Underwater cleaning robot

Abstract

The embodiment of the utility model provides an underwater cleaning robot which comprises a machine shell, a waterproof electrical control module, an energy storage module and a driving motor, and the driving motor is independently waterproof relative to the electrical control module and the energy storage module; the electrical control module, the energy storage module and the driving motor are arranged in the machine shell, the driving motor is detachable, and the driving motor is independently arranged relative to the electrical control module and the energy storage module.

Description

[0001] This application claims priority to PCT application filed on March 28, 2024, with application number "PCT / CN2024 / 084561" and patent title "Underwater Cleaning Robot and Its Filtration and Transmission Structure", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning device technology, and more particularly to an underwater cleaning robot. Background Technology

[0003] Underwater cleaning robots are designed to meet underwater cleaning needs. They can clean the underwater portions of structures and filter the water. Because pollutants in water are highly corrosive and the conductivity of water can affect the performance of electronic components, the sealing and waterproofing of the components of underwater cleaning robots is particularly important.

[0004] Underwater cleaning robots using related technologies typically employ only one large sealed unit to seal electrical components such as the drive motor and battery. These components are centrally housed within this sealed unit. However, when a problem occurs with the drive motor or other electrical components, it is usually necessary to disassemble other electrical units for repair, which can easily cause adverse effects on other electrical units and result in high repair costs. Utility Model Content

[0005] In view of this, embodiments of this application provide an underwater cleaning robot to at least partially solve the above-mentioned problems.

[0006] This application provides an underwater cleaning robot, which includes a housing and an electrical control module, an energy storage module, and a drive motor disposed within the housing. The drive motor is detachably fixed to the housing. The drive motor is independently waterproofed relative to the electrical control module and the energy storage module, and the drive motor is separately configured relative to the electrical control module and the energy storage module.

[0007] In some optional embodiments, the drive motor is a waterproof motor, which is detachably connected to the housing; or, the underwater cleaning robot further includes a motor sealing chamber connected to the housing, the drive motor is located in the motor sealing chamber, and at least one of the drive motor and the motor sealing chamber is detachably configured.

[0008] In some optional embodiments, the motor sealing chamber is detachably connected to the housing; or, the motor sealing chamber is fixedly connected to the housing, and the housing of the motor sealing chamber is provided with a motor disassembly port and an openable and closable sealing cover, the sealing cover being used to seal the motor disassembly port, and the drive motor being detachably installed in the motor sealing chamber.

[0009] In some optional embodiments, the number of drive motors is two, and the underwater cleaning robot also includes walking components respectively disposed on the left and right sides of the housing, with each drive motor connected to one of the walking components; the two drive motors are arranged in a dispersed manner and are detachable and waterproof sealed.

[0010] In some alternative embodiments, the electrical control module includes a plurality of electrical components and a plurality of sealed chambers, the plurality of electrical components being arranged in groups within each of the sealed chambers.

[0011] In some alternative embodiments, the energy storage module includes a battery and a battery housing, the battery being hermetically mounted in the battery housing in a manner independent of the electrical control module, and at least one of the battery housing and the battery being removable.

[0012] In some optional embodiments, the energy storage module includes a battery sealing chamber for sealing the battery; the plurality of sealing chambers includes a main sealing chamber disposed at the front of the housing and a rear sealing chamber disposed at the rear of the housing; the electrical components include a control board and a plurality of sensors, the control board being disposed in the main sealing chamber and at least a portion of the plurality of sensors being disposed in the rear sealing chamber; a first circuit is provided between the battery sealing chamber and the rear sealing chamber, and a second circuit is provided between the rear sealing chamber and the main sealing chamber, the first circuit being connected to the second circuit.

[0013] In some optional embodiments, the drive motor is a waterproof motor, and the underwater cleaning robot also includes a motor mounting base; the drive motor is connected to the motor mounting base, and the motor mounting base is detachably connected to the housing.

[0014] In some alternative embodiments, the motor mounting base is located outside the housing, and the housing has a clearance through hole, through which at least a portion of the drive motor is disposed inside the housing.

