Driving paddle for overwater driving and robot

Abstract

The utility model belongs to the technical field of automation equipment, and relates to a driving paddle for overwater driving and a robot, the driving paddle for overwater driving comprises a rotating shaft and a plurality of paddles, the paddles are provided with opposite connecting ends and free ends; the connecting ends of the plurality of paddles are in clearance connection with the outer wall of the rotating shaft; wherein on the same cross section of the driving paddle, the connecting ends, the free ends and the axis of the rotating shaft of all the paddles are sequentially connected to form a triangle, and the range of the included angle theta between the vector connecting line from the connecting ends to the free ends and the vector connecting line from the connecting ends to the axis of the rotating shaft meets the following conditions: 90 degrees < = theta < lt >; and 180 degrees. According to the driving paddle for overwater driving, the paddle blades are obliquely arranged at the angle theta, so that when at least part of the paddle blades are immersed into water to rotate, the rotating driving paddle can be prevented from bringing water out of the water surface to cause a water circling phenomenon, the driving effect is prevented from being weakened, the driving efficiency of the driving paddle is improved, and the service life of the driving paddle is prolonged. And therefore, the cleaning efficiency of the robot and the use experience of the user are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automation equipment technical field especially, relates to a drive paddle and robot for water driving. BACKGROUND

[0002] With the improvement of people's living standards, more and more small functional pools such as outdoor pools and indoor pools, for example, swimming pools, after being put into use, the pool bottom and pool wall will deposit dirt, and the water surface will often float leaves, petals, waste paper, plastic bags, hair, foam and other floating objects, the current general method is to first drain the water in the pool and then manually clean the whole or part of the pool, or directly fish the floating objects on the shore, or directly place the cleaning equipment in the water to move to clean the pool bottom, pool wall or water surface and collect dirt.

[0003] At present, in order to enable the cleaning equipment to move underwater and / or on the water surface, the cleaning equipment is usually provided with a driving mechanism to push the cleaning main body to move and turn in the water, but the driving efficiency of the driving mechanism of the existing cleaning equipment is low, which leads to low cleaning efficiency of the cleaning equipment, resulting in high cleaning time and labor cost of the swimming pool, and poor cleaning experience. SUMMARY

[0004] The purpose of the embodiment of the utility model is to solve the technical problem of low driving efficiency of the driving mechanism of the robot.

[0005] To solve the above technical problems, the embodiment of the utility model provides a drive paddle for water driving, which adopts the following technical scheme:

[0006] The drive paddle for water driving comprises:

[0007] a rotating shaft; and

[0008] a plurality of paddle blades having opposite connecting ends and free ends, and being provided with a plurality of paddle blades;

[0009] Among them, on the same cross section of the drive paddle, the connecting end, the free end of each paddle blade and the axis of the rotating shaft are sequentially connected to form a triangle, and the included angle θ between the vector connecting line from the connecting end to the free end and the vector connecting line from the connecting end to the axis of the rotating shaft satisfies the following range: 90°≤θ<180°.

[0010] In some embodiments of the utility model, the direction of the circumferential arrangement of the paddle blades around the central axis of the rotating shaft is opposite to the rotating direction of the drive paddle.

[0011] In some embodiments of the utility model, when the driving paddle drives on the water surface, the maximum water angle A of the driving paddle satisfies the following range:

[0012] Alpha < A <= 2 alpha

[0013] Wherein, A is the vector connection angle of the free end of the paddle to the connection end of the first water surface in the same period, alpha is the vector connection angle of the free end of the paddle to the axis of the rotating shaft of the maximum water angle, and alpha satisfies the following:

[0014] Sin alpha = (R2-h) / R2

[0015] Wherein, h is the height difference between the free end of the paddle inserted into the deepest water in the driving paddle and the water surface, R1 is the outer radius of the rotating shaft, and R2 is the outer radius of the driving paddle.

[0016] In some embodiments of the utility model, when the water surface is tangent to the rotating shaft of the driving paddle, the maximum water angle A of the driving paddle is 2 alpha, and sin alpha = R1 / R2.

[0017] In some embodiments of the utility model, the range of the maximum water angle A of the driving paddle satisfies the following: 15 <= A <= 80.

[0018] In some embodiments of the utility model, the range of the maximum water angle A of the driving paddle satisfies the following: 20 <= A <= 40.

[0019] In some embodiments of the utility model, when the driving paddle drives on the water surface, the maximum water depth h of the driving paddle satisfies the following range: 5 < h <= R2-R1

[0020] Wherein, h is the height difference between the free end of the paddle inserted into the deepest water in the driving paddle and the water surface, R1 is the outer radius of the rotating shaft, and R2 is the outer radius of the driving paddle.

[0021] In some embodiments of the utility model, each paddle is in straight strip shape, and / or each paddle is arranged along the length direction of the rotating shaft, and the projection of the connection end on the shaft plane is parallel or intersects with the central axis of the rotating shaft.

[0022] In some embodiments of the utility model, the length of part or all of the paddles is greater than the length of the rotating shaft.

[0023] In some embodiments of the utility model, when the length of the paddle is greater than the length of the rotating shaft, the connecting end of the paddle is provided with a connecting part, the paddle is connected to the rotating shaft through the connecting part, and the end of the paddle, which is away from the rotating shaft and connected to an external driving part, extends out of the rotating shaft.

[0024] In some embodiments of the utility model, the paddle is detachably connected to the rotating shaft, or the paddle is integrally formed on the rotating shaft.

[0025] In some embodiments of the utility model, at least one end of the rotating shaft is detachably rotatably connected to an external driving part.

