A drive system for an underwater cleaning robot and an underwater cleaning robot

Abstract

This application provides a drive system for an underwater cleaning robot and the underwater cleaning robot. The drive system includes: a first water spray pipe and a second water spray pipe, the inlets of which are respectively connected to the water channels inside the underwater cleaning robot, and there is an angle between the water outlet directions of the first and second water spray pipes; a water-blocking valve assembly, which includes a water-blocking valve plate and a transmission structure. The water-blocking valve plate is disposed inside the water channel and is located outside the inlets of the first and second water spray pipes. The transmission structure is connected to the water-blocking valve plate and is configured to drive the water-blocking valve plate to block either the inlet of the first or second water spray pipe; a first drive unit connected to the transmission structure for driving the transmission structure to move the water-blocking valve; and a second drive unit for driving water to flow through the water channel and spray out from the first or second water spray pipe.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a drive system for an underwater cleaning robot and the underwater cleaning robot itself. Background Technology

[0002] Underwater cleaning robots are a type of cleaning robot developed to meet the needs of underwater cleaning. They can perform tasks such as cleaning the underwater parts of structures and filtering water, such as pool cleaning robots used to clean the bottom of swimming pools.

[0003] Underwater cleaning robots typically employ two drive methods to propel their locomotion: mechanical drive and hydraulic drive. Mechanical drive involves a drive motor, gear sets, and linkages at the power input of the locomotion mechanism; a typical example is a tracked pool cleaning robot. Hydraulic drive, on the other hand, uses only unpowered wheels as the locomotion mechanism. In this case, the robot's water intake-filtration-drainage process is integrated with its propulsion needs. The water jets emitted after filtering debris are used as the propulsion force, enabling the robot to move. However, in hydraulic drive scenarios, underwater cleaning robots often get stuck by obstacles such as steps and pool corners, making it difficult to meet the high-coverage cleaning requirements of the underwater environment. This results in poor mobility and ineffective cleaning. Utility Model Content

[0004] In view of this, embodiments of this application provide a drive system for an underwater cleaning robot to at least partially solve the above-mentioned problems.

[0005] This application provides a drive system for an underwater cleaning robot, including: a first water spray pipe and a second water spray pipe, the inlets of the first water spray pipe and the second water spray pipe being respectively connected to the water channel inside the underwater cleaning robot, and there being an angle between the water outlet directions of the first water spray pipe and the second water spray pipe; a water blocking valve assembly, the water blocking valve assembly including a water blocking valve plate and a transmission structure, the water blocking valve plate being disposed in the water channel and located outside the inlets of the first water spray pipe and the second water spray pipe, the transmission structure being connected to the water blocking valve plate, the transmission structure being configured to drive the water blocking valve plate to block either the inlet of the first water spray pipe or the inlet of the second water spray pipe; a first drive unit connected to the transmission structure, used to drive the transmission structure to move the water blocking valve; and a second drive unit, used to drive water flow through the water channel to spray out from the first water spray pipe or the second water spray pipe.

[0006] In some optional embodiments, the movement trajectory of the water-blocking valve plate driven by the transmission structure is set to pass through a first position and a second position that do not overlap. The first position is a position close to the inlet of the first water spray pipe, and the second position is a position close to the inlet of the second water spray pipe. The movement trajectory is the movement trajectory of the sealing surface of the water-blocking valve plate, and the shape of the movement trajectory is a straight line or a circular arc curve.

[0007] In some optional embodiments, the transmission structure includes a linear guide structure and a connecting structure. The linear guide structure is fixedly disposed within the water channel. The connecting structure and the linear guide structure are movably coupled. The output end of the connecting structure is connected to the water-blocking valve plate, and the input end of the connecting structure is connected to the first driving unit. The first driving unit drives the connecting structure to reciprocate along the linear guide structure so as to cause the water-blocking valve plate to block the inlet of the first spray pipe or the inlet of the second spray pipe.

[0008] In some optional embodiments, the linear guide structure is a linear guide groove disposed in the waterway, the connecting structure includes a body and a rack and a sliding member respectively connected to the body, the sliding member is slidably engaged in the linear guide groove, the body is connected to the water-blocking valve plate, and the first drive unit includes a power component and a drive gear that is drivenly connected to the power component, the drive gear meshing with the rack.