[0015] In some alternative embodiments, the underwater cleaning robot includes a first terminal for powering the drive motor, the drive motor including a second terminal, the second terminal and the first terminal being detachably connected.

[0016] In this embodiment, the underwater cleaning robot includes a housing and an electrical control module, an energy storage module, and a drive motor disposed within the housing. The drive motor is detachably fixed to the housing. The drive motor is independently waterproofed relative to the electrical control module and the energy storage module, and is separately configured relative to the electrical control module and the energy storage module. Therefore, when the drive motor malfunctions, it can be quickly disassembled and repaired without disassembling other electrical units such as the electrical control module and the energy storage module of the underwater cleaning robot, thus avoiding adverse effects on other electrical units and reducing maintenance costs. Attached Figure Description

[0017] 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 recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 A perspective view of an underwater cleaning robot provided as an optional embodiment of this application.

[0019] Figure 2 This is a partial structural schematic diagram of an underwater cleaning robot provided in an optional embodiment of this application.

[0020] Figure 3 An exploded view of a portion of the structure of an underwater cleaning robot provided in an optional embodiment of this application.

[0021] Figure 4 This is a partial structural schematic diagram of another underwater cleaning robot provided as an optional embodiment of this application.

[0022] Figure 5 A cross-sectional schematic diagram of the main sealed chamber in the electrical control module provided in an optional embodiment of this application.

[0023] Figure 6 This is a schematic diagram showing the installation location of the energy storage module in an underwater cleaning robot provided in an optional embodiment of this application.

[0024] Figure label:

[0025] 10. Underwater cleaning robot; 11. Housing; 111. Clearance through hole; 12. Electrical control module; 121. Control board; 122. Main sealed chamber; 123. Rear sealed chamber; 124. Sealed chamber; 13. Energy storage module; 131. Battery sealed chamber; 132. Sealed door; 14. Drive motor; 141. Motor mounting bracket; 15. Walking assembly. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0027] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in the embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that in the description of the embodiments of this application, the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the scheme of the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0029] The terms First, Second, etc., are used to describe various elements, components, regions, modules, and / or parts, but these elements, components, regions, layers, and / or parts should not be limited by these terms. These terms are used to distinguish one element, component, region, module, and / or part from another element, component, region, module, and / or part.

[0030] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] like Figure 1As shown in the figure, this application embodiment provides an underwater cleaning robot 10. The underwater cleaning robot 10 is mainly used to clean the underwater parts of various structures, such as the bottom and side walls of swimming pools, sewage treatment ponds, landscape ponds, and artificial waterways. The following description uses the cleaning of a swimming pool as an example.

[0032] The underwater cleaning robot 10 may include components such as a water pump, a filter basket, a walking assembly, a drive motor, and a roller brush. The drive motor, walking assembly, and roller brush are connected by gears or a transmission belt. The walking assembly may include wheels or tracks for movement. When working, the underwater cleaning robot 10 uses the drive motor to move the walking assembly, causing it to move within the pool and simultaneously rotate the roller brush. The rotation of the roller brush cleans the bottom or sidewalls of the pool. While moving within the pool, the underwater cleaning robot 10 can also use the water pump to draw liquid and / or contaminants into the filter basket. After filtration, the contaminants are retained inside the filter basket, and the filtered liquid is returned to the pool. This process is repeated to filter the pool's liquid, thus achieving the purpose of cleaning the pool.

[0033] The underwater cleaning robot 10 provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2 As shown, the underwater cleaning robot 10 provided in this embodiment includes: a housing 11 and an electrical control module 12, an energy storage module 13, and a drive motor 14 disposed within the housing 11. The drive motor 14 is detachably fixed to the housing 11. The electrical control module 12, the energy storage module 13, and the drive motor 14 can be waterproofed. The drive motor 14 is independently waterproofed relative to the electrical control module 12 and the energy storage module 13, and the drive motor 14 is disposed separately from the electrical control module 12 and the energy storage module 13.

