Underwater mobile robot

Abstract

The utility model discloses an underwater mobile robot, and relates to the technical field of underwater garbage cleaning devices. The underwater mobile robot comprises a robot body and a posture balance part arranged in the robot body. The robot body comprises a shell assembly, a containing bin, a driving part and a water pump impeller. An inner cavity, a water inlet and a water spraying opening are formed in the shell assembly, the containing bin is installed in the middle of the inner cavity, and the posture balance part is arranged in the containing bin and located in the center of the bottom of the shell assembly and used for balancing the posture of the robot body. The driving piece is arranged in the accommodating bin; and the water pump impeller is in driving connection with the output end of the driving part, is arranged at the water spraying opening and is used for spraying water entering from the water inlet through the water spraying opening under the driving of the driving part so as to generate water flow and thrust. The structure of the underwater mobile robot is improved, the balance weight structure of the robot is simplified, the balance weight block assembly convenience is improved, and the attractiveness of the bottom shell of the robot body is improved.

Description

Technical Field

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

[0002] Existing underwater robots can perform tasks such as cleaning, photographing, and exploring. They achieve movement and turning functions in all directions through power systems such as propellers or wheels mounted on the robots. Underwater cleaning robots mainly carry out underwater cleaning work by washing the ground and walls, sucking water and sewage, filtering garbage, and discharging clean water. A typical underwater cleaning robot is equipped with a water jet power system to achieve forward and backward operation and cleaning work.

[0003] A driving motor, a control system, and power battery accessories are installed inside the underwater cleaning robot. The bottom shell of the robot cooperates with a filter screen to serve as a garbage bin. A number of metal counterweights are installed on the bottom shell to control buoyancy to control the robot to sink to the bottom and operate stably. In order to keep the center of gravity of the whole machine centered and the attitude balanced, multiple counterweights need to be set and evenly distributed around the robot, which results in an overly complex chassis structure of the robot. The counterweights are fixed by a gluing process, with high assembly difficulty and long cycle, and the position of the bottom shell corresponding to the counterweights is uneven, affecting the appearance. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide an underwater mobile robot, aiming to simplify the counterweight structure of the robot, improve the convenience of assembling the counterweights, and enhance the appearance of the bottom shell of the robot body.

[0005] To achieve the above object, the utility model provides an underwater mobile robot, including a robot body and a plurality of attitude balancing members arranged inside the robot body. The robot body includes:

[0006] A housing assembly, which forms an inner cavity and a water inlet and a water jet outlet respectively communicating with the inner cavity;

[0007] A receiving bin, installed in the middle of the inner cavity. At least part of the attitude balancing members are arranged in the receiving bin and are located at the center of the bottom of the housing assembly. The weight of the attitude balancing members located in the receiving bin accounts for more than 80% of the total weight of all the attitude balancing members. The attitude balancing members are used to balance the attitude of the robot body;

[0008] A driving member, arranged in the receiving bin; and

[0009] A water pump impeller, drivingly connected to the output end of the driving member. The water pump impeller is arranged at the water jet outlet and is used to spray the water entering from the water inlet through the water jet outlet under the drive of the driving member to generate water flow and thrust.

[0010] Optionally, the driving member is a brushless motor; and / or the attitude balancing member is a counterweight, and the material of the counterweight is metal.

[0011] Optionally, the accommodating bin is of a closed structure.

[0012] Optionally, the robot body further includes at least one garbage bin and a filter member disposed in the garbage bin. The garbage bin is disposed in the inner cavity and is respectively communicated with the water inlet and the water spray port, and the filter member is horizontally disposed in the garbage bin.

[0013] Optionally, the robot body further includes a filter net horizontally disposed in the inner cavity, and the filter net and the housing assembly enclose a garbage collection area.

[0014] Optionally, the robot body further includes a controller disposed in the housing assembly and electrically connected to the driving member. The driving member and the water pump impeller are two groups, and are used to drive the robot body to move forward, backward and change direction; there are two water spray ports, and the two water pump impellers are respectively located in the two water spray ports.

[0015] Optionally, the housing assembly further forms a water outlet channel respectively communicated with the two water spray ports, and the two water outlet channels respectively extend along the forward direction and the backward direction of the robot body.

