Driving device and cleaning robot

Abstract

The utility model relates to the field of robots, in particular to a driving device and a cleaning robot, and a traveling wheel set of the driving device comprises a first traveling wheel and a second traveling wheel which are arranged at an interval in the traveling direction. The driving motor is located between the first advancing wheel and the second advancing wheel so that the gravity center of the cleaning robot can be close to the center of the cleaning robot. One end of the transmission assembly is in transmission connection with the driving motor, and the other end of the transmission assembly is in transmission connection with the first advancing wheel so that power output by the driving motor can be transmitted to the first advancing wheel. The driving paddle is in transmission connection with the first advancing wheel and used for driving the cleaning robot to move on the water surface. The whole gravity center of the cleaning robot moves forwards, the gravity center of the cleaning robot is stable, and the stability of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a driving device and a cleaning robot. Background Art

[0002] After long-term use, various dirt and garbage will float on the surface of pools, swimming pools, lakes, etc. At the same time, various dirt and garbage will also settle on the bottom of the pool, which will cause serious pollution to the water quality of the pool or affect the appearance, so the surface and underwater need to be cleaned. In cleaning robots for surface and underwater cleaning, especially in surface cleaning scenarios, since the robot floats on the water surface, how to design the internal structure layout of the cleaning robot to make the center of gravity of the cleaning robot stable and prevent the center of gravity from shifting backwards and causing instability in the process of moving forward on the surface or underwater has become a technical problem that needs to be solved. Utility Model Content

[0003] The present application provides a driving device and a cleaning robot with a designed internal structure layout to stabilize the center of gravity.

[0004] In a first aspect, an embodiment of the present application provides a driving device of a cleaning robot, the driving device comprising:

[0005] A traveling wheel assembly, comprising a first traveling wheel and a second traveling wheel arranged at intervals along a traveling direction, wherein the traveling wheel assembly is used to drive the cleaning robot to move underwater;

[0006] a drive motor, located between the first traveling wheel and the second traveling wheel, so that the center of gravity of the cleaning robot is close to the center of the cleaning robot;

[0007] A transmission assembly, one end of which is in transmission connection with the driving motor, and the other end of which is in transmission connection with the first traveling wheel, so as to transmit the power output by the driving motor to the first traveling wheel;

[0008] The driving paddle is drivingly connected to the first traveling wheel and is used to drive the cleaning robot to move on the water surface.

[0009] In an optional embodiment, the transmission assembly includes a driving gear, which is coaxially connected to the output shaft of the driving motor, and the driving gear is located between the first traveling wheel and the second traveling wheel. The driving gear is transmission-connected to the first traveling wheel to drive the first traveling wheel to move.

[0010] In an optional embodiment, the first traveling wheel has first annular teeth;

[0011] The transmission assembly further includes a transmission gear meshingly connected between the driving gear and the first ring gear.

[0012] In an optional embodiment, the first annular teeth are inner ring teeth of the first traveling wheel;

[0013] The transmission gear includes at least a first sub-gear and a second sub-gear that are meshed and connected, and the axis of the first traveling wheel, the axis of the second sub-gear, the axis of the first sub-gear, and the axis of the driving gear are arranged in sequence in the traveling direction; the first sub-gear is meshed and connected with the driving gear, and the second sub-gear is located in the space enclosed by the first annular tooth, and the second sub-gear is meshed and connected with the first annular tooth.

[0014] In an optional embodiment, the driving device further includes a transmission member, the transmission member is arranged around the outer rings of the second traveling wheel and the first traveling wheel, and the first traveling wheel drives the second traveling wheel to rotate synchronously through the transmission member;

[0015] The second traveling wheel has a second annular tooth, which is the inner ring tooth of the second traveling wheel; the transmission assembly also includes a first gear, which is located in the space enclosed by the second annular tooth, and the first gear is used to be coaxially connected to the first roller brush of the cleaning robot in the underwater cleaning mode.

[0016] In an optional embodiment, the transmission assembly also includes a second gear, the second gear is located in the space enclosed by the second annular tooth, the second gear is spaced apart from the first gear, and the second gear is used to engage and connect with the second roller brush of the cleaning robot in the water surface cleaning mode.