[0035] The electrical control module 12 may include electrical units such as a control board 121 and sensors, and the energy storage module 13 may include energy storage units such as batteries. The drive motor 14 can be connected to the walking component of the underwater cleaning robot 10, so that the walking component can be driven by the drive motor 14 to move the underwater cleaning robot 10.

[0036] like Figure 2As shown, in some optional embodiments, the number of drive motors 14 is two. The underwater cleaning robot 10 also includes walking components 15 respectively disposed on the left and right sides of the housing 11, with each drive motor 14 connected to one walking component 15. The two drive motors 14 are arranged in a distributed manner and are detachable and waterproofly sealed. The direction from the left side to the right side of the housing 11 is perpendicular to the forward and backward directions of the underwater cleaning robot 10, and also perpendicular to the direction from the bottom to the top of the underwater cleaning robot 10. The bottom of the underwater cleaning robot 10 is the part close to a plane when the underwater cleaning robot stands on a certain plane. It should be noted that the underwater cleaning robot 10 may also be provided with other suitable numbers of drive motors 14, and the embodiments of this application do not limit the number of drive motors 14.

[0037] In this embodiment, there are two drive motors 14. The underwater cleaning robot 10 also includes walking components 15 respectively disposed on the left and right sides of the casing. Each drive motor 14 is connected to one walking component 15, allowing each of the two drive motors 14 to drive one walking component 15, making the driving of the walking components 15 more flexible. For example, the two walking components 15 can be driven at different speeds, enabling the underwater cleaning robot 10 to turn. The two drive motors 14 are arranged in a distributed manner and are detachable, waterproof, and sealed, ensuring that the disassembly, installation, and waterproof sealing of the two drive motors 14 do not interfere with each other, thus avoiding any adverse effects of the disassembly or installation of one drive motor 14 on the other.

[0038] The drive motor 14 is waterproofed independently of the electrical control module 12 and the energy storage module 13, meaning that the waterproofing of the drive motor 14 is not related to and does not affect the waterproofing of the electrical control module 12 and the energy storage module 13.

[0039] The drive motor 14 is set up separately from the electrical control module 12 and the energy storage module 13, meaning that the drive motor 14 is set up outside the electrical control module 12 and the energy storage module 13, and the installation and removal of the drive motor 14 are unrelated to the electrical control module 12 and the energy storage module 13.

[0040] Optionally, the drive motor 14, the electrical control module 12, and the energy storage module 13 can be arranged at different locations within the housing 11, and the drive motor 14, the electrical control module 12, and the energy storage module 13 can be connected to the housing 11 respectively, so that the drive motor 14 can be separated from the electrical control module 12 and the energy storage module 13. It should be noted that the connection between the drive motor 14 / electrical control module 12 / energy storage module 13 and the housing 11 can be a direct connection or an indirect connection, and this embodiment does not limit this.

[0041] In this embodiment, the underwater cleaning robot 10 includes a housing 11 and an electrical control module 12, an energy storage module 13, and a drive motor 14 disposed within the housing 11. The drive motor 14 is detachably fixed to the housing 11. The drive motor 14 is independently waterproof relative to the electrical control module 12 and the energy storage module 13, and the drive motor 14 is separately disposed relative to the electrical control module 12 and the energy storage module 13. Therefore, when the drive motor 14 malfunctions, it can be quickly disassembled and repaired without having to disassemble other electrical units such as the electrical control module 12 and the energy storage module 13 of the underwater cleaning robot 10, thus avoiding adverse effects on other electrical units and reducing maintenance costs.

[0042] In some alternative embodiments, the drive motor 14 is a waterproof motor, which is detachably connected to the housing 11. By making the drive motor 14 a waterproof motor, it is not necessary to provide a separate sealing chamber or housing for sealing the drive motor 14; the waterproof motor 14 can be directly and detachably installed in the housing 11.