[0009] In some optional embodiments, the linear guide structure is a guide protrusion disposed within the waterway. The connecting structure includes a body and a sliding hole disposed on the body. The guide protrusion and the sliding hole are slidably nested along the moving direction of the water-blocking valve plate. The body and the water-blocking valve plate are connected. The connecting structure also includes a rack disposed on the body. The first driving unit includes a power component and a drive gear that is pulsatorically connected to the power component. The drive gear meshes with the rack. The size of the sliding hole in the sliding direction is larger than the extension size of the guide protrusion in the sliding direction, and the size of the hole is set to allow the body to drive the water-blocking valve plate to reciprocate to the first position and the second position relative to the guide protrusion.

[0010] In some optional embodiments, the first water spray pipe includes a first inlet pipe section and a first outlet pipe section, with the inlet of the first water spray pipe located in the first inlet pipe section and the outlet of the first water spray pipe located in the first outlet pipe section, forming an angle between the first inlet pipe section and the first outlet pipe section; the second water spray pipe includes a second inlet pipe section and a second outlet pipe section, with the inlet of the second water spray pipe located in the second inlet pipe section and the outlet of the second water spray pipe located in the second outlet pipe section, forming an angle between the second inlet pipe section and the second outlet pipe section; the axis of the inlet of the first water spray pipe and the axis of the inlet of the second water spray pipe are both perpendicular to the movement trajectory of the sealing surface of the water-blocking valve plate; the sealing surface of the water-blocking valve plate can move in a straight line close to and parallel to a reference plane, the reference plane including the plane where the inlet of the first water spray pipe is located and the plane where the inlet of the second water spray pipe is located.

[0011] In some optional embodiments, the inlets of the first and second water spray pipes are opposite to each other and spaced apart, the water-blocking valve is located between the inlets of the first and second water spray pipes, and the sealing surface of the water-blocking valve is configured to be axially aligned with the inlets of the first and second water spray pipes.

[0012] In some optional embodiments, the transmission structure includes a transmission turntable, the water-blocking valve plate is fixed to the transmission turntable, the transmission turntable is pivotally mounted in the water channel, the first drive unit is connected to the transmission turntable, and the first drive unit can drive the transmission turntable to rotate so as to drive the water-blocking valve plate to rotate and block the inlet of the first spray pipe or the inlet of the second spray pipe.

[0013] In some optional embodiments, the transmission structure further includes an annular groove disposed in the waterway, a limiting structure that slides and engages with the annular groove on the transmission turntable, transmission teeth disposed on the periphery of the transmission turntable, and the first drive unit includes a power component and a drive gear that is connected to the power component in a transmission manner, wherein the drive gear and the transmission teeth mesh.

[0014] In some optional embodiments, the transmission structure further includes a limiting ring disposed within the waterway, the transmission turntable includes a rotating support, a first end of the rotating support is sleeved outside the limiting ring, and a second end of the rotating support is connected to the water-blocking valve plate; the outer periphery of the rotating support is provided with transmission teeth, and the first drive unit includes a power component and a drive gear that is transmissionly connected to the power component, the drive gear and the transmission teeth meshing.

[0015] In some optional embodiments, the transmission structure further includes a limiting structure disposed within the waterway, wherein the side of the water-blocking valve plate away from the rotating support is slidably abutted against the limiting structure along the rotation axis direction of the rotating support.

[0016] In some optional embodiments, the inlet axis of the first water spray pipe, the inlet axis of the second water spray pipe, and the central axis of the water-blocking valve plate all intersect the rotation axis of the transmission turntable. Furthermore, the angle between the inlet axis of the first water spray pipe and the rotation axis of the transmission turntable, and the angle between the inlet axis of the second water spray pipe and the rotation axis of the transmission turntable, are equal to the angle between the central axis of the sealing surface of the water-blocking valve plate and the rotation axis of the transmission turntable, respectively. The central axis of the sealing surface of the water-blocking valve plate passes perpendicularly through the center of the sealing surface.

