Underwater cleaning robot

Abstract

The application provides an underwater cleaning robot, which comprises a shell assembly, a cleaning assembly, a walking assembly, a collecting assembly and an obstacle avoidance assembly. The robot with waterproof function is used to realize the cleaning work of fountains, pools and the like underwater, the front-end cleaning assembly is used to realize the scraping of impurities on the water bottom, and the further treatment is realized by cooperating with a brush and a cloth, when the impurities in the water are scraped and suspended on the water surface, the suspended impurities are absorbed through the collecting assembly, and the fine impurities are collected after filtration, when the robot walks to a complex position, the robot can exit through the buoyancy in the water and the water pressure mode, and the flexible disc is used to realize the edge cleaning, meanwhile, the flexible disc is extruded and deformed to contact the inner wall of the swimming pool or the pool, so that the cleaning effect is ensured, the flexible disc can be effectively used for efficient cleaning, the impurities are collected and filtered through the water flow, and the underwater cleaning effect is ensured.

Description

Technical Field

[0001] This invention relates to an underwater cleaning robot, belonging to the field of robotics technology. Background Technology

[0002] Underwater cleaning robots are machines that perform cleaning work underwater. Machines with underwater cleaning capabilities can be used in swimming pools, ponds, and other areas. Because underwater fountains are often left underwater for a long time, they accumulate a lot of underwater debris and silt. When the underwater fountain is turned on again, the water intake may be blocked by underwater debris or accumulated silt, which may cause the fountain to malfunction or damage its internal structure.

[0003] When cleaning robots are used in underwater fountains and similar scenarios, the types of trash falling from these fountains are diverse, and long-term accumulated debris is difficult to remove effectively. Furthermore, metal objects present during the removal process can damage the robot. The edges of swimming pools and ponds are not easy to clean effectively, and the debris after cleaning is not easy to collect, as it is easily carried away by the water flow during scraping, making it difficult to collect completely. Underwater cleaning robots often encounter complex environments that prevent them from moving effectively, making it difficult for them to turn quickly, resulting in incomplete cleaning. In addition, the robots have limited functionality and cannot easily detect equipment in the pool or pond while cleaning. Summary of the Invention

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

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0006] This invention provides an underwater cleaning robot, the underwater cleaning robot comprising:

[0007] The outer shell assembly consists of a shell, with an adsorption plate fixedly connected to the front end of the shell and a magnet fixedly installed inside the adsorption plate. A flexible plate is rotatably connected to the bottom of the rear end of the shell, with several elastically deformable sheets on the edge of the flexible plate, and a brush cloth fixedly connected to the bottom of the flexible plate.

[0008] A cleaning assembly, comprising a cover, which is fixedly installed inside the front end of a housing. A cleaning roller brush is rotatably connected inside the cover, and a turntable is rotatably connected to the bottom of the housing located on one side of the flexible disc.

[0009] The walking assembly comprises a walking mechanism and a steering mechanism. The walking mechanism is installed on both sides of the front end of the housing, and the steering mechanism is installed at the middle of the rear end of the housing.

[0010] The collection component consists of a flow guide shroud, which is fixedly installed to the middle of the bottom end of the housing. One end of the flow guide shroud is positioned on one side of the cleaning roller brush, and the other end of the flow guide shroud is located at the tail end of the housing. A flow guiding mechanism is provided at the middle of the top of the flow guide shroud.

[0011] An obstacle avoidance assembly is fixedly installed on both sides of the housing. The obstacle avoidance assembly is connected to the bottom of the housing and the side wall of the rear end of the housing, respectively. The obstacle avoidance assembly is located on the outside of the turntable.

[0012] 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 material. A radar detection device is fixedly installed on the top of the detector housing. The adsorption plate is located at the bottom of the housing, and the magnet inside the adsorption plate is correspondingly set above the ground.

[0013] In this technical solution, a circular shell is fixedly installed inside the housing. The circular shell 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 shell. The telescopic end of the electric push rod passes through the circular shell and extends into the interior of the circular shell. A driving device is slidably connected inside the circular shell. 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 the flexible disk. A circular brush cloth is attached to the bottom of the flexible disk.

