Snorkeling module for underwater robot and underwater robot system
By using the servo motor and motor in the snorkeling module, and leveraging the gyro effect and monitoring device, the pool robot can tilt its head up or down, solving the problem of poor flexibility in existing technologies and improving cleaning efficiency and automation level.
Patent Information
- Application Number
- CN202520410390.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-10
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-03-10
AI Technical Summary
Existing pool robots are difficult to perform actions such as tilting their heads up or down, have poor flexibility, are easily trapped or stuck by drain covers, and have difficulty climbing walls for cleaning, resulting in limited cleaning effectiveness.
Employing a snorkeling module, the system utilizes a combination of servo motors and electric motors to achieve head-up or head-down movement of the main body through the law of conservation of angular momentum. Combined with a forward propulsion mechanism, it achieves surfacing or diving, maintains balance using the gyro effect, and is equipped with a monitoring device to adjust the tilt and rotation angle of the main body in real time.
It improves the flexibility and adaptability of pool robots, enabling them to move freely along the walls, solving problems such as getting stuck in drain covers and steps, improving automated cleaning efficiency, and saving manpower.
Smart Images
Figure CN223919557U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of automation equipment, more particularly to a snorkeling module for underwater robot and underwater robot system. BACKGROUND
[0002] With the development of intelligent hardware technology, intelligent cleaning devices have been widely used in various fields of production and life, and the pool robot is one of them. As a representative of modern intelligent cleaning technology, the pool robot is a high-efficiency device that realizes full-automatic pool cleaning through autonomous navigation and intelligent sensing system. It integrates multi-disciplinary technologies such as mechanical engineering, fluid dynamics and artificial intelligence, and can complete the omnidirectional cleaning of the pool bottom, wall and waterline without relying on manual intervention. The pool robot has the advantages of efficient cleaning, intelligent control, energy saving and environmental protection, safety and durability, and has been extended from private pool to multiple scenarios in practical application.
[0003] However, the existing pool robot is difficult to realize the action of looking up or looking down, cannot freely float and sink, has poor flexibility, is easy to be trapped by the drain cover or stuck by the steps, and is difficult to realize wall cleaning, with limited cleaning effect. SUMMARY
[0004] The utility model aims at overcoming at least one defect (deficiency) of the prior art, providing a snorkeling module for underwater robot and underwater robot system, to improve the flexibility of underwater robot.
[0005] The technical scheme adopted by the utility model is to provide a snorkeling module for underwater robot, the underwater robot comprising a robot main body, the snorkeling module comprising a power supply device, a driving device, a rotating block and a rudder; the power supply device is used to provide power supply for the driving device; the rudder comprises a rudder body and a rudder shaft connected thereto, and the rudder body is connected to the robot main body; the driving device comprises a body and an output shaft connected thereto, and the body is connected to the rudder shaft, and the output shaft is connected to the rotating block.
[0006] In the technical scheme, the rudder body drives the rudder shaft to rotate, and the body drives the output shaft to rotate; the robot main body is a structure with a forward power mechanism, such as a water pump.
[0007] According to the law of conservation of angular momentum, the direction of the angular momentum of a rotating object is consistent with the direction of its rotation axis, the greater the angular momentum, that is, the faster the rotation speed, the more the object remains stationary; the balance of angular momentum conservation and torque action shows the fixed-axis nature of the gyro effect, and the rotation axis of the fast rotating object has the characteristics of resisting external force interference and keeping the direction stable. In the technical solution, the driving device drives the rotating block to rotate, and due to the gyro effect, the machine body connected to the output shaft will keep balance, fixing the rotating rudder shaft, according to Newton's third law, the rudder body connected with the rudder stator will be reversed and rotated, thereby driving the whole machine body to rotate, realizing the head-up or head-down of the machine body, and realizing the floating or diving under the cooperation of the forward movement mechanism of the machine body, improving the flexibility and adaptability, realizing the free wall-lying activity of the pool robot, and the cleaning effect is more comprehensive, meeting more cleaning needs; at the same time, the free floating and diving also solves the problems of drain cover escape and step jamming; compared with the traditional manual intervention of floating, the technical solution improves the automation of the pool robot, improves the work efficiency, and saves manpower.