[0017] In some optional embodiments, the first water spray pipe includes a first inlet pipe section and a first outlet pipe section, with the inlet of the first water spray pipe located in the first inlet pipe section and the outlet of the first water spray pipe located in the first outlet pipe section, and the first inlet pipe section and the first outlet pipe section forming an angle; the second water spray pipe includes a second inlet pipe section and a second outlet pipe section, with the inlet of the second water spray pipe located in the second inlet pipe section and the outlet of the second water spray pipe located in the second outlet pipe section, and the second inlet pipe section and the second outlet pipe section forming an angle; the pipe axis of the inlet of the first water spray pipe and the pipe axis of the inlet of the second water spray pipe are both perpendicular to the sealing surface of the water-blocking valve plate, and the sealing surface of the water-blocking valve plate can rotate close to and parallel to a reference plane, wherein the reference plane includes the plane where the inlet of the first water spray pipe is located and the plane where the inlet of the second water spray pipe is located.

[0018] This application also provides an underwater cleaning robot, including the drive system described in any of the above embodiments.

[0019] In the driving system provided in this embodiment, the inlets of the first and second water spray pipes are respectively connected to the waterways inside the underwater cleaning robot, and there is an angle between the water outlet directions of the two water spray pipes. The water-blocking valve assembly includes a water-blocking valve plate and a transmission structure. The water-blocking valve plate is disposed within the waterway and located outside the inlets of the first and second water spray pipes. The transmission structure is connected to the water-blocking valve plate and is configured to drive the water-blocking valve plate to block either the inlet of the first or second water spray pipe. A first driving unit is connected to the transmission structure and is used to drive the transmission structure to move the water-blocking valve. A second driving unit is used to drive water flow through the waterway from the first or second water spray pipe. Based on the above configuration, the driving system can drive the transmission structure via the first driving unit to move the water-blocking valve plate, changing the blocking position of the water-blocking valve, thereby blocking the water passage of the first or second water spray pipe and causing the water spray pipe corresponding to the expected direction of movement to spray water. When one water jet of the underwater cleaning robot sprays water and drives the robot to an obstacle, controlling the other water jet can adjust the robot's driving direction, causing it to change direction and move away from the obstacle. This ensures the robot's mobility, improves its cleaning effect, and meets the need for high underwater coverage.

[0020] In the above technical solution, the water-blocking valve plate of the drive system has a simple and thin configuration, requiring only a small driving force to switch between the two blocking positions. It has the advantages of easy processing and production, low driving difficulty, and small space occupation. In addition, the installation and movement of the water-blocking valve plate do not occupy the internal pipe space of the first and second water spray pipes. The pipe diameter and pipe configuration of the two water spray pipes are not limited by the reversing requirements, making it more design-friendly. It is convenient for those skilled in the art to adjust the pipe shape, optimize the pipe installation position, and reduce the pipe diameter according to the hydrodynamic drive requirements to improve the drive performance and optimize the movement sensitivity of the underwater cleaning robot. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of a drive system for an underwater cleaning robot, provided as an optional embodiment of this application.

[0023] Figure 2 for Figure 1 The diagram shows the water-blocking valve plate of the drive system blocking the inlet of the second spray pipe.

[0024] Figure 3 This is a cross-sectional schematic diagram of the drive system of an underwater cleaning robot provided as an optional embodiment of this application.

[0025] Figure 4 for Figure 3 A three-dimensional view of a portion of the drive system shown.

[0026] Figure 5 for Figure 3 A three-dimensional view of a portion of the drive system shown from another perspective.

[0027] Figure 6 This is a schematic diagram of a drive system for another underwater cleaning robot provided as an optional embodiment of this application.

[0028] Figure 7 for Figure 6 The diagram shows the water-blocking valve plate of the drive system blocking the inlet of the second spray pipe.

[0029] Figure 8 This is a schematic diagram of a drive system for another underwater cleaning robot provided as an optional embodiment of this application.

[0030] Figure 9 for Figure 8 The diagram shows the water-blocking valve plate of the drive system blocking the inlet of the second spray pipe.

[0031] Figure 10 A cross-sectional schematic diagram of the drive system of another underwater cleaning robot provided as an optional embodiment of this application.

[0032] Figure 11 for Figure 10 A three-dimensional view of a portion of the drive system shown.

[0033] Figure 12 This is a schematic diagram of a drive system for another underwater cleaning robot provided as an optional embodiment of this application.

[0034] Figure 13 for Figure 12 The diagram shows the positional relationship between the water-blocking valve plate of the drive system and the inlet of the first spray pipe.

