CN112065118A

CN112065118A - Underwater robot for cleaning bottom wall of swimming pool

Info

Publication number: CN112065118A
Application number: CN202011035628.7A
Authority: CN
Inventors: 杨宏一
Original assignee: Linyi Gangmi Toys Co ltd
Current assignee: Linyi Gangmi Toys Co ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2020-12-11

Abstract

The invention discloses an underwater robot for cleaning the bottom wall of a swimming pool, which comprises a machine body, wherein a first motor with an output shaft downward is fixedly arranged in the top wall of the machine body, a power shaft extending up and down is fixedly arranged at the tail end of the output shaft of the first motor, a lifting belt wheel cavity is arranged in the top wall of the machine body, one end of the power shaft, far away from the first motor, penetrates through the lifting belt wheel cavity, and a lifting main gear is fixedly arranged on the outer surface of the power shaft.

Description

Underwater robot for cleaning bottom wall of swimming pool

Technical Field

The invention relates to the technical field of robots, in particular to an underwater robot for cleaning the bottom wall of a swimming pool.

Background

Swimming is one of the most popular sports, almost suitable for all ages, is the preferred sports in summer, is in the face of complex river environment, has high danger, and is a better choice, but more people and more people are in the swimming pool, and the water is not circulated, so that the water quality of the swimming pool is poorer and poorer, pollutants such as algae, scale and the like are generated at the bottom of the swimming pool and need to be cleaned, but the water in the swimming pool needs to be pumped out in the cleaning at the present stage, so that the business cannot be operated for a long time, and people needing swimming nearby need to run to a farther place, so that a swimming pool bottom cleaning robot for underwater operation needs to be designed.

Disclosure of Invention

It is an object of the present invention to provide an underwater robot for cleaning the bottom wall of a swimming pool, which overcomes the above-mentioned drawbacks of the prior art.

The underwater robot for cleaning the bottom wall of the swimming pool comprises a body, a first motor with an output shaft downward is fixedly arranged in the top wall of the body, a power shaft extending up and down is fixedly arranged at the tail end of the output shaft of the first motor, a lifting belt wheel cavity is arranged in the top wall of the body, one end of the power shaft, far away from the first motor, penetrates through the lifting belt wheel cavity, a lifting main gear is fixedly arranged on the outer surface of the power shaft, a clutch cavity is arranged in the bottom wall of the lifting belt wheel cavity, a moving main shaft extending up and down is arranged in the bottom wall of the clutch cavity, a moving bevel gear cavity is arranged in the bottom wall of the body, the moving main shaft extends downward into the moving bevel gear cavity, a moving main bevel gear is fixedly arranged at the tail end of the moving bevel gear cavity, moving worm gear cavities are symmetrically arranged on the left and right sides of the, a movable worm extending leftwards and rightwards is arranged in the movable bevel gear cavity, a movable auxiliary bevel gear meshed with the movable main bevel gear is fixedly arranged on the part of the outer surface of the movable worm positioned in the movable bevel gear cavity, two ends of the movable worm respectively extend into the movable worm gear cavity in the left wall and the right wall of the movable bevel gear cavity, a movable shaft extending forwards and backwards is arranged in the movable worm gear cavity, the part of the outer surface of the movable shaft positioned in the movable worm gear cavity is fixedly provided with a cleaning head connected with the movable worm and gear, two ends of the movable shaft extend into a tire cavity in the front wall and the rear wall of the machine body, a tire is fixedly arranged at the tail end of the tire cavity, a lifting cavity with a left opening is arranged on the left wall of the machine body, a cleaning head for realizing up-down movement is arranged in the lifting cavity, a cleaning cavity with a downward, the top wall of the cleaning cavity is communicated with a reciprocating cavity, a swinging lead screw extending forwards and backwards is arranged in the reciprocating cavity, a reciprocating block is arranged on the outer surface of the swinging lead screw in a threaded manner, a swinging cavity with a downward opening is arranged in the bottom wall of the reciprocating block, a brush device for cleaning the bottom of the swimming pool is arranged in the swinging cavity, a reciprocating worm gear cavity is arranged on the front wall of the reciprocating cavity, the swinging lead screw extends forwards into the reciprocating worm gear cavity, a reciprocating worm wheel is fixedly arranged at the tail end of the swinging lead screw, a reciprocating worm extending leftwards and rightwards is connected with the reciprocating worm gear and worm wheel, a reciprocating worm extends rightwards into the lifting cavity, a power auxiliary gear is fixedly arranged at the tail end of the reciprocating worm, a power front cavity is arranged in the right wall of the machine body, a second motor facing forwards and backwards is fixedly arranged in the rear wall of the power front cavity, and, the main bevel gear intracavity is provided with for the brush device provides the flushing device of clear water and transmission power, be provided with the separation and reunion through the axle in the power antechamber and realize control the power device that flushing device power provided, the second motor rear side is provided with the power back chamber, be provided with in the power back chamber with wash the pumping device that intracavity water was taken out, be provided with in the separation and reunion intracavity and cause the elevating gear that the cleaning head reciprocated.

On the basis of the technical scheme, a swinging gear cavity is arranged in the back wall of the reciprocating cavity, the swinging lead screw extends backwards into the swinging gear cavity, the tail end of the swinging lead screw is fixedly provided with a swinging main gear, the left side of the front wall of the swinging gear cavity is provided with a swinging spline shaft extending forwards and backwards, one end of the swinging spline shaft extending into the swinging gear cavity is fixedly provided with a swinging pinion engaged with the swinging main gear, the left side of the top wall of the swinging cavity is provided with a cleaning bevel gear cavity, one end of the swinging spline shaft far away from the swinging pinion penetrates through the reciprocating cavity, the reciprocating block and the cleaning bevel gear cavity, the outer surface of the part of the swinging spline shaft positioned in the cleaning bevel gear cavity is fixedly provided with a cleaning main bevel gear, the bottom wall of the cleaning bevel gear cavity is provided with a washing main shaft extending upwards and downwards, one end of the washing main shaft extending into the cleaning bevel gear cavity is fixedly provided with, a washing bevel gear cavity is arranged in the left wall of the swinging cavity, one end of the washing main shaft, which is far away from the washing auxiliary bevel gear, extends downwards into the washing bevel gear cavity, and the tail end of the washing main shaft is fixedly provided with a washing main bevel gear, a brushing auxiliary shaft extending left and right is arranged in the swinging cavity, a brushing auxiliary bevel gear meshed with the brushing main bevel gear is fixedly arranged at one end of the brushing auxiliary shaft extending into the brushing bevel gear cavity, a washing cam is fixedly arranged on the outer surface of the part of the washing auxiliary shaft positioned in the swinging cavity, a swinging compression spring is fixedly arranged on the rear wall of the swinging cavity, a cleaning push block is fixedly arranged at one end of the swinging compression spring, which is far away from the rear wall of the swinging cavity, a brush handle which extends up and down is fixedly arranged at the bottom wall of the cleaning push block, one end of the brush handle, which is far away from the cleaning push block, extends into the cleaning cavity, and the tail end of the brush handle is fixedly provided with a brush.