[0016] Optionally, the underwater mobile robot further includes a battery disposed in the housing assembly, and the battery is electrically connected to the controller.

[0017] Optionally, the water inlet is located at the bottom of the housing assembly, and the water spray port is located at the top of the housing assembly.

[0018] Optionally, the robot body further includes a wheel walking mechanism disposed at the bottom of the housing assembly.

[0019] In the technical solution of the present utility model, the underwater mobile robot includes a robot main body and several attitude balancing members disposed within the robot main body. The robot main body includes a housing assembly, a receiving chamber, a driving member, and a water pump impeller. The housing assembly forms an inner cavity, a water inlet, and a water spray outlet. The receiving chamber is installed in the middle of the inner cavity. The attitude balancing members are disposed within the receiving chamber and are located at the central position of the bottom of the housing assembly. The weight of the attitude balancing members within the receiving chamber accounts for more than 80% of the total weight of all attitude balancing members. The attitude balancing members are used to balance the attitude of the robot main body. The driving member is disposed within the receiving chamber. The water pump impeller is drivingly connected to the output end of the driving member. The water pump impeller is disposed at the water spray outlet and is used to spray the water entering from the water inlet through the water spray outlet under the drive of the driving member to generate water flow and thrust. It can be understood that the present utility model improves the structure of the underwater mobile robot. By centrally disposing most or all of the attitude balancing members at the central position of the bottom of the housing assembly, it helps to improve the stability of the underwater operation attitude of the underwater mobile robot, has a better garbage cleaning effect, simplifies the counterweight structure of the robot, only requires one or a small number of configuration blocks, does not require a very large number of counterweight blocks, improves the convenience of counterweight block assembly, enhances the aesthetics of the bottom shell of the robot main body, and also saves material costs. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 It is a schematic structural diagram of an embodiment of the underwater mobile robot of the present utility model.

[0022] Explanation of the Reference Numerals in the Drawings:

[0023] 10. Attitude balancing member; 20. Housing assembly; 30. Receiving chamber; 40. Driving member; 50. Water pump impeller; 20a. Water inlet; 20b. Water spray outlet; 201. Garbage collection area; 60. Filter screen; 70. Controller; 20c. Water outlet channel; 80. Wheel traveling mechanism.

[0024] The realization of the object, functional features, and advantages of the present utility model will be further described in conjunction with the embodiments with reference to the drawings. Detailed Embodiment

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the scope of protection of the present utility model.

[0026] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0027] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution that both A and B are satisfied at the same time. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0029] The present utility model provides an underwater mobile robot, especially an underwater cleaning robot, and can also be an underwater robot used for performing tasks such as shooting and detecting, which is not limited here.

[0030] Refer to Figure 1, in an embodiment of the present utility model, the underwater mobile robot includes a robot main body and a plurality of attitude balancing members 10 disposed within the robot main body. The robot main body includes a housing assembly 20, a receiving chamber 30, a driving member 40, and a water pump impeller 50. The housing assembly 20 forms an inner cavity and a water inlet 20a and a water spray outlet 20b that are respectively communicated with the inner cavity. The water inlet 20a is located at the bottom of the housing assembly 20 and is disposed close to the attitude balancing member 10. The water spray outlet 20b is located at the top of the housing assembly 20. The receiving chamber 30 is installed on the bottom wall of the inner cavity. The attitude balancing member 10 is disposed within the receiving chamber 30 and is located at the central position at the bottom of the housing assembly 20. The weight of the attitude balancing member 10 located within the receiving chamber 30 accounts for more than 80% of the total weight of all the attitude balancing members 10. The attitude balancing member 10 is used to balance the attitude of the robot main body. The driving member 40 is disposed within the receiving chamber 30. The water pump impeller 50 is drivingly connected to the output end of the driving member 40. The water pump impeller 50 is disposed at the water spray outlet 20b and is used to spray the water entering from the water inlet 20a through the water spray outlet 20b under the drive of the driving member 40 to generate a water flow and a thrust.