[0008] The rudder and the machine body can be detachably connected or fixedly connected. The machine body and the rudder shaft of the driving device can be detachably connected or fixedly connected, preferably fixedly connected. When the rudder shaft rotates, there will be a reaction force between the machine body and the rudder shaft during the process of keeping balance, and if they are detachably connected, they may move relatively, which will increase the control difficulty. Therefore, the machine body and the rudder shaft are preferably fixedly connected, which reduces the installation difficulty and ensures that the movement of the two can be accurately controlled, and the angle of the head-up or head-down of the machine body can be more accurately controlled.
[0009] Further, the driving device is an electric motor, and the rotation speed of the electric motor is 2000 r / min to 3000 r / min.
[0010] In the technical solution, the faster the rotating block rotates, the more significant the gyro effect, and the stronger the stability of the motor output shaft, which improves the stability of the motor body. If the rotating speed of the rotating block is too low, the stability of the motor is insufficient, and the motor body is easy to tilt under the drive of the rudder shaft, which weakens the fixing effect of the rudder shaft and affects the reaction force received by the rudder body, so that it cannot reach the target angle; if the rotating speed of the rotating block is too high, it will cause waste of energy. Therefore, reasonable setting of the rotation speed of the motor can ensure that the motor body maintains balance under the condition of saving energy, so that the rudder can be rotated to the target angle, thereby adjusting the rotation angle of the machine body.
[0011] Further, the torque of the rudder is 0.8 to 1.5 Nm.
[0012] Further, the power supply device comprises a wireless input coil and a wireless output coil, the wireless input coil is connected to the machine body, and the wireless output coil is fixedly connected to the rudder shaft or the machine body.
[0013] In the technical solution, when the wireless output coil is powered, the wireless input coil generates an induced voltage and an induced current, thereby supplying power to the driving device. The wireless output coil can be connected to the rudder shaft or the machine body, as long as it can supply power to the driving device. Since the rudder shaft drives rotation, the fixed connection prevents the relative movement of the wireless output coil and the rudder shaft or the machine body from affecting power supply, thereby ensuring the smooth operation of the driving device.
[0014] The wireless input coil and the wireless output coil form a wireless charging coil to supply power to the driving device. The two coils are in non-contact, and when the wireless output coil rotates with the rudder shaft or the machine body, the two coils will not cause wear and tear, and can still normally supply power to the driving device, ensuring the normal rotation of the rotating block, thereby ensuring the normal floating and diving of the machine body, while reducing the probability of wear and tear of the power supply device and prolonging the service life of the power supply device.
[0015] Further, the floating and diving module further comprises a fixing seat, and the rudder body is connected to the machine body through the fixing seat.
[0016] In the technical solution, the fixing seat is connected to the machine body, and the rudder body and the fixing seat can be detachably connected or fixedly connected. The rudder body is connected to the machine body through the fixing seat, which can improve the firmness of the connection. Preferably, the two are detachably connected, which facilitates the maintenance of the rudder body.
[0017] Further, the fixing seat is connected with a vertical plate assembly, the vertical plate assembly comprises at least a first vertical plate and a second vertical plate, and the two ends of the rudder body are fixed on the first vertical plate and the second vertical plate respectively.
[0018] In the technical solution, the vertical plate assembly can comprise 2, 3 or 4 vertical plates, etc. The multiple vertical plates can increase the stress points when the rudder body drives the machine body to rotate, thereby ensuring the stability of the rudder body driving the machine body to rotate. Compared with the middle part of the rudder body being fixed on the vertical plate, the two ends of the rudder body being fixed on the first vertical plate and the second vertical plate respectively, the vertical plate position setting of the present solution is more labor-saving and has higher stability, i.e. the rudder body can drive the machine body to rotate with less force, thereby saving energy.
[0019] Further, the rudder shaft is connected with a fixing ring, and the fixing ring is sleeved and fixed to the outer side of the machine body.
[0020] In the technical solution, the fuselage is fixed on the rudder shaft through the fixing ring, compared with the fuselage being directly fixed on the rudder shaft, the contact area of the fixing ring and the fuselage is larger, the firmness of the motor rudder shaft connection is improved, the fixing effect of the fuselage on the rudder shaft is improved, and the rudder drives the machine body to smoothly lift the head or lower the head.
[0021] Further, the snorkeling module is arranged at the front of the machine body.
[0022] Further, the monitoring device is further arranged, the monitoring device monitors the inclination degree of the machine body, and the rotation angle of the rudder body is adjusted; the monitoring device monitors the inclination degree of the fuselage, and the rotation speed of the rotating block or the torsion angle of the rudder shaft is adjusted.