[0043] In some alternative embodiments, the waterproofing of the drive motor 14 can be achieved by the underwater cleaning robot 10 further including a motor sealing chamber connected to the housing 11, with the drive motor 14 located within the motor sealing chamber. The motor sealing chamber isolates the drive motor 14 from water, thus achieving waterproofing. In this case, a non-waterproof ordinary motor can be directly selected as the drive motor 14. At least one of the drive motor 14 and the motor sealing chamber is detachable. Optionally, the motor sealing chamber can be detachably connected to the housing 11, and / or the drive motor 14 can be detachably connected to the motor sealing chamber, thereby achieving a detachable configuration of the motor sealing chamber and the drive motor 14.

[0044] In this embodiment, the waterproofing solution for the drive motor 14 is to use a waterproof motor. This waterproof motor can be directly and detachably connected to the housing 11, thus eliminating the need for a separate sealing shell or chamber to seal the drive motor 14. This simplifies the structure of the underwater cleaning robot 10 and reduces the complexity of the connection between the drive motor 14 and the housing 11. Alternatively, the underwater cleaning robot 10 may include a motor sealing chamber connected to the housing 11, with the drive motor 14 located within it. At least one of the drive motor 14 and the motor sealing chamber being detachable allows the drive motor 14 to be waterproofed through the sealing chamber, reducing the limitations imposed by waterproofing on the drive motor 14. This expands the selection range of the drive motor 14. Furthermore, the drive motor 14 itself can be detachable, or the motor sealing chamber can be detachable to allow the drive motor 14 to be detachable from the housing 11, making the configuration of the drive motor 14 more flexible.

[0045] In some alternative embodiments, the motor sealing chamber is detachably connected to the housing 11. Alternatively, the motor sealing chamber is fixedly connected to the housing 11, and the housing of the motor sealing chamber is provided with a motor disassembly port and an openable and closable sealing cover, the sealing cover being used to seal the motor disassembly port, and the drive motor 14 is detachably installed inside the motor sealing chamber.

[0046] The motor sealing chamber can be detachably connected to the housing 11 via detachable connectors such as bolts. Similarly, the drive motor 14 can also be detachably installed within the motor sealing chamber via detachable connectors such as bolts. Of course, the detachable connection between the motor sealing chamber and the housing 11, and the detachable installation of the drive motor 14 within the motor sealing chamber, can also be achieved through other suitable methods, such as snap-fit, plug-in, magnetic connection, etc., and this application does not impose any limitations on these methods. Other detachable connections or components in the embodiments of this application can be configured with reference to the embodiments of this motor sealing chamber and drive motor 14.

[0047] When the motor sealing chamber is fixedly connected to the housing 11, the motor disassembly port can communicate with the interior of the housing 11, and the sealing cover can be set on the housing 11 to facilitate opening or closing the sealing cover.

[0048] It should be understood that the motor disassembly port on the motor sealing chamber shell should be able to allow the drive motor 14 to pass through, so that the drive motor 14 can enter and exit the motor sealing chamber shell through the motor disassembly port, thereby facilitating the installation and disassembly of the drive motor 14.

[0049] The output shaft of the drive motor 14 can pass through the housing of the motor sealing chamber or extend out of the motor sealing chamber through the sealing cover. When there is a gap between the output shaft of the drive motor 14 and the housing or sealing cover of the motor sealing chamber, the gap can be sealed in a suitable way, such as by using a dynamic seal to seal the gap, so as to prevent water from entering the drive motor 14 through the gap.

[0050] In the case where the drive motor 14 is waterproofed and sealed by the motor sealing chamber, the motor sealing chamber is detachably connected to the housing 11, allowing the drive motor 14 to be disassembled along with the motor sealing chamber. Alternatively, the motor sealing chamber is fixedly connected to the housing 11, and the housing of the motor sealing chamber is provided with a motor disassembly port and an openable and closable sealing cover. The sealing cover is used to seal the motor disassembly port, and the drive motor 14 is detachably installed in the motor sealing chamber. Thus, regardless of the connection between the motor sealing chamber and the housing 11, the drive motor 14 can be detachably configured to ensure the convenience of maintenance of the drive motor 14 in this embodiment.