[0026] In some embodiments of the utility model, one end of the rotating shaft is provided with a transmission shaft, and the rotating shaft is rotatably connected to an external driving part through the transmission shaft.

[0027] Alternatively, one end of the rotating shaft is provided with a shaft hole, and the rotating shaft is rotatably connected to an external driving part by being inserted into the shaft hole.

[0028] To solve the above technical problems, the utility model discloses an embodiment further provides a robot, adopts the technical scheme as follows: the robot includes a driving part and the driving paddle for driving on water described above, the rotating shaft of the driving paddle is rotatably connected to the driving part, so as to rotate under the driving of the driving part.

[0029] Alternatively, the robot includes a moving body, a driving part and the driving paddle for driving on water described above, the driving part and the driving paddle are arranged on the moving body, and the rotating shaft of the driving paddle is rotatably connected to the driving part, so that the driving paddle drives the moving body to move under the driving of the driving part.

[0030] In some embodiments of the utility model, the robot further includes a cleaning mechanism arranged on the moving body, the cleaning mechanism is used for cleaning a surface to be cleaned or collecting garbage when cleaning on the water surface, and the cleaning mechanism and the driving paddle are arranged with a gap in the advancing direction of the moving body.

[0031] When the robot cleans the water surface, the cleaning mechanism and the driving paddle are both in contact with the water surface, and both are partially located below the water surface.

[0032] In some embodiments of the utility model, when the robot cleans the water surface by overturning, the central axis of the rotating shaft of the driving paddle is located near the water surface.

[0033] And / or, the draught depth of the driving paddle is greater than the draught depth of the cleaning mechanism.

[0034] And / or, the moving body is floated on the water surface obliquely to the direction of the driving paddle to the cleaning mechanism.

[0035] In some embodiments of the utility model, the cleaning mechanism includes a rolling brush, the draft of the rolling brush is 3mm~20mm, the draft of the driving paddle is 10mm~40mm, and the rotating speed n of the driving paddle ranges from 30rpm to 100rpm.

[0036] In some embodiments of the utility model, the moving body is formed with an inner cavity and an outer cavity which are separated upward and downward and communicated, the inner cavity is formed with a sealed cavity, and the outer cavity is provided with the cleaning mechanism and the driving paddle.

[0037] The driving part includes a driving motor and a transmission mechanism, the driving motor is arranged in the sealed cavity, and the transmission mechanism is connected with the output shaft of the driving motor and the rotating shaft of the driving paddle to drive the driving paddle to rotate.

[0038] And / or, the cleaning mechanism includes a rolling brush, the rotating speed of the rolling brush is greater than that of the driving paddle.

[0039] In some embodiments of the utility model, the driving paddle is located in the vertical projection of the moving body of the robot.

[0040] And / or, the driving paddle is provided with two driving paddles side by side, one end of the rotating shaft of one driving paddle is rotatably connected with one side of the driving part, and one end of the rotating shaft of the other driving paddle is rotatably connected with the other side of the driving part.

[0041] Compared with the prior art, the water driving paddle and the robot provided by the utility model have the following beneficial effects:

[0042] The water driving paddle is provided with the inclined paddle blades, and the included angle θ between the vector connection line from the connecting end to the free end of the paddle blade and the vector connection line from the connecting end to the shaft center of the rotating shaft is a right angle or an obtuse angle, so that when at least part of the paddle blades are submerged in water and rotate, the paddle blades with the right angle or the obtuse angle can avoid the driving paddle from bringing water out of the water surface, thereby avoiding the weakening of the driving effect, improving the driving efficiency of the driving paddle, and further improving the cleaning efficiency of the robot and the use experience of the user. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the scheme in the utility model, the following will be simply introduced the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are some embodiments or corresponding prior art of the utility model, for the ordinary skilled in the art, on the premise of not paying the creative labor, still can obtain other drawings according to these drawings. Among them:

[0044] Figure 1 It is the three-dimensional structure diagram of the driving paddle for driving on water from one perspective in the utility model example;

[0045] Figure 2 It is a side view of the driving paddle for driving on water in the utility model example;

[0046] Figure 3 It is Figure 1 The working principle schematic diagram of the driving paddle for driving on water in one state;In the drawing, the inclination angle θ of each paddle blade = 90 °, and the angle α of the vector connecting line from the free end of the paddle blade corresponding to the maximum water outlet angle to the axis of the rotating shaft to the water surface satisfies: sin α = (R2-h) / R2;

[0047] Figure 4 It is Figure 1 The working principle schematic diagram of the driving paddle for driving on water in another state;In the drawing, the inclination angle θ of each paddle blade = 90 °, and the angle α of the vector connecting line from the free end of the paddle blade corresponding to the maximum water outlet angle to the axis of the rotating shaft to the water surface satisfies: sin α = R1 / R2;

[0048] Figure 5 It is the three-dimensional structure diagram of the driving paddle for driving on water from another perspective in the utility model example;

[0049] Figure 6 It is Figure 5 The front view of the driving paddle for driving on water;

[0050] Figure 7 It is another side view of the driving paddle for driving on water in the utility model example;

[0051] Figure 8 It is the three-dimensional structure diagram of the robot from one perspective in the utility model example;

[0052] Figure 9 It is the plane section view of the robot in the water surface cleaning state after turning over in the utility model example;

[0053] Figure 10 It is one plane section view of the robot after removing some parts in the utility model example;

[0054] Figure 11It is a plane local section view of the robot in the utility model.