[0023] In the technical solution, when the pool robot works underwater, the pool robot is subjected to upward thrust or downward pressure from water body fluctuation, when the monitoring device monitors that the inclination degree of the machine body does not reach a target angle or is excessively inclined, the machine body is controlled to rotate to the target angle by adjusting the rotation angle of the rudder, so that the influence of water body fluctuation is avoided, the pool robot is further ensured to snorkel at a predetermined angle, and the control accuracy is improved.
[0024] The monitoring device also monitors the inclination degree of the fuselage, if the machine is not kept in a balanced state, the rotation speed of the rotating block or the torsion angle of the rudder shaft is adjusted to keep the fuselage balanced, the fixing effect of the fuselage on the rudder shaft is ensured, the rotation angle of the rudder itself is better controlled, and the rotation angle of the machine body is further accurately regulated.
[0025] Another object of the utility model is to provide an underwater robot system, including machine body, machine body is connected with the snorkeling module of above-mentioned any kind.
[0026] Compared with the prior art, the utility model has the advantages that:
[0027] (1) the utility model discloses a machine body through angular momentum conservation law, motor and rudder cooperation, realize the machine body's head or lower head, under the cooperation of machine body forward power mechanism, realize the floating or diving, improve flexibility and adaptability, realize the free wall activity of pool robot, and the cleaning effect is more comprehensive, satisfies more cleaning demand;At the same time, free floating and diving also solve the problem of drain cover escape, card step etc.;Compared with the traditional manual intervention snorkeling, the technical solution improves the automation of pool robot, improves work efficiency, and saves manpower.
[0028] (2) The utility model discloses through monitoring device real -time monitoring the inclination degree of machine main body, timely adjustment machine main body's rotation angle, accurate control the head of the bed and subsidence, and real -time monitoring whether the fuselage is inclined, guarantee its fixed effect to rudder machine axle, further accurate control machine main body's rotation angle. BRIEF DESCRIPTION OF DRAWINGS
[0029] Figure 1 For the underwater robot system of the snorkeling module of the utility model.
[0030] Figure 2 For the structure explosion map of the snorkeling module of the utility model.
[0031] Figure 3 For the structure schematic view of the driving device and the rotating block of the utility model.
[0032] Figure 4 For the structure schematic view of the fixed seat and the rudder machine of the utility model.
[0033] Reference signs: machine main body 100, driving device 200, fuselage 210, output shaft 220, power supply device 300, wireless output coil 310, wireless input coil 320, rotating block 400, rudder machine 500, rudder machine body 510, rudder machine axle 520, fixed ring 521, fixed seat 600, first vertical piece 610, second vertical piece 620. DETAILED DESCRIPTION
[0034] The utility model discloses the drawing only for example explanation, can not be understood as the limitation of the utility model. In order to better illustrate the following embodiment, the drawing some components will have the omission, enlargement or reduction, and the size of actual product is not represented;For the person skilled in the art, the drawing some well-known structure and its explanation can be omitted and be understood.
[0035] Embodiment 1
[0036] Reference Figures 1 to 4 The embodiment provides a snorkeling module for underwater robot, the underwater robot includes machine main body 100, the snorkeling module includes power supply device 300, driving device 200, rotating block 400 and rudder machine 500;
[0037] Power supply device 300 is used to provide power supply for driving device;Rudder machine 500 includes connected rudder machine body 510 and rudder machine axle 520, and the rudder machine body 510 is connected to machine main body 100;Driving device 200 includes connected fuselage 210 and output shaft 220, and the fuselage 210 is connected to the rudder machine axle 500, and the output shaft 220 is connected rotating block 400.
[0038] The rudder body 510 drives the rudder shaft 520 to rotate, and the fuselage 210 drives the output shaft 220 to rotate; the machine body 100 is a structure with a forward power mechanism, for example, a water pump.
[0039] The driving device 200 drives the rotating block 400 to rotate, and due to the law of conservation of angular momentum, the fuselage 210 connected to the output shaft 220 remains balanced, fixing the rotating rudder shaft 520, at this time the rudder body 510 of the rudder 500 is reversed by the reverse torque and rotates in the opposite direction, thereby driving the entire machine body 100 to rotate, realizing the head-up or head-down of the machine body 100, and realizing the floating or diving under the cooperation of the forward power mechanism of the machine body 100, improving flexibility and adaptability, realizing the free wall-lying activity of the pool robot, and the cleaning effect is more comprehensive, meeting more cleaning needs; at the same time, the free floating and diving also solve the problems of drain cover escape and step jamming; compared with the traditional manual intervention of floating, the technical scheme improves the automation of the pool robot, improves the work efficiency, and also saves manpower.