[0017] In an optional embodiment, the axis of the second gear, the axis of the second traveling wheel, and the axis of the first gear are arranged in sequence along the traveling direction, the axis of the second gear is located between the axis of the second traveling wheel and the axis of the driving gear, and the axis of the second traveling wheel, the axis of the second gear, and the axis of the first gear are arranged in sequence along the height direction of the cleaning robot.

[0018] In an optional embodiment, the transmission assembly also includes a driving paddle gear, which is coaxially connected to the driving paddle, and is located on the side of the axis of the first traveling wheel away from the axis of the driving gear in the traveling direction, and is located in the space enclosed by the first annular teeth of the inner ring of the first traveling wheel, and the driving paddle gear is meshed with the first annular teeth to drive the driving paddle to rotate.

[0019] In an optional embodiment, in the height direction of the cleaning robot, the axis of the driving paddle gear is located between the axis of the first traveling wheel and the top cover of the cleaning robot.

[0020] In an optional embodiment, the driving device further includes a water pump, wherein the water pump is located between the driving motor and the second traveling wheel, and the water pump is configured to operate in an underwater cleaning mode to drive the cleaning machine to travel.

[0021] In a second aspect, an embodiment of the present application provides a cleaning robot, which includes the above-mentioned driving device.

[0022] In an optional embodiment, the cleaning robot also includes a garbage collection component and an electronic control component; the electronic control component and the driving motor of the driving device are sealed and packaged, and the first traveling wheel of the driving device, the driving motor of the driving device, the electronic control component and the garbage collection component are arranged in sequence along the traveling direction.

[0023] In an optional embodiment, the cleaning robot also includes a garbage collection assembly, a portion of the orthographic projection of the second traveling wheel in the axial direction of the second traveling wheel is located on a side of the garbage collection assembly away from the drive motor, and another portion covers the garbage collection assembly.

[0024] The present application provides a driving device and a cleaning robot, wherein the driving device includes a first traveling wheel and a second traveling wheel arranged at intervals along the traveling direction by designing the traveling wheel group. The driving motor is located between the first traveling wheel and the second traveling wheel so that the center of gravity of the cleaning robot is close to the center of the cleaning robot; one end of the transmission assembly is connected to the driving motor by transmission, and the other end of the transmission assembly is connected to the first traveling wheel by transmission to transmit the power output by the driving motor to the first traveling wheel; the driving paddle is connected to the first traveling wheel by transmission to drive the cleaning robot to move on the water surface. The above design enables the driving motor to drive the first traveling wheel while the driving motor is located in front of the first traveling wheel. The weight of the driving motor is relatively heavy. Therefore, by arranging the position of the driving motor between the first traveling wheel and the second traveling wheel, the overall center of gravity of the cleaning robot is moved forward, the center of gravity of the cleaning robot is stabilized, the stability of the cleaning robot is increased, and the center of gravity is prevented from being biased backward, which causes the cleaning robot to be unstable during the process of moving forward on the water surface or underwater, and more space is reserved at the rear end of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0026] Figure 1 It is a structural schematic diagram of a body and a driving device of a cleaning robot provided in an embodiment of the present application;

[0027] Figure 2 It is a partial exploded schematic diagram of a driving device of a cleaning robot provided in an embodiment of the present application;

[0028] Figure 3 Schematic diagram of a cross section of a driving device of a cleaning robot provided with a water surface trash basket along the Y-axis direction provided in an embodiment of the present application Figure 1 ;

[0029] Figure 4 Schematic diagram of a cross section of a driving device of a cleaning robot provided with a water surface trash basket along the Y-axis direction provided in an embodiment of the present application Figure 2 ;

[0030] Figure 5 It is a schematic cross-sectional view of a cleaning robot provided with a water surface trash basket along the Y-axis direction provided in an embodiment of the present application;

[0031] Figure 6 Schematic diagram of a cross section of a driving device of a cleaning robot provided with an underwater trash basket along the Y-axis direction provided in an embodiment of the present application Figure 1 ;

[0032] Figure 7 Schematic diagram of a cross section of a driving device of a cleaning robot provided with an underwater trash basket along the Y-axis direction provided in an embodiment of the present application Figure 2 ;

[0033] Figure 8 It is a schematic cross-sectional view of a cleaning robot provided with an underwater trash basket along the Y-axis direction provided in an embodiment of the present application;

[0034] Fig. 9 It is a cross-sectional schematic diagram of a cleaning robot with a water surface trash basket having a buoyancy structure provided in an embodiment of the present application.

