Robot driving device and robot

Abstract

The utility model is suitable for the field of robots, and discloses a driving device of a robot and the robot, the robot comprises a rotatable cleaning part, the driving device of the robot comprises a driving gear, advancing wheels, a driving paddle and a transmission part, the advancing wheels comprise the first advancing wheel and the second advancing wheel which are arranged front and back, and the first advancing wheel is provided with first annular teeth; the second traveling wheel is provided with second annular teeth, and the driving gear is meshed with the first annular teeth or the second annular teeth. The driving paddle and the cleaning piece are arranged at intervals in the advancing direction of the robot, the driving paddle is connected with a first driven gear, and the first driven gear is in transmission connection with the first advancing wheel. The transmission part is in transmission connection with the first advancing wheel and the second advancing wheel. The driving device provided by the embodiment of the utility model can drive the robot to advance underwater and can also drive the robot to advance on the water, so that the driving device can drive the robot on the water and underwater.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot drive device and a robot. Background Technology

[0002] Robots, such as pool cleaning robots, which are capable of underwater and / or surface cleaning, are used in places that require automated cleaning, such as home pools, public pools, and commercial pools, to remove debris such as leaves and foam.

[0003] In related technologies, the drive gears of cleaning robots transmit driving force to the drive wheel and roller brush assembly through multi-stage transition gears, enabling the cleaning robot to move and clean up trash in the pool. However, in existing cleaning robots, the same drive unit can only drive the robot to move on the water surface or underwater. Therefore, how to achieve both above-water and underwater driving of the robot using the same drive unit has become an urgent problem to be solved. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of this application is to provide a robot drive device and a robot, which aims to realize how to drive the robot to move on water and underwater through the same drive device.

[0005] To address the aforementioned technical problems, this application provides a drive device for a robot, the robot including a rotatable cleaning component, the drive device comprising:

[0006] Drive gears;

[0007] The traveling wheel includes a first traveling wheel and a second traveling wheel arranged in front and behind each other. The first traveling wheel has a first ring tooth, and the second traveling wheel has a second ring tooth. The drive gear meshes with the first ring tooth or the second ring tooth.

[0008] A drive paddle is spaced apart from the cleaning component along the robot's travel direction. The drive paddle is connected to a first driven gear, which is connected to the first travel wheel via a transmission.

[0009] The transmission components are respectively connected to the first traveling wheel and the second traveling wheel.

[0010] In some embodiments, the drive device further includes:

[0011] The first transmission gear meshes with the first annular gear;

[0012] The second transmission gear is located between the first driven gear and the first transmission gear, and meshes with both the first driven gear and the first transmission gear.

[0013] In some embodiments, the first driven gear meshes with the first annular tooth.

[0014] In some embodiments, the first traveling wheel includes:

[0015] First round body;

[0016] A first set of shafts is provided on the first wheel body, and the first wheel body is rotatably connected to the body of the robot through the first set of shafts;

[0017] The first annular tooth includes a first annular inner tooth or a first annular outer tooth, wherein the first annular inner tooth is disposed on the inner peripheral wall of the first wheel body, and the first annular outer tooth is disposed on the outer peripheral wall of the first sleeve shaft portion;

[0018] The first driven gear meshes with the first annular internal tooth or the first annular external tooth.

[0019] In some embodiments, the first traveling wheel includes:

[0020] First round body;

[0021] A first set of shafts is provided on the first wheel body, and the first wheel body is rotatably connected to the body of the robot through the first set of shafts;

[0022] The first annular tooth includes a first annular inner tooth and a first annular outer tooth. The first annular inner tooth is disposed on the inner peripheral wall of the first wheel body, and the first annular outer tooth is disposed on the outer peripheral wall of the first sleeve shaft portion.

[0023] The first driven gear meshes with one of the first annular internal teeth and the first annular external teeth, and the driving gear meshes with the other of the first annular internal teeth and the first annular external teeth.

[0024] In some embodiments, a first cavity is formed between the first wheel body and the first axle portion, and the first driven gear is housed in the first cavity.

[0025] In some embodiments, the drive device further includes:

[0026] A power source that drives the drive gear to rotate.

[0027] In some embodiments, the drive device further includes:

[0028] A gear set, wherein the power source drives the drive gear through the gear set.

