Underwater robot

Abstract

The utility model provides an underwater robot. The underwater robot comprises a robot body and a movement assembly. The movement assembly comprises a crawler belt and at least two transmission wheels; the robot body is connected with the transmission wheels and used for driving the transmission wheels to rotate. The crawler belt comprises a plurality of crawler belt plates which are connected in sequence; meshing parts are arranged on the multiple track shoes, and the meshing parts are connected to the transmission wheels in a meshing mode; limiting parts used for limiting axial movement of the transmission wheel are further arranged on at least part of the track shoes, and the limiting parts are at least arranged at the ends, away from the robot body, of the meshing parts and used for abutting against the side wall of the transmission wheel. The side, deviating from the meshing part, of the track shoe is used for making contact with an external contact face and provided with a damping part used for increasing friction force between the track shoe and the external contact face. The motion capability and the stability of the underwater robot are improved, and the underwater robot has good use experience.

Description

Technical Field

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

[0002] With the continuous advancement of technology, automated and unmanned operations are becoming increasingly integrated into every aspect of our lives. Underwater robots, for example, are devices capable of automated underwater operations, often used for tasks such as pool cleaning. Underwater robots typically utilize mechanical mechanisms, such as robotic legs, to propel the entire device, allowing them to complete cleaning operations in one area and then move on to the next.

[0003] However, existing underwater robots, due to structural design issues, suffer from poor mobility and stability, making them difficult to adapt to complex environments. Furthermore, existing underwater robots typically use separate power units to drive their movement and cleaning mechanisms, which increases the complexity of the devices and the power costs.

[0004] Therefore, a solution is needed to solve at least one of the above problems. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an underwater robot, and the specific technical solution is as follows:

[0006] The utility model provides an underwater robot, comprising a robot body and a motion component;

[0007] The motion assembly includes a crawler and at least two transmission wheels; the robot body is connected to the transmission wheels to drive the transmission wheels to rotate;

[0008] The crawler includes a plurality of track shoes connected in sequence; each of the plurality of track shoes is provided with an engaging portion, which is engaged and connected to the transmission wheel; at least some of the track shoes are also provided with a limiting portion for limiting the axial movement of the transmission wheel, the limiting portion being provided at least at one end of the engaging portion away from the robot body and being used to abut against the side wall of the transmission wheel;

[0009] The side of the track shoe facing away from the meshing portion is used to contact an external contact surface, and is provided with a damping portion for increasing friction between the track shoe and the external contact surface.

[0010] In a specific embodiment, the engaging portion includes a convex strip arranged along the axial direction of the transmission wheel, and the track shoe is engaged with the transmission wheel through the convex strip; the limiting portion includes a protruding structure, which is arranged at the end of the convex strip away from the robot body, and the protruding structure protrudes along the radial direction of the transmission wheel for abutting the side wall of the transmission wheel.

[0011] In a specific embodiment, the damping portion includes a convex strip provided on a side of the track shoe away from the meshing portion, and a concave portion is formed on the convex strip for increasing the friction between the track shoe and the external contact surface.

[0012] In a specific embodiment, it further includes a protective shell that is sleeved around the periphery of the motion component, and the protective shell is connected to the robot body; the lower part of the protective shell has a notch that allows the track to be exposed.

[0013] In a specific embodiment, the robot body includes a shell, a cleaning component, and a power component located inside the shell;

[0014] A rotating shaft is provided on the shell, and the rotating shaft is connected to the transmission wheel; the power component is driven and connected to at least one of the transmission wheels to drive the transmission wheel to rotate with the rotating shaft as the rotation center axis; the cleaning component is driven and connected to at least one of the transmission wheels to achieve linkage with the transmission wheel.

[0015] In a specific embodiment, the power assembly includes a motor and a motor bracket, and the motor is installed in the housing through the motor bracket;

[0016] The output shaft of the motor is connected to a sleeve, the end of the sleeve away from the output shaft is connected to a transmission member, the end of the transmission member away from the sleeve extends out of the housing and is connected to the transmission wheel; there is a movable gap between the end of the sleeve close to the output shaft and the output shaft.

[0017] In a specific embodiment, a sealing ring is provided between the transmission member and the housing.

[0018] In a specific embodiment, the cleaning assembly includes a roller brush, the roller brush is connected to a transmission member, a gear is fixedly provided on the transmission wheel, and an end of the transmission member away from the roller brush is engaged with the gear.

[0019] In a specific embodiment, a heat-conducting box is further included, which is arranged inside the shell, and the power assembly is arranged inside the heat-conducting box; the output end of the power assembly extends out of the heat-conducting box and the shell and drives and connects at least one of the transmission wheels; a sealing ring is provided between the power assembly and the heat-conducting box.

