Steering chassis of underwater walking mechanism and underwater walking mechanism

Abstract

The utility model relates to the technical field of underwater walking mechanisms, and provides a steering chassis of an underwater walking mechanism and the underwater walking mechanism, the steering chassis comprises a chassis main body, two steering wheels, a fixing piece, a linkage piece, a transmission rod and a steering mechanism, the fixing piece comprises a fixing unit, the two sides of the fixing unit are connected with fixing rods, and the linkage piece is connected with the steering mechanism. One end of the fixing rod is connected with the fixing unit, the other end of the fixing rod is rotationally connected with the steering wheel, the fixing unit is connected with the steering mechanism, and the fixing rod is connected with the chassis body. The linkage piece is connected with the transmission rod, the two ends of the transmission rod are rotationally connected with the two steering wheels respectively, the steering mechanism drives the linkage piece to rotate, and the linkage piece drives the steering wheels to steer through the transmission rod. The underwater walking mechanism has the advantages that steering of the chassis is achieved through a simple linkage structure, and flexibility and applicability of the underwater walking mechanism are improved. Compared with a complex linkage structure, the scheme can reduce the failure rate, reduce the frequency of maintenance and save the cost.

Description

Technical Field

[0001] This utility model relates to the field of underwater walking mechanisms, and more specifically, to a steering chassis and an underwater walking mechanism. Background Technology

[0002] With the development of smart hardware technology, intelligent devices have been widely applied in various fields of production and daily life, and underwater walking mechanisms are one such example. Underwater walking mechanisms are typically pool robots, representing modern intelligent cleaning technology. They are highly efficient devices that achieve fully automated pool cleaning through autonomous navigation and intelligent sensing systems. Integrating mechanical engineering, fluid dynamics, and artificial intelligence, they can complete comprehensive cleaning of the pool bottom, walls, and waterline without human intervention. Pool robots offer advantages such as high-efficiency cleaning, intelligent control, energy saving, environmental protection, safety, and durability. In practical applications, this equipment has expanded from home private pools to diverse scenarios.

[0003] However, existing pool robots typically achieve steering by differential speed between two wheels, which limits them to steering only at the bottom of the pool and prevents them from steering while suspended. Even those few robots that can achieve steering while suspended require more transmission parts, resulting in complex structures, high failure rates, and high maintenance costs. Utility Model Content

[0004] The present invention aims to overcome at least one defect (deficiency) of the prior art and provide a steering chassis and underwater walking mechanism for an underwater walking mechanism. The steering chassis has a simple structure and low maintenance cost.

[0005] The technical solution adopted by this utility model is to provide a steering chassis for an underwater walking mechanism, including a connected chassis body and two steering wheels, as well as a fixing component, a linkage component, a transmission rod and a steering mechanism.

[0006] The fixing component includes a fixing unit, with fixing rods connected to both sides of the fixing unit. One end of the fixing rod is connected to the fixing unit, and the other end is rotatably connected to the steering wheel. The fixing unit is connected to the steering mechanism, and the fixing rod is connected to the chassis body.

[0007] The linkage is connected to the transmission rod, and the two ends of the transmission rod are rotatably connected to two steering wheels respectively. The steering mechanism drives the linkage to rotate, and the linkage drives the steering wheels to steer through the transmission rod.

[0008] In this technical solution, the fixing member is used to fix the steering mechanism and steering wheel to the chassis body. The fixing unit can be of different shapes, as long as it can connect the steering mechanism. Each side of the fixing unit can be connected to one or two fixing rods, etc. One end of the fixing rod is preferably integrally connected to the fixing unit to improve the firmness, and the other end of the fixing rod can be detachably connected or fixedly connected to the chassis body.

[0009] The steering wheel is usually round. The steering mechanism drives the linkage to rotate, thereby moving the transmission rod. Since the connection point between the steering wheel and the fixed rod is fixed, the connection point between the transmission rod and the steering wheel moves, thus causing the steering wheel to turn.

[0010] The connection point between the fixed rod and the steering wheel can be at the center or eccentric position of the steering wheel. Similarly, the connection point between the transmission rod and the steering wheel can also be at the center or eccentric position of the steering wheel. The connection positions of the two rods need to be matched to achieve the steering of the steering wheel.