[0029] In some embodiments, the gear set includes:

[0030] The third transmission gear is connected to the output execution end of the power source to rotate under the drive of the power source;

[0031] The fourth transmission gear meshes with the third transmission gear;

[0032] A drive shaft is provided, with the fourth drive gear sleeved at one end of the drive shaft to drive the drive shaft to rotate, and the drive gear sleeved at the other end of the drive shaft to follow the rotation of the drive shaft.

[0033] In some embodiments, the drive device further includes:

[0034] The power source and the gear set are both housed in the sealed cavity, and a portion of the gear set extends out of the sealed cavity to drive the drive gear.

[0035] In some embodiments, the drive paddle and the cleaning component are located on opposite sides of the robot's suction port; the drive paddle rotates in the same direction as the cleaning component to work together with the cleaning component to propel the water flow.

[0036] In some embodiments, the cleaning component is connected to a second driven gear, which is drively connected to the second traveling wheel.

[0037] In some embodiments, the second travel wheel includes:

[0038] Second round body;

[0039] The second set of shafts is provided on the second wheel body, and the second wheel body is rotatably connected to the body of the robot through the second set of shafts;

[0040] The second annular tooth includes a second annular inner tooth and / or a second annular outer tooth, wherein the second annular inner tooth is disposed on the inner peripheral wall of the second wheel body, and the second annular outer tooth is disposed on the outer peripheral wall of the second sleeve shaft portion;

[0041] The second driven gear meshes with the second annular internal gear or the second annular external gear.

[0042] In some embodiments, the second driven gear meshes with the second annular tooth.

[0043] In some embodiments, the transmission element is a track, which is disposed around the outer periphery of the first travel wheel and the second travel wheel.

[0044] In some embodiments, the first traveling wheel is provided with a first external tooth, the second traveling wheel is provided with a second external tooth, and the inner side of the transmission member is provided with a transmission internal tooth, wherein the first external tooth and the second external tooth mesh with the transmission internal tooth.

[0045] This application also provides a robot, which includes:

[0046] Organism;

[0047] A cleaning component, rotatably mounted on the body; and

[0048] The two aforementioned robot drive units are respectively located on the left and right sides of the robot body.

[0049] The robot drive device provided in this application has the following beneficial effects:

[0050] The drive device in this embodiment drives the first or second traveling wheel by setting a drive gear to mesh with a first or second ring gear. A transmission component is set to transmit power from one of the first and second traveling wheels to the other, so that one of the first and second traveling wheels can drive the other to rotate. In this way, both the first and second traveling wheels can rotate and move along the robot's direction of travel, thereby driving the robot to move underwater. During the underwater movement of the robot, the rotatable cleaning components on the robot can clean up the garbage underwater.

[0051] Meanwhile, the driving device in this embodiment is also provided with a driving paddle and a cleaning component spaced apart along the robot's direction of travel. The first traveling wheel can transmit the power of the driving gear or the power transmitted by the transmission component to the first driven gear, so that the driving paddle connected to the first driven gear can rotate. During the rotation of the driving paddle, the robot can be driven to travel on the water. At this time, the rotatable cleaning component on the robot can clean up the garbage on the water surface.

[0052] As can be seen from the above, the driving device in this application embodiment can drive the robot to move on water and also drive the robot to move underwater. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0054] Figure 1This is a schematic diagram of one possible structure of the robot provided in an embodiment of this application;

[0055] Figure 2 This is a partial cross-sectional view of the robot provided in an embodiment of this application;

[0056] Figure 3 yes Figure 2 A magnified view of a portion of point a;

[0057] Figure 4 yes Figure 2 A magnified view of a portion at point b in the middle;

[0058] Figure 5 This is a schematic diagram of a partially exploded structure of the robot provided in an embodiment of this application;

[0059] Figure 6 yes Figure 5 A magnified view of a portion of point c in the middle;

[0060] Figure 7 yes Figure 5 A magnified view of a portion at point d in the middle;

[0061] Figure 8 This is a partial structural schematic diagram of the driving device provided in the embodiments of this application;

[0062] Figure 9 This is another structural schematic diagram of the robot provided in the embodiments of this application;

[0063] Figure 10 yes Figure 9 A cross-sectional schematic diagram of the robot's drive mechanism.