On the basis of the technical scheme, a steering cavity is arranged in the left wall of the reciprocating cavity, steering shafts extending up and down are symmetrically arranged in the steering cavity in a front-back mode, steering wheels are fixedly arranged on the outer surfaces of the steering shafts, a flushing pipe connected with the bottom wall of the brush is arranged between the two groups of steering wheels, the steering wheels reduce the abrasion of the flushing pipe when the flushing pipe is pulled, a winding cavity is arranged in the right wall of the lifting cavity, a winding drum spring cavity penetrating through the winding cavity is arranged in the front and back walls of the winding cavity, a winding drum shaft extending front and back is rotatably arranged in the front and back walls of the winding drum spring cavity, winding drum torsion springs fixed on the wall of the winding drum spring cavity are fixedly arranged at the two ends of the winding drum shaft, a winding drum is fixedly arranged on the part of the outer surface of the winding cavity, the flushing pipe is wound on the outer surface, the utility model discloses a power main gear, including wash pipe, preceding water pump, front water pump right wall connection, main bevel gear chamber and terminal fixed vice bevel gear before being provided with, the fixed preceding water pump axle that extends around being provided with of preceding water pump antetheca, preceding water pump axle is kept away from the one end of preceding water pump stretches into main bevel gear chamber and terminal fixed be provided with, the power main shaft that extends about being provided with of main bevel gear chamber, power main shaft fixed surface be provided with preceding vice bevel gear meshing's preceding main bevel gear, power main shaft keeps away from the one end of preceding main bevel gear extends into left lift chamber and terminal fixed be provided with can with power pinion meshing's power main gear, power main shaft keeps away from the one end of preceding main bevel gear extends right and the terminal fixed bevel gear that is provided with.

On the basis of the technical scheme, the preceding integral key shaft that extends around main bevel gear chamber back wall is provided with, preceding integral key shaft stretches into the fixed one end that is provided with in main bevel gear chamber with bevel pinion's big bevel gear, the preceding main power axle that extends around the fixed output shaft end that is provided with forward of second motor, preceding main power axle is kept away from the one end surface splined connection of second motor is provided with preceding spline housing, preceding spline housing surface is only relative pivoted and is provided with preceding spring block, preceding spring block back wall is fixed to be provided with and fixes preceding compression spring on the power front cavity back wall.

On the basis of the technical scheme, a rear water pump is fixedly arranged in the rear wall of the rear power cavity, a water outlet pipe communicated with the outside of the machine body is arranged at the right end of the rear water pump, a water suction pipe extending into the cleaning cavity is arranged on the left wall of the rear water pump, a rear water pump shaft extending forwards into the rear power cavity is fixedly arranged on the front wall of the rear water pump pinion, a rear water pump pinion is fixedly arranged at the right end of the rear water pump shaft extending into the rear power cavity, a rear water pump main shaft extending forwards and backwards is arranged on the rear wall of the rear power cavity, a rear water pump main gear meshed with the rear water pump pinion is fixedly arranged on the outer surface of the rear water pump main shaft, the right end of the rear water pump main shaft far away from the rear water pump main gear extends forwards, an L-shaped push rod is fixedly arranged on the outer surface, and a rear main power shaft extending forwards and, the rear main power shaft is far away from the right end of the second motor stretches into a rear spline housing is arranged on a rear power cavity and a tail end outer surface spline, a rear rotating block is arranged on the outer surface of the rear spline housing and can only rotate mutually, the rear spline housing is far away from the right end of the rear main power shaft is fixedly provided with a top wall butt, the push rod of the L push rod is fixedly arranged on the front wall of the rear rotating block, and a connecting rod is fixedly arranged on the rear wall of the front spring block.

On the basis of the technical scheme, the right end of the movable main shaft, which is far away from the movable main bevel gear, extends into the power spline housing, a spline at the outer surface of the tail end of the movable main bevel gear is provided with the power spline housing, the power spline housing is connected with a spline of the power shaft in the right end, which is far away from the movable main shaft, the outer surface of the power spline housing is only provided with a clutch spring block which can rotate relatively, the bottom wall of the clutch spring block is fixedly provided with a clutch compression spring fixed on the bottom wall of the clutch cavity, the bottom wall of the clutch compression spring is fixedly provided with a movable electromagnet, the left side of the top wall of the clutch spring block is rotatably provided with a lifting auxiliary shaft for realizing extension, one end of the lifting auxiliary shaft, which is far away from the clutch spring block, penetrates through the lifting belt wheel cavity, the outer surface, the lifting belt wheel cavity comprises a lifting belt wheel cavity body, and is characterized in that a lifting lead screw for achieving extension is arranged on the left side of the bottom wall of the lifting belt wheel cavity body, the lifting lead screw stretches into a lifting auxiliary belt wheel fixedly arranged at one end of the lifting belt wheel cavity body, the lifting auxiliary belt wheel is connected with a lifting main belt wheel through the transmission of the lifting belt wheel cavity body, and the lifting lead screw is far away from one end of the lifting auxiliary belt wheel and penetrates through the lifting cavity body and the cleaning head in threaded connection.

The invention has the beneficial effects that: the invention realizes that the cleaning device is lifted after the robot stops by the gear clutch and the shaft clutch, simultaneously adopts the sealing and covering of the part to be cleaned, then extracts water, realizes the cleaning of the bottom wall of the swimming pool at the sealing position by the lead screw nut and the cam slider, and simultaneously adopts the working flow that the push rod pushes the spline housing to move and is matched with the other push rod fixed on the spline housing to realize the water absorption and washing firstly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of an underwater robot for cleaning the bottom wall of a swimming pool according to the present invention;

FIG. 2 is a schematic view of the present invention taken along the line A-A of FIG. 1;

FIG. 3 is a schematic view of the present invention taken along the line B-B of FIG. 1;

FIG. 4 is a schematic view of the present invention taken along the line C-C of FIG. 1;

FIG. 5 is a schematic view of the structure of FIG. 1 in the direction D-D according to the present invention.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