[0040] The rudder 500 and the machine body 100 can be detachably connected or fixedly connected. The fuselage 210 of the driving device 200 and the rudder shaft 520 can be detachably connected or fixedly connected, preferably fixedly connected. When the rudder shaft 520 rotates, the fuselage 210 will have a reaction force acting on the rudder shaft 520 during the process of keeping balance. If they are detachably connected, they may move relative to each other, which will increase the difficulty of control. Therefore, the fuselage 210 and the rudder shaft 520 are preferably fixedly connected, which reduces the installation difficulty and ensures that the movement of the two can be precisely controlled, and the angle of the head-up or the angle of the head-down of the machine body 100 can be more accurately controlled.
[0041] The rotating block 400 is preferably a circular block, and the output shaft 220 is connected to the center of the circular block. The material of the circular block is preferably stainless steel.
[0042] The driving device 200 is a motor, and the rotating speed of the motor is 2000 r / min to 3000 r / min. The torque of the rudder 500 is 0.8 to 1.5 newton-meters
[0043] The faster the rotating block 400 rotates, the more significant the gyroscopic effect is, and the stronger the stability of the motor output shaft 220 is, and the stability of the motor body 210 is improved. If the rotating speed of the rotating block 400 is too low, the stability of the motor is insufficient, and the motor body 210 is easy to tilt under the driving of the rudder shaft 520, the fixing effect of the rudder shaft 520 is weakened, and the reaction force acting on the rudder body 510 is affected, so that the rudder body 510 cannot reach the target angle; if the rotating speed of the rotating block 400 is too high, energy is wasted, therefore, reasonable setting of the motor rotating speed can ensure that the motor body 210 maintains balance under the condition of saving energy, and the rudder 500 can be rotated to the target angle, so as to adjust the rotating angle of the machine body 100.
[0044] The snorkeling module further comprises a fixing seat 600, and the rudder body 510 is connected to the machine body 100 through the fixing seat 600. The fixing seat 600 is connected with a vertical piece assembly, and the vertical piece assembly at least comprises a first vertical piece 610 and a second vertical piece 620. The two ends of the rudder body 510 are fixed on the first vertical piece 610 and the second vertical piece 620 respectively.
[0045] In the technical solution, the vertical piece assembly can comprise two, three or four vertical pieces, and the setting of multiple vertical pieces can increase the stress points when the rudder body drives the machine body to rotate, so as to ensure the stability of the rudder body driving the machine body to rotate. Compared with the middle part of the rudder body being fixed on the vertical piece, the two ends of the rudder body are fixed on the first vertical piece 610 and the second vertical piece 620 respectively, the position of the vertical piece in the present solution is more labor-saving, and the stability is higher, that is, the rudder body can drive the machine body to rotate with less force, and energy is saved.
[0046] Specifically, the machine body 100 is provided with an accommodating space matched with the fixing seat 600, and the fixing seat 600 is embedded in the accommodating space, so that the fixing seat 600 does not occupy too much space of the machine body 100, and the overall structure is compact. The upper parts of the first vertical piece 610 and the second vertical piece 620 are provided with circular holes, and a plurality of fixing holes are further provided around the circular hole on the second vertical piece 620. The rudder 500 passes through the circular hole, so that the first vertical piece 610 is sleeved and connected to the rudder body 510; the second vertical piece 620 is sleeved on the rudder shaft 520, and a plurality of fasteners pass through the fixing holes to fix the second vertical piece 620 to the end face of the rudder body 510.
[0047] The rudder shaft 520 is connected with a fixing ring 521, and the fixing ring 521 is sleeved and fixed on the outside of the machine body 210.
[0048] The fuselage 210 is fixed on the rudder shaft 520 through the fixing ring 521. Compared with the case that the fuselage 210 is directly fixed on the rudder shaft 520, the contact area between the fixing ring 521 and the fuselage 210 is larger, the firmness of the connection between the motor and the rudder shaft 520 is improved, the fixing effect of the fuselage 210 on the rudder shaft 520 is improved, and the rudder 500 can drive the machine body 100 to tilt up or down smoothly. The length of the circular ring is preferably 1 / 3-2 / 3 of the length of the fuselage 210, so as to ensure firm connection with the fuselage 210 and save materials and reduce the overall weight.
