Underwater cleaning robot

Abstract

The invention 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, and a dust washing opening is formed in the position, located on the outer side of the cleaning assembly, of the lower shell; 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. Through cooperative work of the cleaning assembly and the dust washing opening, 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 invention relates to the technical field of underwater cleaning, and in particular to an underwater cleaning robot. Background Art

[0002] Underwater cleaning robots are high-tech intelligent devices designed for underwater environments, aiming to complete various underwater cleaning tasks efficiently and accurately. The working principle of underwater cleaning robots is usually based on preset programs or remote control. They use their built-in high-precision gyroscopes, sonars or visual sensors to locate and avoid obstacles, ensuring the safety and efficiency of the operation process. Their power systems often use electric or hybrid power to reduce pollution to the underwater environment. In terms of design, they emphasize lightweight and streamlined design to reduce water flow resistance and improve operating efficiency and endurance.

[0003] With the continuous development of marine engineering, aquaculture, water tourism and environmental protection, the application demand of underwater cleaning robots is growing day by day, and they have become an indispensable tool for maintaining the health of underwater facilities and protecting the water environment. The existing underwater cleaning robots are generally inefficient in cleaning and have a small cleaning coverage. Therefore, it is necessary to further improve the existing underwater cleaning robots. Summary of the invention

[0004] To solve the above problems, the present invention adopts the coordinated work of the cleaning component and the dust washing port to achieve efficient and directional transportation of underwater foreign objects, effectively improving the cleaning efficiency and coverage of the underwater cleaning robot.

[0005] The technical solution adopted by the present invention 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 attraction 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 scheme is that the cleaning component 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.

[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 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 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 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 groove.

[0013] A further improvement to the above scheme is 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, and 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 accommodation 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 accommodation 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, and 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 blades, a circular hole is provided at the axis center of the connecting disk, the 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 scheme 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 shell is provided with a magnetic shoe installation groove, and there are multiple magnetic shoe installation grooves. The multiple magnetic shoe installation grooves are evenly distributed along the inner diameter of the propulsion rotor shell, and multiple rotor magnetic shoes are distributed on each magnetic shoe installation 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 shoe 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 shoe, and the other end is used to install the connecting plate.

[0026] The beneficial effects of the present invention are:

[0027] Compared with the existing underwater cleaning robots, the compact body structure of the present invention formed by the lower shell and the upper cover 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 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, which 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 strong 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 invention provides an advanced solution for underwater environment maintenance, with broad application prospects and market promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 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 a cleaning component of an 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 Sectional view of AA in the middle;

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

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

[0037] Fig.10 for Figure 1 A schematic diagram of a front view of a propeller of an underwater cleaning robot;

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

[0039] Description of reference numerals: body 1, lower shell 11, magnetic element 111, backward nozzle 112, upper cover 12, cavity 13, dust washing port 14, accommodating 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 fan blade 22, cleaning brush 23;

[0041] Propeller 3, drive module 31, main bracket 311, through groove 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] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[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 considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[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 of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0045] like Figures 1 to 11 As shown, in one embodiment of the present invention, an underwater cleaning robot is involved, including a fuselage 1, a cleaning component 2 and a propeller 3. The fuselage 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 located outside the cleaning component 2 and is provided with a dust washing port 14. 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 arranged 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 fuselage 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 a complex underwater environment. The coordinated work of the cleaning component 2 and the dust washing port 14 realizes the efficient and directional transportation of underwater foreign matter, effectively improving the cleaning efficiency and coverage. The dust washing port 14 is equipped with a containing mesh cover 15, which effectively filters and collects fine particles to prevent clogging and ensure the continuous operation capability of the equipment. The propeller 3 is innovatively designed to be connected to the cavity 13 at the air inlet end, and uses the strong suction 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, and has broad application prospects and market promotion value.

[0046] A power module 16 and a control module 17 are provided in the cavity 13, and 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 continue to provide sufficient power to the robot, while the control module 17 accurately controls 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 provided at the bottom of the lower shell 11 to absorb underwater metal foreign matter. In this embodiment, the magnetic element 111 can efficiently absorb and collect metal foreign matter scattered at the bottom of the water body, such as nails, screws and other potentially dangerous objects, and effectively prevent them from causing damage to the robot itself or underwater facilities. In addition, this design also simplifies the cleaning process, reduces the need for manual intervention to clean up metal foreign matter, and improves the degree of automation of the operation and the thoroughness of cleaning.

[0048] One end of the lower shell 11 is provided with a retreat nozzle 112, and the retreat nozzle 112 is arranged at an 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 arranged 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 the retreat action when performing complex cleaning tasks, without the need to indirectly achieve retreat through complex steering, thereby improving work efficiency and operation accuracy. In addition, the design also enhances the robot's ability to operate in narrow or restricted 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 collision, and ensure the safety of the operation process.