[0035] Description of Figure Numbers:

[0036] Cleaning robot 100; driving device 24; traveling wheel group 240; first traveling wheel 241; first annular tooth 241a; first gear 242; second gear 243; second traveling wheel 244; second annular tooth 244a; transmission member 245; driving motor 246; transmission assembly 250; driving gear 247; transmission gear 251; first sub-gear 251a; second sub-gear 251b; driving paddle gear 248; driving paddle 249; first roller brush 261; second roller brush 231; surface cleaning trash basket 20b; underwater cleaning trash basket 20a; buoyancy device 40; water pump 50; garbage collection assembly 20; electronic control assembly 60. DETAILED DESCRIPTION

[0037] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0038] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0039] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0040] See also Figure 1 , Figure 1 A driving device 24 of a cleaning robot 100 provided in an embodiment of the present application.

[0041] See also Figures 2 to 4 The driving device 24 at least includes a traveling wheel set 240, a driving motor 246, a transmission assembly 250 and a driving paddle 249.

[0042] See also Figure 2 The traveling wheel set 240 includes a first traveling wheel 241 and a second traveling wheel 244 which are arranged at intervals along the traveling direction Y. The traveling wheel set 240 is used to drive the cleaning robot 100 to move underwater.

[0043] The traveling direction Y refers to the forward direction of the cleaning robot 100. The first traveling wheel 241 is a rear traveling wheel, and the second traveling wheel 244 is a first traveling wheel 241. Optionally, there are two driving devices 24, which are respectively located on both sides of the cleaning robot 100 along the width direction X.

[0044] See also Figure 5, the driving motor 246 is located between the first traveling wheel 241 and the second traveling wheel 244, so that the center of gravity of the cleaning robot 100 is close to the center of the cleaning robot 100. In other words, the driving motor 246 is located outside the first traveling wheel 241. The second traveling wheel 244 is located at the front end of the cleaning robot 100. The first traveling wheel 241 is located at the tail end of the cleaning robot 100. The driving motor 246 is arranged between the first traveling wheel 241 and the second traveling wheel 244 in the traveling direction Y. Compared with the first traveling wheel 241, the driving motor 246 is closer to the middle position of the cleaning robot 100.

[0045] Optionally, the driving motor 246 may be disposed along the width direction X of the cleaning robot 100 .

[0046] See also Figures 2 to 4 One end of the transmission assembly 250 is transmission-connected to the driving motor 246. The other end of the transmission assembly 250 is transmission-connected to the first traveling wheel 241 to transmit the power output by the driving motor 246 to the first traveling wheel 241. The transmission assembly 250 includes but is not limited to a gear set and the like.

[0047] See also Figures 2 to 4 The driving paddle 249 is connected to the first traveling wheel 241 in a transmission manner, and the driving paddle 249 is used to drive the cleaning robot 100 to move on the water surface. In this way, the driving paddle 249 and the first traveling wheel 241 are in a linkage state. The first traveling wheel 241 can not only drive the cleaning robot 100 to move underwater, but also drive the driving paddle 249 to rotate to push the cleaning robot 100 forward.

[0048] Generally, since the drive motor 246 needs to drive the rear traveling wheel, the drive motor 246 is generally arranged near the shaft of the rear traveling wheel. However, since the drive motor 246 is relatively heavy and the heavier part has a deeper draft depth and the lighter part has a shallower draft depth in the water surface, in the water or underwater scenes, arranging the heavier drive motor 246 at the shaft of the rear traveling wheel will cause the tail end of the cleaning robot 100 to be heavier, which will make it difficult for the cleaning robot 100 to move on the water surface, in the water or underwater scenes. To maintain stability and affect the cleaning effect; in addition, since the working place of the cleaning robot 100 is located on the water surface, in the water or underwater, the drive motor 246 needs to be sealed together with the electronic control components (circuits, batteries, etc.). If the drive motor 246 is arranged near the rotating shaft of the rear traveling wheel, then the sealed shell needs to extend from the front electronic control component to the vicinity of the rotating shaft of the rear traveling wheel. The size of the sealed shell is relatively large, which is not conducive to the compact layout of the internal structure of the cleaning robot 100, and is not conducive to the miniaturization of the cleaning robot 100.