[0014] In this technical solution, the walking mechanism is composed of a circular outer shell, which is fixedly installed inside the housing. The circular outer shell is located on both sides of the housing and its side walls are fixedly connected to the walking motor. The walking wheel is rotatably connected inside the circular outer shell, and the output end of the circular outer shell is fixedly connected to the walking wheel.

[0015] In this technical solution, the steering mechanism is composed of a spherical shell, which is fixedly installed at the tail end of the housing and is located between two circular shells. A spherical wheel seat is embedded inside the spherical shell, and a steering motor is fixedly installed on the top of the housing. The output end of the steering motor passes through the spherical shell and is fixedly connected to the wheel seat, and a steering wheel is rotatably connected inside the wheel seat.

[0016] In this technical solution, the cover is a semi-circular ring structure and integrally formed to the bottom of the housing. The cleaning roller brush inside the cover has arc-shaped bristles. One end of the cleaning roller brush is fixedly connected to the connecting shaft, and the connecting shaft is rotatably connected to the inside of the cover in a sealed manner. An end face gear is fixedly connected to one end of the connecting shaft extending into the housing. A connecting seat and a first drive motor are fixedly installed on the inner wall of the housing above the connecting shaft. The output end of the first drive motor is rotatably connected to the inside of the connecting seat, and a drive gear is fixedly connected to the output end of the first drive motor. The drive gear meshes with the end face gear.

[0017] In this technical solution, a second drive motor is fixedly installed inside the housing. The output end of the second drive motor is fixedly connected to the turntable. The bottom of the turntable is fixedly connected to several evenly distributed brushes. There are two turntables, which are symmetrically distributed and rotate in opposite directions.

[0018] In this technical solution, the flow guide shroud has an inlet and an outlet at both ends, which are located on both sides of the two turntables. The inlet is located on the side of the cleaning roller brush. A filter screen is embedded at the bottom of the housing at the outlet. The filter screen is installed to the bottom of the housing by a snap fastener. The diameter of the middle part of the flow guide shroud is smaller than the diameter of its two ends, and the flow guiding mechanism is fixedly installed in the middle part of the flow guide shroud.

[0019] In this technical solution, the flow guiding mechanism is composed of a vortex shell, which is fixedly installed on the top of the flow guide shroud. An impeller is rotatably connected inside the vortex shell. A third drive motor is fixedly installed inside the shell on one side of the flow guide shroud. The output end of the third drive motor is connected to the impeller via a belt inside the transmission housing. The impeller extends into the flow guide shroud for water flow within the flow guide shroud.

[0020] In this technical solution, the obstacle avoidance component consists of a shell cover. The shell cover is a trapezoidal hollow structure and is disposed on both sides inside the shell. The shell cover is connected to the bottom of the shell and is disposed 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 connecting pipe and to the other connecting pipe. The connecting pipe is also connected through to the tail end of the shell. A valve is fixedly connected to the connecting pipe. A battery assembly and a controller are fixedly installed inside the shell. The connecting pipe is disposed on one side of the battery assembly. An infrared sensor is fixedly connected to the tail end of the shell. Both the infrared sensor and the water pump are electrically connected to the controller.

[0021] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0022] The positive and progressive effects of this invention are as follows:

[0023] The aforementioned underwater cleaning robot utilizes a waterproof design to clean fountains, pools, and other underwater environments. A front-end cleaning component scrapes away underwater debris, further processed by brushes and cloths. This multi-stage underwater cleaning process ensures effective removal of deposited impurities. As impurities are scraped and suspended on the surface, a collection component absorbs them, filtering out finer impurities. Before collection, magnets adsorb metallic impurities to prevent damage. This system effectively removes various types of impurities. When the robot reaches complex locations, it can retreat using buoyancy and water pressure, avoiding difficulties in reversing. Infrared sensors monitor the distance between the robot's rear and obstacles to prevent collisions due to excessive reversal force. A flexible disc cleans edges and deforms to ensure contact with the pool's inner wall, maximizing cleaning effectiveness, especially on uneven pool edges. Impurities are collected and filtered by the water flow, ensuring optimal underwater cleaning results. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0025] Figure 2 This is a three-dimensional structural diagram of the upper part of the housing of the present invention.