[0064] Explanation of icon numbers:

[0065] 10. Robot drive mechanism; 20. Robot;

[0066] 100. Drive gear; 200. Traveling wheel; 210. First traveling wheel; 211. First ring gear; 2111. First internal ring gear; 212. First wheel body; 213. First set of shafts; 214. First bearing; 215. First cavity; 216. First support plate; 217. First external gear; 220. Second traveling wheel; 221. Second ring gear; 2211. Second internal ring gear; 222. Second wheel body; 223. Second set of shafts Shaft; 224, Second bearing; 225, Second support plate; 226, Second external gear; 300, Drive propeller; 310, First driven gear; 320, Propeller blade; 400, Transmission component; 410, Internal transmission gear; 500, First transmission gear; 600, Second transmission gear; 700, Power source; 800, Gear set; 810, Third transmission gear; 820, Fourth transmission gear; 830, Drive shaft; 900, Second driven gear;

[0067] 201. Body; 2011. First shaft; 2012. Second shaft; 202. Cleaning component; 203. Suction port. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0069] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0070] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0071] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0072] In related technologies, cleaning robots, such as pool robots, can move in water under the drive of a drive unit, so that the cleaning components on the robot can clean up garbage. However, when a cleaning robot is driven by the same drive unit, it can only move on the water surface or underwater, and it is not possible to use the same drive unit to achieve both above-water and underwater movement.

[0073] Therefore, refer to Figure 1 This application provides a robot drive device 10 and a robot 20. The robot 20 includes a rotatable cleaning component 202. The robot drive device 10 can drive the robot 20 to move on the water surface and underwater through the same drive device.

[0074] Reference Figures 1 to 4 The robot drive device 10 provided in this application embodiment includes a drive gear 100, a traveling wheel 200, a drive paddle 300, and a transmission component 400. The traveling wheel 200 includes a first traveling wheel 210 and a second traveling wheel 220 arranged front to back. The first traveling wheel 210 has a first annular tooth 211, and the second traveling wheel 220 has a second annular tooth 221. The drive gear 100 meshes with either the first annular tooth 211 or the second annular tooth 221. The drive paddle 300 and the cleaning component 202 are spaced apart along the traveling direction of the robot 20. The drive paddle 300 is connected to a first driven gear 310, which is drively connected to the first traveling wheel 210. The transmission component 400 is drively connected to both the first traveling wheel 210 and the second traveling wheel 220.

[0075] In this embodiment, the driving device drives the first traveling wheel 210 or the second traveling wheel 220 by setting the driving gear 100 to mesh with the first ring gear 211 or the second ring gear 221. A transmission component 400 is set to transmit power from one of the first traveling wheel 210 and the second traveling wheel 220 to the other, so that one of the first traveling wheel 210 and the second traveling wheel 220 can drive the other to rotate. In this way, both the first traveling wheel 210 and the second traveling wheel 220 can rotate and move along the traveling direction of the robot 20, thereby driving the robot 20 to move underwater, realizing underwater driving of the robot 20. During the underwater movement of the robot 20, the rotatable cleaning component 202 on the robot 20 can clean up the garbage underwater. The first traveling wheel 210 and the second traveling wheel 220 are arranged one in front of the other. It should be understood that one of the first traveling wheel 210 and the second traveling wheel 220 is the front wheel and the other is the rear wheel.

[0076] Meanwhile, the driving device in this embodiment is also provided with a drive paddle 300 and a cleaning component 202 spaced apart along the traveling direction of the robot 20. The first traveling wheel 210 can transmit the power of the drive gear 100 or the power transmitted by the transmission component 400 to the first driven gear 310, so that the drive paddle 300, which is connected to the first driven gear 310, can rotate. During the rotation of the drive paddle 300, the robot can be driven to travel on the water, thereby realizing the water driving of the robot 20. At this time, the rotatable cleaning component 202 on the robot can clean up the garbage on the water surface.

[0077] As can be seen from the above, the driving device of this embodiment can drive the robot 20 both underwater and above water, thus enabling the robot 20 to be driven both above and below water, facilitating surface and underwater cleaning. In specific applications, when the propulsion wheel 200 moves on a support surface such as the bottom or wall of a pool, the side of the robot 20 facing away from the support surface is considered its front. When the robot 20 is driven underwater, the first propulsion wheel 210 and the second propulsion wheel 220 roll on the support surface to propel the robot, enabling it to move forward, backward, or turn. When the robot 20 is driven underwater, its front faces the support surface with a distance between it and the support surface, and parts of the first propulsion wheel 210 and the second propulsion wheel 220 may be exposed above the water. In this case, the drive paddle 300 rotates to drive the robot 20 above water.