[0035] Figure 14 for Figure 12 The diagram shows the water-blocking valve plate of the drive system blocking the inlet of the second spray pipe.

[0036] Figure 15 for Figure 14 The diagram shows the positional relationship between the water-blocking valve plate of the drive system and the inlet of the second spray pipe.

[0037] Figure label:

[0038] 10. Underwater cleaning robot; 110. First water spray pipe; 111. Water inlet of the first water spray pipe; 112. First water inlet pipe section; 113. First water outlet pipe section; 120. Second water spray pipe; 121. Water inlet of the second water spray pipe; 122. Second water inlet pipe section; 123. Second water outlet pipe section; 130. Water-blocking valve plate; 141. Linear guide structure; 1411. Linear guide groove; 1412. Guide protrusion; 1413. First limiting part; 1414. Second limiting part; 141 5. First sub-section; 1416. Second sub-section; 142. Body of connecting structure; 143. Rack; 144. Sliding hole; 145. Transmission turntable; 1451. Rotating support; 1452. Transmission gear; 146. Annular groove; 147. Limiting ring; 148. Annular slot; 150. Waterway; 160. First drive unit; 161. Power assembly; 1611. Servo motor; 1612. Drive shaft; 162. Drive gear; 170. Second drive unit; 180. Water inlet structure. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] This application provides a drive system for an underwater cleaning robot.

[0045] The underwater cleaning robot includes components such as a shell, a drive system, a filtration structure, and a locomotion mechanism. The shell has an internal cavity, within which the drive system and filtration structure are housed. Water channels are formed inside the shell to allow water flow, and the shell has inlet and outlet structures connected to these channels. The inlet structure connects to the external environment and the shell's interior, allowing liquids from the external environment to enter the underwater cleaning robot. The outlet structure allows liquids from the shell to be discharged to the external environment along the water channels. The filtration structure is located on the water channels to filter the liquids flowing through them. The drive system causes liquids from the underwater environment to enter the shell through the inlet structure, flow through the filtration components, be filtered, and then be discharged through the outlet structure. This process is repeated to achieve the purpose of cleaning the underwater environment and collecting pollutants. Optionally, the locomotion mechanism may include multiple wheels located at the bottom of the shell. When the underwater cleaning robot is working in a pool, the reaction force of the water jets from the outlet structure serves as the power source for the locomotion mechanism, enabling the robot to move within the underwater environment and perform comprehensive cleaning.

[0046] like Figure 1 and Figure 2 As shown, the drive system of the underwater cleaning robot 10 may include:

[0047] The first water spray pipe 110 and the second water spray pipe 120 have inlets 111 and 121 respectively connected to the water channel 150 inside the underwater cleaning robot 10. The nozzles of the first water spray pipe 110 and the second water spray pipe 120 are configured to correspond to the water outlet structure of the aforementioned shell. Liquid in the water channel 150 enters the water spray pipe through the inlet 111 of the first water spray pipe 110 or the inlet 121 of the second water spray pipe 120, and is sprayed out of the shell through the nozzles of the first water spray pipe 110 or the second water spray pipe 120. An angle exists between the outlet directions of the first water spray pipe 110 and the second water spray pipe 120, resulting in different nozzle orientations and different water outlet directions.

[0048] The water-blocking valve assembly includes a water-blocking valve plate 130 and a transmission structure. The water-blocking valve plate 130 is disposed within the water channel 150 inside the underwater cleaning robot 10, and is located outside the inlet 111 of the first spray pipe 110 and the inlet 121 of the second spray pipe 120, independently disposed relative to the pipe bodies of the two spray pipes. The transmission structure is connected to the water-blocking valve plate 130 and is configured to drive the water-blocking valve plate 130 to move within the water channel 150 and block either the inlet 111 of the first spray pipe 110 or the inlet 121 of the second spray pipe 120.

[0049] The first drive unit 160 is connected to the transmission structure and is used to drive the transmission structure to move the water-blocking valve plate 130.

[0050] The second drive unit 170 is used to drive water to be sprayed out from the first spray pipe 110 or the second spray pipe 120 through the water channel 150.

