Underwater cleaning robot

Abstract

The utility model relates to the technical field of underwater cleaning, in particular to an underwater cleaning robot which comprises a robot body, a cleaning assembly and a propeller, the robot body is composed of a lower shell and an upper cover, the lower shell is provided with a cavity, a dust washing opening is formed in the position, located on the outer side of the cleaning assembly, of the lower shell, and the propeller is arranged in the cavity. One end of the dust washing opening communicates with the cavity and is provided with a containing net cover, the propeller is arranged at one end of the lower shell, the air inlet end of the propeller communicates with the cavity and provides suction force for the dust washing opening, and the cleaning assembly is used for conveying underwater foreign matter towards the dust washing opening. The cleaning assembly and the dust washing opening work cooperatively, efficient directional conveying of underwater foreign matter is achieved, the cleaning efficiency is effectively improved, and the coverage range is effectively widened.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater cleaning, in particular to an underwater cleaning robot. Background Art

[0002] Underwater cleaning robots are high-tech, intelligent devices designed specifically for underwater environments, designed to efficiently and accurately perform various underwater cleaning tasks. They typically operate based on pre-programmed or remotely controlled systems, using built-in high-precision gyroscopes, sonar, or visual sensors for positioning and obstacle avoidance, ensuring safe and efficient operations. They are often powered by electric or hybrid power to minimize pollution to the underwater environment. Their designs emphasize lightweight and streamlined design to reduce water resistance, improve efficiency, and enhance endurance.

[0003] With the continuous development of marine engineering, aquaculture, water tourism, and environmental protection, the demand for underwater cleaning robots is growing. They have become an indispensable tool for maintaining the health of underwater facilities and protecting the aquatic environment. However, existing underwater cleaning robots generally suffer from low cleaning efficiency and a limited cleaning coverage area. Therefore, further improvements are needed for existing underwater cleaning robots. Utility Model Content

[0004] In order to solve the above problems, the utility model adopts the coordinated work of the cleaning component and the dust washing port to achieve efficient and directional transportation of underwater foreign matter, effectively improving the cleaning efficiency and coverage of the underwater cleaning robot.

[0005] The technical solution adopted by the present utility model is: an underwater cleaning robot, including a fuselage, a cleaning component and a propeller, the fuselage is composed of a lower shell and an upper cover, the lower shell is provided with a cavity, the lower shell is located on the outside of the cleaning component and is provided with a dust washing port, one end of the dust washing port is connected to the cavity and is provided with a accommodating mesh cover, the propeller is arranged at one end of the lower shell, the air inlet end of the propeller is connected to the cavity, and provides suction to the dust washing port, and the cleaning component is used to transport underwater foreign matter toward the dust washing port.

[0006] A further improvement to the above solution is that a power module and a control module are provided in the cavity, the power module is electrically connected to the control module, and the control module is electrically connected to the cleaning component and the propeller.

[0007] A further improvement to the above solution is that a magnetic element is provided at the bottom of the lower shell to absorb underwater metal foreign matter.

[0008] A further improvement to the above solution is that a retreat nozzle is provided at one end of the lower shell, the retreat nozzle is provided at an end away from the propeller, and the retreat nozzle is provided with a retreat drive module.

[0009] A further improvement to the above scheme is that the cleaning components are provided with four groups, and the four groups of cleaning components are all arranged at the bottom of the lower shell. There are multiple dust suction ports, which are respectively located on both sides of the lower shell and one side of the driving direction to receive foreign matter cleaned by the cleaning components.

[0010] A further improvement to the above solution is that the cleaning component includes a cleaning drive module, a cleaning fan blade and a cleaning brush, the cleaning drive module is arranged in the lower shell, the cleaning fan blade is connected to the driving end of the cleaning drive module, and the cleaning brush is arranged on the cleaning fan blade.

[0011] A further improvement to the above scheme is that the cleaning drive module includes a stator housing made of low magnetic permeability alloy material, a stator assembly installed in the stator housing, a connecting seat arranged in the stator assembly, a cleaning rotor housing, and a rotating fixed shaft and a rotor assembly arranged in the cleaning rotor housing, the rotor assembly includes a plurality of magnets, and the plurality of magnets are evenly distributed in an annular direction on the inner diameter of the cleaning rotor housing, the rotating fixed shaft is provided with a rotating shaft sleeve and is rotatably connected to the cleaning rotor housing, one end of the rotating fixed shaft is detachably connected to the connecting seat, and the cleaning fan blades are arranged on the cleaning rotor housing.

