Underwater robot driving structure

Abstract

The utility model discloses an underwater robot driving structure, an underwater robot comprises a housing, two sides of the housing are provided with four-wheel-drive driving mechanisms used for driving the robot to move, each four-wheel-drive driving mechanism comprises a driving wheel assembly and a driving motor, and the driving motor is used for driving the driving wheel assembly to move. The driving force of the robot in the walking process at the bottom of the pool can be increased, slipping is prevented, and the robot can walk at the bottom of the pool in a full-coverage mode; besides, the four-wheel-drive driving mechanism can be driven to drive the robot to move only through one driving motor and an intermediate gear matched with the driving motor, so that the installation space needed by the sealing bin can be reduced, the size of the sealing bin is reduced, the structure is more compact, a larger space is reserved in the shell to be used for containing the garbage bin, and the service life of the garbage bin is prolonged. And the garbage collection amount of the garbage bin is increased.

Description

Technical Field

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

[0002] With the development of social economy, the demand for swimming pool cleaning is getting higher and higher. Pool cleaning robots need to clean up underwater garbage in swimming pools. Because when the four-wheeled robot is running underwater, the friction resistance on the bottom of the pool becomes smaller due to the effect of water, and the front or rear drive is prone to slipping. Therefore, the robot needs to drive all four wheels at the same time when running underwater to reduce the occurrence of slipping.

[0003] In the existing technology, swimming pool cleaning robots currently on the market generally use tracks, water jet propulsion, or wheels to move the robot forward. Tracks are prone to material fatigue fracture and deformation and falling off during long-term use. Water jet propulsion is suitable for flat swimming pool environments. If the bottom of the pool is curved or has a slope, the robot will not be able to move across the entire bottom of the pool due to the small thrust of the water jet. Among the existing wheel-driven structures, there is a drive gear that directly drives the front and rear wheels. In this structure, the drive gear is located in the middle of the line connecting the two wheels. Because the drive gear is connected to the drive motor, the sealed cabin where the drive motor is installed is relatively large, leaving insufficient space for the garbage compartment, resulting in a small amount of garbage collected and an unreasonable structure. Utility Model Content

[0004] The main purpose of this utility model is to propose an underwater robot driving structure, which aims to simultaneously drive the front and rear wheels of the robot through a single driving motor, thereby avoiding the problem of the front and rear wheels slipping underwater, enabling the robot to walk on the bottom of the swimming pool with full coverage, and reducing the volume of the sealed cabin, leaving more space at the rear of the robot to place the garbage bin, thereby increasing the garbage collection capacity of the garbage bin.

[0005] To achieve the above-mentioned object, the present invention provides a driving structure of an underwater robot, wherein the underwater robot comprises a housing, and a four-wheel drive mechanism for driving the robot to move is provided on both sides of the housing, the four-wheel drive mechanism comprising a driving wheel assembly and a driving motor, the driving motor being used to drive the driving wheel assembly to move, the driving wheel assembly comprising a front wheel, a front wheel outer gear, a rear wheel, a rear wheel outer gear, an intermediate gear, and a driving gear;

[0006] The front wheel is connected to the outer side of the front external gear, the rear wheel is connected to the outer side of the rear external gear, the intermediate gear is meshed with the front external gear and the rear external gear respectively, and the driving gear is meshed with the intermediate gear.

[0007] A further technical solution of the present invention is that the underwater robot further includes a sealed chamber and a garbage chamber arranged in the shell, the garbage chamber is located at the rear end of the sealed chamber, and the drive motor is arranged in the sealed chamber.

[0008] A further technical solution of the present invention is that the intermediate gear is arranged on the housing.

[0009] A further technical solution of the present invention is that, in the driving wheel assembly, the front wheel and the rear wheel are arranged outside the housing and are rotationally symmetrical about the center of the intermediate gear.

[0010] A further technical solution of the present invention is that a PCB board is provided in the sealed chamber, and a control system connected to the drive motor signal is provided on the PCB board.