[0011] This solution achieves chassis steering through a simple linkage structure, improving the flexibility and applicability of the underwater walking mechanism. Compared to more complex linkage structures, this solution reduces the failure rate, decreases maintenance frequency, and saves costs. Furthermore, the steering wheels are steered through the transmission of fixed components, linkages, drive rods, and steering mechanisms within this solution, regardless of the underwater walking mechanism's position. Wheel steering can be achieved even in hover mode, meeting a wider range of usage requirements.

[0012] Furthermore, it also includes a propulsion mechanism for propulsing the chassis body. The propulsion mechanism includes a connected body and an output shaft. The steering mechanism drives the body to rotate, and the rotation direction of the body is the same as the rotation direction of the steering wheels.

[0013] In this technical solution, the steering mechanism simultaneously drives the propulsion mechanism and the steering wheel to turn, enabling the propulsion mechanism to propel in the direction of the steering wheel's rotation, thereby making the steering process smoother.

[0014] Furthermore, the linkage component is provided with a connecting vertical piece, which is connected to the main body.

[0015] Furthermore, the linkage component is provided with a snap-fit ​​groove, and the transmission rod is provided with a snap-fit ​​protrusion. The snap-fit ​​protrusion matches the snap-fit ​​groove so that the linkage component and the transmission rod are snap-fit ​​connected.

[0016] In this technical solution, a robust connection is formed through a simple snap-fit ​​structure, facilitating disassembly and maintenance. Depending on actual needs, one or two snap-fit ​​slots and protrusions can be matched and configured.

[0017] Furthermore, the fixing unit is a fixing cover, the steering mechanism is connected to the fixing cover, at least two sides of the fixing cover are connected to extension plates, and the fixing rod is connected through the extension plates, and the extension plates are connected to the chassis body.

[0018] In this technical solution, the extension plate is connected to the chassis body, so that the fixing unit not only relies on the fixing rod to fix the steering mechanism to the chassis body, but also relies on the fixing effect of the extension plate to further improve the fixing unit's fixation of the steering mechanism, greatly improving the connection's robustness.

[0019] Furthermore, the fastener also includes fasteners. The chassis body is provided with multiple fixing posts, and the fixing rod and extension plate are provided with fixing holes that match the fixing posts. The fasteners pass through the fixing holes and fixing posts in sequence for fastening.

[0020] In this technical solution, fasteners form a detachable connection, facilitating disassembly and assembly during maintenance and improving maintenance efficiency. The positions of the fixing posts and fixing holes can be set according to actual needs to achieve a better fixing effect.

[0021] Furthermore, the linkage component is a linkage cover, which is connected to the steering mechanism and sleeved outside the fixing component, and there is a gap between the linkage cover and the fixing unit.

[0022] Furthermore, one end of the transmission rod and the fixed rod that connects to the steering wheel is connected to a vertical connecting column. The steering wheel is provided with a connecting platform, and the connecting platform is provided with a through hole. The connecting column is inserted into the through hole and forms a rotatable connection with the connecting platform.

[0023] Furthermore, the steering wheel includes a fixed disc, a bearing, and a hub. The fixed rod and the transmission rod are both connected to the fixed disc, and the hub is rotatably connected to the fixed disc via the bearing.

[0024] Another objective of this utility model is to provide an underwater walking mechanism, including any of the above-mentioned steering chassis, wherein the chassis body includes a front wheel and a rear wheel, and the steering wheel is the rear wheel.

[0025] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0026] (1) This utility model realizes the steering of the chassis through a simple linkage structure, which can change the direction of travel between the bottom and the wall of the pool, thereby improving the flexibility and applicability of the underwater walking mechanism. Moreover, compared with a more complex linkage structure, the transmission structure of this solution is simple, which can reduce the failure rate, reduce the number of maintenance operations, and save costs.

[0027] (2) The steering wheel can be turned by the transmission of the fixed parts, linkage parts, transmission rods and steering mechanism in this solution. It is not limited by the position of the underwater walking mechanism. Even in the floating mode, the wheel can be turned, which can meet more usage needs. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the steering chassis.

[0029] Figure 2 This is an exploded view of part of the steering chassis structure.

[0030] Figure 3 This is a schematic diagram of the connection between the fixed component and the steering mechanism.

[0031] Figure 4 This is a partial structural diagram showing the connection between the linkage and the transmission rod.

[0032] Figure 5 This is a structural schematic diagram of the fastener.

[0033] Figure 6 This is a schematic diagram of the linkage mechanism.

[0034] Figure 7 This is a schematic diagram of the steering wheel.