[0055] The signs in the drawings are as follows:

[0056] 1000, robot;

[0057] 100, driving paddle; 110, rotating shaft; 111, shaft center; 112, central axis; 113, transmission shaft; 114, shaft outer circle; 120, paddle blade; 121, connecting end; 122, free end; 123, paddle outer circle; 124, water outlet paddle blade; 130, connecting part;

[0058] 200, driving part; 210, driving motor; 220, transmission mechanism;

[0059] 300, moving body; 310, inner cavity; 311, sealed cavity; 320, outer cavity;

[0060] 400, cleaning mechanism; 410, rolling brush;

[0061] 500, water surface. DETAILED DESCRIPTION

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terminology used in the specification herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like specify relative positions according to the orientations shown in the drawings and are merely used for convenience in describing the present application, and cannot be understood as a limitation of the present application.

[0063] The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of the drawings are intended to cover the non-exclusive inclusion; the terms "first", "second" and the like in the specification and claims of the present application or the above description of the drawings are used to distinguish different objects, and are not used to describe a specific order. The meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0064] In the specification and claims of the present application and the above description of the drawings, when an element is referred to as "fixed to" or "mounted to" or "provided on" or "connected to" another element, it can be directly or indirectly on the other element. For example, when an element is referred to as "connected to" another element, it can be directly or indirectly connected to the other element.

[0065] Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combined with other embodiments.

[0066] The utility model embodiment provides a kind of driving paddle 100 for driving on water, which can be used for water robot to make worm wheel pumping for driving on water.In addition, the water robot can clean on water surface 500, of course, other operations can also be carried out on water surface 500, and it is not limited to only working on water surface 500 all the time, nor is it limited to moving on water all the time, as long as it can work on the liquid surface, such as scientific research, patrol water area, water plant protection, etc.

[0067] It should be noted that the "liquid" described herein can include water, other single liquid or mixed liquid, which is not particularly limited herein.For convenience of description, this paper mainly explains the robot 1000 that can clean on water.

[0068] It should also be noted that the "forward direction" described herein refers to the moving forward direction of the robot 1000, the "left-right direction" refers to the direction perpendicular to the moving forward direction of the robot 1000 in the horizontal plane, and the "up-down direction" refers to the height direction of the robot 1000.

[0069] As shown in Figures 1 to 4 The driving paddle 100 for driving on water includes a rotating shaft 110 and a plurality of paddle blades 120, each paddle blade 120 has opposite connecting ends 121 and free ends 122, wherein the connecting end 121 of each paddle blade 120 is the end close to the rotating shaft 110, and the free end 122 is the end away from the rotating shaft 110, and the connecting ends 121 of the plurality of paddle blades 120 are connected to the outer wall of the rotating shaft 110 with gaps.Exemplarily, when the outer wall surface of the rotating shaft 110 is a cylindrical surface, the connecting ends 121 of the plurality of paddle blades 120 are connected to the outer peripheral wall of the rotating shaft 110 with gaps in the circumferential direction, and optionally, the plurality of paddle blades 120 are connected to the outer wall of the rotating shaft 110 uniformly in the circumferential direction around the central axis 112 of the rotating shaft 110.

[0070] Of course, in actual application, the outer wall surface of the rotating shaft 110 can also be a column surface of other shapes, such as a square column surface, etc., which is not particularly limited herein.

[0071] In the embodiments of the utility model, as shown in Figures 2 to 4As shown, on the same cross section of the driving paddle 100, the connecting end 121, the free end 122 of each paddle blade 120 and the axis 111 of the rotating shaft 110 are sequentially connected to form a triangle, and as shown Figure 3 or Figure 4 As shown, the included angle θ between the vector connection line from the connecting end 121 to the free end 122 of the paddle blade 120 and the vector connection line from the connecting end 121 to the axis 111 of the rotating shaft 110 satisfies the following range: 90°≤θ<180°.

[0072] As can be understood, each paddle blade 120 of the driving paddle 100 is obliquely arranged, that is, the extension plane of each paddle blade 120 along the radial direction of the rotating shaft 110 is not in the same plane as the central axis 112 of the rotating shaft 110, and is not a right-angle paddle blade (corresponding to the case of θ=180°). Alternatively, each paddle blade 120 of the driving paddle 100 is obliquely arranged in the same direction, for example, all counterclockwise. In this way, on the one hand, when at least part of the paddle blades 120 are submerged in water and rotate, the paddle blades 120 obliquely arranged at an angle θ can avoid the driving paddle 100 from bringing water out of the water surface 500 to form a water circle phenomenon, so as to avoid weakening the driving effect, thereby facilitating to improve the driving efficiency of the driving paddle 100. On the other hand, compared with the right-angle paddle blade, the paddle blades 120 obliquely arranged occupy less space under the condition of providing the same propelling force, which facilitates to install the driving paddle 100 in a narrower application scenario.

[0073] In summary, compared with the prior art, the driving paddle 100 for driving on water has at least the following beneficial effects:

[0074] The driving paddle 100 for driving on water obliquely arranges each paddle blade 120 of the driving paddle 100, and makes the included angle θ between the vector connection line from the connecting end 121 to the free end 122 of the paddle blade 120 and the vector connection line from the connecting end 121 to the axis 111 of the rotating shaft 110 be a right angle or an obtuse angle. In this way, when at least part of the paddle blades 120 are submerged in water and rotate, the paddle blades 120 obliquely arranged at a right angle or an obtuse angle can avoid the rotating driving paddle 100 from bringing water out of the water surface 500 to form a water circle phenomenon, so as to avoid weakening the driving effect, thereby facilitating to improve the driving efficiency of the driving paddle 100.

[0075] In order for those skilled in the art to better understand the technical scheme of the present application, the following will combine the accompanying drawings to Figures 1 to 7 The technical scheme of the embodiments of the present application is clearly and completely described.