[0026] Figure 3 This is a schematic diagram of the internal three-dimensional structure of the housing of the present invention.

[0027] Figure 4 This is a three-dimensional structural diagram of the casing of the present invention.

[0028] Figure 5 For the present invention Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0029] Figure 6 This is a three-dimensional structural diagram of the air guide cover of the present invention.

[0030] Figure 7 This is a three-dimensional structural diagram of the turntable of the present invention.

[0031] Figure 8 This is a three-dimensional structural diagram of the impeller of the present invention.

[0032] Figure 9 This is a schematic diagram of the structure of the present invention viewed from below.

[0033] Figure 10 This is a schematic diagram of the internal front view of the present invention.

[0034] Explanation of reference numerals in the attached figures

[0035] 100. Housing assembly; 101. Housing; 102. Detector housing; 103. Radar detection device; 104. Adsorption plate; 105. Magnet; 106. Circular shell; 107. Electric actuator; 108. Flexible disk; 109. Brush cloth;

[0036] 200. Sweeping assembly; 201. Housing; 202. Cleaning roller brush; 203. Connecting shaft; 204. End face gear; 205. First drive motor; 206. Connecting seat; 207. Drive gear; 208. Second drive motor; 209. Turntable; 210. Brush;

[0037] 300. Walking assembly; 301. Circular housing; 302. Walking wheel; 303. Walking motor; 304. Spherical housing; 305. Steering motor; 306. Wheel base; 307. Steering wheel;

[0038] 400. Collection component; 401. Flow guide; 402. Vortex casing; 403. Third drive motor; 404. Transmission housing; 405. Impeller; 406. Inlet; 407. Outlet; 408. Filter screen;

[0039] 500, obstacle avoidance component; 501, housing cover; 502, connecting pipe; 503, water pump; 504, valve; 505, battery assembly; 506, controller; 507, infrared sensor. Detailed Implementation

[0040] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0041] like Figure 1-10 As shown, the underwater cleaning robot includes:

[0042] The outer shell assembly 100 is composed of a shell 101. An adsorption plate 104 is fixedly connected to the front end of the shell 101. A magnet 105 is fixedly installed inside the adsorption plate 104. A flexible plate 108 is rotatably connected to the bottom of the rear end of the shell 101. The edge of the flexible plate 108 is provided with several elastically deformable sheets, and a brush cloth 109 is fixedly connected to the bottom of the flexible plate 108.

[0043] The cleaning assembly 200 is composed of a cover 201, which is fixedly installed inside the front end of the housing 101. A cleaning roller brush 202 is rotatably connected inside the cover 201, and a turntable 209 is rotatably connected to the bottom of the housing 101 located on one side of the flexible disk 108.

[0044] The walking assembly 300 consists of a walking mechanism and a steering mechanism. The walking mechanism is installed on both sides of the front end of the housing 101, and the steering mechanism is installed at the middle of the rear end of the housing 101.

[0045] The collection component 400 is composed of a flow guide 401, which is fixedly installed to the middle of the bottom end of the housing 101. One end of the flow guide 401 is correspondingly disposed on one side of the cleaning roller brush 202, and the other end of the flow guide 401 is located at the tail end of the housing 101. A flow guide mechanism is provided at the middle of the top end of the flow guide 401.

[0046] Obstacle avoidance component 500 is fixedly installed on both sides of housing 101. Obstacle avoidance component 500 is connected to the bottom of housing 101 and the side wall of the tail end of housing 101 respectively. Obstacle avoidance component 500 is located on the outside of turntable 209.

[0047] The top of the housing 101 is fixedly connected to a detector housing 102. Both the housing 101 and the detector housing 102 are made of waterproof material. A radar detection device 103 is fixedly installed on the top of the detector housing 102. The adsorption plate 104 is located at the bottom of the housing 101, and the magnet 105 inside the adsorption plate 104 is correspondingly positioned 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 passes through the circular shell 106 and extends into the interior of 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.

