided with arc-shaped bristles. One end of the cleaning brush 202 is fixedly connected to a connecting shaft 203, and the connecting shaft 203 is rotatably connected to the inside of the cover 201 in a sealed manner. The end of the connecting shaft 203 extending to the housing 101 is fixedly connected to an end face gear 204. Inside walls of the housing 101 above the connecting shaft 203 are respectively fixedly installed with a connecting seat 206 and a first driving motor 205. The output end of the first driving motor 205 is rotatably connected to the inside of the connecting seat 206, and the output end of the first driving motor 205 is fixedly connected to a driving gear 207. The driving gear 207 is meshed with the end face gear 204. A second driving motor 208 is fixedly installed inside the housing 101. The output end of the second driving motor 208 is fixedly connected to a turntable 209. The bottom of the turntable 209 is fixedly connected to a number of uniformly distributed brushes 210. The number of turntables 209 is two and they are symmetrically distributed, and the rotation directions of the two turntables 209 are opposite.

[0035] In this technical solution, the cleaning roller brush 202 is arranged inside the housing 201. When the robot is moving, the first drive motor 205 drives its output shaft to rotate inside the connecting seat 206. When driving the drive gear 207 to rotate, it drives the end face gear 204 to rotate synchronously. The end face gear 204 drives the connecting shaft 203 to rotate synchronously, so that the connecting shaft 203 drives the cleaning roller brush 202 to rotate inside the housing 201. The surface of the cleaning roller brush 202 is provided with bristles in an arc structure to effectively scrape the impurities at the bottom of the water, so that the impurities will not precipitate at the bottom of the water and affect the subsequent cleaning. At the same time, the second drive motor 208 drives the turntable 209 and the brush 210 to rotate synchronously, and uses the reverse rotation of the brush 210 to scrape the water flow towards the water inlet 406, so that the impurities can smoothly enter from the water inlet 406, facilitating the subsequent cleaning of the impurities.

[0036] Both ends of the flow guide cover 401 are respectively formed with a water inlet 406 and a water outlet 407. The water inlet 406 and the water outlet 407 are respectively located on both sides of the two turntables 209, and the water inlet 406 is located on one side of the cleaning roller brush 202. A filter screen 408 is embedded at the bottom of the housing 101 at the water outlet 407. The filter screen 408 is installed at the bottom of the housing 101 through a buckle. The caliber of the middle part of the flow guide cover 401 is smaller than the calibers of its two ends, and the flow guide mechanism is fixedly installed in the middle of the flow guide cover 401. The flow guide mechanism is composed of a volute 402. The volute 402 is fixedly installed on the top of the flow guide cover 401. An impeller 405 is rotatably connected inside the volute 402. A third drive motor 403 is fixedly installed inside the housing 101 on one side of the flow guide cover 401. The output end of the third drive motor 403 is in transmission connection with the impeller 405 through a belt inside the transmission housing 404. The transmission housing 404 is fixed to the outer wall of the flow guide cover 401. The impeller 405 extends into the flow guide cover 401 for the circulation of the water source inside the flow guide cover 401.

[0037] In this technical solution, when the third drive motor 403 is working, the impeller 405 is driven to rotate inside the volute 402 through the transmission of the belt pulley and the belt inside the transmission housing 404, so that a negative pressure is formed inside the flow guide cover 401 to enable the external water source to enter through the water inlet 406 and be discharged through the water outlet 407 to achieve circular circulation, and the impurities are collected through the detachable filter screen 408, which is convenient for subsequent treatment.

[0038] Specifically, when the cleaning roller brush 202 rotates, it stirs the impurities at the bottom of the water. At the same time, the two brushes 210 rotate in the opposite direction to gather all the impurities at the water inlet 406. Moreover, a negative pressure is formed at the water inlet 406 to enable the water source to enter efficiently. After the impurities are filtered, the treated water source is discharged to achieve continuous cleaning operation.