[0076] In some embodiments of the present application, in order to further improve the driving efficiency of the driving paddle 100, as shown Figures 2 to 4 The circumferential arrangement direction of the paddle blades 120 of the driving paddle 100 around the central axis 112 of the rotating shaft 110 (see Figure 6 ) is opposite to the rotating direction of the driving paddle 100.

[0077] Exemplarily, the blades 120 of the driving paddle 100 are arranged in anticlockwise circumferential gaps, and the driving paddle 100 rotates in clockwise direction, so that when the driving paddle 100 rotates, according to the mechanical principle, the effective force of the driving paddle 100 and water can be increased, so that the driving paddle 100 provides greater driving force, which is beneficial to improve the driving efficiency of the driving paddle 100.

[0078] Of course, in actual application, the blades 120 of the driving paddle 100 can also be arranged in clockwise circumferential gaps according to the situation, and the driving paddle 100 rotates in anticlockwise direction, and the principle is basically the same, which will not be repeated here.

[0079] In some embodiments of the utility model, when the driving paddle 100 drives on the water surface 500, in order to ensure that the driving paddle 100 does not circle water or circles less water when rotating, and to ensure that the water line does not exceed the driving paddle 100, or in other words, the driving paddle 100 only partially immerses in water, the maximum water angle A (see 3 or Figure 4 ) of the driving paddle 100 meets the following range:

[0080] α < A ≤ 2α ………………………………………… Formula 1

[0081] In formula 1, A is the angle of the vector connection of the free end 122 of the paddle blade 120 (briefly described as the water-out paddle blade 124) first out of the water surface 500 in the same period to the connecting end 121, that is, the included angle between the vector water-out paddle blade 124 (corresponding to the blue arrow direction of the water-out paddle blade 124) towards the rotating shaft 110 and the vector water surface 500 (corresponding to the blue arrow direction of the water surface 500) towards the rotating shaft 110. Understandably, the maximum water angle A of the driving paddle 100 is the water angle of the paddle blade 120 first out of the water surface 500 in the same period of the driving paddle 100, that is, the water-out angle of the water-out paddle blade 124.

[0082] In formula 1, as shown in Figure 3 Or Figure 4 α is the angle of the vector connection of the free end 122 of the paddle blade 120 corresponding to the maximum water angle, that is, the water-out paddle blade 124 to the shaft center 111 of the rotating shaft 110, that is, the water-out angle of the paddle blade when the paddle blade is vertical (corresponding to the critical value of the left end of the water-out paddle blade 124), and α meets the following:

[0083] sinα = (R2-h) / R2 ………………………………………… Formula 2

[0084] In formula 2, as shown in Figure 3 Or Figure 4As shown, h is the height difference between the free end 122 of the blade 120 that is inserted deepest underwater in the driving paddle 100 and the water surface 500, that is, the maximum draft depth of the driving paddle 100; R1 is the outer radius of the rotating shaft 110 (corresponding to the radius of the outer circle 114 of the green shaft); R2 is the outer radius of the driving paddle 100 (corresponding to the radius of the outer circle 123 of the pink paddle).

[0085] Exemplarily, as Figure 3 or Figure 4 shown, the outer circle 114 of the shaft (corresponding to the green circle) represents the outer wall cylindrical surface of the rotating shaft 110, and the outer circle 123 of the paddle (corresponding to the pink circle) represents the outer cylindrical surface formed by the free ends 122 of the blades 120 of the driving paddle 100 (corresponding to the pink straight lines), that is, the maximum outer diameter surface of the driving paddle 100. Optionally, the blade 120 of the driving paddle 100 is tangent to the outer wall cylindrical surface of the rotating shaft 110 (corresponding to the outer circle 114 of the shaft). For example, the angle between the water-out blade 124 and the line connecting its connecting end 121 to the axis 111 of the rotating shaft 110 is 90°, that is, θ = 90°.

[0086] In one state, as Figure 3 shown, when θ = (R2 - h) / R2.

[0087] In another state, when the water surface 500 is tangent to the rotating shaft 110 of the driving paddle 100, the maximum water-out angle A of the driving paddle 100 = 2α, and sinα = R1 / R2. Exemplarily, as Figure 4 shown, when θ = 90° and the water surface 500 is flush with the side of the rotating shaft 110 close to the water surface 500, that is, h = R2 - R1, the critical value α (refer to formula 1) of the left end of the maximum water-out angle A of the driving paddle 100 is α2, where sinα2 = R1 / R2. It should be noted that α2 < α1.

[0088] Optionally, in practical applications, the range of the maximum water-out angle A of the driving paddle 100, that is, the water-out angle A of the water-out blade 124, satisfies the following: 15° ≤ A ≤ 80°.

[0089] [[ID=, the maximum water-out angle A of the driving paddle 100 is the critical value α1 of the left end of the water-out angle of the water-out blade 124 (refer to formula 1), where sinα1 It should be noted that the above Figure 3 or Figure 4The schematic state is a special state such as an extreme state of the driving paddle 100. In actual application, when the rotating speed of the driving paddle 100 is at a low or medium speed, the maximum water outlet angle A of the driving paddle 100 can be increased to ensure that the driving paddle 100 does not circle water or circles less water and to improve the driving efficiency. For example, when the water outlet angle A of the water outlet paddle 124 is 45°, the rotating speed of the driving paddle 100 can be 60 revolutions per minute. For another example, when the water outlet angle A of the water outlet paddle 124 is 80°, the rotating speed of the driving paddle 100 can be 120 revolutions per minute, which can be determined according to actual needs.

[0090] Further optionally, the range of the maximum water outlet angle A of the driving paddle 100 can satisfy the following: 20°≤A≤40°, in which case the rotating speed range of the driving paddle 100 can be 30 revolutions per minute to 50 revolutions per minute.