[0078] Reference Figure 1 , Figure 2 and Figure 3In some embodiments, the drive device further includes a first transmission gear 500 and a second transmission gear 600. The first transmission gear 500 meshes with the first ring gear 211, so that the first traveling wheel 210 can transmit the power from the drive gear 100 or the transmission member 400 to the first ring gear 211 to drive the first ring gear 211 to move, thereby driving the first transmission gear 500 to rotate.

[0079] Moreover, the second transmission gear 600 is located between the first driven gear 310 and the first transmission gear 500, and meshes with the first driven gear 310 and the first transmission gear 500 respectively. In this way, the second transmission gear 600 can rotate under the drive of the first transmission gear 500, and drive the first driven gear 310 to rotate. The rotation of the first driven gear 310 can drive the drive paddle 300 to rotate.

[0080] Combination Figure 9 and Figure 10 In other embodiments, the first driven gear 310 meshes with the first ring tooth 211, so that the first driven gear 310 rotates under the transmission action of the first ring tooth 211, thereby driving the drive paddle 300 to rotate.

[0081] In this embodiment, the second transmission gear 600 is configured to mesh with the first driven gear 310 and the first transmission gear 500 respectively, thereby realizing the transmission connection between the first ring gear 211 and the first driven gear 310. Compared with the first driven gear 310 meshing with the first ring gear 211 to realize the transmission connection between the first ring gear 211 and the first driven gear 310, the radius of the drive propeller 300 can be increased, thereby increasing the driving force of the drive propeller 300. Moreover, when using drive propellers 300 of the same radius, the configuration of the first transmission gear 500 and the second transmission gear 600 can effectively prevent the drive propeller 300 from extending out of the robot body 201. Thus, during the movement of the propulsion wheel 200 on the underwater support surface, the drive propeller 300 can be effectively prevented from hitting the bottom wall, side wall, or other support surfaces of the pool, thus avoiding interference between the drive propeller 300 and the support surface.

[0082] Reference Figure 1 , Figure 5 and Figure 6In some embodiments, the first traveling wheel 210 includes a first wheel body 212 and a first axle portion 213. The first axle portion 213 is disposed on the first wheel body 212, and the first wheel body 212 is rotatably connected to the body 201 of the robot 20 via the first axle portion 213, thus enabling the first traveling wheel 210 to be mounted on the body 201. In one embodiment, the body 201 has a first axle portion 2011 for the first axle portion 213 to be fitted onto. The first axle portion 213 is mounted on the first axle portion 2011 via a first bearing 214. The first bearing 214 ensures that the first axle portion 2011 does not rotate with the first axle portion 213, thereby effectively ensuring the structural stability of the body 201. In one embodiment, the first axle portion 213 is disposed at the center of the first wheel body 212 and rotates with the first wheel body 212 around the same axis, improving the rotational stability of the first traveling wheel 210.

[0083] Combination Figure 5 and Figure 8 In some embodiments, the first annular tooth 211 can be disposed on the inner peripheral wall of the first wheel body 212 or the outer peripheral wall of the first shaft portion 213, both of which can realize the transmission effect of the first traveling wheel 210 on the first driven gear 310. In one embodiment, the first annular tooth 211 includes a first annular inner tooth 2111, which is disposed on the inner peripheral wall of the first wheel body 212. The first driven gear 310 meshes with the first annular inner tooth 2111, and the first driven gear 310 can rotate under the drive of the first annular inner tooth 2111. In another embodiment, the first annular tooth 211 includes a first annular outer tooth (not shown), which is disposed on the outer peripheral wall of the first shaft portion 213. The first driven gear 310 meshes with the first annular outer tooth, and the first driven gear 310 can rotate under the drive of the first annular outer tooth.

[0084] Combination Figure 5 and Figure 8 In other embodiments, the first annular tooth 211 includes a first annular inner tooth 2111 and a first annular outer tooth. The first annular inner tooth 2111 is disposed on the inner peripheral wall of the first wheel body 212, and the first annular outer tooth is disposed on the outer peripheral wall of the first sleeve shaft portion 213. The first driven gear 310 meshes with one of the first annular inner tooth 2111 and the first annular outer tooth, and the drive gear 100 meshes with the other of the first annular inner tooth 2111 and the first annular outer tooth. It can be understood that the first driven gear 310 can be configured to mesh with the first annular inner tooth 2111, and the drive gear 100 can mesh with the first annular outer tooth, or the first driven gear 310 can be configured to mesh with the first annular outer tooth, and the drive gear 100 can mesh with the first annular inner tooth 2111.