[0012] A further improvement to the above scheme is that a recess is provided at one end of the stator housing facing the rotating fixed shaft, and one end of the connecting seat extends to the recess; a rotating placement cavity is provided inside the cleaning rotor housing, and the rotating fixed shaft is installed in the rotating placement cavity through a rotating sleeve, and one end of the rotating placement cavity extends to the recess.

[0013] A further improvement to the above solution is that a connecting cavity is provided at one end of the stator housing, a mating housing is provided at one end of the connecting seat, one end of the mating housing is connected to the connecting cavity to form a wiring cavity, a PCB board is provided in the wiring cavity, and a wiring duct is provided at the end of the mating housing facing away from the connecting cavity, the wiring duct is used for wiring the PCB board.

[0014] A further improvement to the above solution is that the connection cavity is provided with a pressing step, and the wiring cavity is provided with a connecting step corresponding to the pressing step, and the pressing step is used to press the PCB board onto the connecting step.

[0015] A further improvement to the above scheme is that the connecting seat is provided with a connecting shaft, one end of which is connected to the rotating fixed shaft; a stator placement cavity is formed between the connecting shaft and the inner diameter of the stator housing, and the stator assembly includes a stator frame installed in the stator placement cavity and a coil sleeved on the stator frame, and the coil is arranged opposite to the magnetic steel.

[0016] A further improvement to the above scheme is that a threaded hole is provided on the inner side of the connecting shaft, a sinking groove is provided on one end of the threaded hole facing the rotating fixed shaft, a threaded end is provided at one end of the rotating fixed shaft, the threaded end is used to connect to the threaded hole, and a sinking end is provided on one side of the threaded end, the sinking end is used to cooperate with the sinking groove.

[0017] A further improvement to the above scheme is that the propeller includes a drive module and a transmission module, the drive module includes a main bracket, a stator winding and a waterproof cover; the stator winding is arranged on the main bracket, the waterproof cover is arranged on the main bracket and covers the stator winding, the transmission module includes a propulsion rotor housing, a rotor magnetic tile and an impeller, the propulsion rotor housing is rotatably connected to the main bracket and / or the waterproof cover, the rotor magnetic tile is provided in multiple numbers and is evenly distributed on the inner circumference of the propulsion rotor housing, the impeller includes a connecting disk and fan blades, a circular hole is provided at the axis center of the connecting disk, the fan blades are provided on the circular hole, and the main bracket is provided with a through groove facing the circular hole.

[0018] A further improvement to the above solution is that the main bracket includes a stator mounting portion and a sealing connection portion, the stator mounting portion is used to install the stator winding, the sealing connection portion is installed with a sealing rear bracket, and the sealing rear bracket is used to fix one end of the waterproof cover on the sealing connection portion.

[0019] A further improvement to the above scheme is that the sealed rear bracket is provided with an inner diameter connecting step and an outer diameter connecting step, the inner diameter connecting step is used to connect the sealing connection part, the outer diameter connecting step is provided with a first bearing, and the outer diameter connecting step is rotatably connected to the propulsion rotor housing through the first bearing.

[0020] A further improvement to the above scheme is that a sealing front bracket is provided at one end of the main bracket, one end of the sealing front bracket extends into the through groove, and the other end is provided with a matching step, a second bearing is provided on the matching step, and the matching step is rotatably connected to the propulsion rotor housing through the second bearing.

[0021] A further improvement to the above solution is that the inner diameter connecting step is provided with a first sealing groove, the sealing front bracket is provided with a sealing connecting ring, and the sealing connecting ring is provided with a second sealing groove.

[0022] A further improvement to the above solution is that a first sealing convex ring and a second sealing convex ring are respectively provided at both ends of the waterproof cover, the first sealing convex ring is used to connect to the first sealing groove, and the second sealing convex ring is used to connect to the second sealing groove.

[0023] The waterproof cover is arranged on the outer periphery of the main bracket and forms a sealed cavity between the waterproof cover and the outer periphery of the main bracket. The stator winding is arranged in the sealed cavity. The rotor magnetic tile is located on the outside of the waterproof cover and opposite to the stator winding. The waterproof cover is used to separate the rotor magnetic tile from the stator winding.

[0024] A further improvement to the above scheme is that the inner diameter of the propulsion rotor housing is provided with a magnetic shoe mounting groove, and there are multiple magnetic shoe mounting grooves. The multiple magnetic shoe mounting grooves are evenly distributed along the inner diameter of the propulsion rotor housing, and multiple rotor magnetic shoes are distributed on each magnetic shoe mounting groove.