Referring to fig. 1 to 5, an underwater robot for cleaning the bottom wall of a swimming pool according to an embodiment of the present invention includes a body 1, a first motor 32 whose output shaft is downward is fixedly disposed in the top wall of the body 1, a power shaft 33 extending up and down is fixedly disposed at the end of the output shaft of the first motor 32, a lifting pulley cavity 27 is disposed in the top wall of the body 1, a lifting main gear 34 is fixedly disposed on the outer surface of the power shaft 33, which penetrates through the lifting pulley cavity 27, at one end of the power shaft 33 away from the first motor 32, a clutch cavity 36 is disposed in the bottom wall of the lifting pulley cavity 27, a moving main shaft 9 extending up and down is disposed in the bottom wall of the clutch cavity 36, a moving bevel gear cavity 7 is disposed in the bottom wall of the body 1, the moving main shaft 9 extends downward into the moving bevel gear cavity 7, and a moving main bevel gear 8 is fixedly disposed at the end of the moving bevel gear cavity, tire cavities 58 with downward openings are symmetrically arranged on the front wall and the rear wall of the machine body 1, a movable worm 5 extending from left to right is arranged in the movable bevel gear cavity 7, a movable auxiliary bevel gear 6 meshed with the movable main bevel gear 8 is fixedly arranged on the partial outer surface of the movable worm 5 positioned in the movable bevel gear cavity 7, two ends of the movable worm 5 respectively extend into the movable worm gear cavities 2 in the left wall and the right wall of the movable bevel gear cavity 7, a movable shaft 92 extending from front to back is arranged in the movable worm gear cavity 2, a partial outer surface of the movable shaft 92 positioned in the movable worm gear cavity 2 is fixedly connected with the worm gear of the movable worm 5, two ends of the movable shaft 92 extend into the tire cavities 58 in the front wall and the rear wall of the machine body 1, tires 59 are fixedly arranged at the tail ends of the movable shaft 92, a lifting cavity 11 with a leftward opening is arranged on the left wall of the machine body 1, and a cleaning head 14 for realizing up-and down movement is arranged, the bottom wall of the cleaning head 14 is provided with a cleaning cavity 17 with a downward opening, the bottom wall of the cleaning head 14 is fixedly provided with a sealing ring 13, the top wall of the cleaning cavity 17 is communicated with a reciprocating cavity 93, a swinging lead screw 45 extending forwards and backwards is arranged in the reciprocating cavity 93, a reciprocating block 94 is arranged on the outer surface of the swinging lead screw 45 in a threaded manner, a swinging cavity 39 with a downward opening is arranged in the bottom wall of the reciprocating block 94, a brush device 901 for cleaning the bottom of the swimming pool is arranged in the swinging cavity 39, a reciprocating worm wheel cavity 51 is arranged on the front wall of the reciprocating cavity 93, the swinging lead screw 45 extends forwards into the reciprocating worm wheel cavity 51, the tail end of the swinging lead screw is fixedly provided with a reciprocating worm wheel 43, the right wall of the reciprocating worm wheel cavity 51 is provided with a reciprocating worm 52 extending leftwards and rightwards and connected with the worm wheel 43, the reciprocating worm 52 extends rightwards into the lifting, be provided with power antechamber 3 in the 1 right wall of fuselage, the second motor 71 of orientation around 3 back wall internal fixations in power antechamber are provided with, be provided with main bevel gear chamber 82 in the 3 antechambers in power antechamber, be provided with in the main bevel gear chamber 82 for brush device 901 provides the washing device 902 of clear water and transmission power, be provided with the separation and reunion realization control through the axle in the power antechamber 3 the power device 903 that washing device 902 power provided, second motor 71 rear side is provided with power back chamber 70, be provided with in the power back chamber 70 with the pumping device 904 that the water in the cleaning chamber 17 was taken out, be provided with in the separation and reunion chamber 36 and cause the elevating gear 905 that washs head 14 and reciprocate.

In addition, in one embodiment, the brush device 901 is described in detail, a swing gear cavity 46 is provided in a rear wall of the round trip cavity 93, the swing lead screw 45 extends backward into the swing gear cavity 46 and is fixedly provided with a swing main gear 44 at an end thereof, a swing spline shaft 48 extending forward and backward is provided at a left side of a front wall of the swing gear cavity 46, a swing pinion 47 engaged with the swing main gear 44 is fixedly provided at an end of the swing spline shaft 48 extending into the swing gear cavity 46, a cleaning bevel gear cavity 25 is provided at a left side of a top wall of the swing cavity 39, an end of the swing spline shaft 48 far from the swing pinion 47 penetrates through the round trip cavity 93, the round trip block 94 and the cleaning bevel gear cavity 25, a cleaning main bevel gear 49 is fixedly provided at a part of an outer surface of the swing spline shaft 48 located in the cleaning bevel gear cavity 25, a washing main shaft 21 extending up and down is arranged on the bottom wall of the washing bevel gear cavity 25, a washing secondary bevel gear 50 meshed with the washing primary bevel gear 49 is fixedly arranged at one end of the washing main shaft 21 extending into the washing bevel gear cavity 25, a washing bevel gear cavity 19 is arranged in the left wall of the swinging cavity 39, one end of the washing main shaft 21 far away from the washing secondary bevel gear 50 extends down into the washing bevel gear cavity 19, a washing primary bevel gear 20 is fixedly arranged at the tail end of the washing primary shaft 19, a washing secondary shaft 24 extending left and right is arranged in the swinging cavity 39, a washing secondary bevel gear 22 meshed with the washing primary bevel gear 20 is fixedly arranged at one end of the washing secondary shaft 24 extending into the washing bevel gear cavity 19, a washing cam 23 is fixedly arranged on the outer surface of the part of the washing secondary shaft 24 located in the swinging cavity 39, and a swinging compression spring 40 is fixedly arranged on the rear wall of the swinging, the end, far away from the rear wall of the swing cavity 39, of the swing compression spring 40 is fixedly provided with a cleaning push block 18, the bottom wall of the cleaning push block 18 is fixedly provided with a brush holder 16 extending up and down, one end, far away from the cleaning push block 18, of the brush holder 16 extends into the cleaning cavity 17, and the tail end of the brush holder is fixedly provided with a brush 15.