[0020] In a specific embodiment, a water inlet is provided on the shell body for communicating with the outside and the interior.

[0021] The utility model has at least the following beneficial effects:

[0022] The utility model provides an underwater robot. On the one hand, the meshing and limiting portions on the track shoes enable the track to stably engage with the drive wheel, thereby improving the device's motion stability. The damping portion on the track shoes increases friction between the contact surface and the outside world, thereby improving the device's mobility and enabling it to move in relatively smooth environments. Furthermore, the power assembly drives the drive wheel, which is in transmission connection with the cleaning assembly, allowing the power assembly to indirectly drive the cleaning assembly, thereby reducing power costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is an exploded schematic diagram of the overall structure of the utility model;

[0026] Figure 3 It is a structural diagram of the motion component;

[0027] Figure 4 This is a detailed diagram of the track;

[0028] Figure 5 This is another detailed diagram of the track;

[0029] Figure 6 It is a schematic cross-sectional view of the overall structure of the utility model;

[0030] Figure 7 It is a cross-sectional diagram of the connection between the motor output shaft and the sleeve;

[0031] Figure 8 This is a schematic diagram of the structure when the protective shell is separated from the moving component.

[0032] Reference numerals:

[0033] 1-housing; 11-rotating shaft; 14-water inlet; 2-moving component; 21-track; 211-meshing part; 212-limiting part; 213-damping part; 214-track shoe; 22-first transmission wheel; 221-first gear; 23-second transmission wheel; 231-second gear; 3-cleaning component; 31-roller brush; 4-power component; 41-motor; 411-output shaft; 42-motor bracket; 5-convex strip; 7-recessed part; 8-protective shell; 81-notch; 9-sleeve; 91-movable gap; 10-transmission part; 12-sealing ring; 13-heat conduction box; 15-robot body. DETAILED DESCRIPTION

[0034] Various embodiments of the present invention will be described more fully below. The present invention can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather that the present invention should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0035] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0036] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0037] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various components in the various embodiments, but may not limit the corresponding components. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0038] It should be noted that, in this utility model, unless otherwise specified or defined, terms such as "installation," "connection," and "fixation" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0039] Please refer to Figures 1 to 8 The present invention provides an underwater robot, comprising a robot body 15 and a motion assembly 2. The motion assembly 2 comprises a crawler 21 and at least two transmission wheels (refer to the first transmission wheel 22 and the second transmission wheel 23 below).

[0040] The robot body 15 is connected to a transmission wheel for driving the transmission wheel to rotate. Optionally, the robot body 15 can drive one or more transmission wheels to rotate, which is not specifically limited here. The track 21 includes a plurality of track shoes 214 connected in sequence. Each of the track shoes 214 is provided with an engaging portion 211. The engaging portion 211 is engaged and connected to the transmission wheel, thereby achieving linkage between the track 21 and the transmission wheel, and also between different transmission wheels. At least some of the track shoes 214 are also provided with a limiting portion 212 for limiting the axial movement of the transmission wheel. The limiting portion 212 is provided at least at the end of the engaging portion 211 away from the robot body 15, and is used to abut the side wall of the transmission wheel, thereby preventing the transmission wheel from dislodging from the track shoe 214 in a direction away from the robot body 15, thereby improving the stability of the device during movement. In other embodiments, the limiting portion 212 can also be provided at both the end of the engaging portion 211 away from the robot body 15 and the end close to the robot body 15, thereby enhancing the limiting effect on the transmission wheel by abutting both sides of the transmission wheel.

[0041] The side of the track shoe 214 facing away from the meshing portion 211 is designed to contact an external contact surface and is provided with a damping portion 213 for increasing friction with the external contact surface. It will be appreciated that in actual use, the rotation of the drive wheel will drive the track 21 to move, and the track 21 will contact and rub against the external contact surface, thereby driving the entire device to move. The present utility model provides the track 21 with a damping portion 213 for increasing friction with the external contact surface, thereby improving the device's mobility.

[0042] In practice, the number of tracks 21 is typically two, with the two tracks 21 located on different sides of the robot body 15 and each meshing with a different transmission wheel. For example, each track 21 meshes with two transmission wheels. For ease of explanation, the following embodiments assume that there are two transmission wheels, defined as a first transmission wheel 22 and a second transmission wheel 23.

[0043] In a specific embodiment, please refer to Figure 3 and Figure 4 The meshing portion 211 includes ribs 5 spaced axially between the first and second transmission wheels 22, 23. The track shoe 214 engages the first and second transmission wheels 22, 23 via the ribs 5. The stopper 212 includes a protrusion located at the end of the ribs 5 facing away from the robot body 15. The protrusion extends radially from the first and second transmission wheels 22, 23 to abut against the sidewalls of the transmission wheels. As shown in the figure, the protrusion is higher than the ribs 5 and connects to the ribs 5 to form an L-shaped structure.