[0025] A further improvement to the above scheme is that an end step is provided at one end of the propulsion rotor housing, one end of the end step is connected to the magnetic tile mounting groove, and an end cover is installed on the end step, one end of the end cover is used to abut the end of the rotor magnetic tile, and the other end is used to install the connecting plate.

[0026] The beneficial effects of the utility model are:

[0027] Compared with existing underwater cleaning robots, the present invention not only enhances the overall sealing and durability of the equipment through the compact body structure composed of the lower shell and the upper cover, but also ensures stable operation in complex underwater environments. The coordinated work of the cleaning component and the dust washing port realizes the efficient and directional transportation of underwater foreign matter, effectively improving the cleaning efficiency and coverage. The dust washing port is equipped with a containing mesh cover that effectively filters and collects fine particles to prevent blockage and ensure the continuous operation capability of the equipment. The propeller is innovatively designed to connect the air inlet end to the cavity, and uses the powerful suction generated to drive the dust washing port to operate. No additional power source is required, which reduces energy consumption and simplifies the structure. This design not only enhances the cleaning effect, but also improves the flexibility and adaptability of the robot, and can operate stably under different water depths and water flow conditions. With its high efficiency, energy saving and durability, the present utility model provides an advanced solution for underwater environment maintenance, with broad application prospects and market promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a three-dimensional schematic diagram of the underwater cleaning robot of the present invention;

[0029] Figure 2 for Figure 1 A three-dimensional schematic diagram of the underwater cleaning robot from another perspective;

[0030] Figure 3 for Figure 1 Schematic diagram of the explosion of the underwater cleaning robot;

[0031] Figure 4 for Figure 1 Schematic diagram of the explosion of the underwater cleaning robot from another perspective;

[0032] Figure 5 for Figure 1 A three-dimensional schematic diagram of the cleaning components of the underwater cleaning robot;

[0033] Figure 6 for Figure 1 A schematic diagram of the front view of the cleaning components of the underwater cleaning robot;

[0034] Figure 7 for Figure 6 Cross-sectional view of AA;

[0035] Figure 8 for Figure 7 A is an enlarged schematic diagram;

[0036] Figure 9 for Figure 1 Schematic diagram of the propeller of the underwater cleaning robot

[0037] Figure 10 for Figure 1 A schematic diagram of the front view of the propeller of the underwater cleaning robot;

[0038] Figure 11 for Figure 10 A is an enlarged schematic diagram.

[0039] Description of reference numerals: body 1, lower housing 11, magnetic element 111, rear nozzle 112, upper cover 12, cavity 13, dust washing port 14, storage mesh cover 15, power module 16, control module 17;

[0040] Cleaning assembly 2, cleaning drive module 21, stator housing 211, sink 2111, connecting cavity 2112, pressing step 2113, connecting step 2114, stator assembly 212, stator frame 2121, connecting seat 213, matching housing 2131, PCB board 2132, connecting shaft 2133, cleaning rotor housing 214, rotating placement cavity 2141, rotating fixed shaft 215, threaded end 2151, sinking end 2152, rotor assembly 216, cleaning blades 22, cleaning brush 23;

[0041] Propeller 3, drive module 31, main bracket 311, through slot 3111, stator mounting portion 3112, sealing connection portion 3113, sealed rear bracket 3114, inner diameter connecting step 31141, outer diameter connecting step 31142, sealed front bracket 3115, matching step 31151, stator winding 312, waterproof cover 313, first sealing convex ring 3131, second sealing convex ring 3132, transmission module 32, propulsion rotor housing 321, magnetic tile mounting groove 3211, end step 3212, end cover 3213, rotor magnetic tile 322, impeller 323, connecting plate 3231, and fan blade 3232. DETAILED DESCRIPTION

[0042] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to facilitate a more thorough and comprehensive understanding of the disclosure of the present invention.