[0048] In this technical solution, the detector inside the detector housing 102 identifies the image and moves the robot based on the image. The radar detection device 103 monitors the image in front in real time to identify the condition of underwater equipment. If damage or excessive pollution occurs, an alarm can be triggered directly to transmit data to the terminal network platform. During the robot's movement, the magnet 105 inside the adsorption plate 104 absorbs metal foreign objects such as screws from the bottom of the water, preventing them from entering the robot and causing wear and tear. During movement, the flexible disk 108 separates from the ground. At this time, the underwater cleaning can be performed by the cleaning roller brush 202 and the bristle brush 210. When further cleaning is required using the brush cloth 109, the electric push rod 107 pushes the drive device to move down inside the circular shell 106, causing the brush cloth 109 to contact the bottom surface. When the drive device is started, it causes the flexible disk 108 and the brush cloth 109 to rotate simultaneously. When the edge of the brush cloth 109 contacts the uneven ground, the edge of the flexible disk 108 undergoes elastic deformation, causing it to bend, thereby driving the brush cloth 109 to effectively contact the uneven ground and ensure cleaning effect.

[0049] The walking mechanism consists of a circular outer shell 301, which is fixedly installed inside the housing 101. The circular outer shell 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 outer shell 301, and the output end of the circular outer shell 301 is fixedly connected to the walking wheel 302. The steering mechanism consists of a spherical outer shell 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 outer shell 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 outer shell 304 and is fixedly connected to the wheel seat 306. A steering wheel 307 is rotatably connected inside the wheel seat 306.

[0050] In this technical solution, when the robot is walking, the walking motor 303 drives the walking wheel 302 to rotate inside the circular outer shell 301, thereby realizing the movement of the shell 101. At this time, the steering motor 305 drives the wheel seat 306 inside the spherical outer shell 304 to rotate, so that the steering wheel 307 rotates inside the wheel seat 306 to realize the steering operation, thereby realizing the control of the robot during the movement process.

[0051] The cover 201 has a semi-circular annular structure and is integrally formed to the bottom of the housing 101. The cleaning roller brush 202 inside the cover 201 has arc-shaped bristles. One end of the cleaning roller brush 202 is fixedly connected to the connecting shaft 203, and the connecting shaft 203 is rotatably and sealed to the inside of the cover 201. An end face gear 204 is fixedly connected to one end of the connecting shaft 203 extending into the housing 101. A connecting seat 206 and a first drive motor 205 are fixedly installed on the inner wall of the housing 101 above the connecting shaft 203. The output end of the first drive motor 205 is rotatably connected to the inside of the connecting seat 206, and the output end of the first drive motor 205 is fixedly connected to the drive gear 207, which meshes with the end face gear 204; the second drive motor 208 is fixedly installed inside the housing 101, and the output end of the second drive motor 208 is fixedly connected to the turntable 209. The bottom of the turntable 209 is fixedly connected to several evenly distributed brushes 210. There are two turntables 209, which are symmetrically distributed, and the two turntables 209 rotate in opposite directions.

[0052] In this technical solution, the cleaning roller brush 202 is set inside the housing 201. During the robot's movement, the first drive motor 205 drives its output shaft to rotate within the connecting seat 206, which in turn drives the drive gear 207 to rotate, causing the end face gear 204 to rotate synchronously. The end face gear 204 drives the connecting shaft 203 to rotate synchronously, causing the connecting shaft 203 to drive the cleaning roller brush 202 to rotate inside the housing 201. The bristles with an arc-shaped structure on the surface of the cleaning roller brush 202 effectively scrape away impurities at the bottom of the water, preventing impurities from settling at the bottom and affecting subsequent cleaning. At the same time, the second drive motor 208 drives the turntable 209 and the brush 210 to rotate synchronously. The brush 210 rotates in the opposite direction to scrape the water flow towards the inlet 406, allowing impurities to enter smoothly from the inlet 406, facilitating subsequent cleaning of impurities.

[0053] The flow guide shroud 401 has an inlet 406 and an outlet 407 at both ends, respectively. The inlet 406 and outlet 407 are located on both sides of the two turntables 209, with the inlet 406 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 outlet 407. The filter screen 408 is installed to the bottom of the housing 101 by a snap-fit. The diameter of the middle part of the flow guide shroud 401 is smaller than the diameter of its two ends, and the flow guiding mechanism is fixedly installed in the middle part of the flow guide shroud 401. The flow guiding mechanism consists of... The system comprises a vortex housing 402, which is fixedly installed on the top of the flow guide shroud 401. An impeller 405 is rotatably connected inside the vortex housing 402. A third drive motor 403 is fixedly installed inside the housing 101 located on one side of the flow guide shroud 401. The output end of the third drive motor 403 is connected to the impeller 405 via a belt inside the transmission housing 404. The transmission housing 404 is fixed to the outer wall of the flow guide shroud 401. The impeller 405 extends into the interior of the flow guide shroud 401 for water circulation within the flow guide shroud 401.