[0044] In a specific embodiment, please refer to Figure 3 and Figure 5 The damping portion 213 includes a protrusion 5 disposed on the side of the track shoe 214 facing away from the meshing portion 211. During use, the protrusion 5 increases the friction between the track 21 and the external contact surface, thereby improving the device's mobility in relatively smooth environments. Furthermore, the protrusion 5 is formed with a recessed portion 7 to further increase the friction between the external contact surface, further enhancing the device's mobility and environmental adaptability.

[0045] In a specific embodiment, please refer to Figure 8 , and also includes a protective shell 8 that is sleeved on the periphery of the motion component 2. The protective shell 8 is connected to the robot body 15. The lower part of the protective shell 8 has a notch 81 that allows the track 21 to be exposed, so that the lower part of the track 21 can still contact the external contact surface, while the other parts of the track 21 and the first transmission wheel 22 and the second transmission wheel 23 are all blocked, which plays a protective role.

[0046] In a specific embodiment, the robot body 15 includes a shell 1 , a cleaning component 3 , and a power component 4 located inside the shell 1 .

[0047] The housing 1 is provided with a rotating shaft 11. The first and second transmission wheels 22, 23 are each connected to the rotating shaft 11. Specifically, the first and second transmission wheels 22, 23 are provided with through-holes in their central portions, through which the rotating shaft 11 passes. The power assembly 4 is drivingly connected to at least one of the transmission wheels, driving the transmission wheel to rotate about the rotating shaft 11. The cleaning assembly 3 is drivingly connected to at least one of the transmission wheels, and is configured to achieve interlocking motion with the transmission wheels.

[0048] For example, the power assembly 4 can be driven only by the first transmission wheel 22, and the cleaning assembly 3 can be driven only by the second transmission wheel 23. During use, the first transmission wheel 22 is driven by the power assembly 4 to rotate, and the second transmission wheel 23 is rotated by the transmission action of the crawler 21. The rotation of the second transmission wheel 23 then drives the cleaning assembly 3 to move, thereby achieving the cleaning function. Based on this, the utility model reduces power costs.

[0049] Further, please refer to Figure 6 The power assembly 4 includes a motor 41 and a motor bracket 42. The motor 41 is mounted in the housing 1 through the motor bracket 42. Optionally, the motor bracket 42 can be a metal or alloy bracket with good thermal conductivity, thereby improving the heat dissipation efficiency of the motor 41.

[0050] Please refer to Figure 6 and 7 The output shaft 411 of the motor 41 is connected to a sleeve 9. The end of the sleeve 9 away from the output shaft 411 is connected to a transmission member 10. The end of the transmission member 10 away from the sleeve 9 extends out of the housing 1 and is in driving connection with the first transmission wheel 22. A movable gap 91 is defined between the end of the sleeve 9 near the output shaft 411 and the output shaft 411. The movable gap 91 is illustratively a radial gap of the output shaft 411, allowing the output shaft 411 of the motor 41 to move radially, thereby reducing the influence of the sleeve 9 on the output shaft 411.

[0051] For example, please refer to Figure 2 、 3 8. A first gear 221 may be fixedly provided on the first transmission wheel 22. The end of the transmission member 10 away from the shaft sleeve 9 is engaged with the first gear 221. Thus, when the output shaft 411 of the motor 41 rotates, the first transmission wheel 22 is finally rotated through the transmission of the shaft sleeve 9 and the first gear 221.

[0052] like Figure 6 As shown, a sealing ring 12 may be provided between the transmission member 10 and the housing 1 to improve the sealing performance of the device to adapt to underwater working environments.

[0053] In a specific embodiment, please refer to Figure 8 The cleaning component 3 includes a roller brush 31, which is connected to another transmission member 10. A second gear 231 is fixedly provided on the second transmission wheel 23. The end of the transmission member 10 away from the roller brush 31 is engaged with the second gear 231, so that when the second transmission wheel 23 rotates, the transmission of the transmission member 10 can drive the roller brush 31 to rotate, thereby realizing the cleaning function.

[0054] In a specific embodiment, please refer to Figure 6 , further comprising a heat-conducting box 13, which is arranged inside the housing 1, and the power assembly 4 is arranged inside the heat-conducting box 13. The heat-conducting box 13 can be a metal or alloy box with good thermal conductivity. The output end of the power assembly 4 extends out of the heat-conducting box 13 and the housing 1 and drives the first transmission wheel 22. A sealing ring 12 is provided between the power assembly 4 and the heat-conducting box 13. For example, it can be as follows Figure 7 As shown, it is arranged between the motor bracket 42 and the heat-conducting box 13, thereby preventing water from penetrating from the outside from entering the interior of the heat-conducting box 13, so as to further improve the waterproof performance of the device.