[0043] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0045] like Figures 1 to 11As shown, in one embodiment of the present invention, an underwater cleaning robot is provided, comprising a body 1, a cleaning component 2, and a propeller 3. The body 1 is composed of a lower shell 11 and an upper cover 12. The lower shell 11 is provided with a cavity 13. The lower shell 11 is provided with a dust washing port 14 on the outside of the cleaning component 2. One end of the dust washing port 14 is connected to the cavity 13 and is provided with a accommodating mesh cover 15. The propeller 3 is provided at one end of the lower shell 11. The air inlet end of the propeller 3 is connected to the cavity 13 and provides suction to the dust washing port 14. The cleaning component 2 is used to transport underwater foreign matter toward the dust washing port 14. In this embodiment, the compact body 1 structure formed by the lower shell 11 and the upper cover 12 not only enhances the overall sealing and durability of the equipment, but also ensures stable operation in complex underwater environments. The coordinated work of the cleaning component 2 and the dust washing port 14 achieves efficient and directional transportation of underwater foreign matter, effectively improving cleaning efficiency and coverage. The dust washing port 14 is equipped with a containing mesh cover 15, which effectively filters and collects fine particles, prevents clogging, and ensures the continuous operation capability of the equipment. The propeller 3 is innovatively designed to connect the air inlet end to the cavity 13, and uses the strong suction force generated to drive the dust washing port 14 to operate, without the need for an additional power source, reducing energy consumption and simplifying the structure. This design not only enhances the cleaning effect, but also improves the flexibility and adaptability of the robot, and can operate stably under different water depths and water flow conditions. With its high efficiency, energy saving, and durability, this embodiment provides an advanced solution for underwater environment maintenance, which has broad application prospects and market promotion value.

[0046] A power module 16 and a control module 17 are provided in the cavity 13. The power module 16 is electrically connected to the control module 17, and the control module 17 is electrically connected to the cleaning component 2 and the propeller 3. In this embodiment, the carefully configured power module 16 and the control module 17 in the cavity 13 are electrically connected to form an efficient and stable energy and command center. This design ensures that during the execution of the cleaning task, the power module 16 can continuously provide sufficient power to the robot, while the control module 17 accurately regulates the operation of the cleaning component 2 and the propeller 3. Under the command of the control module 17, the cleaning component 2 carefully cleans the underwater environment; the propeller 3 flexibly adjusts the movement direction and speed of the robot according to the signal of the control module 17 to achieve precise positioning and efficient operation.

[0047] A magnetic element 111 is installed at the bottom of the lower housing 11 to attract underwater metal foreign matter. In this embodiment, the magnetic element 111 efficiently absorbs and collects metal foreign matter scattered on the bottom of the water, such as nails, screws, and other potentially dangerous objects, effectively preventing them from damaging the robot itself or underwater facilities. This design also simplifies the cleaning process, reducing the need for manual intervention to remove metal foreign matter, and improving the automation and thoroughness of the cleaning process.

[0048] One end of the lower shell 11 is provided with a retreat nozzle 112, and the retreat nozzle 112 is provided at the end away from the propeller 3, and the retreat nozzle 112 is provided with a retreat drive module. In this embodiment, the retreat nozzle 112 provided at one end of the lower shell 11, combined with the layout strategy away from the propeller 3, significantly improves the maneuverability and operational flexibility of the robot. The application of the retreat drive module enables the robot to quickly and accurately achieve backward movement when performing complex cleaning tasks, without the need to indirectly achieve backward movement through complex steering, thereby improving work efficiency and operation accuracy. In addition, this design also enhances the robot's ability to operate in narrow or confined waters, ensuring comprehensive coverage and efficient execution of cleaning operations. In addition, the integrated design of the retreat nozzle 112 and the retreat drive module also helps to improve the stability and safety of the underwater cleaning robot. In a complex and changeable underwater environment, the robot may face various unexpected situations, such as the sudden appearance of obstacles or the need for emergency avoidance. At this time, the ability to retreat quickly and accurately becomes the key, which enables the robot to quickly adjust its posture, avoid collisions, and ensure the safety of the operation process.

[0049] See Figures 5 to 8 As shown, four groups of cleaning components 2 are provided, and the four groups of cleaning components 2 are all arranged at the bottom of the lower shell 11. There are multiple suction ports, which are respectively located on both sides of the lower shell 11 and one side of the driving direction to receive foreign matter cleaned by the cleaning components 2. In this embodiment, multiple suction ports are distributed on both sides of the lower shell 11 and one side of the driving direction, precisely docking with the working area of ​​the cleaning components 2, effectively absorbing and removing various underwater foreign matter and sediments, and ensuring that there are no dead angles in the cleaning operation. This design not only enhances the adaptability of the robot in complex underwater environments, but also optimizes the cleaning effect, maintains the cleanliness and transparency of the underwater environment, and provides strong technical support for tasks such as marine protection and underwater facility maintenance. In addition, the design also fully considers the special environmental requirements of underwater operations. The balanced distribution of the four groups of cleaning components 2 helps to reduce the bumps and yaw caused by uneven force during the movement of the robot, thereby improving the stability and safety of the operation. The multi-point layout of the suction port can establish and maintain a negative pressure environment more quickly. Even in waters with turbulent water or low visibility, it can effectively capture and remove tiny particles, ensuring the depth and durability of the cleaning effect.