In addition, in an embodiment, the flushing device 902 is described in detail, a steering cavity 54 is disposed in the left wall of the reciprocating cavity 93, vertically extending steering shafts 56 are symmetrically disposed in the steering cavity 54 in a front-back manner, steering wheels 55 are fixedly disposed on the outer surface of the steering shafts 56, a flushing pipe 53 connected to the bottom wall of the brush 15 is disposed between the two sets of steering wheels 55, the steering wheels 55 reduce the wear of the flushing pipe 53 when the flushing pipe is pulled, a winding cavity 85 is disposed in the right wall of the lifting cavity 11, a reel spring cavity 91 penetrating through the winding cavity 85 is disposed in the front and rear walls of the winding cavity 85, a reel shaft 87 extending in a front-back manner is rotatably disposed in the front and rear walls of the reel spring cavity 91, reel torsion springs 88 fixed on the walls of the reel spring cavity 91 are fixedly disposed at both ends of the reel shaft 87, and a reel 86 is fixedly disposed on a part of the outer surface of the reel shaft, the outer surface of the winding drum 86 is wound with the flushing pipe 53, the right wall of the winding cavity 85 is internally fixedly provided with a front water pump 78, the flushing pipe 53 is connected with the front water pump 78 rightwards, the right wall of the front water pump 78 is connected with a water inlet pipe 77 upwards extending out of the machine body 1, the front wall of the front water pump 78 is fixedly provided with a front water pump shaft 79 extending forwards and backwards, one end, far away from the front water pump 78, of the front water pump shaft 79 extends into the main bevel gear cavity 82 and the tail end of the front auxiliary bevel gear 84 is fixedly provided with a front auxiliary bevel gear 84, a power main shaft 89 extending leftwards and rightwards is arranged in the main bevel gear cavity 82, the outer surface of the power main shaft 89 is fixedly provided with a front main bevel gear 83 meshed with the front auxiliary bevel gear 84, one end, far away from the front main bevel gear 83, of the power main shaft 89 extends leftwards into the lifting cavity, one end of the power main shaft 89, which is far away from the front main bevel gear 83, extends rightwards, and the tail end of the power main shaft is fixedly provided with a small bevel gear 81.

In one embodiment, the power device 903 is described in detail, a front spline shaft 76 extending forward and backward is disposed on a rear wall of the main bevel gear cavity 82, a large bevel gear 80 engaged with the small bevel gear 81 is fixedly disposed at one end of the front spline shaft 76 extending into the main bevel gear cavity 82, a front main power shaft 97 extending forward and backward is fixedly disposed at a front end of a forward output shaft of the second motor 71, a front spline housing 75 is disposed on an outer surface of one end of the front main power shaft 97 away from the second motor 71 in a spline connection manner, a front spring block 74 is disposed on an outer surface of the front spline housing 75 in a relatively rotating manner, and a front compression spring 73 fixed on a rear wall of the power front cavity 3 is fixedly disposed on a rear wall of the front spring block 74.

In addition, in an embodiment, the water pumping device 904 is described in detail, a rear water pump 60 is fixedly disposed in the rear wall of the rear power cavity 70, a water outlet pipe 63 is disposed at the right end of the rear water pump 60 and communicated with the outside of the machine body 1, a water suction pipe 57 is disposed at the left wall of the rear water pump 60 and extends into the cleaning cavity 17, a rear water pump shaft 61 extending forward into the rear power cavity 70 is fixedly disposed at the front wall of the rear water pump pinion 62, a rear water pump pinion 62 is fixedly disposed at the right end of the rear water pump shaft 61 extending into the rear power cavity 70, a rear water pump main shaft 64 extending forward and backward is disposed at the rear wall of the rear power cavity 70, a rear water pump main gear 65 engaged with the rear water pump pinion 62 is fixedly disposed at the outer surface of the rear water pump main shaft 64, the rear water pump main shaft 64 extends forward away from the right end of the rear water pump main gear 65 and is fixedly disposed at, the rear main power shaft 98 extending from front to back is fixedly arranged at the tail end of a backward output shaft of the second motor 71, the rear main power shaft 98 is far away from the right end of the second motor 71 and extends into the power rear cavity 70, a rear spline sleeve 68 is arranged on a spline of the outer surface of the tail end of the power rear cavity, a rear rotating block 69 is arranged on the outer surface of the rear spline sleeve 68 and can only rotate mutually, the rear spline sleeve 68 is far away from the right end of the rear main power shaft 98 and is fixedly provided with a top wall which is abutted to the push rod 67 of the L push rod 66, and a connecting rod 72 fixed on the rear wall of the front spring block 74 is fixedly arranged on the.

In addition, in an embodiment, the lifting device 905 is described in detail, the right end of the movable main shaft 9, which is far away from the movable main bevel gear 8, extends into the power spline housing 35, a power spline housing 35 is spline-arranged on the outer surface of the tail end of the movable main bevel gear, the power spline housing 35, which is far away from the right end of the movable main shaft 9, is spline-connected with the power shaft 33, a clutch spring block 37 is relatively rotatably arranged on the outer surface of the power spline housing 35, a clutch compression spring 38 fixed on the bottom wall of the clutch cavity 36 is fixedly arranged on the bottom wall of the clutch spring block 37, a movable electromagnet 10 is fixedly arranged on the bottom wall of the clutch compression spring 38, a lifting auxiliary shaft 31 for realizing extension is rotatably arranged on the left side of the top wall of the clutch spring block 37, one end of the lifting auxiliary shaft 31, which is far away from the clutch spring, the lift pinion 30 is close to the part surface spline of lift pulley chamber 27 diapire is provided with lift driving pulley 29, lift pulley chamber 27 diapire left side is provided with the lifting screw 12 that realizes the extension, lifting screw 12 stretches into the fixed lift driving pulley 26 that is provided with of one end in lift pulley chamber 27, lift driving pulley 26 with lift driving pulley 29 passes through lift driving pulley chamber 28 transmission and connects, lifting screw 12 keeps away from the one end of lift driving pulley 26 runs through lift chamber 11 and with cleaning head 14 threaded connection.