[0049] The present application provides a driving device 24 and a cleaning robot 100, wherein the driving device 24 has a traveling wheel group 240, which includes a first traveling wheel 241 and a second traveling wheel 244 arranged at intervals along the traveling direction Y. The driving motor 246 is located between the first traveling wheel 241 and the second traveling wheel 244, so that the center of gravity of the cleaning robot 100 is close to the center of the cleaning robot 100; one end of the transmission assembly 250 is connected to the driving motor 246, and the other end of the transmission assembly 250 is connected to the first traveling wheel 241 to transmit the power output by the driving motor 246 to the first traveling wheel 241; the driving paddle 249 is connected to the first traveling wheel 241 to drive the cleaning robot 100 to move on the water surface. The above design enables the drive motor 246 to drive the first traveling wheel 241 while being located in front of the first traveling wheel 241. The drive motor 246 is relatively heavy, so by arranging the drive motor 246 between the first traveling wheel 241 and the second traveling wheel 244, the overall center of gravity of the cleaning robot 100 is moved forward, the center of gravity of the cleaning robot 100 is stabilized, the stability of the cleaning robot 100 is increased, the center of gravity is prevented from shifting backwards and causing the cleaning robot 100 to be unstable when moving forward on the water surface or underwater, and more space is reserved at the rear end of the cleaning robot 100.

[0050] The following is an example of the driving device 24 on one side of the cleaning robot 100 . It should be noted that the driving devices 24 on both sides of the cleaning robot 100 in the width direction X direction have the same structure.

[0051] See also Figures 2 to 4 The transmission assembly 250 includes a driving gear 247, which is located at one end of the driving motor 246. The driving gear 247 is coaxially connected to the output shaft of the driving motor 246, and the driving gear 247 is located between the first traveling wheel 241 and the second traveling wheel 244. The driving gear 247 is located outside the first traveling wheel 241. The driving gear 247 is transmission-connected to the first traveling wheel 241 to drive the first traveling wheel 241 to move.

[0052] Optional, see Figure 3 , the first traveling wheel 241 has a first annular tooth 241a. It should be noted that, Figure 3 Part of the structure between the first traveling wheel 241 and the second traveling wheel 244 is not shown in the figure.

[0053] Optional, see Figure 2 and Figure 3The transmission assembly 250 further includes a transmission gear 251, which is meshedly connected between the driving gear 247 and the first annular gear 241a. The driving gear 247 is meshedly connected to the transmission gear 251, and the transmission gear 251 is meshedly connected to the first annular gear 241a, so that the driving motor 246 drives the first traveling wheel 241 to rotate through the driving gear 247 and the transmission gear 251.

[0054] See also Figure 5 Since the driving motor 246 is disposed outside the first traveling wheel 241, the positions of the driving motor 246 and the first traveling wheel 241 are staggered. By arranging a transmission gear 251 that is transmission-connected between the driving gear 247 of the driving motor 246 and the first traveling wheel 241, the driving motor 246 can drive the first traveling wheel 241 to rotate when the positions of the driving motor 246 and the first traveling wheel 241 (in the traveling direction Y) are staggered.

[0055] Optional, see Figure 2 , the first annular teeth 241a are inner ring teeth of the first traveling wheel 241. Specifically, the first traveling wheel 241 includes an annular body, and the inner ring of the annular body is the first annular teeth 241a, so that the transmission gear 251 can be meshed and connected with the first annular teeth 241a of the first traveling wheel 241 on one side (close to the front end side) close to the second traveling wheel 244, which can reduce the transmission distance between the driving motor 246 and the first traveling wheel 241, thereby reducing the size and number of the transmission gears 251.

[0056] See also Figure 3 and Figure 4 The transmission gear 251 at least includes a first sub-gear 251a and a second sub-gear 251b that are meshed and connected.

[0057] See also Figure 3 and Figure 4 , the axis of the first traveling wheel 241, the axis of the second sub-gear 251b, the axis of the first sub-gear 251a, and the axis of the driving gear 247 are arranged in sequence in the traveling direction Y. The first sub-gear 251a is meshedly connected with the driving gear 247. The second sub-gear 251b is located in the space surrounded by the first annular gear 241a. The second sub-gear 251b is meshedly connected with the first annular gear 241a (the side facing the front end of the cleaning robot 100).