[0050] The cleaning assembly 2 includes a cleaning drive module 21, a cleaning blade 22, and a cleaning brush 23. The cleaning drive module 21 is arranged in the lower housing 11, the cleaning blade 22 is connected to the driving end of the cleaning drive module 21, and the cleaning brush 23 is arranged on the cleaning blade 22. The cleaning drive module 21 includes a stator housing 211 made of a low-magnetic alloy material, a stator assembly 212 installed in the stator housing 211, a connecting seat 213 arranged in the stator assembly 212, a cleaning rotor housing 214, and a rotating fixed shaft 215 and a rotor assembly 216 arranged in the cleaning rotor housing 214. The rotor assembly 216 includes a plurality of magnets, which are evenly distributed in an annular direction on the inner diameter of the cleaning rotor housing 214. The rotating fixed shaft 215 is provided with a rotating sleeve and is rotatably connected to the cleaning rotor housing 214. One end of the rotating fixed shaft 215 is detachably connected to the connecting seat 213. The cleaning blade 22 is arranged on the cleaning rotor housing 214. A groove 2111 is provided at one end of the stator housing 211 facing the rotating fixed shaft 215, and one end of the connecting seat 213 extends to the groove 2111; a rotating placement cavity 2141 is provided inside the cleaning rotor housing 214, and the rotating fixed shaft 215 is installed in the rotating placement cavity 2141 through a rotating sleeve, and one end of the rotating placement cavity 2141 extends to the groove 2111. In this embodiment, the stator housing 211 made of low magnetic permeability alloy material effectively resists corrosion and electromagnetic interference in the underwater environment, ensuring the stable operation and long life of the component. The cleaning drive module 21 achieves efficient and smooth rotational power output by cooperating with the precisely designed stator assembly 212 and the rotor assembly 216, and utilizing the circumferential uniform distribution of magnetic steel. The cleaning fan blades 22 are directly arranged on the cleaning rotor housing 214, and generate strong water flow or air flow as the rotor rotates, effectively enhancing the ability to flush underwater dirt. The rotating fixed shaft 215 and the cleaning rotor housing 214 rotate flexibly via a rotating sleeve, reducing frictional losses and facilitating maintenance and replacement. The ingenious design of the connecting seat 213 and the sink 2111 not only enhances structural stability but also optimizes spatial layout, resulting in a compact and efficient overall structure. The application of this cleaning assembly 2 significantly improves the cleaning efficiency and operating depth of underwater cleaning robots, providing strong technical support for maintaining underwater environments.

[0051] One end of the stator housing 211 is provided with a connecting cavity 2112. One end of the connecting base 213 is provided with a mating housing 2131. One end of the mating housing 2131 is connected to the connecting cavity 2112 to form a wiring cavity. A PCB board 2132 is disposed within the wiring cavity. The end of the mating housing 2131 facing away from the connecting cavity 2112 is provided with a wiring duct for connecting wires to the PCB board 2132. Specifically, the connecting cavity 2112 is provided with a pressing step 2113. The wiring cavity is provided with a connecting step 2114 corresponding to the pressing step 2113. The pressing step 2113 is used to press the PCB board 2132 against the connecting step 2114. The connecting base 213 is provided with a connecting shaft 2133, one end of which is connected to the rotating fixed shaft 215. A stator housing cavity is formed between the connecting shaft 2133 and the inner diameter of the stator housing 211. The stator assembly 212 includes a stator frame 2121 mounted within the stator housing cavity and a coil mounted on the stator frame 2121, the coil being positioned opposite the magnet. A threaded hole is provided on the inner side of the connecting shaft 2133. The end of the threaded hole facing the rotating fixed shaft 215 is provided with a recessed groove. One end of the rotating fixed shaft 215 is provided with a threaded end 2151 for connecting to the threaded hole. A recessed end 2152 is provided on one side of the threaded end 2151 for mating with the recessed groove. In this embodiment, the tight fit between the stator housing 211 and the connecting base 213 creates a wiring cavity that not only effectively protects the internal PCB 2132 from underwater corrosion but also ensures a stable and secure electrical connection. The design of the clamping step 2113 and connecting step 2114 further enhances the securement of the PCB 2132, reducing contact problems caused by vibration or water impact. Furthermore, the precise connection between the connecting shaft 2133 and the rotating fixed shaft 215 via threaded holes and the submerged grooves ensures a secure connection and quick assembly and disassembly, facilitating maintenance while ensuring the stability and precision of the stator assembly 212 during underwater operation. Overall, this structure provides the underwater cleaning robot with powerful power support and a stable electrical system, effectively extending its service life and enhancing its operational capabilities and efficiency in complex underwater environments. The tight fit between the clamping step 2113 and connecting step 2114, as well as the sealing of the wiring conduit, significantly enhance the underwater cleaning robot's overall waterproof performance. This ensures that the robot's internal electronic components remain functional and protected from moisture in harsh environments such as deep sea or high-pressure water, thereby improving the robot's operational safety and stability. The precise installation and positioning of the stator assembly 212, particularly the relative positioning of the coils and magnets, optimizes the motor's electromagnetic conversion efficiency. This not only increases the robot's power output, but also reduces energy loss, extends battery life, and enables the robot to complete more cleaning tasks on a single charge.