In an initial state, the cleaning head 14 is located at the upper end of the lifting cavity 11, the power pinion 96 and the power main gear 95 are separated, the reel 86 releases the flushing pipe 53, the reel torsion spring 88 is twisted, the reciprocating block 94 is located at the foremost end of the reciprocating cavity 93, the swing compression spring 40 is in a no-load state, the distance between the contact point of the washing cam 23 and the cleaning pushing block 18 and the circle center of the washing cam 23 is minimum, the movable electromagnet 10 is free of electromagnetism, the clutch compression spring 38 is free of load, so that the power spline housing 35 is in spline connection with the power shaft 33, the lifting pinion 30 and the lifting main gear 34 are separated, the top wall of the L push rod 66 abuts against the bottom wall of the rear rotating block 69, the front compression spring 73 is free of load, the front spline housing 75 is separated from the moving bevel gear cavity 7, the rear spline housing 68 is in spline connection with the rear water pump spindle 64, when the rear water pump spindle starts to work, the first motor 32 rotates to drive the power shaft 33 to rotate, the power shaft 33 rotates to drive the power spline housing 35 to rotate, the power spline housing 35 rotates to drive the movable spindle 9 to rotate, the movable spindle 9 rotates to drive the movable main bevel gear 8 to rotate, the movable main bevel gear 8 rotates to drive the movable auxiliary bevel gear 6 to rotate, the movable auxiliary bevel gear 6 rotates to drive the movable worm 5 to rotate, the movable worm 5 rotates to drive the movable worm gear 4 to rotate, the movable worm gear 4 rotates to drive the movable shaft 92 to rotate, the movable shaft 92 rotates to drive the tire 59 to rotate, so that the robot moves to a designated position, and then the movable electromagnet 10 generates electromagnetic adsorption to move the clutch spring block 37 downwards, the clutch compression spring 38 is compressed, the clutch spring block 37 drives the power spline housing 35 to move downwards to be separated from the power shaft 33, the clutch spring block 37 drives the lifting auxiliary shaft 31 to move downwards, the lifting auxiliary shaft 31 drives the lifting auxiliary gear 30 to move downwards to be engaged with the lifting main gear 34, the power shaft 33 rotates to drive the lifting main gear 34 to rotate, the lifting main gear 34 rotates to drive the lifting auxiliary gear 30 to rotate, the lifting auxiliary gear 30 rotates to drive the lifting auxiliary shaft 31 to rotate, the lifting auxiliary shaft 31 rotates to drive the lifting main belt pulley 29 to rotate, the lifting main belt pulley 29 rotates to drive the lifting auxiliary belt pulley 26 to rotate through the lifting belt pulley cavity 28, the lifting auxiliary belt pulley 26 rotates to drive the lifting lead screw 12 to rotate, and the lifting lead screw 12 rotates to drive the cleaning head 14 to move downwards to cover the bottom wall of the swimming pool to be cleaned, the sealing ring 13 isolates the outside water flow to enter the cleaning cavity 17, the first motor 32 stops rotating to start pumping out the water in the cleaning cavity 17, the second motor 71 rotates to drive the rear main power shaft 98 to rotate for a circle anticlockwise to drive the rear main power shaft 98 to rotate for a circle, the rear main power shaft 98 rotates for a circle to drive the rear spline housing 68 to rotate for a circle, the rear spline housing 68 rotates for a circle to drive the rear water pump main shaft 64 to rotate for a circle, the rear water pump main shaft 64 rotates for a circle to drive the rear water pump main gear 65 to rotate for a circle, the rear water pump main gear 65 rotates for a circle to drive the rear water pump pinion 62 to rotate for five and more than five circles, the rear water pump pinion 62 rotates to drive the rear water pump shaft 61 to rotate, the rear water pump shaft 61 rotates to drive the rear water pump 60 to work, the rear water pump 60 pumps water into the cleaning cavity 17 through the water suction pipe 57 and then pumps water to the water outlet pipe 63 to, the rear water pump spindle 64 rotates for a circle to drive the L push rod 66 to rotate for a circle, the rear spline housing 68 rotates for a circle to drive the push rod 67 to rotate for a circle, the L push rod 66 rotates for a circle to push the connecting rod 72 to move forward, the connecting rod 72 drives the rear rotating block 69 to move forward, the rear rotating block 69 drives the rear spline housing 68 to move forward to separate from the rear water pump spindle 64, the connecting rod 72 drives the front spring block 74 to move forward, the front spring block 74 drives the front spline housing 75 to move forward to be in splined connection with the front spline shaft 76, at this time, water in the cleaning cavity 17 is completely pumped and starts to be cleaned, the second motor 71 rotates counterclockwise to drive the front main power shaft 97 to rotate for a circle, the front main power shaft 97 rotates for a circle to drive the front spline housing 75 to rotate for a circle, the front spline housing 75 rotates for a circle to drive the front spline shaft 76 to rotate for a circle, the front spline shaft 76 rotates for a circle to drive the big bevel gear 80 to rotate for ten circles and more than ten circles, the big bevel gear 80 rotates to drive the small bevel gear 81 to rotate, the small bevel gear 81 rotates to drive the power spindle 89 to rotate, the power spindle 89 rotates to drive the front main bevel gear 83 to rotate, the front main bevel gear 83 rotates to drive the front auxiliary bevel gear 84 to rotate, the front auxiliary bevel gear 84 rotates to drive the front water pump shaft 79 to rotate, the front water pump shaft 79 rotates to drive the front water pump 78 to work, the front water pump 78 utilizes the flushing pipe 53 to spray water after absorbing water through the water inlet pipe 77, the power spindle 89 rotates to drive the power main gear 95 to rotate, and the power main gear 95 rotates to drive the power auxiliary gear 96 to rotate, the power auxiliary gear 96 rotates to drive the reciprocating worm 52 to rotate, the reciprocating worm 52 rotates to drive the reciprocating worm wheel 43 to rotate, the reciprocating worm wheel 43 rotates to drive the swing screw rod 45 to rotate, the swing screw rod 45 rotates to drive the reciprocating block 94 to move backwards, the swing screw rod 45 rotates to drive the swing main gear 44 to rotate, the swing main gear 44 rotates to drive the swing auxiliary gear 47 to rotate, the swing auxiliary gear 47 rotates to drive the swing spline shaft 48 to rotate, the swing spline shaft 48 rotates to drive the cleaning main bevel gear 49 to rotate, the cleaning main bevel gear 49 rotates to drive the cleaning auxiliary bevel gear 50 to rotate, the cleaning auxiliary bevel gear 50 rotates to drive the washing main shaft 21 to rotate, the washing main shaft 21 rotates to drive the washing main bevel gear 20 to rotate, and the washing main bevel gear 20 rotates to drive the washing auxiliary bevel gear 22 to rotate, the auxiliary washing bevel gear 22 rotates to drive the auxiliary washing shaft 24 to rotate, the auxiliary washing shaft 24 rotates to drive the washing cam 23 to rotate, the washing cam 23 rotates to push the washing push block 18 to move backwards, the swinging compression spring 40 is matched to realize the forward and backward movement of the washing push block 18, the washing push block 18 drives the brush handle 16 to move forwards and backwards, the brush handle 16 drives the brush 15 to move forwards and backwards to wash the bottom wall of the swimming pool, in the backward movement process of the reciprocating block 94, the reel torsion spring 88 rebounds to drive the reel shaft 87 to rotate, the reel shaft 87 rotates to drive the reel 86 to rotate, the reel 86 rotates to wind the flushing pipe 53, at the moment, the reciprocating block 94 reaches the middle position of the washing cavity 17, then the flushing pipe 53 pulls the reel 86 to rotate reversely, the flushing pipe 53 rotates to drive the reel shaft 87 to rotate reversely, the winding drum torsion spring 88 is twisted to complete one washing, at this time, the second motor 71 rotates counterclockwise for one circle to drive the rear main power shaft 98 to rotate for one circle, the rear main power shaft 98 rotates for one circle to drive the rear spline housing 68 to rotate for one circle, the rear spline housing 68 rotates for one circle to drive the push rod 67 to rotate for one circle to push the L push rod 66 to rotate for a certain angle, so that the L push rod 66 is separated from the connecting rod 72, at this time, the push rod 67 abuts against the upper part of the L push rod 66, the front compression spring 73 rebounds to drive the front spring block 74 to move backwards, the front spring block 74 drives the front spline housing 75 to move backwards and separate from the front spline shaft 76, the front spring block 74 drives the connecting rod 72 to move backwards, the connecting rod 72 drives the rear rotation block 69 to move backwards, the rear rotation block 69 drives the rear spline housing 68 to move backwards and connect with the rear water pump main shaft, the second motor 71 rotates counterclockwise for one circle to drive the rear main power shaft 98 to rotate for one circle, the rear main power shaft 98 rotates for one circle to drive the rear spline housing 68 to rotate for one circle, the rear spline housing 68 rotates for one circle to drive the rear water pump main shaft 64 to rotate for one circle, the rear water pump main shaft 64 rotates for one circle to drive the rear water pump main gear 65 to rotate for one circle, the rear water pump main gear 65 rotates for one circle to drive the rear water pump pinion 62 to rotate for five and more than five circles, the rear water pump pinion 62 rotates to drive the rear water pump shaft 61 to rotate, the rear water pump shaft 61 rotates to drive the rear water pump 60 to work, the rear water pump 60 uses the water suction pipe 57 to deliver the sewage in the cleaning cavity 17 to the shore through the water outlet pipe 63, meanwhile, the rear water pump main shaft 64 rotates for one circle to drive the L push rod 66 to rotate for one circle, the rear spline housing 68 rotates for one circle to, the push rod 67 is still above the L push rod 66, the L push rod 66 pushes the connecting rod 72 to move forward after rotating for one circle, the connecting rod 72 drives the rear rotating block 69 to move forward, the rear rotating block 69 drives the rear spline housing 68 to move forward and separate from the rear water pump main shaft 64, the connecting rod 72 drives the front spring block 74 to move forward, the front spring block 74 drives the front spline housing 75 to move forward and connect with the front spline shaft 76 through a spline, at this time, the sewage in the cleaning cavity 17 is pumped away, the second motor 71 rotates clockwise for one circle to drive the front main power shaft 97 to rotate reversely for one circle, the front main power shaft 97 rotates for one circle to drive the front spline housing 75 to rotate reversely for one circle, the front spline shaft 75 rotates for one circle to drive the front spline shaft to rotate reversely for one circle, the front spline shaft 76 rotates for one circle to drive the large bevel gear 80 to rotate reversely for one circle, the large bevel gear 80 rotates for one circle to drive the small bevel gear 81 to rotate for ten and, the small bevel gear 81 reversely rotates to drive the power main shaft 89 to reversely rotate, the power main shaft 89 reversely rotates to drive the front main bevel gear 83 to reversely rotate, the front main bevel gear 83 reversely rotates to drive the front auxiliary bevel gear 84 to reversely rotate, the front auxiliary bevel gear 84 reversely rotates to drive the front water pump shaft 79 to reversely rotate, the front water pump shaft 79 reversely rotates to drive the front water pump 78 to work, the front water pump 78 pumps water to the cleaning cavity 17 through the flushing pipe 53 and then pumps the water to the shore through the water inlet pipe 77, residual sewage is prevented from being left on the bottom wall of the swimming pool in the cleaning cavity 17, the power main shaft 89 reversely rotates to drive the power main gear 95 to reversely rotate, the power main gear 95 reversely rotates to drive the power auxiliary gear 96 to reversely rotate, the power auxiliary gear 96 reversely rotates to drive the reciprocating worm 52 to reversely rotate, the reciprocating worm 52 reversely rotates to drive the reciprocating worm wheel 43 to reversely rotate, and the reciprocating worm wheel 43, the swinging screw 45 reversely rotates to drive the reciprocating block 94 to move forward, the swinging screw 45 reversely rotates to drive the swinging main gear 44 to reversely rotate, the swinging main gear 44 reversely rotates to drive the swinging auxiliary gear 47 to reversely rotate, the swinging auxiliary gear 47 reversely rotates to drive the swinging spline shaft 48 to reversely rotate, the swinging spline shaft 48 reversely rotates to drive the cleaning main bevel gear 49 to reversely rotate, the cleaning main bevel gear 49 reversely rotates to drive the cleaning auxiliary bevel gear 50 to reversely rotate, the cleaning auxiliary bevel gear 50 reversely rotates to drive the washing main shaft 21 to reversely rotate, the washing main shaft 21 reversely rotates to drive the washing main bevel gear 20 to reversely rotate, the washing main bevel gear 20 reversely rotates to drive the washing auxiliary bevel gear 22 to reversely rotate, the washing auxiliary bevel gear 22 reversely rotates to drive the washing auxiliary shaft 24 to reversely rotate, the washing auxiliary shaft 24 reversely rotates to drive the washing cam 23 to reversely rotate, and the washing cam 23 reversely rotates to drive the cleaning push block 18 to move, the cleaning pushing block 18 moves back and forth by matching with the swinging compression spring 40, the cleaning pushing block 18 drives the brush holder 16 to move back and forth, the brush holder 16 drives the brush 15 to move back and forth, so that the reciprocating block 94 returns to the front end of the reciprocating cavity 93, in the process of moving the reciprocating block 94 forward, the reel torsion spring 88 rebounds to drive the reel shaft 87 to rotate, the reel shaft 87 rotates to drive the reel 86 to rotate, the reel 86 rotates to wind the flushing pipe 53, at the moment, the reciprocating block 94 reaches the middle position of the cleaning cavity 17, then the flushing pipe 53 pulls the reel 86 to rotate reversely, the flushing pipe 53 rotates reversely to drive the reel shaft 87 to rotate reversely, the reel torsion spring 88 is twisted to recover to the original position, at the moment, the second motor 71 rotates clockwise for one circle to drive the rear driving force shaft 98 to rotate for one circle, the rear main power shaft 98 rotates for a circle to drive the rear spline housing 68 to rotate for a circle, the rear spline housing 68 rotates for a circle to drive the push rod 67 to rotate for a circle to push the L push rod 66 to rotate for a certain angle, so that the L push rod 66 is separated from the connecting rod 72, at this time, the push rod 67 abuts against the lower side of the L push rod 66, the front compression spring 73 rebounds to drive the front spring block 74 to move backwards, the front spring block 74 drives the front spline housing 75 to move backwards and separate from the front spline shaft 76, the front spring block 74 drives the connecting rod 72 to move backwards, the connecting rod 72 drives the rear rotating block 69 to move backwards, the rear rotating block 69 drives the rear spline housing 68 to move backwards and be in splined connection with the rear water pump main shaft 64, then the second motor 71 rotates clockwise for a circle to drive the rear main power shaft 98 to rotate for a circle, and the rear main power shaft 98 rotates for a circle to drive the rear spline housing 68, the rear spline housing 68 rotates reversely for a circle to drive the rear water pump main shaft 64 to rotate reversely for a circle, the rear water pump main shaft 64 rotates reversely for a circle to drive the rear water pump main gear 65 to rotate reversely for a circle, the rear water pump main gear 65 rotates reversely for a circle to drive the rear water pump pinion 62 to rotate reversely for five and more circles, the rear water pump pinion 62 rotates reversely to drive the rear water pump shaft 61 to rotate reversely, the rear water pump shaft 61 rotates reversely to drive the rear water pump 60 to work, the rear water pump 60 utilizes the water outlet pipe 63 to inject the clean water into the cleaning cavity 17 through the water suction pipe 57, the second motor 71 stops when the L push rod 66 abuts against the bottom wall of the connecting rod 72, at this time, the push rod 67 abuts against the bottom wall of the L push rod 66 to finish cleaning, the next area is prepared to be removed, the first motor 32 rotates reversely to drive the power shaft 33 to rotate reversely, and the power shaft 33 rotates, the lifting auxiliary gear 30 reversely rotates to drive the lifting auxiliary shaft 31 to reversely rotate, the lifting auxiliary shaft 31 reversely rotates to drive the lifting main belt wheel 29 to reversely rotate, the lifting main belt wheel 29 reversely rotates to drive the lifting auxiliary belt wheel 26 to reversely rotate through the lifting belt wheel cavity 28, the lifting auxiliary belt wheel 26 reversely rotates to drive the lifting screw 12 to reversely rotate, the lifting screw 12 reversely rotates to drive the cleaning head 14 to ascend to the top end of the lifting cavity 11,