[0011] A further technical solution of the present invention is that a waterproof switch button and an indicator light connected to the control system are provided on the housing.

[0012] A further technical solution of the present invention is that a water outlet channel is provided on the top of the shell.

[0013] The beneficial effects of the underwater robot drive structure of the utility model are:

[0014] The utility model adopts the above technical solution, and the underwater robot includes a shell, characterized in that a four-wheel drive mechanism for driving the robot to move is provided on both sides of the shell, the four-wheel drive mechanism includes a drive wheel assembly and a drive motor, the drive motor is used to drive the drive wheel assembly to move, the drive wheel assembly includes a front wheel, a front wheel external gear, a rear wheel, a rear wheel external gear, an intermediate gear and a drive gear; wherein the front wheel is connected to the outer side of the front external gear, the rear wheel is connected to the outer side of the rear external gear, the intermediate gear is respectively meshed with the front external gear and the rear external gear, and the drive gear is meshed with the intermediate gear, which can increase the driving force of the robot during walking on the bottom of the pool, prevent slipping, and enable the robot to walk on the bottom of the pool with full coverage; in addition, the utility model can drive the four-wheel drive mechanism to drive the robot to move by only one drive motor and the intermediate gear matched therewith, thereby reducing the installation space required for the sealed chamber, reducing the volume of the sealed chamber, and making the structure more compact, thereby leaving more space in the shell for placing the garbage bin, thereby increasing the garbage collection capacity of the garbage bin. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the underwater robot drive structure of the utility model;

[0017] Figure 2 This is a structural diagram of a preferred embodiment of the underwater robot driving structure of the present utility model without a housing;

[0018] Figure 3 is a front view of the drive wheel assembly;

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the drive wheel assembly.

[0020] Description of Figure Numbers:

[0021] Shell 1; sealed chamber 2; garbage chamber 3; front wheel 4, front wheel outer gear 5, rear wheel 6, rear wheel outer gear 7, intermediate gear 8; drive gear 9; water outlet flow channel 10; drive motor 11.

[0022] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] This utility model proposes an underwater robot driving structure, please refer to Figures 1 to 4 The underwater robot includes a housing 1. The underwater robot is characterized in that a four-wheel drive mechanism for driving the robot is provided on both sides of the housing 1. The four-wheel drive mechanism includes a drive wheel assembly and a drive motor 10. The drive motor 10 is used to drive the drive wheel assembly. The drive wheel assembly includes a front wheel 4, a front wheel external gear 5, a rear wheel 6, a rear wheel external gear 7, an intermediate gear 8, and a drive gear 9.

[0025] Among them, the front wheel 4 is connected to the outer side of the front external gear, the rear wheel 6 is connected to the outer side of the rear external gear, the intermediate gear 8 is respectively engaged with the front external gear and the rear external gear, the driving gear 9 is engaged with the intermediate gear 8, and the input end of the driving gear 9 is connected to the output end of the driving motor 10.

[0026] In this embodiment, the drive motor 10 is rigidly connected to the drive gear 9, and the front wheel 4 and rear wheel 66 can move forward and backward under the drive of the front wheel external gear 5 and the rear wheel external gear 7, respectively. When the drive motor 10 drives the drive gear 9 to rotate, the intermediate gear 8, driven by the drive gear 9, drives the front wheel external gear 5 and the rear wheel external gear 7 to rotate in the same direction, thereby driving the front wheel 4 and rear wheel 6 to move synchronously in the same direction.

[0027] In this embodiment, the robot is driven to move by the four-wheel drive mechanism, which can increase the driving force of the robot when walking on the bottom of the pool, prevent slipping, and enable the robot to walk on the full coverage of the bottom of the pool.

[0028] In this embodiment, the intermediate gear 8 is provided on the housing 1 . In the driving wheel assembly, the front wheel 4 and the rear wheel 6 are provided outside the housing 1 and are rotationally symmetrical about the center of the intermediate gear 8 .