[0035] Figure 8 for Figure 7 Enlarged view of the structure at point A in the middle.

[0036] Reference numerals: chassis body 100, steering wheel 110, fixed plate 111, wheel hub 112, connecting platform 113, fixed column 120, fixing component 200, fixing unit 210, extension plate 211, fixing rod 220, connecting column 221, steering mechanism 300, linkage component 400, connecting vertical plate 410, snap-fit ​​groove 420, strip column 430, propulsion mechanism 500, body 510, transmission rod 600, snap-fit ​​protrusion 610. Detailed Implementation

[0037] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0038] Example 1

[0039] refer to Figures 1 to 4This embodiment provides a steering chassis for an underwater walking mechanism, including a chassis body 100, two steering wheels 110, a fixing member 200, a linkage member 400, a transmission rod 600, and a steering mechanism 300. The fixing member 200 includes a fixing unit 210, with fixing rods 220 connected to both sides of the fixing unit 210. One end of the fixing rod 220 is connected to the fixing unit 210, and the other end is rotatably connected to the steering wheel 110. The fixing unit 210 is connected to the steering mechanism 300, and the fixing rod 220 is connected to the chassis body 100. The linkage member 400 is connected to the transmission rod 600, and both ends of the transmission rod 600 are rotatably connected to the two steering wheels 110. The steering mechanism 300 drives the linkage member 400 to rotate, and the linkage member 400 drives the steering wheels 110 to steer through the transmission rod 600.

[0040] The fastener 200 is used to fix the steering mechanism 300 and the steering wheel 110 to the chassis body 100. The fixing unit 210 can be of different shapes, as long as it can connect the steering mechanism 300. Each side of the fixing unit 210 can be connected to one or two fixing rods 220, etc. One end of the fixing rod 220 is preferably integrally connected to the fixing unit 210 to improve the firmness, and the other end of the fixing rod 220 can be detachably connected or fixedly connected to the chassis body 100.

[0041] The steering wheel 110 is usually circular. The steering mechanism 300 drives the linkage 400 to rotate, thereby driving the transmission rod 600 to move. Since the connection point between the steering wheel 110 and the fixed rod 220 is fixed, the connection point between the transmission rod 600 and the steering wheel 110 moves, thereby causing the steering wheel 110 to turn.

[0042] The connection point between the fixed rod 220 and the steering wheel 110 can be at the center or eccentric position of the steering wheel 110. Similarly, the connection point between the transmission rod 600 and the steering wheel 110 can also be at the center or eccentric position of the steering wheel 110. The connection positions of the two rods are matched to achieve the steering of the steering wheel 110.

[0043] This solution achieves chassis steering through a simple linkage structure, improving the flexibility and applicability of the underwater walking mechanism. Furthermore, compared to more complex linkage structures, this solution reduces the failure rate, decreases the frequency of maintenance, and saves costs.

[0044] Preferably, the fixed rod 220 is connected to the center of the steering wheel 110, and the transmission rod 600 is connected to the eccentric position of the steering wheel 110, with both rods connected to the steering wheel 110 at the same horizontal line. Connecting the fixed rod 220 to the center of the steering wheel 110 improves the stability of the steering wheel 110. Having both connection points on the same horizontal line requires less effort when pushing the steering wheel 110; the steering mechanism 300 only needs to output a smaller driving force to rotate the steering wheel 110, saving energy and making the steering of the entire chassis more flexible.

[0045] Furthermore, it also includes a propulsion mechanism 500, which is used to propel the chassis body 100. The propulsion mechanism 500 includes a connected body 510 and an output shaft. The steering mechanism 300 drives the body 510 to rotate, and the rotation direction of the body 510 is the same as the rotation direction of the steering wheel 110.

[0046] The steering mechanism 300 simultaneously drives the propulsion mechanism 500 and the steering wheel 110 to turn, enabling the propulsion mechanism 500 to propel in the direction of rotation of the steering wheel 110, thereby making the steering process smoother.

[0047] Specifically, the propulsion mechanism 500 is a water pump motor, the steering mechanism 300 is a servo motor, and the linkage 400 is provided with a connecting vertical plate 410, which is connected to the main body 510. The servo motor drives the linkage 400, causing the connecting vertical plate 410 to rotate, which in turn causes the main body 510 of the water pump motor to rotate. More specifically, the connecting vertical plate 410 is a U-shaped piece with a circular cutout. The main body 510 of the water pump motor is engaged with the circular cutout of the connecting vertical plate 410, thus forming a circumferential engagement of the water pump motor, ensuring a firm connection and improving the overall operational stability. More preferably, the connecting vertical plate 410 and the motor body 510 can be fastened using a fastening mechanism to further strengthen the connection between the two.