[0051] like Figure 3 and Figure 4As shown, in some optional embodiments, when the drive motor 14 is a waterproof motor, the underwater cleaning robot 10 also includes a motor mounting bracket 141; the drive motor 14 is connected to the motor mounting bracket 141, and the motor mounting bracket 141 is detachably connected to the housing 11, so that the drive motor 14 can be detachably connected to the housing 11 through the motor mounting bracket 141. The installation scenarios of the drive motor 14 can be expanded by utilizing the motor mounting bracket 141, reducing the requirements of detachable installation on the drive motor 14 itself, and making the setting of the drive motor 14 more flexible.

[0052] like Figure 3 and Figure 4 As shown, in some optional embodiments, the motor mounting base 141 is located on the outer wall of the housing 11, and the housing 11 has a clearance through hole 111, through which at least a portion of the drive motor 14 is disposed within the housing 11.

[0053] In this embodiment, by providing a clearance through hole 111 on the housing 11, the drive motor 14 can be partially or entirely disposed within the housing 11 through the clearance through hole 111, thereby utilizing the space within the housing 11 to accommodate the drive motor 14 and protecting the drive motor 14. By placing the motor mounting bracket 141 outside the housing 11, the connection structure and connectors between the motor mounting bracket 141 and the housing 11 can be exposed to the external environment when installing or removing the drive motor 14. This allows the installation or removal of the motor mounting bracket 141 to be completed directly outside the housing 11 without opening the housing 11 or disassembling other electrical units such as the electrical control module 12 and energy storage module 13, thus greatly improving the convenience of installing and removing the drive motor 14.

[0054] like Figure 5 As shown, in some optional embodiments, the electrical control module 12 includes a control board 121 and a main sealed chamber 122. The control board 121 is located in the main sealed chamber 122, thereby utilizing the main sealed chamber 122 for waterproofing. Optionally, the control board 121 may include a drive control board for controlling the drive motor 14, and a main control board for controlling the drive control board and other electrical units, so that the drive motor 14 can be controlled by a dedicated drive control board to improve the working efficiency of the drive motor 14. Of course, the control board 121 can also be configured with other suitable structures, and the specific structure of the control board 121 is not limited in this application embodiment.

[0055] In this embodiment, the electrical control module 12 includes a control board 121 and a main sealing chamber 122. The control board 121 is located in the main sealing chamber 122, thereby isolating water flow through the main sealing chamber 122 and preventing water flow from interfering with the operation of the control board 121, thus achieving waterproofing of the electrical control module 12. Optionally, the electrical control module 12 may also include a waterproof control board 121, thereby eliminating the need for the aforementioned main sealing chamber 122 and simplifying the structure of the electrical control module 12.

[0056] like Figure 2 As shown, in some optional embodiments, the electrical control module 12 includes a plurality of electrical components and a plurality of sealed chambers 124, with the plurality of electrical components arranged in groups in each sealed chamber 124.

[0057] like Figure 2 As shown, the electrical control module 12 may include multiple sealed chambers 124, such as a main sealed chamber 122 and a rear sealed chamber 123. Multiple electrical components can be grouped and arranged within these chambers, utilizing each chamber 124 for waterproofing. As an optional implementation, the electrical components included in the electrical control module 12 may include some or all of the following: a control board, optical sensors, acoustic sensors, pressure sensors, inertial measurement units (IMUs), and magnetometers. Optionally, the inertial sensors, optical sensors, and acoustic sensors may be arranged as a group in the main sealed chamber 122, while the magnetometer may be arranged as a separate group in the rear sealed chamber 123. The optical sensors may include laser sensors, cameras, etc.; the acoustic sensors may include sonar sensors, etc.; and the inertial sensors may include gyroscopes and accelerometers, etc.

[0058] In this embodiment, the electrical control module 12 includes multiple electrical components and multiple sealed chambers 124. The multiple electrical components are arranged in groups in each sealed chamber 124, so that the multiple electrical components can be arranged separately, which can reduce the restrictions on the arrangement position of the electrical components and improve the flexibility of the arrangement of the electrical components.