[0031] It should be noted that the weight of the attitude balancing member 10 located within the receiving chamber 30 accounts for more than 80% of the total weight of all the attitude balancing members 10. That is to say, all or most of the attitude balancing members 10 of the underwater mobile robot of the present utility model are disposed in the receiving chamber 30 where the driving member 40 is installed. Preferably, only one attitude balancing member 10 is provided, and this attitude balancing member 10 is disposed in the receiving chamber 30. Of course, in some other scenarios, a small number of attitude balancing members 10 may also be disposed outside the chamber. The sizes and shapes of the attitude balancing members 10 may be the same or different, and are not limited herein.

[0032] Among them, the attitude balancing member 10 is at least one weight block, and the material of the weight block is preferably metal. The driving member 40 may preferably be a brushless disc motor, etc. The brushless motor has a small volume, which helps to provide more space for the attitude balancing member 10 and makes its attitude balancing effect better. For convenient walking and improved movement efficiency, the robot main body may further include a wheel walking mechanism 80. The wheel walking mechanism 80 is disposed at the bottom of the housing assembly 20. The wheel walking mechanism 80 is equipped with 4 tires and a transmission system, and may be driven by a driving motor or may only be driven by the following water spray system, which is not limited herein.

[0033] In this embodiment, the robot main body further includes a controller 70. The controller 70 is disposed within the housing assembly 20 and is electrically connected to the driving member 40. The driving member 40 and the water pump impeller 50 are two groups, which are used to drive the robot main body to move forward, backward, and reverse. There are two water spray outlets 20b, and the two water pump impellers 50 are respectively located within the two water spray outlets 20b.

[0034] When the underwater mobile robot is running, it can move forward and backward by relying on the thrust generated by two sets of water jet systems at the front and rear. On the one hand, the water jet system can provide the power for operation, and on the other hand, it also provides the power for sewage suction.

[0035] The principle is that the motor drives a centrifugal water pump impeller 50, which can eject water out of the robot at high speed by rotation and spray it out from the reserved nozzle, thus generating water flow and thrust. Two motors and the water jet nozzles 20b are used to control the water spray volume in the front and rear directions.

[0036] The underwater mobile robot of the present utility model has two sets of water jet power systems at the front and rear. When moving forward and backward, only one of the water jet motors needs to be turned on. When it is necessary to change the running direction, the other water jet motor can be switched to run.

[0037] It can be understood that the present utility model improves the structure of the underwater mobile robot. Most or all of the attitude balance members 10 are centrally arranged at the center position of the bottom of the housing assembly 20, which helps to improve the stability of the underwater running attitude of the underwater mobile robot, has a better garbage cleaning effect, simplifies the counterweight structure of the robot, eliminates the need to set multiple counterweight blocks, improves the convenience of assembling the counterweight blocks, enhances the aesthetics of the bottom shell of the robot body, and also saves material costs.

[0038] To make reasonable use of the structure of the existing robot and reduce the cost required for improvement, referring to Figure 1 , in an embodiment, the accommodation bin 30 of the underwater mobile robot can adopt the original installation bin for installing the driving member 40, circuit board, etc., so that there is no need to set an additional bin structure.

[0039] In addition, the driving member 40 in this embodiment is preferably a brushless motor, so that sufficient installation space can be reserved for installing larger or more counterweight blocks without increasing the size of the original sealed bin.

[0040] It should be noted that the installation bin needs to be set as a closed structure to prevent water flow from entering the bin to corrode the motor, etc. or cause the circuit board to short-circuit.

[0041] In an embodiment, the underwater mobile robot is an underwater cleaning robot. The robot body may further include at least one garbage bin and a filter member provided in the garbage bin. The garbage bin is provided in the inner cavity and is respectively communicated with the water inlet 20a and the water jet nozzle 20b. The filter member is horizontally arranged in the garbage bin.

[0042] Of course, referring to Figure 1 , a filter net 60 may also be horizontally arranged in the inner cavity of the robot body. The filter net 60 and the housing assembly 20 enclose a garbage collection area 201. Such a setting helps to make full use of the internal structure of the housing assembly 20 and saves material costs.

[0043] To improve the stability of the underwater robot during underwater operation, with reference to Figure 1 , in an embodiment, the housing assembly 20 may further be formed with water outlet channels 20c respectively communicating with the two water spray nozzles 20b. The two water outlet channels 20c are respectively arranged to extend along the forward direction and the backward direction of the robot body. The two water pump impellers 50 are respectively arranged at the communication positions between the two water outlet channels 20c and the inner cavity and are located at the middle position on the top of the robot body, which is beneficial to maintaining the attitude balance during operation.