[0054] In this technical solution, when the third drive motor 403 is working, the impeller 405 is driven to rotate inside the vortex shell 402 by the pulley and belt in the transmission housing 404, so that a negative pressure is formed in the guide shroud 401, allowing external water to enter through the inlet 406 and be discharged through the outlet 407 to achieve circulation. Impurities are collected through the detachable filter screen 408 for convenient subsequent treatment.

[0055] Specifically, when the cleaning roller brush 202 rotates, it stirs up the impurities at the bottom of the water. At the same time, the two brushes 210 rotate in opposite directions to collect all the impurities at the water inlet 406. The water inlet 406 also forms a negative pressure to allow water to enter efficiently. After the impurities are filtered, the treated water is discharged to achieve continuous cleaning operation.

[0056] The obstacle avoidance component 500 consists of a cover 501, which is a trapezoidal hollow structure and is located on both sides inside the housing 101. The cover 501 is connected to the bottom of the housing 101 and is located on one side of the brush 210. A water pump 503 is fixedly installed inside the housing 101. The water pump 503 is connected to the cover 501 through one connecting pipe 502 and to the other connecting pipe 502. The connecting pipe 502 is connected through to 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 fixedly installed inside the housing 101. The connecting pipe 502 is located on one side of the battery assembly 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.

[0057] In this technical solution, when the robot moves via the walking component 300 and encounters a complex terrain from which it cannot detach, the infrared sensor 507 monitors the distance between the robot's rear and obstacles. The water pump 503 then pumps water away from the robot's rear and quickly delivers it to the inside of the shell 501 via the connecting pipe 502. This creates positive pressure at the bottom of the shell 101, and the buoyancy and water pressure cause the robot to move upwards and detach from the complex location, facilitating rapid retreat and ensuring continuous and stable operation. This prevents the robot from failing to effectively avoid obstacles, thus improving cleaning efficiency. Simultaneously, the infrared sensor 507 monitors and determines the distance to obstacles behind the robot, preventing collisions caused by excessive retreat distance.

[0058] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. An underwater cleaning robot, characterized in that, The underwater cleaning robot includes: The outer shell assembly (100) consists of a shell (101). An adsorption plate (104) is fixedly connected to the front end of the shell (101), and a magnet (105) is fixedly installed inside the adsorption plate (104). A flexible plate (108) is rotatably connected to the bottom of the tail end of the shell (101). The edge of the flexible plate (108) is provided with several elastically deformable sheets, and a brush cloth (109) is fixedly connected to the bottom of the flexible plate (108). A circular shell (106) is fixedly installed inside the shell (101). The circular shell (106) is located on both sides of the tail end of the shell (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) passes through the circular shell (106) and extends into the interior of 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 the flexible disk (108). A circular brush cloth (109) is attached to the bottom of the flexible disk (108). The cleaning assembly (200) is composed of a cover (201), which is fixedly installed inside the front end of the housing (101). A cleaning roller brush (202) is rotatably connected inside the cover (201), and a turntable (209) is rotatably connected to the bottom of the housing (101) located on the side of the flexible disc (108). The walking assembly (300) consists of a walking mechanism and a steering mechanism. The walking mechanism is installed on both sides of the front end of the housing (101), and the steering mechanism is installed at the middle of the rear end of the housing (101). A collection component (400) is composed of a flow guide (401), which is fixedly installed at the middle of the bottom end of the housing (101). One end of the flow guide (401) is correspondingly positioned on one side of the cleaning roller brush (202), and the other end of the flow guide (401) is located at the tail end of the housing (101). A flow guiding mechanism is provided at the middle of the top end of the flow guide (401). An inlet (406) and an outlet (407) are respectively formed at both ends of the flow guide (401). The inlet (406) and outlet (407) are located on both sides of the two turntables (209), and the 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 outlet (407). The filter screen (408) is installed to the bottom of the housing (101) by a snap fastener. The diameter of the middle part of the flow guide (401) is smaller than the diameter of its two ends, and the flow guide mechanism is fixedly installed in the middle part of the flow guide (401). Obstacle avoidance component (500) is fixedly installed on both sides of housing (101). The obstacle avoidance component (500) is connected to the bottom of housing (101) and the side wall of the tail end of housing (101) respectively. The obstacle avoidance component (500) is located on the outside of turntable (209).