[0048] refer to Figure 4 Furthermore, the linkage 400 is provided with a snap-fit ​​groove 420, and the transmission rod 600 is provided with a snap-fit ​​protrusion 610. The snap-fit ​​protrusion 610 matches the snap-fit ​​groove 420, so that the linkage 400 and the transmission rod 600 are snap-fit ​​connected. A strong connection is formed through a simple snap-fit ​​structure, which facilitates disassembly and maintenance. Depending on actual needs, one or two snap-fit ​​grooves 420 and protrusions can be matched.

[0049] refer to Figure 5Furthermore, the fixing unit 210 is a fixing cover, the steering mechanism 300 is connected to the fixing cover, and at least two sides of the fixing cover are connected to extension pieces 211, and the fixing rod 220 is connected through the extension pieces 211. The extension pieces 211 are connected to the chassis body 100.

[0050] The fixing unit 210 is a cover that can match the shape of the servo motor, ensuring a secure connection. Furthermore, the extension piece 211 connects to the chassis body 100, allowing the fixing unit 210 to not only secure the servo motor to the chassis body 100 using the fixing rod 220, but also to further enhance the fixing effect of the extension piece 211, thus greatly improving the connection's strength.

[0051] Preferably, the fixing cover and the extension piece 211 are integrally connected, and the extension piece 211 and the fixing rod 220 are integrally connected, thereby improving the strength of the connection. The extension piece 211 can be disposed on both sides of the fixing unit 210, or it can extend circumferentially on the outer wall of the fixing cover.

[0052] refer to Figures 1 to 5 Furthermore, the fixing member 200 also includes fasteners. The chassis body 100 is provided with a plurality of fixing posts 120. The fixing rod 220 and the extension piece 211 are provided with fixing holes that match the fixing posts 120. The fasteners pass through the fixing holes and the fixing posts 120 in sequence for fastening.

[0053] In this technical solution, fasteners form a detachable connection, facilitating disassembly and assembly during maintenance and improving maintenance efficiency. The positions of the fixing posts 120 and fixing holes can be set according to actual needs to achieve a better fixing effect. For example, each fixing rod 220 has two fixing holes to match two fixing posts 120; each extension piece 211 also has two fixing holes to match two fixing posts 120.

[0054] Furthermore, the linkage component 400 is a linkage cover, which is connected to the steering mechanism 300 and sleeved outside the fixing component 200, with a gap between the linkage cover and the fixing component 200.

[0055] For example, the snap-fit ​​groove 420 is provided at the bottom of the linkage cover.

[0056] refer to Figure 6Specifically, the linkage cover is cylindrical, and a hollow strip column 430 is integrally connected to the top of the linkage cover. The servo shaft of the servo is connected inside the strip column 430. A gap is provided between the linkage cover and the fixed unit 210 to prevent the linkage cover from rubbing against the fixed unit 210 when driven by the servo shaft, thereby reducing wear and lowering the probability of maintenance. In this technical solution, since the bottom of the linkage cover is engaged with the transmission rod 600, the bottom and top of the linkage cover are subjected to opposite forces. If the linkage component 400 is plate-shaped or block-shaped, the top and bottom of the linkage cover are prone to breakage or other damage due to the opposite forces when the servo shaft drives the strip column 430. Therefore, the design of the linkage component 400 as a cover in this solution makes the cover structure and the strip column 430 circumferentially connected, increasing the connection perimeter and reducing the damage rate of both.

[0057] The following describes the relevant connections of the steering wheel 110.

[0058] Reference 7 and to Figure 8 The transmission rod 600 and the fixed rod 220 are connected to a vertical connecting post 221 at one end of the steering wheel 110. The steering wheel 110 is provided with a connecting platform 113, which has a through hole. The connecting post 221 is inserted into the through hole and forms a rotatable connection with the connecting platform 113. Preferably, the connecting post 221 is connected below the end of the transmission rod 600.