[0052] See Figures 9 to 11 As shown, the propeller 3 includes a drive module 31 and a transmission module 32, the drive module 31 includes a main bracket 311, a stator winding 312 and a waterproof cover 313; the stator winding 312 is arranged on the main bracket 311, the waterproof cover 313 is arranged on the main bracket 311 and covers the stator winding 312, the transmission module 32 includes a propulsion rotor housing 321, a rotor magnetic tile 322 and an impeller 323, the propulsion rotor housing 321 is rotatably connected to the main bracket 311 and / or the waterproof cover 313, the rotor magnetic tile 322 is provided with multiple and evenly distributed on the inner circumference of the propulsion rotor housing 321, the impeller 323 includes a connecting disk 3231 and fan blades 3232, a circular hole is provided at the axis center of the connecting disk 3231, the fan blades 3232 are provided on the circular hole, and the main bracket 311 is provided with a through groove 3111 facing the circular hole. In this embodiment, the drive module 31 not only ensures the stable operation of the core components of the motor by integrating the main bracket 311, the stator winding 312 and the waterproof cover 313, but also effectively isolates the erosion of the stator winding 312 by the underwater environment through the waterproof cover 313, thereby enhancing the durability and safety of the equipment. The design of the transmission module 32 is particularly ingenious. The flexible rotation connection between the propulsion rotor housing 321 and the main bracket 311 and the waterproof cover 313, combined with the evenly distributed rotor magnetic tiles 322, realizes efficient power transmission and conversion, providing the robot with a strong and stable propulsion force. The impeller 323 part, through the ingenious combination of the connecting disk 3231 and the fan blades 3232, and the precise positioning of the through slot 3111 of the main bracket 311, further optimizes the water flow efficiency and improves the flexibility and cleaning effect during cleaning operations.