[0044] In this embodiment, the water inlet 20a is located at the bottom of the housing assembly 20, and the water spray nozzle 20b is located at the top of the housing assembly 20, so that the water pump impeller 50 can better push the robot body to change direction.

[0045] In addition, with reference to Figure 1 , the underwater mobile robot may further include a battery disposed in the housing assembly 20, and the battery is electrically connected to the controller 70. In this way, it helps to realize automatic control of the underwater mobile robot to perform cleaning, photographing or detecting and other tasks.

[0046] In summary, the present utility model designs a set of underwater mobile robot solutions. By reasonably using a brushless motor with a large power density and a small volume, and the solution of centrally disposing the counterweight block inside the bottom shell, the problems of complex installation and difficult waterproofing of the existing external counterweight block are effectively solved. The assembly is simpler, there is no need to apply glue for waterproofing, and the center of gravity of the robot is centered, making the underwater operation attitude more stable. Therefore, the robot will have stronger anti-overturning and self-recovery capabilities. In addition, since the counterweight block is disposed inside the original sealed chamber, it will not generate additional buoyancy like the external one, so only less counterweight block material is required to achieve the same counterweight effect, which is beneficial to saving material costs.

[0047] The above are only the optional embodiments of the present utility model, and do not limit the patent scope of the present utility model. Any equivalent structural transformation made by using the specification and drawings of the present utility model under the inventive concept of the present utility model, or direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. An underwater mobile robot, characterized in that: The robot comprises a robot body and a plurality of posture balancing parts arranged in the robot body, wherein the robot body comprises: A shell assembly is formed with an inner cavity and a water inlet and a water spray outlet respectively connected to the inner cavity; A storage bin is installed in the middle of the inner cavity, at least part of the posture balancing member is arranged in the storage bin and is located at the center of the bottom of the shell assembly, the weight of the posture balancing member located in the storage bin accounts for more than 80% of the total weight of all the posture balancing members, and the posture balancing member is used to balance the posture of the robot body; A driving member is disposed in the accommodating compartment; and The water pump impeller is drivingly connected to the output end of the driving member. The water pump impeller is arranged at the water spray port and is used to spray the water entering from the water inlet through the water spray port under the drive of the driving member to generate water flow and thrust.

2. The underwater mobile robot according to claim 1, characterized in that: The driving component is a brushless motor; and / or the posture balancing component is a counterweight block, and the material of the counterweight block is metal.

3. The underwater mobile robot according to claim 1, characterized in that: The accommodating bin is a closed structure.

4. The underwater mobile robot according to claim 1, characterized in that: The robot body also includes at least one garbage bin and a filter element disposed in the garbage bin. The garbage bin is disposed in the inner cavity and is connected to the water inlet and the water outlet respectively. The filter element is transversely disposed in the garbage bin.

5. The underwater mobile robot according to claim 1, characterized in that: The robot body also includes a filter screen disposed transversely in the inner cavity, and the filter screen and the shell assembly are arranged to form a garbage collection area.

6. The underwater mobile robot according to claim 1, characterized in that: The robot body also includes a controller, which is arranged in the shell assembly and electrically connected to the driving member. The driving member and the water pump impeller are two groups for driving the robot body forward, backward and reverse. There are two water spray ports, and the two water pump impellers are respectively located in the two water spray ports.

7. The underwater mobile robot according to claim 6, characterized in that: The shell component is also formed with water outlet channels respectively connected to the two water spray ports, and the two water outlet channels are respectively extended along the forward direction and the backward direction of the robot body.

8. The underwater mobile robot according to claim 6, characterized in that: The underwater mobile robot also includes a battery disposed in the housing assembly, and the battery is electrically connected to the controller.

9. The underwater mobile robot according to claim 1, characterized in that: The water inlet is located at the bottom of the shell component, and the water spray port is located at the top of the shell component.

10. The underwater mobile robot according to claim 1, characterized in that: The robot body also includes a wheel walking mechanism, and the wheel walking mechanism is arranged at the bottom of the shell assembly.

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