[0039] The obstacle avoidance component 500 is composed of a housing cover 501. The housing cover 501 is composed of a trapezoidal hollow structure and is arranged on both sides inside the housing 101. The housing cover 501 is communicated with the bottom of the housing 101 and is arranged on one side of the brush 210. A water pump 503 is fixedly installed inside the housing 101. The water pump 503 is communicated with the housing cover 501 through one connecting pipe 502, and the water pump 503 is communicated with the other connecting pipe 502. The connecting pipe 502 is connected through the tail end of the housing 101. A valve 504 is fixedly connected to the connecting pipe 502. A battery component 505 and a controller 506 are respectively fixedly installed inside the housing 101. The connecting pipe 502 is arranged on one side of the battery component 505. An infrared sensor 507 is fixedly connected to the tail end of the housing 101. Both the infrared sensor 507 and the water pump 503 are electrically connected to the controller 506.

[0040] In this technical solution, when the robot moves through the walking component 300, when the robot moves to a complex terrain and cannot break away, at this time, the distance between the rear of the robot and the obstacle is monitored by the infrared sensor 507, and the water source behind the robot is pumped away by the operation of the water pump 503, and the water source is quickly conveyed to the inside of the housing cover 501 through the connecting pipe 502. At this time, a positive pressure is formed at the bottom of the housing 101, and it is lifted upward by the buoyancy in the water and the impact of the water pressure to complete the separation from the complex position, which is convenient for quick retreat to ensure its continuous and stable operation, avoiding the cleaning efficiency affected by the robot's inability to effectively avoid obstacles. At the same time, the infrared sensor 507 monitors and determines the distance from the rear obstacle, avoiding the problem of the robot being bumped due to too large a retreat distance.

[0041] The present invention is not limited to the above embodiments. No matter what changes are made in its shape or structure, they all fall within the protection scope of the present invention. The protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. Underwater cleaning robot, characterized in that, The underwater cleaning robot includes: A housing assembly (100), which consists of a housing (101). A suction disc (104) is fixedly connected to the front end of the housing (101), and a magnet (105) is fixedly installed inside the suction disc (104). A flexible disc (108) is rotatably connected to the bottom of the tail end of the housing (101). Several elastically deformable sheets are provided at the edge of the flexible disc (108), and a brush cloth (109) is fixedly connected to the bottom of the flexible disc (108); A cleaning assembly (200), which consists of a cover housing (201). The cover housing (201) is fixedly installed inside the front end of the housing (101). A cleaning roller brush (202) is rotatably connected inside the cover housing (201), and a turntable (209) is rotatably connected to the bottom of the housing (101) on one side of the flexible disc (108); A traveling assembly (300), which consists of a traveling mechanism and a steering mechanism. The traveling mechanism is installed on both sides of the front end of the housing (101), and the steering mechanism is installed in the middle of the tail end of the housing (101); A collection assembly (400), which consists of a flow deflector (401). The flow deflector (401) is fixedly installed in the middle of the bottom end of the housing (101). One end of the flow deflector (401) is correspondingly arranged on one side of the cleaning roller brush (202), and the other end of the flow deflector (401) is located at the tail end of the housing (101). A flow guiding mechanism is provided in the middle of the top end of the flow deflector (401); An obstacle avoidance assembly (500), which is fixedly installed on both sides of the housing (101). The obstacle avoidance assembly (500) is respectively communicated with the bottom of the housing (101) and the side wall of the tail end of the housing (101). The obstacle avoidance assembly (500) is arranged outside the turntable (209).

2. The underwater cleaning robot according to claim 1, wherein: A detector housing (102) is fixedly connected to the top of the housing (101). Both the housing (101) and the detector housing (102) are made of waterproof materials. A radar detection device (103) is fixedly installed on the top of the detector housing (102). The suction disc (104) is located at the bottom of the housing (101), and the magnet (105) inside the suction disc (104) is correspondingly arranged above the ground.

3. The underwater cleaning robot according to claim 1, wherein: A circular housing (106) is fixedly installed inside the housing (101). The circular housing (106) is located on both sides of the tail end of the housing (101). An electric push rod (107) is fixedly installed on the top of the circular housing (106). The telescopic end of the electric push rod (107) penetrates through the circular housing (106) and extends into the circular housing (106). A driving device is slidably connected inside the circular housing (106). The telescopic end of the electric push rod (107) is fixedly connected to the driving device, and the output end of the driving device is fixedly connected to the flexible disc (108). A circular brush cloth (109) is attached to the bottom of the flexible disc (108).