[0053] The main bracket 311 includes a stator mounting portion 3112 and a sealed connection portion 3113. The stator mounting portion 3112 is used to mount the stator winding 312. The sealed connection portion 3113 is mounted with a sealed rear bracket 3114, which is used to secure one end of the waterproof cover 313 to the sealed connection portion 3113. A further improvement to the above solution is that the sealed rear bracket 3114 is provided with an inner diameter connecting step 31141 and an outer diameter connecting step 31142. The inner diameter connecting step 31141 is used to connect to the sealed connection portion 3113, and the outer diameter connecting step 31142 is provided with a first bearing. The outer diameter connecting step 31142 is rotatably connected to the propulsion rotor housing 321 via the first bearing. A further improvement to the above scheme is that a sealing front bracket 3115 is provided at one end of the main bracket 311. One end of the sealing front bracket 3115 extends into the through slot 3111, and the other end is provided with a mating step 31151. A second bearing is provided on the mating step 31151, and the mating step 31151 is rotatably connected to the propulsion rotor housing 321 via the second bearing. A further improvement to the above scheme is that the inner diameter connecting step 31141 is provided with a first sealing groove, and the sealing front bracket 3115 is provided with a sealing connecting ring, which is provided with a second sealing groove. A first sealing protrusion 3131 and a second sealing protrusion 3132 are provided at each end of the waterproof cover 313, respectively. The first sealing protrusion 3131 is used to connect to the first sealing groove, and the second sealing protrusion 3132 is used to connect to the second sealing groove. The waterproof cover 313 is disposed on the outer periphery of the main support 311, forming a sealed cavity between the waterproof cover 313 and the outer periphery of the main support 311. The stator winding 312 is disposed within the sealed cavity. The rotor magnetic tiles 322 are located outside the waterproof cover 313 and opposite the stator winding 312. The waterproof cover 313 is used to separate the rotor magnetic tiles 322 from the stator winding 312. The inner diameter of the propulsion rotor housing 321 is provided with a plurality of magnetic tile mounting grooves 3211, which are evenly distributed along the inner diameter of the propulsion rotor housing 321. The rotor magnetic tiles 322 are distributed in each of the magnetic tile mounting grooves 3211. One end of the propulsion rotor housing 321 is provided with an end step 3212, one end of which is connected to the magnet tile mounting slot 3211. An end cap 3213 is mounted on this end step 3212. One end of this end cap 3213 is used to abut the end of the rotor magnet tile 322, and the other end is used to mount the connection plate 3231. In this embodiment, the meticulous design of the stator mounting portion 3112 and the sealing connection portion 3113 of the main bracket 311 ensures secure installation and waterproof protection of the stator winding 312.The double sealing structure of the sealed rear bracket 3114 and the sealed front bracket 3115, combined with the inner and outer diameter connecting steps 31142 and the double bearing arrangement, not only enhances the stable connection with the propulsion rotor housing 321, but also realizes efficient and low-friction rotational motion, thereby improving the robot's underwater operation stability and flexibility. The ingenious design of the waterproof cover 313 effectively isolates the rotor magnetic tile 322 from the stator winding 312, preventing the underwater environment from corroding the electrical components. At the same time, the sealed cavity formed provides a good working environment for the stator winding 312. The uniform layout of the magnetic tile mounting grooves 3211 and the precise installation of the end cover 3213 further ensure the stability and positioning accuracy of the rotor magnetic tile 322, ensuring the maximum performance of the motor. In summary, this structure provides reliable waterproof, dustproof and efficient power support for the underwater cleaning robot, significantly extends the service life of the equipment, and improves the efficiency and quality of cleaning operations. The ingenious design of the waterproof cover 313 effectively isolates the rotor magnetic tiles 322 from the stator winding 312, preventing the underwater environment from corroding the electrical components. At the same time, the sealed cavity formed provides a good working environment for the stator winding 312. The evenly distributed layout of the magnetic tile mounting slots 3211 and the precise installation of the end caps 3213 further ensure the stability and positioning accuracy of the rotor magnetic tiles 322, ensuring the maximum performance of the motor. In summary, this structure provides the underwater cleaning robot with reliable waterproof, dustproof and efficient power support, significantly extending the service life of the equipment and improving the efficiency and quality of cleaning operations.

[0054] The above embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An underwater cleaning robot, characterized in that: The device comprises a body, a cleaning assembly, and a propeller. The body is composed of a lower shell and an upper cover. The lower shell is provided with a cavity. The lower shell is provided with a dust washing port on the outside of the cleaning assembly. One end of the dust washing port is connected to the cavity and is provided with a accommodating mesh cover. The propeller is provided at one end of the lower shell. The air inlet end of the propeller is connected to the cavity and provides suction to the dust washing port. The cleaning assembly is used to transport underwater foreign matter toward the dust washing port. The cleaning assembly includes a cleaning drive module, a cleaning blade and a cleaning brush. The cleaning drive module is arranged in the lower shell, the cleaning blade is connected to the driving end of the cleaning drive module, and the cleaning brush is arranged on the cleaning blade.

2. The underwater cleaning robot according to claim 1, characterized in that: A power module and a control module are provided in the cavity, the power module is electrically connected to the control module, and the control module is electrically connected to the cleaning component and the propeller; The bottom of the lower shell is provided with a magnetic element to absorb underwater metal foreign matter.

3. The underwater cleaning robot according to claim 1, characterized in that: A retreat nozzle is provided at one end of the lower shell, the retreat nozzle is provided at an end away from the propeller, and the retreat nozzle is provided with a retreat drive module; There are four groups of cleaning components, all of which are arranged at the bottom of the lower shell. There are multiple dust washing ports, which are respectively located on both sides of the lower shell and one side of the driving direction to receive foreign matter cleaned by the cleaning components.

4. The underwater cleaning robot according to claim 1, characterized in that: The cleaning drive module includes a stator housing made of low magnetic permeability alloy material, a stator assembly installed in the stator housing, a connecting seat arranged in the stator assembly, a cleaning rotor housing, and a rotating fixed shaft and a rotor assembly arranged in the cleaning rotor housing. The rotor assembly includes a plurality of magnets, which are evenly distributed in an annular direction on the inner diameter of the cleaning rotor housing. The rotating fixed shaft is provided with a rotating shaft sleeve and is rotatably connected to the cleaning rotor housing. One end of the rotating fixed shaft is detachably connected to the connecting seat, and the cleaning fan blades are arranged on the cleaning rotor housing.