[0058] Optional, see Figure 3 and Figure 4The first sub-gear 251a is located at the rear end side of the driving gear 247, and the second sub-gear 251b is located at the rear end side of the first sub-gear 251a. The axis of the driving gear 247, the axis of the first sub-gear 251a, and the axis of the second sub-gear 251b can be collinearly arranged, or not collinearly arranged. Optionally, the height of the axis of the second sub-gear 251b is higher than the height of the axis of the driving gear 247.

[0059] Optional, see Figure 3 and Figure 4 A part of the positive projection of the first sub-gear 251a in the width direction X of the cleaning robot 100 is located outside the first traveling wheel 241, another part of the positive projection of the first sub-gear 251a in the width direction X of the cleaning robot 100 is located inside the first traveling wheel 241, and the second sub-gear 251b is located in the space included by the first annular tooth 241a.

[0060] In this embodiment, the axis of the driving gear 247, the axis of the first sub-gear 251a, and the axis of the second sub-gear 251b are all located on the front end side of the center axis of the first traveling wheel 241 in the height direction Z direction (close to the side of the second traveling wheel 244).

[0061] See also Figure 3 and Figure 4 The driving device 24 further includes a transmission member 245. The transmission member 245 includes but is not limited to a synchronous belt, a crawler belt, etc. The transmission member 245 is arranged around the outer ring of the second traveling wheel 244 and the first traveling wheel 241. The first traveling wheel 241 drives the second traveling wheel 244 to rotate synchronously through the transmission member 245. The driving motor 246 drives the first traveling wheel 241 to rotate through the driving gear 247 and the transmission gear 251, and the first traveling wheel 241 drives the second traveling wheel 244 to rotate synchronously through the transmission member 245.

[0062] See also Figure 3 and Figure 4 The second traveling wheel 244 has second annular teeth 244 a. The second annular teeth 244 a are inner ring teeth of the second traveling wheel 244 .

[0063] See also Figure 6 The transmission assembly 250 further includes a first gear 242, and the first gear 242 is located in the space surrounded by the second annular gear 244a. The first gear 242 is used to be coaxially connected with the first roller brush 261 of the cleaning robot 100 in the underwater cleaning mode to drive the first roller brush 261 to roll in the underwater cleaning mode. During the rolling process of the first roller brush 261, the garbage in the water is brought into the underwater cleaning garbage basket 20a, thereby achieving underwater cleaning.

[0064] See also Figure 3 and Figure 4 The transmission assembly 250 further includes a second gear 243. The second gear 243 is located in the space enclosed by the second annular gear 244a. The second gear 243 is spaced apart from the first gear 242. The second gear 243 is used to be connected to the second roller brush 231 of the cleaning robot 100 in the water surface cleaning mode to drive the second roller brush 231 in the water surface cleaning mode to roll. During the rolling process of the second roller brush 231, the garbage on the water surface is brought into the water surface cleaning garbage basket 20b, thereby achieving water surface cleaning.

[0065] See also Figure 3 and Figure 4 The axis of the second gear 243, the axis of the second traveling wheel 244, and the axis of the first gear 242 are arranged in sequence along the traveling direction Y.

[0066] Optionally, the axis of the second gear 243, the axis of the second traveling wheel 244, and the axis of the first gear 242 may be collinearly arranged or non-collinearly arranged. The axis of the second traveling wheel 244, the axis of the second gear 243, and the axis of the first gear 242 are arranged in sequence along the height direction Z of the cleaning robot 100.

[0067] In this embodiment, please refer to Figures 6 to 8 The height of the axis of the first gear 242 is lower than the axis of the second traveling wheel 244, so that the height of the first roller brush 261 is relatively low, so that the first roller brush 261 can bring the garbage on the bottom of the water into the underwater cleaning garbage basket 20a.

[0068] In this embodiment, please refer to Figures 2 to 5 The height of the axis of the second gear 243 is higher than the axis of the first gear 242, so that the height of the second roller brush 231 is relatively high, so that when the cleaning robot 100 floats on the water surface, most of the second roller brush 231 is located on the water surface, so that the second roller brush 231 can bring the garbage on the water surface into the water surface cleaning garbage basket 20b.