[0085] In this embodiment, the drive gear 100 meshes with the first annular internal tooth 2111 or the first annular external tooth to drive the first traveling wheel 210 to rotate. The first driven gear 310 meshes with the first annular external tooth or the first annular internal tooth 2111 to achieve rotation under the transmission action of the first traveling wheel 210. In the embodiment where the first driven gear 310 meshes with the first annular internal tooth 2111 and the drive gear 100 meshes with the first annular external tooth, the drive gear 100 drives the first annular external tooth to move, thereby driving the first set of shafts 213 to rotate. Consequently, the first wheel body 212 can follow the rotation of the first set of shafts 213, and the first annular internal tooth 2111 follows the movement of the first wheel body 212 and drives the first driven gear 310 to rotate.

[0086] In the embodiment where the first driven gear 310 meshes with the first annular external tooth and the drive gear 100 meshes with the first annular internal tooth 2111, the drive gear 100 drives the first annular internal tooth 2111 to move, thereby driving the first wheel body 212 to rotate. Consequently, the first set of shafts 213 can follow the rotation of the first wheel body 212, and the first annular external tooth follows the movement of the first set of shafts 213 and drives the first driven gear 310 to rotate.

[0087] Combination Figure 3 , Figure 5 and Figure 8 In some embodiments, a first cavity 215 is formed between the first wheel body 212 and the first shaft portion 213, and the first driven gear 310 is housed in the first cavity 215 to facilitate the meshing of the first wheel body 212 with the first ring tooth 211. In embodiments where the drive device also includes a first transmission gear 500 and a second transmission gear 600, both the first transmission gear 500 and the second transmission gear 600 are housed in the first cavity 215, making reasonable use of the space between the first wheel body 212 and the first shaft portion 213, and improving the structural compactness of the first transmission gear 500, the second transmission gear 600, the first driven gear 310, and the first wheel body 212.

[0088] Combination Figure 5 and Figure 8 In one embodiment, the side of the first wheel body 212 away from the body 201 is provided with a plurality of first support plates 216 arranged around the periphery of the first set of shaft portions 213. The two ends of the first support plates 216 are respectively connected to the inner peripheral wall of the first wheel body 212 and the outer peripheral wall of the first set of shaft portions 213 to strengthen the connection between the first set of shaft portions 213 and the first wheel body 212 and effectively ensure the stability of the first cavity 215.

[0089] Reference Figure 1 and Figure 8In some embodiments, the driving device further includes a power source 700, which drives the connected drive gear 100 to rotate. In this embodiment, the power source 700 provides the driving force to drive the drive gear 100 to rotate. For example, the power source 700 is an electric motor.

[0090] Reference Figure 1 and Figure 8 In some embodiments, the drive device further includes a gear set 800, through which the power source 700 drives the drive gear 100. In this embodiment, the power source 700 drives the gear set 800 to move, thereby the gear set 800 transmits power to the drive gear 100, causing the drive gear 100 to rotate.

[0091] Reference Figure 8 In some embodiments, the gear set 800 includes a third transmission gear 810, a fourth transmission gear 820, and a transmission shaft 830. The third transmission gear 810 is connected to the output execution end of the power source 700 to rotate under the drive of the power source 700. The fourth transmission gear 820 meshes with the third transmission gear 810. The fourth transmission gear 820 is sleeved on one end of the transmission shaft 830 to drive the transmission shaft 830 to rotate. The drive gear 100 is sleeved on the other end of the transmission shaft 830 to follow the rotation of the transmission shaft 830.

[0092] In this embodiment, the gear set 800 includes a third transmission gear 810, a fourth transmission gear 820, and a transmission shaft 830. This simplifies the structure of the gear set 800 and transmits the power from the power source 700 to the drive gear 100 sequentially via the third transmission gear 810, the fourth transmission gear 820, and the transmission shaft 830. Specifically, the third transmission gear 810, driven by the power source 700, can drive the fourth transmission gear 820 to rotate. The fourth transmission gear 820 and the drive gear 100 are respectively fitted onto the two ends of the transmission shaft 830, so that the transmission shaft 830 can drive the drive gear 100 to rotate under the transmission action of the fourth transmission gear 820. The fourth transmission gear 820, the drive gear 100, and the transmission shaft 830 rotate around the same axis. The output execution end of the power source 700 can be understood as the output end of the output shaft of the power source 700.