[0059] like Figure 6 As shown, in some optional embodiments, the energy storage module 13 includes a battery and a battery sealing chamber 131 to achieve waterproofing and prevent water flow from affecting the battery. The battery can be sealed and installed in the battery sealing chamber 131 independently of the electrical control module 12, that is, the battery and the electrical control module 12 do not share the same sealing chamber, so that the waterproofing of the battery and the electrical control module 12 does not affect each other, and avoids adverse effects on the other when repairing the battery or the electrical control module 12.

[0060] At least one of the battery sealing compartment 131 and the battery is removable. Optionally, the battery sealing compartment 131 may be removably connected to the housing 11, and / or the battery may be removably connected to the battery sealing compartment 131 to achieve the removable configuration of the battery sealing compartment 131 and the battery.

[0061] As a feasible implementation, the battery sealing compartment 131 is detachably connected to the housing 11, thereby enabling the battery sealing compartment 131 to be detachably configured. Alternatively, as... Figure 6 As shown, the battery sealing compartment 131 is fixedly connected to the housing 11, and the housing of the battery sealing compartment 131 is provided with a battery removal port and an openable and closable sealing door 132. The sealing door 132 is used to seal the battery removal port, and the battery is installed in the battery sealing compartment 131 in a detachable manner. When the battery sealing compartment 131 is fixedly connected to the housing 11, the battery removal port can communicate with the outside of the housing 11, and the sealing door 132 can be provided on the housing 11, for example, on the chassis of the housing 11, so as to facilitate opening or closing the sealing door 132.

[0062] In this embodiment, the energy storage module 13 includes a battery and a battery sealed chamber 131. The battery is sealed and installed in the battery sealed chamber 131 independently of the electrical control module 12. At least one of the battery sealed chamber 131 and the battery is detachable. The battery can be waterproofed through the battery sealed chamber 131, reducing the limitations imposed by waterproofing on the battery and thus expanding the range of battery options. Furthermore, the battery itself can be detachable, or the battery sealed chamber 131 can be detachable to allow the battery to be detachable from the housing 11, making the battery configuration more flexible.

[0063] In some optional embodiments, the energy storage module 13 includes a battery sealing chamber 131 for sealing the battery, as detailed in the embodiments above, and will not be repeated here. The electrical control module 12 includes multiple sealing chambers 124, including a main sealing chamber 122 disposed at the front of the housing and a rear sealing chamber 123 disposed at the rear of the housing. The electrical components include a control board and multiple sensors. The control board is disposed in the main sealing chamber 122, and at least some of the multiple sensors are disposed in the rear sealing chamber 123. It should be understood that the front of the housing is the portion of the housing 11 near the forward direction of the underwater cleaning robot 10, and the rear of the housing is the portion of the housing 11 near the backward direction of the underwater cleaning robot 10. A first circuit is provided between the battery sealing chamber 131 and the rear sealing chamber 123, and a second circuit is provided between the rear sealing chamber 123 and the main sealing chamber 122. The first circuit and the second circuit are connected.

[0064] The first circuit may include a first power supply circuit that draws power from the battery in the battery compartment 131 and supplies power to electrical units such as sensors in the rear compartment 123. The second circuit may include a second power supply circuit that draws power from the first circuit and supplies power to the control board 121 and electrical units such as sensors in the main compartment 122. Optionally, a third circuit connected to the second circuit may be provided between the main compartment 122 and the drive motor 14. The third circuit may include a third power supply circuit that draws power from the second circuit and supplies power to the drive motor 14.

[0065] The rear sealed compartment 123 may also include an interaction unit, which may include control buttons or a touch screen. The second circuit may include a first data transmission circuit, through which the control board 121 of the main sealed compartment 122 can transmit data with the interaction unit and sensors of the rear sealed compartment 123. The third circuit may include a second data transmission circuit, so that the control board 121 of the main sealed compartment 122 can transmit data with the drive motor 14, thereby enabling the control board 121 to control the operation of the drive motor 14.