[0069] Optionally, the first roller brush 261 is detachably connected to the main body 10. The underwater cleaning trash basket 20a is detachably assembled to the main body 10. When the cleaning robot 100 works in the underwater cleaning mode, the first roller brush 261 and the underwater cleaning trash basket 20a are installed on the main body 10, and at this time, one end of the rotating shaft of the first roller brush 261 is relatively fixed and coaxially connected to the first gear 242.

[0070] Optionally, the surface cleaning trash basket 20b is detachably assembled from the main body 10. Before the cleaning robot 100 works in the surface cleaning mode, at this time, the first roller brush 261 and the underwater cleaning trash basket 20a are removed from the main body 10, and the surface cleaning trash basket 20b is installed on the main body 10 to enter the surface cleaning mode. At this time, the rotating shaft of the second roller brush 231 in the surface cleaning trash basket 20b can be directly fixed relative to the second gear 243 and coaxially connected. Of course, the rotating shaft of the second roller brush 231 in the surface cleaning trash basket 20b and the second gear 243 can also be connected by a gear set transmission, and the gear set includes one or more pairs of sizes to achieve the same direction of rotation of the second roller brush 231, the second gear 243, and the second travel wheel 244.

[0071] See also Figure 5 and Figure 7 The axis of the second gear 243 is located between the axis of the second traveling wheel 244 and the axis of the driving gear 247, that is, the water surface cleaning roller brush (the second roller brush 231) is located at the rear end side of the underwater cleaning roller brush (the first roller brush 261), so that the first roller brush 261 is arranged at the front end side of the underwater cleaning garbage basket 20a, which is beneficial for the first roller brush 261 to roll at the front end of the underwater cleaning garbage basket 20a and bring the underwater garbage into the underwater cleaning garbage basket 20a; the second roller brush 231 is arranged in the water surface cleaning garbage basket 20b, which is beneficial for the second roller brush 231 to roll in the water surface cleaning garbage basket 20b and bring the surface garbage into the water surface cleaning garbage basket 20b.

[0072] The above forms an underwater garbage collection driving force transmission path through the drive motor 246-drive gear 247-transmission gear 251-first traveling wheel 241-transmission member 245-second traveling wheel 244-first gear 242-first roller brush 261. At the same time, the drive motor 246-drive gear 247-transmission gear 251-first traveling wheel 241-transmission member 245-second traveling wheel 244-second gear 243-second roller brush 231 forms a surface garbage collection driving force transmission path; in other words, the cleaning robot 100 can achieve both surface cleaning and underwater cleaning through the same set of drive devices 24.

[0073] Optional, see Figures 2 to 4The transmission assembly 250 further includes a driving paddle gear 248 and a driving paddle 249 coaxially connected to the driving paddle gear 248. The driving paddle gear 248 is located on the side of the axis of the first traveling wheel 241 away from the axis of the driving gear 247 in the traveling direction Y. That is, the driving paddle gear 248 is located at the rear end side of the axis of the first traveling wheel 241, so that the driving paddle 249 is arranged at the rear end side of the axis of the first traveling wheel 241, and the driving paddle 249 rotates to drive the cleaning robot 100 to move forward in the water surface cleaning mode.

[0074] See also Figures 2 to 4 , the first traveling wheel 241 includes a first annular tooth 241a located in the inner ring. The driving paddle gear 248 is located in the space enclosed by the first annular tooth 241a, the axis of the driving paddle 249 is located in the area where the first traveling wheel 241 is located, and the driving paddle 249 is located in the area between a group of first traveling wheels 241, which increases the compactness of the layout of the driving paddle 249 and the first traveling wheel 241, reduces the size of the cleaning robot 100 in the Y direction of travel, and also avoids the problem of poor appearance consistency caused by the driving paddle 249 protruding from the rear end of the first traveling wheel 241. The driving paddle gear 248 is meshed and connected with the first annular tooth 241a to drive the driving paddle 249 to rotate. In this way, the driving device 24 can not only realize the rolling of the first roller brush 261 / the second roller brush 231 at the front end of the cleaning robot 100 to realize garbage collection, but also drive the driving paddle 249 to rotate to drive the cleaning robot 100 forward.

[0075] Optionally, the driving paddle 249, the first traveling wheel 241, the second traveling wheel 244, and the first roller brush 261 / the second roller brush 231 rotate in the same direction.