[0093] Combination Figure 2 and Figure 8In some embodiments, the drive device further includes a sealed cavity (not shown), in which the power source 700 and the gear set 800 are both housed, with a portion of the gear set 800 extending out of the sealed cavity to drive the drive gear 100. In this embodiment, the robot 20 typically operates in underwater or above-water environments. The sealed cavity effectively waterproofs the power source 700 and the gear set 800, thereby ensuring their normal operation. In specific applications, the sealed cavity is located on the body 201.

[0094] Reference Figure 1 In some embodiments, the drive paddle 300 and the cleaning component 202 are located on both sides of the suction port 203 of the robot 20; the drive paddle 300 and the cleaning component 202 rotate in the same direction to jointly propel the water flow together with the cleaning component 202.

[0095] In this embodiment, the drive paddle 300 and the cleaning component 202 are respectively disposed on both sides of the suction port 203, and the drive paddle 300 and the cleaning component 202 rotate in the same direction. Therefore, the drive paddle 300 and the cleaning component 202 can together propel the water flow in the same direction, accelerating the water flow speed, such as increasing the speed of the water flow along the direction from the cleaning component 202 to the drive paddle 300. This accelerates the speed at which the water flows into the suction port 203, making the water flow smoother and improving the speed and efficiency of the cleaning component 202 in collecting waste, thus improving waste cleaning efficiency. Figure 5 and Figure 6 In one embodiment, the cleaning component 202 is a roller brush, and the drive paddle 300 includes a rotating shaft (not shown) and a plurality of paddle blades 320 arranged around the rotating shaft. The paddle blades 320 are connected to the rotating shaft. A first driven gear 310 is installed at the power input end of the rotating shaft. The rotation of the first driven gear 310 can drive the rotating shaft to rotate, thereby driving the paddle blades 320 to rotate so that the paddle blades 320 can move the water flow.

[0096] Reference Figure 2 and Figure 4 In some embodiments, the cleaning component 202 is connected to a second driven gear 900, which is kinetically connected to a second traveling wheel 220. The second driven gear 900 rotates under the transmission action of the second traveling wheel 220, thereby driving the cleaning component 202 to rotate and agitate the water flow. In this embodiment, the drive device, by providing the second driven gear 900, enables the drive device to drive the robot 20 both above and below water while simultaneously driving the cleaning component 202. In other embodiments, a drive structure can be additionally provided on the body 201 to drive the cleaning component 202 to rotate, in conjunction with related technologies; this is not described in detail in this embodiment.

[0097] Reference Figure 5 and Figure 7In some embodiments, the second traveling wheel 220 includes a second wheel body 222 and a second axle portion 223. The second axle portion 223 is disposed on the second wheel body 222, and the second wheel body 222 is rotatably connected to the robot body 201 via the second axle portion 223, thus enabling the second traveling wheel 220 to be mounted on the body 201. In one embodiment, the body 201 has a second axle portion 2012 for the second axle portion 223 to be fitted onto. The second axle portion 223 is mounted on the second axle portion 2012 via a second bearing 224. The second bearing 224 ensures that the second axle portion 2012 does not rotate with the second axle portion 223, thereby effectively ensuring the structural stability of the body 201. In one embodiment, the second axle portion 223 is disposed at the center of the second wheel body 222 and rotates around the same axis as the second wheel body 222, improving the rotational stability of the second traveling wheel 220.

[0098] At the same time, combined Figure 2 and Figure 4 The second annular tooth 221 includes a second annular inner tooth 2211 and / or a second annular outer tooth (not shown in the figure). The second annular inner tooth 2211 is disposed on the inner peripheral wall of the second wheel body 222, and the second annular outer tooth is disposed on the outer peripheral wall of the second shaft portion 223. The second driven gear 900 meshes with the second annular inner tooth 2211 or the second annular outer tooth.