finally, the movable electromagnet 10 loses electromagnetism to release the clutch spring block 37, the clutch compression spring 38 rebounds to drive the clutch spring block 37 to move upwards, the clutch spring block 37 drives the clutch cavity 36 to move upwards to be connected with the power shaft 33 through a spline, the clutch spring block 37 drives the lifting auxiliary shaft 31 to move upwards, the lifting auxiliary shaft 31 drives the lifting auxiliary gear 30 to move upwards to be separated from the lifting main gear 34, and therefore cleaning of the region is completed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An underwater robot for cleaning the bottom wall of a swimming pool comprises a body, wherein a first motor with an output shaft downward is fixedly arranged in the body top wall, the tail end of the output shaft of the first motor is fixedly provided with a power shaft extending up and down, a lifting belt wheel cavity is arranged in the body top wall, one end of the power shaft far away from the first motor penetrates through the lifting belt wheel cavity, the outer surface of the power shaft is fixedly provided with a lifting main gear, the bottom wall of the lifting belt wheel cavity is internally provided with a clutch cavity, the bottom wall of the clutch cavity is internally provided with a moving main shaft extending up and down, the body bottom wall is internally provided with a moving bevel gear cavity, the moving main shaft extends downwards into the moving bevel gear cavity, the tail end of the moving main gear is fixedly provided with a moving main bevel gear, the moving bevel gear cavity is bilaterally symmetrically provided with a moving worm wheel, a movable worm extending leftwards and rightwards is arranged in the movable bevel gear cavity, a movable auxiliary bevel gear meshed with the movable main bevel gear is fixedly arranged on the part of the outer surface of the movable worm positioned in the movable bevel gear cavity, two ends of the movable worm respectively extend into the movable worm gear cavity in the left wall and the right wall of the movable bevel gear cavity, a movable shaft extending forwards and backwards is arranged in the movable worm gear cavity, the part of the outer surface of the movable shaft positioned in the movable worm gear cavity is fixedly provided with a cleaning head connected with the movable worm and gear, two ends of the movable shaft extend into a tire cavity in the front wall and the rear wall of the machine body, a tire is fixedly arranged at the tail end of the tire cavity, a lifting cavity with a left opening is arranged on the left wall of the machine body, a cleaning head for realizing up-down movement is arranged in the lifting cavity, a cleaning cavity with a downward, the top wall of the cleaning cavity is communicated with a reciprocating cavity, a swinging lead screw extending forwards and backwards is arranged in the reciprocating cavity, a reciprocating block is arranged on the outer surface of the swinging lead screw in a threaded manner, a swinging cavity with a downward opening is arranged in the bottom wall of the reciprocating block, a brush device for cleaning the bottom of the swimming pool is arranged in the swinging cavity, a reciprocating worm gear cavity is arranged on the front wall of the reciprocating cavity, the swinging lead screw extends forwards into the reciprocating worm gear cavity, a reciprocating worm wheel is fixedly arranged at the tail end of the swinging lead screw, a reciprocating worm extending leftwards and rightwards is connected with the reciprocating worm gear and worm wheel, a reciprocating worm extends rightwards into the lifting cavity, a power auxiliary gear is fixedly arranged at the tail end of the reciprocating worm, a power front cavity is arranged in the right wall of the machine body, a second motor facing forwards and backwards is fixedly arranged in the rear wall of the power front cavity, and, the main bevel gear intracavity is provided with for the brush device provides the flushing device of clear water and transmission power, be provided with the separation and reunion through the axle in the power antechamber and realize control the power device that flushing device power provided, the second motor rear side is provided with the power back chamber, be provided with in the power back chamber with wash the pumping device that intracavity water was taken out, be provided with in the separation and reunion intracavity and cause the elevating gear that the cleaning head reciprocated.