[0055] Further, refer to Figure 1 The shell 1 may be provided with a water inlet 14 connecting the outside world and the inside thereof, so that water from the outside can enter the inside of the shell 1 through the water inlet 14 during use, so that the above-mentioned heat conduction box 13 can be in a water environment, and the heat dissipation effect of the motor 41 is further improved by exchanging heat with water.

[0056] In summary, the present invention provides an underwater robot that, on the one hand, utilizes the meshing portion 211 and the limiting portion 212 on the track shoe 214 to enable the track 21 to stably engage with the transmission wheel, thereby improving the device's motion stability. Furthermore, the damping portion 213 on the track shoe 214 increases the friction between the contact surface and the outside world, thereby improving the device's mobility and enabling it to move in relatively smooth environments. Furthermore, the power assembly 4 drives the transmission wheel, which is in transmission connection with the cleaning assembly 3, allowing the power assembly 4 to indirectly drive the cleaning assembly 3 to move, thereby reducing power costs.

[0057] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present invention.

[0058] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be modified accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module or further split into multiple submodules.

[0059] The serial numbers of the above utility models are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An underwater robot, characterized in that: Including robot body and motion components; The motion assembly includes a crawler and at least two transmission wheels; the robot body is connected to the transmission wheels to drive the transmission wheels to rotate; The crawler includes a plurality of track shoes connected in sequence; each of the plurality of track shoes is provided with an engaging portion, which is engaged and connected to the transmission wheel; at least some of the track shoes are also provided with a limiting portion for limiting the axial movement of the transmission wheel, the limiting portion being provided at least at one end of the engaging portion away from the robot body and being used to abut against the side wall of the transmission wheel; The side of the track shoe facing away from the meshing portion is used to contact an external contact surface, and is provided with a damping portion for increasing friction between the track shoe and the external contact surface.

2. An underwater robot according to claim 1, characterized in that: The engaging portion includes a convex strip arranged along the axial direction of the transmission wheel, and the track shoe is engaged with the transmission wheel through the convex strip; the limiting portion includes a protruding structure, which is arranged at the end of the convex strip away from the robot body, and the protruding structure protrudes along the radial direction of the transmission wheel and is used to abut the side wall of the transmission wheel.

3. The underwater robot according to claim 1, characterized in that: The damping portion includes a convex strip provided on a side of the track shoe away from the meshing portion, and a concave portion is formed on the convex strip for increasing friction between the convex strip and the external contact surface.

4. The underwater robot according to claim 1, characterized in that: It also includes a protective shell that is sleeved on the periphery of the motion component, and the protective shell is connected to the robot body; the lower part of the protective shell has a notch that allows the crawler to be exposed.

5. The underwater robot according to claim 1, characterized in that: The robot body includes a shell, a cleaning component, and a power component located inside the shell; The housing is provided with a rotating shaft, which is connected to the transmission wheel; the power assembly is driven to connect at least one of the transmission wheels to drive the transmission wheel to rotate with the rotating shaft as the rotation center axis; The cleaning component is transmission-connected to at least one of the transmission wheels for linkage with the transmission wheel.

6. The underwater robot according to claim 5, characterized in that: The power assembly includes a motor and a motor bracket, and the motor is installed in the housing through the motor bracket; The output shaft of the motor is connected to a sleeve, the end of the sleeve away from the output shaft is connected to a transmission member, the end of the transmission member away from the sleeve extends out of the housing and is connected to the transmission wheel; there is a movable gap between the end of the sleeve close to the output shaft and the output shaft.

7. The underwater robot according to claim 6, characterized in that: A sealing ring is provided between the transmission member and the housing.

8. The underwater robot according to claim 5, characterized in that: The cleaning component includes a roller brush, which is connected to a transmission member. A gear is fixedly provided on the transmission wheel, and one end of the transmission member away from the roller brush is engaged with the gear.

9. The underwater robot according to claim 5, characterized in that: It also includes a heat-conducting box, which is arranged inside the shell, and the power assembly is arranged inside the heat-conducting box; the output end of the power assembly extends out of the heat-conducting box and the shell and drives and connects at least one of the transmission wheels; a sealing ring is provided between the power assembly and the heat-conducting box.

10. The underwater robot according to claim 9, characterized in that: The shell is provided with a water inlet communicating with the outside and the inside.

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