2. The underwater cleaning robot as described in claim 1, characterized in that: The top of the housing (101) is fixedly connected to the detector housing (102). Both the housing (101) and the detector housing (102) are made of waterproof material. The top of the detector housing (102) is fixedly installed with a radar detection device (103). The adsorption plate (104) is located at the bottom of the housing (101), and the magnet (105) inside the adsorption plate (104) is correspondingly set above the ground.

3. The underwater cleaning robot as described in claim 1, characterized in that: The walking mechanism is composed of a circular outer shell (301), which is fixedly installed inside the housing (101). The circular outer shell (301) is located on both sides of the housing (101) and its side walls are fixedly connected to the walking motor (303). The walking wheel (302) is rotatably connected inside the circular outer shell (301), and the output end of the circular outer shell (301) is fixedly connected to the walking wheel (302).

4. The underwater cleaning robot as described in claim 1, characterized in that: The steering mechanism is composed of a spherical shell (304), which is fixedly installed at the tail end of the housing (101) and located between two round shells (106). A spherical wheel seat (306) is embedded inside the spherical shell (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 shell (304) and is fixedly connected to the wheel seat (306). A steering wheel (307) is rotatably connected inside the wheel seat (306).

5. The underwater cleaning robot as described in claim 1, characterized in that: The cover (201) is a semi-circular ring structure and is integrally formed to the bottom of the housing (101). The cleaning roller brush (202) inside the cover (201) is provided with bristles with an arc structure. One end of the cleaning roller brush (202) is fixedly connected to the connecting shaft (203), and the connecting shaft (203) is sealed and rotatably connected to the inside of the cover (201). The end of the connecting shaft (203) extending to the housing (101) is fixedly connected to the end face gear (204). The inner wall of the housing (101) above the connecting shaft (203) is fixedly installed with the connecting seat (206) and the first drive motor (205). The output end of the first drive motor (205) is rotatably connected to the inside of the connecting seat (206), and the output end of the first drive motor (205) is fixedly connected to the drive gear (207). The drive gear (207) meshes with the end face gear (204).

6. The underwater cleaning robot as described in claim 1, characterized in that: The housing (101) is fixedly installed with a second drive motor (208). The output end of the second drive motor (208) is fixedly connected to the turntable (209). The bottom of the turntable (209) is fixedly connected to a number of evenly distributed brushes (210). There are two turntables (209) and they are symmetrically distributed. The two turntables (209) rotate in opposite directions.

7. The underwater cleaning robot as described in claim 1, characterized in that: The flow guiding mechanism consists of a vortex shell (402), which is fixedly installed on the top of the flow guide cover (401). An impeller (405) is rotatably connected inside the vortex shell (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 connected to the impeller (405) via a belt inside the transmission housing (404). The impeller (405) extends into the flow guide cover (401) for water flow inside the flow guide cover (401).

8. The underwater cleaning robot as described in claim 1, characterized in that: The obstacle avoidance component (500) consists of a shell cover (501), which is a trapezoidal hollow structure and is disposed on both sides inside the shell (101). The shell cover (501) is connected to the bottom of the shell (101) and is disposed on one side of the brush (210). A water pump (503) is fixedly installed inside the shell (101). The water pump (503) is connected to the shell cover (501) through one connecting pipe (502) and to the other connecting pipe (502). The connecting pipe (502) is connected through to 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 fixedly installed inside the housing (101). The connecting pipe (502) is located on one side of the battery assembly (505). An infrared sensor (507) is fixedly connected to the tail end of the housing (101). The infrared sensor (507) and the water pump (503) are both electrically connected to the controller (506).

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