[0049] See also Figures 5 to 8As 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 objects 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, accurately docking the working area of ​​the cleaning component 2, effectively absorbing and removing various underwater foreign objects 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 yaws caused by uneven force during the movement of the robot, and improves the stability and safety of the operation. The multi-point layout of the suction ports can establish and maintain a negative pressure environment more quickly, and can effectively capture and remove tiny particles even in waters with fast currents or low visibility, 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 permeability 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 magnetic steels, and the plurality of magnetic steels 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, and the cleaning blade 22 is arranged on the cleaning rotor housing 214. The stator housing 211 is provided with a sink 2111 at one end facing the rotating fixed shaft 215, and one end of the connecting seat 213 extends to the sink 2111; the interior of the cleaning rotor housing 214 is provided with a rotating placement chamber 2141, and the rotating fixed shaft 215 is installed in the rotating placement chamber 2141 through a rotating sleeve, and one end of the rotating placement chamber 2141 extends to the sink 2111. In this embodiment, the stator housing 211 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 cooperates with the rotor assembly 216 through the precisely designed stator assembly 212, and utilizes the circumferential uniform distribution of magnetic steel to achieve efficient and stable rotational power output. The cleaning 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 are flexibly rotated by rotating the sleeve, which reduces friction loss and facilitates maintenance and replacement. The ingenious design of the connecting seat 213 and the sink 2111 not only enhances the structural stability, but also optimizes the spatial layout, making the overall structure compact and efficient. The application of the cleaning component 2 significantly improves the cleaning efficiency and operating depth of the underwater cleaning robot, and provides strong technical support for the maintenance of the underwater environment.

[0051] A connection cavity 2112 is provided at one end of the stator housing 211, a matching housing 2131 is provided at one end of the connection seat 213, one end of the matching housing 2131 is connected to the connection cavity 2112 to form a wiring cavity, a PCB board 2132 is provided in the wiring cavity, and a wiring duct is provided at one end of the matching housing 2131 away from the connection cavity 2112, and the wiring duct is used for wiring the PCB board 2132. Specifically, the connection cavity 2112 is provided with a pressing step 2113, and the wiring cavity is provided with a connection step 2114 corresponding to the pressing step 2113, and the pressing step 2113 is used to press the PCB board 2132 onto the connection step 2114. The connection base 213 is provided with a connection shaft 2133, one end of which is connected to the rotating fixed shaft 215; a stator placement cavity is formed between the connection shaft 2133 and the inner diameter of the stator housing 211, and the stator assembly 212 includes a stator frame 2121 installed in the stator placement cavity and a coil sleeved on the stator frame 2121, and the coil is arranged opposite to the magnetic steel. A threaded hole is provided on the inner side of the connection shaft 2133, and a sinking groove is provided at one end of the threaded hole facing the rotating fixed shaft 215, and a threaded end 2151 is provided at one end of the rotating fixed shaft 215, and the threaded end 2151 is used to connect the threaded hole, and a sinking end 2152 is provided on one side of the threaded end 2151, and the sinking end 2152 is used to match the sinking groove. In this embodiment, through the close cooperation between the stator housing 211 and the connection base 213, the wiring cavity formed not only effectively protects the internal PCB board 2132 from underwater environmental erosion, but also ensures the stability and safety of the electrical connection. The design of the clamping step 2113 and the connecting step 2114 further enhances the fixing effect of the PCB board 2132 and reduces the poor contact problem caused by vibration or water flow impact. In addition, the connecting shaft 2133 and the rotating fixed shaft 215 are precisely connected with the sinking groove through the threaded hole, which realizes the stable connection and rapid disassembly and assembly of the structure, facilitates maintenance and ensures the stability and accuracy of the stator assembly 212 working underwater. Overall, the structure provides a strong power support and a stable electrical system for the underwater cleaning robot, effectively prolongs the service life of the robot, and enhances its operating ability and efficiency in a complex underwater environment. The close fit of the clamping step 2113 and the connecting step 2114, as well as the sealing treatment of the wiring pipe, greatly enhances the overall waterproof performance of the underwater cleaning robot. This ensures that the electronic components inside the robot can still work normally in harsh environments such as deep sea or high-pressure water flow, without being disturbed by moisture, thereby improving the operating safety and stability of the robot. The precise installation and positioning of the stator assembly 212, especially the relative setting of the coil and the magnetic steel, optimizes the electromagnetic conversion efficiency of the motor. 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 also Figures 9 to 11 As shown, the propeller 3 includes a driving module 31 and a transmission module 32, the driving 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 blades 3232, a circular hole is provided at the axis center of the connecting disk 3231, the blades 3232 are arranged 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, and provides a strong and stable propulsion force for the robot. The impeller 323 part further optimizes the water flow efficiency through the ingenious combination of the connecting plate 3231 and the fan blades 3232, as well as the precise positioning of the through slot 3111 of the main bracket 311, and improves the flexibility and cleaning effect during cleaning operations.