5. The underwater cleaning robot according to claim 4, characterized in that: A recessed groove is provided at one end of the stator housing facing the rotating fixed shaft, and one end of the connecting seat extends to the recessed groove; a rotating placement cavity is provided inside the cleaning rotor housing, and the rotating fixed shaft is installed in the rotating placement cavity through a rotating sleeve, and one end of the rotating placement cavity extends to the recessed groove.

6. The underwater cleaning robot according to claim 5, characterized in that: A connecting cavity is provided at one end of the stator housing, a matching housing is provided at one end of the connecting seat, one end of the matching housing is connected to the connecting cavity to form a wiring cavity, a PCB board is provided in the wiring cavity, and a wiring duct is provided at one end of the matching housing away from the connecting cavity, the wiring duct is used for wiring the PCB board; The connecting cavity is provided with a pressing step, and the wiring cavity is provided with a connecting step corresponding to the pressing step, and the pressing step is used to press the PCB board onto the connecting step.

7. The underwater cleaning robot according to claim 6, characterized in that: The connecting seat is provided with a connecting shaft, one end of which is connected to the rotating fixed shaft; a stator placement cavity is formed between the connecting shaft and the inner diameter of the stator housing, and the stator assembly includes a stator frame installed in the stator placement cavity and a coil sleeved on the stator frame, and the coil is arranged opposite to the magnetic steel; A threaded hole is provided on the inner side of the connecting shaft, and a sinking groove is provided on one end of the threaded hole facing the rotating fixed shaft. A threaded end is provided at one end of the rotating fixed shaft, and the threaded end is used to connect to the threaded hole. A sinking end is provided on one side of the threaded end, and the sinking end is used to cooperate with the sinking groove.

8. The underwater cleaning robot according to claim 1, characterized in that: The propeller includes a drive module and a transmission module. The drive module includes a main bracket, a stator winding and a waterproof cover. The stator winding is arranged on the main bracket, and the waterproof cover is arranged on the main bracket and covers the stator winding. The transmission module includes a propulsion rotor housing, a rotor magnetic tile and an impeller. The propulsion rotor housing is rotatably connected to the main bracket and / or the waterproof cover. The rotor magnetic tile is provided in multiple numbers and is evenly distributed on the inner circumference of the propulsion rotor housing. The impeller includes a connecting disk and fan blades. A circular hole is provided at the axis center of the connecting disk. The fan blades are provided on the circular hole. The main bracket is provided with a through groove facing the circular hole.

9. The underwater cleaning robot according to claim 8, characterized in that: The main bracket includes a stator mounting portion and a sealing connection portion, wherein the stator mounting portion is used to mount the stator winding, and the sealing connection portion is mounted with a sealing rear bracket, which is used to fix one end of the waterproof cover on the sealing connection portion; The rear sealing bracket is provided with an inner diameter connecting step and an outer diameter connecting step, the inner diameter connecting step is used to connect to the sealing connection part, the outer diameter connecting step is provided with a first bearing, and the outer diameter connecting step is rotatably connected to the propulsion rotor housing through the first bearing; A sealing front bracket is provided at one end of the main bracket, one end of the sealing front bracket extends into the through slot, and the other end is provided with a matching step, a second bearing is provided on the matching step, and the matching step is rotatably connected to the propulsion rotor housing through the second bearing; The inner diameter connecting step is provided with a first sealing groove, the sealing front bracket is provided with a sealing connecting ring, and the sealing connecting ring is provided with a second sealing groove; A first sealing convex ring and a second sealing convex ring are respectively provided at both ends of the waterproof cover. The first sealing convex ring is used to connect to the first sealing groove, and the second sealing convex ring is used to connect to the second sealing groove.

10. The underwater cleaning robot according to claim 8, characterized in that: The waterproof cover is arranged on the outer periphery of the main support and forms a sealed cavity between the waterproof cover and the outer periphery of the main support. The stator winding is arranged in the sealed cavity. The rotor magnetic tile is located outside the waterproof cover and opposite to the stator winding. The waterproof cover is used to separate the rotor magnetic tile from the stator winding. The inner diameter of the propulsion rotor housing is provided with a magnetic tile installation groove, and the magnetic tile installation groove is provided in plurality. The plurality of magnetic tile installation grooves are evenly distributed along the inner diameter of the propulsion rotor housing in the circumferential direction, and the plurality of rotor magnetic tiles are distributed on each magnetic tile installation groove; An end step is provided at one end of the propulsion rotor housing, one end of the end step is connected to the magnetic tile installation groove, and an end cover is installed on the end step, one end of the end cover is used to abut the end of the rotor magnetic tile, and the other end is used to install the connecting disk.

Images