[0076] In the height direction Z direction of the cleaning robot 100, the axis of the driving paddle gear 248 is located between the axis of the first traveling wheel 241 and the top cover of the cleaning robot 100. In other words, the driving paddle 249 is located relatively close to the top of the cleaning robot 100, so that in the water surface cleaning mode, a part of the driving paddle 249 is arranged on the water surface, and the driving paddle 249 pushes the cleaning robot 100 forward during the rotation. The height direction Z direction is the direction from the bottom to the top.

[0077] Optionally, in the traveling direction Y, the axis of the second roller brush 231 is higher than the axis of the driving paddle gear 248, and when on the water surface, the draft of the driving paddle 249 is greater than the draft of the second roller brush 231, so that the driving paddle 249 generates a greater force when rolling to drive the cleaning robot 100 forward. The second roller brush 231 has a shallower draft so that garbage on the water surface can be brought into the water surface garbage basket.

[0078] Optional, see Fig. 9 The cleaning robot 100 further includes a buoyancy device 40, which is disposed at the bottom of the body 21. Before the cleaning robot 100 works in the water surface cleaning mode, the buoyancy device 40 is installed at the bottom of the body 21 so that the cleaning robot 100 can float on the water surface.

[0079] Optional, see Figure 7 The driving device 24 further includes a water pump 50. The water pump 50 includes a water pump motor, a water pump channel and an impeller. The water pump 50 is located between the driving motor 246 and the second traveling wheel 244. The water pump 50 is configured to work in an underwater cleaning mode to drive the cleaning robot 100 to move forward under water.

[0080] Specifically, the water pump 50 is located in the housing of the cleaning robot 100 and is connected to the housing. The water pump 50 includes a water pump motor, a water pump channel and an impeller. The driving shaft of the water pump motor is connected to the impeller, and the impeller is arranged corresponding to the water outlet of the water pump channel. The water inlet of the water pump channel faces the underwater cleaning garbage basket 20a. The water pump 50 is used to form a negative pressure at the water inlet of the water pump channel, suck water from the water inlet of the water pump channel, and spray it from the water outlet of the water pump channel. When water is sprayed from the water outlet of the water pump channel, a reverse force is generated, so that the cleaning robot 100 is located at the bottom of the water. Because the water inlet of the water pump channel faces the underwater cleaning garbage basket 20a, and a negative pressure is formed in the underwater cleaning garbage basket 20a, underwater garbage is sucked into the underwater cleaning garbage basket 20a.

[0081] The present application provides a cleaning robot 100. The cleaning robot 100 includes the driving device 24 described in any one of the above embodiments.

[0082] See also Figure 5 , the cleaning robot 100 also includes a garbage collection component 20 and an electric control component 60. The garbage collection component 20 includes but is not limited to a surface cleaning garbage basket 20b and a second roller brush 231; or, an underwater cleaning garbage basket 20a and a first roller brush 261. The garbage collection component 20 is located at the front end of the cleaning robot 100. The electric control component 60 and the drive motor 246 of the drive device 24 are sealed and packaged through the sealed shell part 111 of the fuselage body 10 to achieve underwater waterproofing. The electric control component 60 includes but is not limited to a circuit board 124, a battery, etc. The water pump 50 can be arranged at the top of the sealed shell part 111 of the fuselage body 10, so that the water pump 50 is arranged at the top position of the cleaning robot 100.

[0083] See also Figure 5, the first traveling wheel 241 of the driving device 24, the driving motor 246 of the driving device 24, the electric control component 60 and the garbage collection component 20 are sequentially arranged along the traveling direction Y. A part of the orthographic projection of the second traveling wheel 244 in the axial direction of the second traveling wheel 244 is located on the side of the garbage collection component 20 away from the driving motor 246, and another part covers the garbage collection component 20. In this way, the garbage collection component 20 is arranged inside the second traveling wheel 244, and the garbage collection component 20 and the second traveling wheel 244 of the driving device 24 are compactly arranged in the traveling direction Y, and the size of the cleaning robot 100 in the traveling direction Y is smaller.

[0084] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A driving device for a cleaning robot, characterized in that: The driving device comprises: A traveling wheel assembly, comprising a first traveling wheel and a second traveling wheel arranged at intervals along a traveling direction, wherein the traveling wheel assembly is used to drive the cleaning robot to move underwater; a drive motor, located between the first traveling wheel and the second traveling wheel, so that the center of gravity of the cleaning robot is close to the center of the cleaning robot; A transmission assembly, one end of which is in transmission connection with the driving motor, and the other end of which is in transmission connection with the first traveling wheel, so as to transmit the power output by the driving motor to the first traveling wheel; The driving paddle is drivingly connected to the first traveling wheel and is used to drive the cleaning robot to move on the water surface.