[0066] In this embodiment, the energy storage module 13 includes a battery sealing chamber 131 for sealing the battery. The electrical control module 12 includes multiple sealing chambers 124, including a main sealing chamber 122 located at the front of the housing and a rear sealing chamber 123 located at the rear of the housing. The electrical components include a control board and multiple sensors. The control board is located in the main sealing chamber 122, and at least some of the multiple sensors are located in the rear sealing chamber 123. A first circuit is provided between the battery sealing chamber 131 and the rear sealing chamber 123, and a second circuit is provided between the rear sealing chamber 123 and the main sealing chamber 122. The first circuit and the second circuit are connected, so that the underwater cleaning robot 10 can not only supply power to the control board 121 and sensors and other electrical units in the main sealing chamber 122 and the rear sealing chamber 123 through the first circuit and the second circuit, but also transmit data between the main sealing chamber 122 and the rear sealing chamber 123. This is beneficial for simplifying the wiring layout in the underwater cleaning robot 10 and reducing the total length of the wiring.

[0067] In some alternative embodiments, the underwater cleaning robot 10 includes a first terminal for powering the drive motor 14. For example, the first terminal may be a terminal on the third power supply circuit described above. The drive motor 14 includes a second terminal that is detachably connected to the first terminal. Exemplarily, the second terminal and the first terminal may be threaded together. It should be understood that when the second terminal and the first terminal are connected, the drive motor 14 can obtain power from the first terminal through the second terminal to enable the drive motor 14 to operate normally.

[0068] In this embodiment, the underwater cleaning robot 10 includes a first terminal for supplying power to the drive motor 14, and the drive motor 14 includes a second terminal. The second terminal and the first terminal are detachably connected, so that the wiring of the drive motor 14 can be flexibly disconnected, thereby further facilitating the installation and removal of the drive motor 14.

[0069] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0070] The methods described above according to the embodiments of this application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or implemented as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium after being downloaded via a network. Thus, the methods described herein can be stored as software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA)).

[0071] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0072] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. An underwater cleaning robot, characterized in that, The underwater cleaning robot comprises a shell, an electrical control module, an energy storage module and a driving motor arranged in the shell, the driving motor is detachably fixed to the shell, the driving motor is independently waterproofed relative to the electrical control module and the energy storage module, and the driving motor is independently arranged relative to the electrical control module and the energy storage module; The underwater cleaning robot further comprises a motor sealing cabin connected to the shell, the driving motor is arranged in the motor sealing cabin, and the motor sealing cabin is detachably connected to the shell; the underwater cleaning robot comprises a first wiring terminal for supplying power to the driving motor, the driving motor comprises a second wiring terminal, and the second wiring terminal is detachably connected to the first wiring terminal.

2. The underwater cleaning robot of claim 1, wherein, The number of the driving motors is two, and the underwater cleaning robot further comprises walking assemblies arranged on the left and right sides of the shell respectively, and each driving motor is connected to one walking assembly. The two driving motors are detachably installed and waterproofed in a dispersed arrangement.

3. The underwater cleaning robot of claim 1, wherein, The electrical control module comprises a plurality of electrical components and a plurality of sealing cabins, and the plurality of electrical components are arranged in groups in the sealing cabins.

4. The underwater cleaning robot of claim 3, wherein, The energy storage module comprises a battery and a battery sealing cabin, the battery is independently sealed and installed in the battery sealing cabin relative to the electrical control module, and at least one of the battery sealing cabin and the battery is detachably arranged.

5. The underwater cleaning robot of claim 3, wherein, The energy storage module comprises a battery sealing cabin for sealing the battery; the plurality of sealing cabins comprise a main sealing cabin arranged at the front of the shell and a rear sealing cabin arranged at the rear of the shell, the electrical components comprise a control panel and a plurality of sensors, the control panel is arranged in the main sealing cabin, and at least part of the plurality of sensors is arranged in the rear sealing cabin. A first circuit is arranged between the battery sealing cabin and the rear sealing cabin, a second circuit is arranged between the rear sealing cabin and the main sealing cabin, and the first circuit is connected to the second circuit.

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