[0059] refer to Figure 7 and Figure 8 Furthermore, the steering wheel 110 includes a fixed disk 111, a bearing (not shown), and a hub 112. The fixed rod 220 and the transmission rod 600 are both connected to the fixed disk 111. The connecting platform 113 is disposed on the fixed disk 111, and the hub 112 is rotatably connected to the fixed disk 111 via the bearing. Specifically, the fixed disk 111 is circular, the fixed rod 220 is preferably connected to the center of the fixed disk 111, and the transmission rod 600 is preferably connected to an eccentric portion of the fixed disk 111.

[0060] Example 2

[0061] This embodiment provides an underwater walking mechanism, including the steering chassis provided in Embodiment 1. The chassis body includes a front wheel and a rear wheel, and the steering wheel is the rear wheel.

[0062] For example, the front wheel is a one-way freewheel.

[0063] For example, the underwater walking mechanism further includes a drive motor for driving the front wheels to rotate. When attached to the bottom or wall of the pool, the drive motor enables the steering chassis to move forward and backward; when suspended, a water pump motor enables the steering chassis to move forward.

[0064] Traditional chassis require two drive motors to control the front wheels separately to achieve differential steering, while this application only requires one drive motor to control the rotation of both front wheels simultaneously. That is, without adding motors, the underwater walking mechanism can achieve steering operation in a suspended state, at the bottom of the pool, and on the pool wall.

[0065] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A steering chassis for an underwater walking mechanism, comprising a connected chassis body and two steering wheels, characterized in that, It also includes fixing components, linkage components, transmission rods, and steering mechanisms. The fixing component includes a fixing unit, with fixing rods connected to both sides of the fixing unit. One end of the fixing rod is connected to the fixing unit, and the other end is rotatably connected to the steering wheel. The fixing unit is connected to the steering mechanism, and the fixing rod is connected to the chassis body. The linkage is connected to the transmission rod, and the two ends of the transmission rod are rotatably connected to two steering wheels respectively. The steering mechanism drives the linkage to rotate, and the linkage drives the steering wheels to steer through the transmission rod.

2. The steering chassis of the underwater walking mechanism according to claim 1, characterized in that, It also includes a propulsion mechanism for propulsing the chassis body. The propulsion mechanism includes a connected body and an output shaft. The steering mechanism drives the body to rotate, and the rotation direction of the body is the same as the rotation direction of the steering wheels.

3. The steering chassis of the underwater walking mechanism according to claim 2, characterized in that, The linkage component is provided with a connecting vertical piece, which is connected to the main body.

4. The steering chassis of the underwater walking mechanism according to claim 1, characterized in that, The linkage component is provided with a snap-fit ​​groove, and the transmission rod is provided with a snap-fit ​​protrusion. The snap-fit ​​protrusion matches the snap-fit ​​groove so that the linkage component and the transmission rod are snap-fit ​​connected.

5. The steering chassis of the underwater walking mechanism according to claim 1, characterized in that, The fixing unit is a fixing cover, the steering mechanism is connected to the fixing cover, and the fixing cover has extension plates connected to at least two sides, and fixing rods are connected through the extension plates. The extension plates are connected to the chassis body.

6. The steering chassis of the underwater walking mechanism according to claim 5, characterized in that, The fastener also includes fasteners. The chassis body is provided with multiple fixing posts. The fixing rod and the extension plate are provided with fixing holes that match the fixing posts. The fasteners pass through the fixing holes and fixing posts in sequence for fastening.

7. The steering chassis of the underwater walking mechanism according to claim 5, characterized in that, The linkage component is a linkage cover, which is connected to the steering mechanism and sleeved outside the fixing component. There is a gap between the linkage cover and the fixing unit.

8. The steering chassis of the underwater walking mechanism according to any one of claims 1 to 7, characterized in that, The transmission rod and the fixed rod are connected to a vertical connecting column at one end of the steering wheel. The steering wheel is provided with a connecting platform, and the connecting platform is provided with a through hole. The connecting column is inserted into the through hole and forms a rotatable connection with the connecting platform.

9. The steering chassis of the underwater walking mechanism according to any one of claims 1 to 7, characterized in that, The steering wheel includes a fixed disc, a bearing, and a hub. The fixed rod and the transmission rod are both connected to the fixed disc, and the hub is rotatably connected to the fixed disc through the bearing.

10. An underwater walking mechanism, characterized in that, The steering chassis includes any one of claims 1 to 9, wherein the chassis body includes a front wheel and a rear wheel, and the steering wheel is the rear wheel.

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