[0053] The main bracket 311 includes a stator mounting portion 3112 and a sealing connection portion 3113, wherein the stator mounting portion 3112 is used to mount the stator winding 312, and the sealing connection portion 3113 is installed with a sealing rear bracket 3114, and the sealing rear bracket 3114 is used to fix one end of the waterproof cover 313 on the sealing connection portion 3113. A further improvement to the above scheme is that the sealing rear bracket 3114 is provided with an inner diameter connecting step 31141 and an outer diameter connecting step 31142, wherein the inner diameter connecting step 31141 is used to connect the sealing connection portion 3113, and the outer diameter connecting step 31142 is provided with a first bearing, and the outer diameter connecting step 31142 is rotatably connected to the propulsion rotor housing 321 through 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 groove 3111, and the other end is provided with a matching step 31151, and a second bearing is provided on the matching step 31151, and the matching step 31151 is rotatably connected to the propulsion rotor housing 321 through 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, and the sealing connecting ring is provided with a second sealing groove. The two ends of the waterproof cover 313 are respectively provided with a first sealing convex ring 3131 and a second sealing convex ring 3132, the first sealing convex ring 3131 is used to connect to the first sealing groove, and the second sealing convex ring 3132 is used to connect to the second sealing groove. The waterproof cover 313 is arranged on the outer periphery of the main support 311, and a sealed cavity is formed between the waterproof cover 313 and the outer periphery of the main support 311. The stator winding 312 is arranged in the sealed cavity. The rotor magnetic tile 322 is located outside the waterproof cover 313 and opposite to the stator winding 312. The waterproof cover 313 is used to separate the rotor magnetic tile 322 from the stator winding 312. The inner diameter of the propulsion rotor housing 321 is provided with a magnetic tile installation groove 3211, and the magnetic tile installation groove 3211 is provided with a plurality of magnetic tile installation grooves 3211. The plurality of magnetic tile installation grooves 3211 are uniformly distributed along the inner diameter of the propulsion rotor housing 321, and the plurality of rotor magnetic tiles 322 are distributed on each magnetic tile installation groove 3211. An end step 3212 is provided at one end of the propulsion rotor housing 321, one end of the end step 3212 is connected to the magnetic tile installation groove 3211, and an end cover 3213 is installed on the end step 3212, one end of the end cover 3213 is used to abut the end of the rotor magnetic tile 322, and the other end is used to install the connection plate 3231. In this embodiment, the stator installation part 3112 and the sealing connection part 3113 of the main bracket 311 are finely designed to ensure the safe 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, improving the underwater operation stability and flexibility of the robot. 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, and the sealed cavity formed at the same time provides a good working environment for the stator winding 312. The uniform layout of the magnetic tile mounting groove 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 prolongs 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 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 extending the service life of the equipment and improving the efficiency and quality of cleaning operations.

[0054] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. An underwater cleaning robot, Features: The utility model comprises a fuselage, a cleaning component and a propeller, wherein 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.

2. The underwater cleaning robot according to claim 1, Features: 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; A magnetic element is arranged at the bottom of the lower shell to absorb underwater metal foreign matter.

3. The underwater cleaning robot according to claim 1, Features: 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; The cleaning components are provided in four groups, and the four groups of cleaning components are all arranged at the bottom of the lower shell. The dust suction ports are provided in multiple groups, which are respectively located on both sides of the lower shell and one side of the driving direction to receive foreign objects cleaned by the cleaning components.

4. The underwater cleaning robot according to claim 1, Features: The cleaning assembly comprises 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.

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

6. The underwater cleaning robot according to claim 5, Features: The stator housing is provided with a sink groove at one end facing the rotating fixed shaft, and one end of the connecting seat extends to the sink groove; the cleaning rotor housing is provided with a rotating placement cavity inside, 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 sink groove; 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 conduit is provided at one end of the matching housing away from the connecting cavity, and the wiring conduit 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, Features: The connection seat is provided with a connection shaft, one end of which is connected to the rotating fixed shaft; a stator placement cavity is formed between the connection 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, a sinking groove is provided on one end of the threaded hole facing the rotating fixed shaft, a threaded end is provided on one end of the rotating fixed shaft, 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, Features: The propeller includes a driving module and a transmission module. The driving 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 casing, a rotor magnetic tile and an impeller. The propulsion rotor casing 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 casing. The impeller includes a connecting disk and blades. A circular hole is provided at the axis center of the connecting disk. The 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, Features: 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 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; 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 connecting 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 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; 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, wherein 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, Features: The waterproof cover is arranged on the outer periphery of the main support, and a sealed cavity is formed 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 shell is provided with a magnetic shoe installation groove, and the magnetic shoe installation groove is provided in plurality, and the plurality of magnetic shoe installation grooves are evenly distributed along the inner diameter of the propulsion rotor shell in the circumferential direction, and the plurality of rotor magnetic shoes are distributed on each magnetic shoe 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 shoe 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 shoe, and the other end is used to install the connecting plate.

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