[0029] Furthermore, in this embodiment, the underwater robot also includes a sealed chamber 2 and a garbage chamber 3 arranged in the shell 1, the garbage chamber 3 is located at the rear end of the sealed chamber 2, and the drive motor 10 is arranged in the sealed chamber 2.

[0030] In this embodiment, the four-wheel drive mechanism can be driven to drive the robot to move only by a drive motor 10 and a matching intermediate gear 8, thereby reducing the installation space required for the sealed bin 2, reducing the volume of the sealed bin 2, and making the structure more compact, thereby leaving more space in the shell 1 for placing the garbage bin 3, thereby increasing the garbage collection capacity of the garbage bin 3.

[0031] Furthermore, in this embodiment, a PCB board is provided in the sealed chamber 2 , and a control system connected to the drive motor 10 by signal is provided on the PCB board.

[0032] The housing 1 is provided with structures such as a waterproof switch button, an indicator light, and a waterproof charging socket connected to the control system.

[0033] Furthermore, in this embodiment, a water outlet channel is provided on the top of the shell 1, wherein the water outlet channel is used to discharge clean water after filtration.

[0034] The beneficial effects of the underwater robot drive structure of the utility model are:

[0035] The utility model adopts the above technical solution, and the underwater robot includes a shell, characterized in that a four-wheel drive mechanism for driving the robot to move is provided on both sides of the shell, the four-wheel drive mechanism includes a drive wheel assembly and a drive motor, the drive motor is used to drive the drive wheel assembly to move, the drive wheel assembly includes a front wheel, a front wheel external gear, a rear wheel, a rear wheel external gear, an intermediate gear and a drive gear; wherein the front wheel is connected to the outer side of the front external gear, the rear wheel is connected to the outer side of the rear external gear, the intermediate gear is respectively meshed with the front external gear and the rear external gear, and the drive gear is meshed with the intermediate gear, which can increase the driving force of the robot during walking on the bottom of the pool, prevent slipping, and enable the robot to walk on the bottom of the pool with full coverage; in addition, the utility model can drive the four-wheel drive mechanism to drive the robot to move by only one drive motor and the intermediate gear matched therewith, thereby reducing the installation space required for the sealed chamber, reducing the volume of the sealed chamber, and making the structure more compact, thereby leaving more space in the shell for placing the garbage bin, thereby increasing the garbage collection capacity of the garbage bin.

[0036] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made based on the contents of the present invention specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An underwater robot driving structure, the underwater robot comprising a shell, characterized in that: A four-wheel drive mechanism for driving the robot to move is provided on both sides of the housing, the four-wheel drive mechanism comprising a drive wheel assembly and a drive motor, the drive motor is used to drive the drive wheel assembly to move, the drive wheel assembly comprising a front wheel, a front wheel outer gear, a rear wheel, a rear wheel outer gear, an intermediate gear and a drive gear; The front wheel is connected to the outer side of the front wheel external gear, the rear wheel is connected to the outer side of the rear wheel external gear, the intermediate gear is meshed with the front wheel external gear and the rear wheel external gear respectively, and the driving gear is meshed with the intermediate gear.

2. The underwater robot driving structure according to claim 1, characterized in that: The underwater robot further includes a sealed chamber and a garbage chamber arranged in the shell, the garbage chamber is located at the rear end of the sealed chamber, and the drive motor is arranged in the sealed chamber.

3. The underwater robot driving structure according to claim 2, characterized in that: The intermediate gear is arranged on the housing.

4. The underwater robot driving structure according to claim 1, characterized in that: In the driving wheel assembly, the front wheel and the rear wheel are arranged outside the housing and are rotationally symmetrical about the center of the intermediate gear.

5. The underwater robot driving structure according to claim 2, characterized in that: A PCB board is provided in the sealed chamber, and a control system connected to the drive motor signal is provided on the PCB board.

6. The underwater robot driving structure according to claim 5, characterized in that: The housing is provided with a waterproof switch button and an indicator light connected to the control system.

7. The underwater robot driving structure according to claim 5, characterized in that: A water outlet channel is provided on the top of the shell.

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