4. The underwater cleaning robot according to claim 1, wherein: The walking mechanism consists of a circular housing (301), which is fixedly installed inside the housing (101). The circular housing (301) is located on both sides of the housing (101), and its side walls are fixedly connected to the walking motor (303). A walking wheel (302) is rotatably connected inside the circular housing (301), and the output end of the circular housing (301) is fixedly connected to the walking wheel (302).

5. The underwater cleaning robot according to claim 1, characterized in that: The steering mechanism consists of a spherical housing (304), which is fixedly installed at the tail end of the housing (101) and is located between two circular shells (106). A spherical wheel seat (306) is embedded inside the spherical housing (304). A steering motor (305) is fixedly installed on the top of the housing (101). The output end of the steering motor (305) passes through the spherical housing (304) and is fixedly connected to the wheel seat (306), and a steering wheel (307) is rotatably connected inside the wheel seat (306).

6. The underwater cleaning robot according to claim 1, characterized in that: The cover (201) is of a semi-circular ring structure and is integrally formed at the bottom of the housing (101). The cleaning brush roller (202) inside the cover (201) is provided with arc-shaped bristles. One end of the cleaning brush roller (202) is fixedly connected to a connecting shaft (203), and the connecting shaft (203) is sealingly rotatably connected inside the cover (201). The end of the connecting shaft (203) extending to the housing (101) is fixedly connected to an end face gear (204). A connecting seat (206) and a first driving motor (205) are respectively fixedly installed on the inner wall of the housing (101) above the connecting shaft (203). The output end of the first driving motor (205) is rotatably connected inside the connecting seat (206), and the output end of the first driving motor (205) is fixedly connected to a driving gear (207). The driving gear (207) is meshed with the end face gear (204).

7. The underwater cleaning robot according to claim 1, characterized in that: A second driving motor (208) is fixedly installed inside the housing (101). The output end of the second driving motor (208) is fixedly connected to a turntable (209). The bottom of the turntable (209) is fixedly connected to a number of uniformly distributed brushes (210). The number of turntables (209) is two and they are symmetrically distributed, and the rotation directions of the two turntables (209) are opposite.

8. The underwater cleaning robot according to claim 1, characterized in that: Both ends of the flow deflector (401) are respectively formed with a water inlet (406) and a water outlet (407). The water inlet (406) and the water outlet (407) are respectively located on both sides of the two turntables (209), and the water inlet (406) is located on one side of the cleaning brush roller (202). A filter screen (408) is embedded at the bottom of the housing (101) at the water outlet (407). The filter screen (408) is installed at the bottom of the housing (101) through a buckle. The diameter of the middle part of the flow deflector (401) is smaller than the diameters of its two ends, and a flow guiding mechanism is fixedly installed in the middle part of the flow deflector (401).

9. The underwater cleaning robot according to claim 8, characterized in that: The diversion mechanism consists of a volute casing (402), the volute casing (402) is fixedly installed on the top of the fairing (401), an impeller (405) is rotatably connected inside the volute casing (402), a third drive motor (403) is fixedly installed inside the housing (101) on one side of the fairing (401), the output end of the third drive motor (403) is drivingly connected to the impeller (405) through a belt inside the transmission housing (404), and the impeller (405) extends into the fairing (401) for the water source to flow through inside the fairing (401).

10. The underwater cleaning robot according to claim 1, characterized in that: The obstacle avoidance assembly (500) consists of a housing cover (501), the housing cover (501) is composed of a trapezoidal hollow structure and is arranged on both sides inside the housing (101), the housing cover (501) communicates with the bottom of the housing (101) and is arranged on one side of the brush (210), a water pump (503) is fixedly installed inside the housing (101), the water pump (503) communicates with the housing cover (501) through one of the connecting pipes (502), the water pump (503) communicates with the other connecting pipe (502), and the connecting pipe (502) is connected through the tail end of the housing (101), a valve (504) is fixedly connected to the connecting pipe (502), a battery assembly (505) and a controller (506) are respectively fixedly installed inside the housing (101), the connecting pipe (502) is arranged on one side of the battery assembly (505), an infrared sensor (507) is fixedly connected to the tail end of the housing (101), and both the infrared sensor (507) and the water pump (503) are electrically connected to the controller (506).

Images