[0049] The power supply device 300 comprises a wireless input coil 320 and a wireless output coil 310. The wireless input coil 320 is connected to the machine body 100, and the wireless output coil 310 is fixedly connected to the rudder shaft 520, the fuselage 210 or the fixing ring 521.
[0050] When the wireless output coil 310 is energized, the wireless input coil 320 generates an induced voltage and an induced current, thereby supplying power to the driving device 200. The wireless output coil 310 can be connected to the rudder shaft 520, the fuselage 210 or the fixing ring 521, as long as it can supply power to the driving device 200. Since the rudder shaft 520 drives rotation, the fixed connection can prevent the relative movement between the wireless output coil 310 and the rudder shaft 520 or the fuselage 210 from affecting power supply, thereby ensuring the smooth operation of the driving device 200.
[0051] The wireless input coil 320 and the wireless output coil 310 form a wireless charging coil to supply power to the driving device 200. The two coils are in non-contact. When the wireless output coil 310 rotates with the rudder shaft 520 or the fuselage 210, the two coils will not be abraded, and the driving device 200 can still be normally powered, ensuring the normal rotation of the rotating block 400, thereby ensuring the normal floating and diving of the machine body 100, reducing the probability of wear of the power supply device 300, and prolonging the service life of the power supply device 300.
[0052] The float diving module is arranged at the front of the machine body 100.
[0053] The monitoring device (not shown in the figure) is further included, which monitors the inclination degree of the machine body 100 and adjusts the rotation angle of the rudder body 510; the monitoring device monitors the inclination degree of the fuselage 210 and adjusts the rotation speed of the rotating block 400 or the torsion angle of the rudder shaft 520.
[0054] Specifically, the monitoring device is, for example, an imu chip (inertial measurement unit chip), which can be one or two and respectively monitors the rudder body 510 and the fuselage 210.
[0055] Embodiment 2
[0056] Reference Figure 1 The embodiment provides an underwater robot system, comprising a machine body connected with the snorkeling module in the embodiment 1.
[0057] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the technical solutions of the present application, but are not intended to limit the specific implementation of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims
1. A snorkeling module for an underwater robot, the underwater robot comprising a robot body, characterized by, The snorkeling module comprises a power supply device, a driving device, a rotating block and a rudder; The power supply device is used for providing power supply for the driving device; The rudder comprises a rudder body and a rudder shaft connected with each other, and the rudder body is connected to the machine body; The driving device comprises a machine body and an output shaft connected with each other, the machine body is connected to the rudder shaft, and the output shaft is connected to the rotating block.
2. The snorkeling module for an underwater robot of claim 1, wherein, The driving device is a motor, and the rotating speed of the motor is 2000r / min-3000r / min.
3. The snorkeling module for an underwater robot of claim 1, wherein, The torque of the rudder is 0.8-1.5 Nm.
4. The snorkeling module for an underwater robot of claim 1, wherein, The power supply device comprises a wireless input coil and a wireless output coil, the wireless input coil is connected to the machine body, and the wireless output coil is fixedly connected to the rudder shaft or the machine body.
5. The snorkeling module for an underwater robot of claim 1, wherein, The snorkeling module further comprises a fixing seat, and the rudder body is connected to the machine body through the fixing seat.
6. The snorkeling module for an underwater robot of claim 5, wherein, The fixing seat is connected with a vertical sheet assembly, the vertical sheet assembly comprises at least a first vertical sheet and a second vertical sheet, and two ends of the rudder body are fixed to the first vertical sheet and the second vertical sheet, respectively.
7. The snorkeling module for an underwater robot of claim 1, wherein, The rudder shaft is connected with a fixing ring, and the fixing ring is sleeved and fixed to the outside of the machine body.
8. The snorkeling module for an underwater robot of claim 1, wherein, The snorkeling module is arranged at the front of the machine body.
9. The snorkeling module for an underwater robot of claim 1, wherein, The monitoring device is further arranged, the monitoring device is used for monitoring the inclination degree of the machine body and adjusting the rotating angle of the rudder body; the monitoring device is used for monitoring the inclination degree of the machine body and adjusting the rotating speed of the rotating block or the torsion angle of the rudder shaft.
10. An underwater robotic system comprising a machine body, characterized in that, The machine body is connected with the snorkeling module according to any one of claims 1-9.