2. An underwater robot for cleaning the bottom wall of a swimming pool as recited in claim 1, wherein: a swinging gear cavity is arranged in the back wall of the reciprocating cavity, the swinging screw rod extends into the swinging gear cavity backwards, the tail end of the swinging screw rod is fixedly provided with a swinging main gear, the left side of the front wall of the swinging gear cavity is provided with a swinging spline shaft extending forwards and backwards, one end of the swinging spline shaft extending into the swinging gear cavity is fixedly provided with a swinging pinion meshed with the swinging main gear, the left side of the top wall of the swinging cavity is provided with a cleaning bevel gear cavity, one end of the swinging spline shaft far away from the swinging pinion penetrates through the reciprocating cavity, the reciprocating block and the cleaning bevel gear cavity, the partial outer surface of the swinging spline shaft positioned in the cleaning bevel gear cavity is fixedly provided with a cleaning main bevel gear, the bottom wall of the cleaning bevel gear cavity is provided with a washing main shaft extending upwards and downwards, one end of the washing main shaft extending into the cleaning bevel gear cavity is fixedly provided with a cleaning auxiliary, a washing bevel gear cavity is arranged in the left wall of the swinging cavity, one end of the washing main shaft, which is far away from the washing auxiliary bevel gear, extends downwards into the washing bevel gear cavity, and the tail end of the washing main shaft is fixedly provided with a washing main bevel gear, a brushing auxiliary shaft extending left and right is arranged in the swinging cavity, a brushing auxiliary bevel gear meshed with the brushing main bevel gear is fixedly arranged at one end of the brushing auxiliary shaft extending into the brushing bevel gear cavity, a washing cam is fixedly arranged on the outer surface of the part of the washing auxiliary shaft positioned in the swinging cavity, a swinging compression spring is fixedly arranged on the rear wall of the swinging cavity, a cleaning push block is fixedly arranged at one end of the swinging compression spring, which is far away from the rear wall of the swinging cavity, a brush handle which extends up and down is fixedly arranged at the bottom wall of the cleaning push block, one end of the brush handle, which is far away from the cleaning push block, extends into the cleaning cavity, and the tail end of the brush handle is fixedly provided with a brush.