[0091] It is particularly emphasized that the maximum water outlet angle of the driving paddle 100 is related to the maximum draft depth and rotating speed of the driving paddle 100, but the correlation is different in different cases, and no special corresponding relationship is given here. It is mainly ensured that the maximum water outlet angle A of the driving paddle 100 satisfies the above formula 1, and the maximum draft depth and rotating speed can be determined according to actual conditions. In general, it is only necessary to ensure that the driving efficiency of the driving paddle 100 is improved or is not affected, and the driving paddle 100 does not circle water or circles less water.

[0092] In some embodiments of the present application, when the driving paddle 100 is driving on the water surface 500, in order to ensure that the driving paddle 100 does not circle water or circles less water when rotating, and to ensure that the waterline does not exceed the driving paddle 100, or in other words, the driving paddle 100 is only partially submerged in water, the range of the maximum draft depth h (see Figure 3 or Figure 4 ) of the driving paddle 100 satisfies the following:

[0093] 5<h≤R2-R1 ………………………………………… Formula 3

[0094] In formula 3, h is the height difference between the free end 122 of the paddle 120 inserted deepest in water of the driving paddle 100 and the water surface 500, in mm; R1 is the outer radius of the rotating shaft 110; and R2 is the outer radius of the driving paddle 100. For example, in Figure 4 , when the water surface 500 and the shaft outer circle 114 of the driving paddle 100 are tangent to the side close to the water surface 500, that is, flush with the side close to the water surface 500 of the rotating shaft 110 of the driving paddle 100, h = R2-R1. For another example, in order to ensure that the driving paddle 100 has a certain draft to achieve the driving function, the maximum draft depth of the driving paddle 100 needs to be greater than 5 mm.

[0095] In some embodiments of the present application, as Figures 1 to 7As shown in the drawings, on the basis of ensuring the driving efficiency of the driving paddle 100, in order to simplify the overall structure of the driving paddle 100, each paddle blade 120 is in a straight strip shape.

[0096] And / or, in order to increase the contact area of the driving paddle 100 with water, the effective driving area of the driving paddle 100 is mentioned, so as to further improve the driving efficiency of the driving paddle 100, each paddle blade 120 is arranged along the length direction of the rotating shaft 110, and the projection of the connecting end 121 on the shaft plane of the rotating shaft 110 is parallel or intersects with the central axis 112 of the rotating shaft 110.

[0097] As shown in the drawings, Figure 1 , Figure 5 and Figure 6 , each paddle blade 120 is a straight strip paddle blade 120, and the length direction of each paddle blade 120 is parallel to the length direction of the rotating shaft 110. Of course, in other examples, each paddle blade 120 can also have other shapes, such as V-shaped, etc., which are not particularly limited here, as long as each paddle blade 120 is inclined to be arranged.

[0098] In some embodiments of the utility model, the length of part or all of the paddle blades 120 is greater than the length of the rotating shaft 110. On the one hand, the contact area of the driving paddle 100 with water can be increased by lengthening the paddle blades 120, which is beneficial to improve the flow rate around the driving paddle 100, thereby improving the driving efficiency of the driving paddle 100. On the other hand, by shortening the rotating shaft 110, the weight of the driving paddle 100 can be reduced, which is beneficial to the driving paddle 100 in a suspended state.

[0099] As shown in the drawings, Figure 1 , Figure 5 and Figure 6 , the length of all paddle blades 120 is greater than the length of the rotating shaft 110, and the length of all paddle blades 120 is the same, and the opposite ends of each paddle blade 120 are flush, so as to further increase the contact area of each paddle blade 120 with water and ensure the controllability of the water flow around the driving paddle 100.

[0100] Optionally, when the length of the paddle blade 120 is greater than the length of the rotating shaft 110, in order to realize the connection of each paddle blade 120 and the rotating shaft 110 to form the driving paddle 100, as shown in the drawings, Figure 1 and Figure 2 , the connecting end 121 of the paddle blade 120 is provided with a connecting part 130, and the paddle blade 120 is connected to the rotating shaft 110 through the connecting part 130. Among them, the end of the paddle blade 120 away from the rotating shaft 110 connected to the external driving part 200 protrudes out of the rotating shaft 110. In this way, by only lengthening the paddle blade 120 at the end away from the connecting external driving part 200, on the one hand, the stability of the external driving part 200 can be ensured, and on the other hand, the movement of the main body of the robot 1000, such as the main body 300, can be avoided. Interference is beneficial to improve the compactness of the overall structure.

[0101] Optionally, the paddle 120 is detachably connected to the rotating shaft 110, so that the number of the paddle 120 can be reduced or added according to different needs, so as to adapt the driving paddle 100 to different driving force requirements, and facilitate to improve the versatility of the driving paddle 100.

[0102] Alternatively, the paddle 120 is integrally formed on the rotating shaft 110, so as to facilitate to simplify the structure of the driving paddle 100, ensure the stability of the structure of the driving paddle 100, and facilitate to reduce the installation procedure of the robot 1000.

[0103] In some embodiments of the present application, at least one end of the rotating shaft 110 of the driving paddle is detachably rotatably connected to the external driving part 200, so as to facilitate the installation and maintenance of the robot 1000.

[0104] Optionally, in one specific embodiment, in order to realize the detachable installation of the driving paddle 100, as shown in Figure 1 、 Figures 5 to 7 , one end of the rotating shaft 110 of the driving paddle 100 is provided with a transmission shaft 113, and the rotating shaft 110 is rotatably connected to the external driving part 200 through the transmission shaft 113. Exemplarily, each paddle 120 extends out of the rotating shaft 110 to the side away from the transmission shaft 113. In actual application, the transmission shaft 113 is detachably rotatably connected to the external driving part 200, and the side of the driving paddle 100 away from the transmission shaft 113 is suspended, so as to realize the rotatable installation of the driving paddle 100. This structure not only has simple and reliable structure, but also has high driving efficiency.