[0051] In the above embodiments, there are various ways to achieve an angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120. Those skilled in the art can determine the method that enables an angle between the water spray directions of the two water spray pipes based on the specific shapes of the first and second water spray pipes 120. For example, when both the first water spray pipe 110 and the second water spray pipe 120 are straight pipes, the water outlet direction of the two water spray pipes is along the pipe axis, starting from the pipe inlet and pointing towards the pipe outlet. When the inlets of both water spray pipes are arranged facing the water channel 150 and the nozzles are arranged facing the outside of the housing, an angle between the water outlet directions of the two water spray pipes can be achieved by making the pipe axes of the two water spray pipes intersect, or by making the nozzles of the two water spray pipes completely opposite to each other (i.e., the pipe axes of the two water spray pipes intersect at an angle of 180°). Alternatively, when at least one of the first water spray pipe 110 and the second water spray pipe 120 is a bend, the sections of the two water spray pipes, including at least the spray nozzles, are arranged such that the two pipes intersect or the outlets face away from each other, thus making the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120 different. Considering the water outlet directions of the two water spray pipes as two directional vectors, the included angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120 is any angle value within the range of (0°, 180°), with 180 degrees being a preferred choice, making the water outlet directions of the two water spray pipes approximately opposite. Of course, those skilled in the art can also set the included angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120 to other angles according to the design requirements of the driving direction; the specific angle of this included angle is not limited in the embodiments of this application.

[0052] When there is an angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120, the underwater cleaning robot 10 has a first driving direction opposite to the water outlet direction of the first water spray pipe 110 and a second driving direction opposite to the water outlet direction of the second water spray pipe 120. By switching the water outlet states of the first water spray pipe 110 and the second water spray pipe 120, the underwater cleaning robot 10 can be driven to move in different directions. When the underwater cleaning robot 10 is running, one of the first water spray pipe 110 and the second water spray pipe 120 is blocked, while the other is a passageway for water to pass through. Under the action of the second driving unit 170, liquid from the external environment enters through the water inlet structure 180 of the underwater cleaning robot 10, flows through the water channel 150 and is filtered, and then sprays out through the unblocked first water spray pipe 110 or second water spray pipe 120, causing the underwater cleaning robot 10 to clean the underwater environment while moving. When the underwater cleaning robot 10 encounters an obstacle and cannot move forward, the first drive unit 160 drives the water-blocking valve plate 130 to move away from its current blocking position and to a position that can block the inlet of another water spray pipe. This changes the water spray direction of the underwater cleaning robot 10 and its driving direction, allowing it to move away from the obstacle in another direction. Based on the above configuration, the underwater cleaning robot 10 can switch directions and continue moving each time it reaches the edge of the underwater environment, moving away from the underwater facilities. This allows the underwater cleaning robot 10 to clean various areas of the underwater environment while moving.

[0053] The number of the aforementioned water-blocking valve plates 130 can be one or more, as described below. Figure 8 and Figure 12 There are two in the example. When there is only one water-blocking valve plate 130, the valve plate can block two water spray pipes at the same location, or it can block one water spray pipe at different locations. This application embodiment does not limit the specific number of water-blocking valve plates 130, as long as the number of arranged water-blocking valve plates 130 can meet the actual blocking requirements.

[0054] The first drive unit 160 may include a drive motor to drive the transmission structure, thereby causing the transmission structure to move the water-blocking valve. The second drive unit 170 may include a water pump motor and an impeller to drive the impeller to rotate, causing the underwater cleaning robot 10 to suck in and spray water. At least the electrical components of the first drive unit 160 and the second drive unit 170 may be housed in a sealed chamber to prevent water from entering the electrical components of the first drive unit 160 and the second drive unit 170. Alternatively, the electrical components of the first drive unit 160 and the second drive unit 170 may directly use waterproof devices, such as waterproof motors, thus omitting the sealed chamber. The walking mechanism of the underwater cleaning robot 10 may be non-powered wheels, and the power for the movement of the underwater cleaning robot 10 is provided by the water sprayed from the first water spray pipe 110 or the second water spray pipe 120.