[0099] It is understood that in this embodiment, the second annular tooth 221 may include a second annular inner tooth 2211. The second annular inner tooth 2211 is disposed on the inner peripheral wall of the second wheel body 222. The second driven gear 900 meshes with the second annular inner tooth 2211. In this way, the second annular inner tooth 2211 can move under the drive of the second wheel body 222 or the drive gear 100, thereby driving the second driven gear 900 to rotate, realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0100] Alternatively, the second annular tooth 221 can be provided, including a second annular external tooth. The second annular external tooth is located on the outer peripheral wall of the second shaft portion 223. The second driven gear 900 meshes with the second annular external tooth. In this way, the second shaft portion 223 drives the second annular external tooth to move under the drive of the second wheel body 222, or the drive gear 100 drives the second annular external tooth to move, thereby the second annular external tooth drives the second driven gear 900 to rotate, realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0101] Alternatively, a second annular gear can be provided, including a second annular inner gear 2211 disposed on the inner peripheral wall of the second wheel body 222 and a second annular outer gear disposed on the outer peripheral wall of the second shaft portion 223. The second driven gear 900 meshes with the second annular inner gear 2211 or the second annular outer gear. The second annular inner gear 2211 can follow the movement of the second wheel body 222, and the second annular outer gear can follow the movement of the second shaft portion 223. In this way, the second driven gear 900 can rotate under the drive of the second annular inner gear 2211 or the second annular outer gear, realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0102] Combination Figure 2 , Figure 4 and Figure 5 In one embodiment, a second cavity (not shown) is formed between the second wheel body 222 and the second set of shaft portion 223. The second driven gear 900 is housed in the second cavity. The side of the second wheel body 222 away from the body 201 is provided with a plurality of second support plates 225 arranged around the periphery of the second set of shaft portion 223. The two ends of the second support plates 225 are respectively connected to the inner peripheral wall of the second wheel body 222 and the outer peripheral wall of the second set of shaft portion 223 to strengthen the connection between the second set of shaft portion 223 and the second wheel body 222 and effectively ensure the stability of the second cavity.

[0103] Combination Figure 2 and Figure 4 In some embodiments, the second driven gear 900 meshes with the second ring tooth 221 to rotate under the transmission action of the second ring tooth 221. In this embodiment, the second driven gear 900 meshes with the second ring tooth 221 to realize the transmission connection between the second driven gear 900 and the second traveling wheel 220.

[0104] Reference Figure 5 In some embodiments, the transmission component 400 is a track, which is arranged around the outer periphery of the first travel wheel 210 and the second travel wheel 220. In this embodiment, the transmission component 400 is set as a track, which can improve the stability of the robot 20 when the first travel wheel 210 and the second travel wheel 220 drive it to move on a supporting surface such as the bottom or wall of a pool.

[0105] Reference Figure 5 In some embodiments, the first traveling wheel 210 is provided with a first external tooth 217, the second traveling wheel 220 is provided with a second external tooth 226, and the inner side of the transmission member 400 is provided with a transmission internal tooth 410. The first external tooth 217 and the second external tooth 226 both mesh with the transmission internal tooth 410, so as to realize the transmission connection between the transmission member 400 and the first traveling wheel 210 and the second traveling wheel 220 respectively.

[0106] Combination Figure 1The robot 20 in this embodiment includes a body 201, a cleaning component 202, and the aforementioned robot drive device 10. The cleaning component 202 is rotatably mounted on the body 201, and the two drive devices are respectively mounted on the left and right sides of the body 201.

[0107] It is understood that the robot 20 in this embodiment of the application, by using the aforementioned robot drive device 10, can both drive the robot 20 to move underwater for underwater cleaning and drive the robot 20 to move on the water surface for water surface cleaning. Specifically, during underwater cleaning, the cleaning component 202 can clean debris from supporting surfaces such as the bottom and walls of the pool; during surface cleaning, the cleaning component 202 can clean debris such as fallen leaves.

[0108] Reference Figure 1 In some embodiments, the body 201 is provided with a suction port 203 located between the cleaning component 202 and the drive paddle 300. The suction port 203 is connected to a garbage collection bin (not shown) built into the body 201. The cleaning component 202 can agitate the water flow so that the water carrying garbage flows into the suction port 203. The garbage can be intercepted and collected in the garbage collection bin, and the water flow can be discharged from the drain port (not shown) on the body 201.

[0109] In practical applications, when the robot 20 is cleaning underwater, the suction port 203 is located at the bottom of the body 201. When the robot 20 is cleaning on the water surface, the robot 20 will be flipped so that the suction port 203 faces away from the support surface, so that when cleaning on the water surface, the cleaning component 202, with the cooperation of the drive paddle 300, can move the water flow into the suction port 203.

[0110] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of this application's specification and drawings under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A drive device of a robot including a rotatable cleaning member, characterized by, The driving device comprises: a driving gear; traveling wheels, comprising a first traveling wheel and a second traveling wheel arranged in front and back, the first traveling wheel having a first annular gear, and the second traveling wheel having a second annular gear, the driving gear being engaged with the first annular gear or the second annular gear; a driving paddle arranged in the direction of travel of the robot with the cleaning member, the driving paddle being connected with a first driven gear, the first driven gear being in transmission connection with the first traveling wheel; a transmission member being in transmission connection with the first traveling wheel and the second traveling wheel respectively.