3. An underwater robot for cleaning the bottom wall of a swimming pool as recited in claim 1, wherein: a steering cavity is arranged in the left wall of the reciprocating cavity, steering shafts extending up and down are symmetrically arranged in the steering cavity in a front-back mode, steering wheels are fixedly arranged on the outer surfaces of the steering shafts, a flushing pipe connected with the bottom wall of the brush is arranged between the two groups of steering wheels, the steering wheels reduce the abrasion of the flushing pipe when pulled, a winding cavity is arranged in the right wall of the lifting cavity, a winding drum spring cavity penetrating through the winding cavity is arranged in the front and back walls of the winding cavity, a winding drum shaft extending front and back is rotatably arranged in the front and back walls of the winding drum spring cavity, winding drum torsion springs fixed on the wall of the winding drum spring cavity are fixedly arranged at the two ends of the winding drum shaft, a winding drum is fixedly arranged on the outer surface of the part of the winding cavity of the winding drum shaft, the flushing pipe is wound on the outer surface, the utility model discloses a power main gear, including wash pipe, preceding water pump, front water pump right wall connection, main bevel gear chamber and terminal fixed vice bevel gear before being provided with, the fixed preceding water pump axle that extends around being provided with of preceding water pump antetheca, preceding water pump axle is kept away from the one end of preceding water pump stretches into main bevel gear chamber and terminal fixed be provided with, the power main shaft that extends about being provided with of main bevel gear chamber, power main shaft fixed surface be provided with preceding vice bevel gear meshing's preceding main bevel gear, power main shaft keeps away from the one end of preceding main bevel gear extends into left lift chamber and terminal fixed be provided with can with power pinion meshing's power main gear, power main shaft keeps away from the one end of preceding main bevel gear extends right and the terminal fixed bevel gear that is provided with.

4. An underwater robot for cleaning the bottom wall of a swimming pool as recited in claim 1, wherein: the preceding integral key shaft that extends around main bevel gear chamber back wall is provided with, preceding integral key shaft stretches into the one end in main bevel gear chamber is fixed be provided with bevel pinion's big bevel gear, the preceding main power axle that extends around the fixed being provided with of the output shaft end that the second motor is forward, preceding main power axle is kept away from the one end surface splined connection of second motor is provided with preceding spline housing, preceding spline housing surface is only relative pivoted and is provided with preceding spring block, preceding spring block back wall is fixed to be provided with and fixes preceding compression spring on the power front cavity back wall.

5. An underwater robot for cleaning the bottom wall of a swimming pool as recited in claim 1, wherein: the rear water pump is fixedly arranged in the rear wall of the rear power cavity, the right end of the rear water pump is communicated with a water outlet pipe outside the machine body, the left wall of the rear water pump is provided with a water suction pipe extending into the cleaning cavity, the front wall of a rear water pump pinion is fixedly provided with a rear water pump shaft extending forwards into the rear power cavity, the rear water pump shaft extends into the right end of the rear power cavity and is fixedly provided with a rear water pump pinion, the rear wall of the rear power cavity is provided with a rear water pump spindle extending forwards and backwards, the outer surface of the rear water pump spindle is fixedly provided with a rear water pump main gear meshed with the rear water pump pinion, the rear water pump spindle is far away from the right end of the rear water pump main gear, the right end of the rear water pump main gear extends forwards and is fixedly provided with an L push rod in an L shape, the rear main power shaft extending forwards and backwards is fixedly provided with a rear main power shaft, the rear main power shaft is far away from The rear spline housing, but rear spline housing surface mutually pivoted is provided with the back turning block only, the back spline housing is kept away from the fixed roof butt that is provided with of right-hand member of back main power axle the push rod of L push rod, the fixed connecting rod that is provided with of back turning block antetheca is fixed on the preceding spring piece back wall.

6. An underwater robot for cleaning the bottom wall of a swimming pool as recited in claim 1, wherein: the right end of the movable main shaft, which is far away from the movable main bevel gear, extends into the power spline housing, a spline at the outer surface of the tail end of the movable main bevel gear is provided with the power spline housing, the power spline housing is far away from the right end of the movable main shaft and is connected with a spline of the power shaft, the outer surface of the power spline housing can only be relatively rotatably provided with a clutch spring block, the bottom wall of the clutch spring block is fixedly provided with a clutch compression spring fixed on the bottom wall of the clutch cavity, the bottom wall of the clutch compression spring is fixedly provided with a movable electromagnet, the left side of the top wall of the clutch spring block is rotatably provided with a lifting auxiliary shaft for realizing extension, one end of the lifting auxiliary shaft, which is far away from the clutch spring block, penetrates through the lifting belt wheel cavity and is fixedly provided with a lifting, the lifting belt wheel cavity comprises a lifting belt wheel cavity body, and is characterized in that a lifting lead screw for achieving extension is arranged on the left side of the bottom wall of the lifting belt wheel cavity body, the lifting lead screw stretches into a lifting auxiliary belt wheel fixedly arranged at one end of the lifting belt wheel cavity body, the lifting auxiliary belt wheel is connected with a lifting main belt wheel through the transmission of the lifting belt wheel cavity body, and the lifting lead screw is far away from one end of the lifting auxiliary belt wheel and penetrates through the lifting cavity body and the cleaning head in threaded connection.