[0105] Alternatively, in another specific embodiment, in order to realize the detachable installation of the driving paddle 100, one end of the rotating shaft 110 is provided with a shaft hole (not shown), and the rotating shaft 110 is inserted into the shaft hole through the external driving part 200, so as to be rotatably connected to the external driving part 200.

[0106] Of course, in other specific embodiments, the driving paddle 100 can also be rotatably connected to the external driving part 200 by using other existing or newly created structures, which will not be described one by one here.

[0107] Based on the above-mentioned driving paddle 100 for driving on water, the embodiments of the present application further provide a robot 1000, wherein the robot 1000 comprises a driving part 200 and the above-mentioned driving paddle 100 for driving on water, wherein the rotating shaft 110 of the driving paddle 100 is rotatably connected to the driving part 200, so as to be rotated under the driving of the driving part 200, and the robot 1000 as a whole can be moved or other related functions can be realized by the rotation of the driving paddle 100.

[0108] That is to say, the driving paddle 100 includes but is not limited to a power paddle, and correspondingly, the driving paddle 100 is not limited to be used for moving driving, and can also have other functions, for example, ensuring that the robot 1000 is stationary on the water surface 500 to perform work.

[0109] Alternatively, when the robot 1000 needs to have a self-moving function, the robot 1000 includes the moving body 300, the driving part 200, and the above-mentioned water driving driving paddle 100, wherein the driving part 200 and the driving paddle 100 are arranged on the moving body 300, and the rotating shaft 110 of the driving paddle 100 is rotationally connected to the driving part 200, so that the driving paddle 100 drives the moving body 300 to move under the driving of the driving part 200.

[0110] Understandably, under the driving of the driving part 200, the driving paddle 100 rotates, and the shape and angle of the paddle blade 120 of the driving paddle 100 in rotation will cause changes in the surrounding water flow. For example, when the driving paddle 100 rotates clockwise, the driving paddle 100 will generate a backward thrust, and according to the principle of interaction of forces, the water will also generate a forward thrust on the paddle blade 120 of the driving paddle 100 submerged in the water. This thrust can generate a forward propelling force for the moving body 300, so as to realize self-moving of the moving body 300.

[0111] In summary, compared with the prior art, the robot 1000 has at least the following beneficial effects: by adopting the above-mentioned water driving driving paddle 100, the robot 1000 can avoid the phenomenon of bringing water out of the water surface 500 when working on the water surface 500, which is beneficial to reduce the energy consumption of the robot 1000 and improve the working efficiency of the robot 1000, and is beneficial to improve the user experience.

[0112] In some embodiments of the present application, as shown in Figure 8 and Figure 9 On the basis of the robot 1000 including the moving body 300, in order to realize the moving cleaning function of the robot 1000, the robot 1000 further includes a cleaning mechanism 400 arranged on the moving body 300, wherein the cleaning mechanism 400 can be used for cleaning a to-be-cleaned surface (not shown in the figure) or collecting garbage when cleaning on the water surface 500. It should be noted that the to-be-cleaned surface described herein at least includes the water surface 500, and of course can also include the water bottom, the water line, etc.

[0113] Optionally, the cleaning mechanism 400 and the driving paddle 100 are arranged in a gap in the forward direction of the moving body 300, so as to reasonably arrange the components of the robot 1000, ensure the normal self-moving cleaning function, stability of the robot 1000, and simplify the overall structure.

[0114] In addition, when the robot 1000 is cleaning the water surface 500, in order to realize the water surface 500 cleaning function and the self-moving function of the robot 1000, the cleaning mechanism 400 and the driving paddle 100 are both in contact with the water surface 500, and both are partially located below the water surface 500. Alternatively, the water surface 500 is located above and below the height of the central axis 112 of the rotating shaft 110 of the driving paddle 100 to ensure that the robot 1000 has sufficient driving force to move by itself.

[0115] In some embodiments of the present application, the robot 1000 can float on the water surface 500 and move by itself for cleaning. It should be noted that the robot 1000 only needs to have a reverse water surface 500 cleaning function, and specific structures can be used to realize it, which will not be described in detail here.

[0116] For example, when the robot 1000 is cleaning the water surface 500 by overturning, as shown in Figure 9 , in order to provide sufficient driving force for the driving paddle 100, the central axis 112 of the rotating shaft 110 of the driving paddle 100 is located near the water surface 500, for example, as shown in Figure 3 , the side of the outer circle 114 of the shaft of the driving paddle 100 near the water surface 500 is located above the water surface 500; or as shown in Figure 4 , the side of the outer circle 114 of the shaft of the driving paddle 100 near the water surface 500 is flush with the water surface 500.

[0117] And / or, as shown in Figure 9 , the draft of the driving paddle 100 is greater than the draft of the cleaning mechanism 400. In this way, on the one hand, under the same energy, the driving paddle 100 can use a relatively small rotating speed to prevent the driving paddle 100 from easily circling water due to too large rotating speed, which causes the water flow to circle on the paddle blade 120, thereby reducing the effective thrust and water flow speed, which is beneficial to improve the driving force and driving efficiency of the driving paddle 100; on the other hand, if the draft of the cleaning mechanism 400 is smaller, the rolling brush 410 of the cleaning mechanism 400 can adapt to a higher rotating speed, thereby improving the cleaning efficiency of the cleaning mechanism 400 and making it have a better garbage collection function.