2. The drive device of the robot according to claim 1, characterized by, The driving device further comprises: a first transmission gear engaged with the first annular gear; a second transmission gear located between the first driven gear and the first transmission gear and engaged with the first driven gear and the first transmission gear respectively.

3. The drive device of the robot according to claim 1, characterized by The first driven gear is engaged with the first annular gear.

4. The drive device of the robot according to claim 1, characterized by The first traveling wheel comprises: a first wheel body; a first sleeve shaft portion arranged on the first wheel body, the first wheel body being rotatably connected to the body of the robot through the first sleeve shaft portion; The first annular gear comprises a first annular inner gear or a first annular outer gear, the first annular inner gear being arranged on the inner circumferential wall of the first wheel body, and the first annular outer gear being arranged on the outer circumferential wall of the first sleeve shaft portion; The first driven gear is engaged with the first annular inner gear or the first annular outer gear.

5. The drive device of the robot according to claim 1, characterized by The first traveling wheel comprises: a first wheel body; a first sleeve shaft portion arranged on the first wheel body, the first wheel body being rotatably connected to the body of the robot through the first sleeve shaft portion; The first annular gear comprises a first annular inner gear and a first annular outer gear, the first annular inner gear being arranged on the inner circumferential wall of the first wheel body, and the first annular outer gear being arranged on the outer circumferential wall of the first sleeve shaft portion; The first driven gear is engaged with one of the first annular inner gear and the first annular outer gear, and the driving gear is engaged with the other one of the first annular inner gear and the first annular outer gear.

6. The drive device of the robot according to claim 4 or 5, characterized in that, A first cavity is formed between the first wheel body and the first sleeve shaft portion, and the first driven gear is accommodated in the first cavity.

7. The drive device of the robot according to claim 1, characterized by The driving device further comprises: a power source, the power source being drivingly connected to the driving gear to drive the driving gear to rotate.

8. The drive device of the robot according to claim 7, characterized by, The driving device further comprises: a gear set, the power source being drivingly connected to the driving gear through the gear set.

9. The drive device of the robot according to claim 8, characterized by, The gear set comprises: a third transmission gear connected to the output execution end of the power source to rotate under the driving of the power source; a fourth transmission gear engaged with the third transmission gear; a transmission shaft, the fourth transmission gear being sleeved on one end of the transmission shaft to drive the transmission shaft to rotate, and the driving gear being sleeved on the other end of the transmission shaft to rotate with the transmission shaft.

10. The drive device of the robot according to claim 8 or 9, characterized in that, The driving device further comprises: a sealed cavity, the power source and the gear set being accommodated in the sealed cavity, and part of the gear set extending out of the sealed cavity to be in transmission connection with the driving gear.

11. The drive device of the robot according to claim 1, characterized by, The driving paddle and the cleaning member are respectively located at two sides of a suction port of the robot; the driving paddle and the cleaning member have the same rotating direction to jointly move water flow.

12. The drive device of the robot according to claim 1, characterized by, The cleaning member is connected with a second driven gear, and the second driven gear is in transmission connection with the second traveling wheel.

13. The drive device of the robot according to claim 12, characterized by, The second traveling wheel comprises: a second wheel body; a second sleeve shaft part provided on the second wheel body, and the second wheel body is rotatably connected to a body of the robot through the second sleeve shaft part; the second ring gear comprises a second ring inner gear and / or a second ring outer gear, the second ring inner gear is provided on an inner circumferential wall of the second wheel body, and the second ring outer gear is provided on an outer circumferential wall of the second sleeve shaft part; the second driven gear is in meshing connection with the second ring inner gear or the second ring outer gear.

14. The drive device of the robot according to claim 13, characterized by The second driven gear is in meshing connection with the second ring gear.

15. The drive device of the robot according to claim 1, characterized by, The transmission member is a traveling track, and the transmission member is arranged around the outer circumferences of the first traveling wheel and the second traveling wheel.

16. The drive device of the robot according to claim 1, characterized by The first traveling wheel is provided with a first outer gear, the second traveling wheel is provided with a second outer gear, and an inner side of the transmission member is provided with a transmission inner gear, and the first outer gear and the second outer gear are in meshing connection with the transmission inner gear.

17. A robot, characterized in that The robot comprises: a body; a cleaning member rotatably arranged on the body; and two driving devices according to any one of claims 1-16, and the two driving devices are respectively arranged on left and right sides of the body. ​

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