2. The driving device of the cleaning robot according to claim 1, characterized in that: The transmission assembly includes a driving gear, which is coaxially connected to the output shaft of the driving motor, and is located between the first traveling wheel and the second traveling wheel. The driving gear is transmission-connected to the first traveling wheel to drive the first traveling wheel to move.

3. The driving device of the cleaning robot according to claim 2, characterized in that: The first traveling wheel has first annular teeth; The transmission assembly further includes a transmission gear meshingly connected between the driving gear and the first ring gear.

4. The driving device of the cleaning robot according to claim 3, characterized in that: The first annular teeth are inner ring teeth of the first traveling wheel; The transmission gear includes at least a first sub-gear and a second sub-gear that are meshed and connected, and the axis of the first traveling wheel, the axis of the second sub-gear, the axis of the first sub-gear, and the axis of the driving gear are arranged in sequence in the traveling direction; the first sub-gear is meshed and connected with the driving gear, and the second sub-gear is located in the space enclosed by the first annular tooth, and the second sub-gear is meshed and connected with the first annular tooth.

5. The driving device of the cleaning robot according to any one of claims 2 to 4, characterized in that: The driving device further comprises a transmission member, which is disposed around the outer rings of the second traveling wheel and the first traveling wheel, and the first traveling wheel drives the second traveling wheel to rotate synchronously through the transmission member; The second traveling wheel has a second annular tooth, which is the inner ring tooth of the second traveling wheel; the transmission assembly also includes a first gear, which is located in the space enclosed by the second annular tooth, and the first gear is used to be coaxially connected to the first roller brush of the cleaning robot in the underwater cleaning mode.

6. The driving device of the cleaning robot according to claim 5, characterized in that: The transmission assembly also includes a second gear, which is located in the space enclosed by the second annular tooth. The second gear is spaced apart from the first gear, and the second gear is used to mesh with the second roller brush of the cleaning robot in the water surface cleaning mode.

7. The driving device of the cleaning robot according to claim 6, characterized in that: The axis of the second gear, the axis of the second traveling wheel, and the axis of the first gear are arranged in sequence along the traveling direction, the axis of the second gear is located between the axis of the second traveling wheel and the axis of the driving gear, and the axis of the second traveling wheel, the axis of the second gear, and the axis of the first gear are arranged in sequence along the height direction of the cleaning robot.

8. The driving device of the cleaning robot according to any one of claims 2-4, 6-7, characterized in that: The transmission assembly also includes a driving paddle gear, which is coaxially connected to the driving paddle. The driving paddle gear is located on the side of the axis of the first traveling wheel away from the axis of the driving gear in the traveling direction. The driving paddle gear is located in a space enclosed by the first annular teeth on the inner ring of the first traveling wheel. The driving paddle gear is meshed with the first annular teeth to drive the driving paddle to rotate.

9. The driving device of the cleaning robot according to claim 8, characterized in that: In the height direction of the cleaning robot, the axis of the driving paddle gear is located between the axis of the first traveling wheel and the top cover of the cleaning robot.

10. The driving device of the cleaning robot according to any one of claims 1-4, 6-7, and 9, characterized in that: The driving device further includes a water pump, which is located between the driving motor and the second traveling wheel. The water pump is configured to work in an underwater cleaning mode to drive the cleaning machine to travel.

11. A cleaning robot, characterized in that: The cleaning robot comprises the driving device according to any one of claims 1 to 10.

12. The cleaning robot according to claim 11, characterized in that: The cleaning robot also includes a garbage collection component and an electronic control component; the electronic control component and the driving motor of the driving device are sealed and packaged, and the first traveling wheel of the driving device, the driving motor of the driving device, the electronic control component and the garbage collection component are arranged in sequence along the traveling direction.

13. The cleaning robot according to claim 11, characterized in that: The cleaning robot also includes a garbage collection assembly, a portion of the orthographic projection of the second traveling wheel in the axial direction of the second traveling wheel is located on a side of the garbage collection assembly away from the drive motor, and another portion covers the garbage collection assembly.

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