[0118] For example, the cleaning mechanism 400 includes a rolling brush 410, wherein in order to further improve the cleaning efficiency and self-moving ability of the robot 1000, the draft of the rolling brush 410 is 3mm-20mm; the draft of the driving paddle 100 is 10mm-40mm, and the rotating speed n of the driving paddle 100 is 30r / min-100r / min.

[0119] And / or, in order to provide sufficient driving force for the driving paddle and have better garbage collection function, the moving body 300 is inclined upward from the driving paddle 100 to the cleaning mechanism 400 on the water surface 500, that is, when the robot 1000 is cleaning the water surface 500, the side of the robot 1000 close to the cleaning mechanism 400 is tilted upward relative to the water surface 500.

[0120] In some embodiments of the present application, in the case that the robot 1000 has a self-moving cleaning function, as shown in the figure, Figures 9 to 11 The moving body 300 is formed with an inner cavity 310 and an outer cavity 320 which are separated upward and downward and communicated, wherein the inner cavity 310 is formed with a sealed cavity 311, and the sealed cavity 311 is mainly used for waterproof installation of electronic components and other functional components, and the outer cavity 320 is provided with the cleaning mechanism 400 and the driving paddle 100.

[0121] Understandably, since the cleaning mechanism 400 and the driving paddle 100 are operated in the area range defined by the outer cavity 320, rather than in a larger area range, it is difficult to operate the entire water area to be operated, so that the flow of water in the outer cavity 320 can be accelerated to some extent, on the one hand, it is beneficial to speed up the replacement of sewage and clean water, thereby improving the cleaning efficiency, on the other hand, it is beneficial to speed up the driving water flow of the driving paddle 100, so that the moving speed of the robot 1000 is faster, or under the same moving speed, the driving paddle 100 can adopt smaller rotating speed to achieve, thereby improving the driving efficiency and avoiding the phenomenon of circle water.

[0122] Optionally, in order to realize the driving effect of the driving paddle 100, as shown in the figure, Figure 10 And Figure 11 The driving part 200 of the robot 1000 comprises a driving motor 210 and a transmission mechanism 220, wherein the driving motor 210 is arranged in the sealed cavity 311; the transmission mechanism 220 is connected between the output shaft of the driving motor 210 and the rotating shaft 110 of the driving paddle 100 to drive the driving paddle 100 to rotate.

[0123] Exemplarily, a part of the transmission mechanism 220 is connected with the output shaft of the driving motor 210 in the inner cavity 310, and another part is connected with the rotating shaft 110 of the driving paddle 100 on the outer side of the moving body 300, so as to transmit the power of the driving part 200 to the driving paddle 100, thereby making the driving paddle 100 rotate.

[0124] Of course, in other examples, the transmission mechanism 220 can adopt other existing or newly created structures, which will not be described in detail here.

[0125] And / or, to realize the cleaning function of the cleaning mechanism 400, the cleaning mechanism 400 comprises a rolling brush 410, wherein the rotating speed of the rolling brush 410 is greater than the rotating speed of the driving paddle 100. Exemplarily, the transmission gear (not shown in the figure) of the transmission mechanism 220 can be set in size to realize the different rotating speed configurations of the rolling brush 410 and the driving paddle 100. Optionally, the rotating speed n of the driving paddle 100 ranges from 30 rpm to 100 rpm.

[0126] In some embodiments of the present application, the driving paddle 100 is located within the vertical projection of the moving body 300 of the robot 1000, so that when the driving paddle 100 is rotated by the driving part 200 to drive the moving body 300 to move, for example, when the robot 1000 cleans underwater, it can be ensured that the driving paddle 100 does not protrude from the moving body 300, avoiding the driving paddle 100 contacting the underwater surface to be cleaned in the height direction of the robot 1000, which can cause the robot 1000 to be unable to move or affect the stability of movement, and can also avoid the driving paddle 100 interfering with the parts such as the track outside the moving body 300 in the left-right direction of the moving body 300, which can affect the normal operation of the robot 1000.

[0127] And / or, as shown in Figure 8 , Figure 10 and Figure 11 , to improve the self-moving ability of the robot 1000 and simplify the overall structure, etc., the driving paddle 100 is provided with two, and the two driving paddles 100 are arranged side by side with a gap along the left-right direction of the robot 1000, wherein one end of the rotating shaft 110 of one driving paddle 100 is rotatably connected to one side driving part 200, and one end of the rotating shaft 110 of the other driving paddle 100 is rotatably connected to the other side driving part 200.

[0128] Optionally, the rotating center lines of the two driving paddles 100 are located on the same straight line to ensure the stability and controllability of the movement of the robot 1000. It should be noted that the sizes and structures of the two driving paddles are the same. Of course, in other cases, the sizes and structures of the two driving paddles 100 can also be different, which can be determined according to actual conditions.

[0129] In addition, during normal straight-line movement, the rotating speeds of the two driving paddles 100 are generally the same, and if turning is required, the two driving paddles 100 can be configured with different rotating speeds and / or turning directions to realize the turning of the robot 1000 in the corresponding direction.

[0130] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A drive paddle for water propulsion, characterized by, The water driving paddle comprises: a rotating shaft; and a plurality of paddle blades with opposite connecting ends and free ends, the connecting ends of the plurality of paddle blades being gap-connected to the outer wall of the rotating shaft; wherein, on the same cross section of the paddle, the connecting end, the free end of each paddle blade and the center axis of the rotating shaft are sequentially connected to form a triangle, and the included angle θ between the vector connecting line from the connecting end to the free end and the vector connecting line from the connecting end to the center axis of the rotating shaft ranges as follows: 90°≤θ<180°.

2. The drive paddle for driving over water according to claim 1, characterized by The circumferential arrangement direction of the paddle blades around the central axis of the rotating shaft is opposite to the rotating direction of the paddle.

3. The drive paddle for driving over water according to claim 1, characterized by When the paddle is working on the water surface, the maximum water angle A of the paddle ranges as follows: α<A≤2α wherein, A is the water surface angle of the vector connecting line from the free end to the connecting end of the paddle blade which is the first to emerge from the water surface in the same period; α is the water surface angle of the vector connecting line from the free end to the center axis of the rotating shaft of the paddle blade with the maximum water angle, and α ranges as follows: sinα=(R2-h) / R2 wherein, h is the height difference between the free end of the paddle blade inserted deepest into the water and the water surface in the paddle; R1 is the outer radius of the rotating shaft; R2 is the outer radius of the paddle.

4. The drive paddle for driving over water according to claim 3, characterized by When the water surface is tangent to the rotating shaft of the paddle, the maximum water angle A of the paddle is 2α, and sinα=R1 / R2.

5. The drive paddle for driving over water according to claim 3, characterized by The maximum water angle A of the paddle ranges as follows: 15°≤A≤80°.

6. The drive paddle for driving over water according to claim 5, characterized by The maximum water angle A of the paddle ranges as follows: 20°≤A≤40°.

7. The water drive drive paddle according to claim 1, characterized by, When the paddle is working on the water surface, the maximum water depth h of the paddle ranges as follows: 5<h≤R2-R1 wherein, h is the height difference between the free end of the paddle blade inserted deepest into the water and the water surface in the paddle, in mm; R1 is the outer radius of the rotating shaft; R2 is the outer radius of the paddle.

8. The drive paddle for driving over water according to claim 1, wherein Each paddle blade is in a straight strip shape; and / or, each paddle blade is arranged along the length direction of the rotating shaft, and the projection of the connecting end on the shaft plane is parallel or intersects with the central axis of the rotating shaft.

9. The water drive drive paddle according to claim 1, characterized by, The length of part or all of the paddle blades is greater than the length of the rotating shaft.

10. The drive paddle for driving over water according to claim 9, characterized by When the length of the paddle blade is greater than the length of the rotating shaft, the connecting end of the paddle blade is provided with a connecting part, the paddle blade is connected to the rotating shaft through the connecting part, and the end of the paddle blade away from the rotating shaft is connected to an external driving part and extends out of the rotating shaft.

11. The water drive drive paddle according to claim 1, characterized by, The paddle blade is detachably connected to the rotating shaft; or, the paddle blade is integrally formed on the rotating shaft.

12. The drive paddle for driving over water according to any one of claims 1 to 11, characterized in that, At least one end of the rotating shaft is detachably rotationally connected to an external driving part.

13. The drive paddle for driving over water according to claim 12, characterized by One end of the rotating shaft is provided with a transmission shaft, and the rotating shaft is rotationally connected to an external driving part through the transmission shaft. Or, one end of the rotating shaft is provided with a shaft hole, and the rotating shaft is inserted into the shaft hole to be rotationally connected to an external driving part.

14. A robot, characterized in that The robot comprises a driving part and the driving paddle for driving on water as claimed in any one of claims 1 to 13, and the rotating shaft of the driving paddle is rotatably connected to the driving part to rotate under the driving of the driving part. Alternatively, the robot comprises a moving body, a driving part and the driving paddle for driving on water as claimed in any one of claims 1 to 13, and the driving part and the driving paddle are arranged on the moving body, and the rotating shaft of the driving paddle is rotatably connected to the driving part to drive the moving body to move under the driving of the driving part.

15. The robot of claim 14, wherein, The robot further comprises a cleaning mechanism arranged on the moving body, and the cleaning mechanism is used for cleaning a surface to be cleaned or collecting garbage when cleaning on the water surface; the cleaning mechanism and the driving paddle are arranged in a gap in the advancing direction of the moving body. When the robot cleans on the water surface, the cleaning mechanism and the driving paddle are both in contact with the water surface, and both are partially below the water surface.

16. The robot of claim 15, wherein, When the robot cleans on the water surface by overturning, the central axis of the rotating shaft of the driving paddle is located near the water surface. And / or, the draft of the driving paddle is greater than the draft of the cleaning mechanism. And / or, the moving body is obliquely floated on the water surface from the driving paddle to the cleaning mechanism.

17. The robot of claim 16, wherein, The cleaning mechanism comprises a rolling brush, and the draft of the rolling brush is 3mm to 20mm; the draft of the driving paddle is 10mm to 40mm, and the rotating speed n of the driving paddle ranges from 30rpm to 100rpm.

18. The robot of claim 15, wherein, The moving body is formed with an inner cavity and an outer cavity which are separated and communicated vertically, and the inner cavity is formed with a sealed cavity; the cleaning mechanism and the driving paddle are arranged in the outer cavity. The driving part comprises a driving motor and a transmission mechanism, the driving motor is arranged in the sealed cavity; the transmission mechanism connects the output shaft of the driving motor and the rotating shaft of the driving paddle to drive the driving paddle to rotate; And / or, the cleaning mechanism comprises a rolling brush, and the rotating speed of the rolling brush is greater than the rotating speed of the driving paddle.

19. The robot of claim 14, wherein, The driving paddle is located in the vertical projection of the moving body of the robot. And / or, two driving paddles are arranged side by side, one end of the rotating shaft of one driving paddle is rotatably connected to one side of the driving part, and one end of the rotating shaft of the other driving paddle is rotatably connected to the other side of the driving part.

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