[0055] In the drive system provided in this embodiment, the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are respectively connected to the water channel 150 inside the underwater cleaning robot 10, and there is an angle between the water outlet directions of the two water spray pipes. The water blocking valve assembly includes a water blocking valve plate 130 and a transmission structure. The water blocking valve plate 130 is disposed inside the water channel 150 and located outside the inlet 121 of the first and second water spray pipes 120. The transmission structure is connected to the water blocking valve plate 130 and is configured to drive the water blocking valve plate 130 to block either the inlet 111 of the first water spray pipe 110 or the inlet 121 of the second water spray pipe 120. The first drive unit 160 is connected to the transmission structure and is used to drive the transmission structure to move the water blocking valve. The second drive unit 170 is used to drive water to flow through the water channel 150 and spray out from the first water spray pipe 110 or the second water spray pipe 120. Based on the above configuration, the drive system can drive the transmission structure via the first drive unit 160 to move the water-blocking valve plate 130, changing the blocking position of the water-blocking valve plate 130, thereby blocking the water passage of the first water spray pipe 110 or the second water spray pipe 120, causing the water spray pipe corresponding to the expected direction of movement to spray water. When one water spray pipe of the underwater cleaning robot 10 sprays water and drives the underwater cleaning robot 10 to move to the obstacle position, controlling the other water spray pipe to spray water can adjust the driving direction of the underwater cleaning robot 10, causing the underwater cleaning robot 10 to change direction and move away from the obstacle, ensuring the mobility of the underwater cleaning robot 10, which is conducive to improving the cleaning effect of the underwater cleaning robot and meeting the cleaning needs of high underwater coverage.

[0056] In the above technical solution, the water-blocking valve plate 130 of the drive system has a simple and thin configuration, requiring only a small driving force to switch between the two blocking positions. It has the advantages of easy processing and production, low driving difficulty, and small space occupation. In addition, the installation and movement of the water-blocking valve plate 130 do not occupy the internal pipe space of the first and second water spray pipes 120. The pipe diameter and pipe configuration of the two water spray pipes are not limited by the reversing requirements, making it easier to design. It is convenient for those skilled in the art to adjust the pipe shape, optimize the pipe installation position, and reduce the pipe diameter according to the hydrodynamic drive requirements to improve the drive performance and optimize the movement sensitivity of the underwater cleaning robot 10.

[0057] From the perspective of the sealing and flow principle of the first water spray pipe 110 and the second water spray pipe 120, the water-blocking valve plate 130 blocks the water flow into the water spray pipe body by blocking the water inlet of the water spray pipe with its plate-shaped body, thereby achieving the purpose of cutting off the water flow of the corresponding water spray pipe. Compared with the commonly used technical solution that sets the water passage pipe that guides the upstream water flow of the water spray pipe to be rotatable and makes the water outlet of the water passage pipe aligned with the water inlet of the first water spray pipe 110 or the second water spray pipe 120, allowing either the first water spray pipe 110 or the second water spray pipe 120 to spray water, the above-mentioned water-blocking valve plate 130 only needs to completely block the water inlet 121 of the first water spray pipe 110 or the second water spray pipe 120 when switching the water spray direction. There is no need for high-precision alignment between pipe openings, and the difficulty of reversing is much lower. Furthermore, during the operation of the underwater cleaning robot 10, the water flow within the waterway 150 generates an impact force, which further presses the water-blocking valve plate 130 against the sealed inlet of the water pipe. In this situation, on the one hand, the blocked inlet of the water pipe provides a reverse support effect to the pressing water-blocking valve plate 130, reducing the negative load on the installation limit connection of the water-blocking valve plate 130 and thus extending its service life. On the other hand, the tendency of the water-blocking valve plate 130 to press against the inlet of the water pipe under the impact of the water flow allows it to fit more tightly against the inlet, thereby ensuring a deeper sealing effect on the inlet of the water pipe.

[0058] In some optional embodiments, the movement trajectory of the water-blocking valve plate 130 driven by the transmission structure is configured to pass through a first position and a second position that do not overlap. The first position is close to the inlet 111 of the first water spray pipe 110, and the second position is close to the inlet 121 of the second water spray pipe 120. The aforementioned movement trajectory is the movement trajectory generated by the sealing surface of the water-blocking valve plate 130 that can block the inlet 111 of the first water spray pipe 110 or the inlet 121 of the second water spray pipe 120 as the water-blocking valve plate 130 moves as a whole. Specifically, the shape of this movement trajectory is a straight line or a circular arc, thereby enabling the water-blocking valve plate 130 to move along a simple and regular trajectory. This helps reduce the design and driving difficulty of the transmission structure and occupies less valve plate movement space. The sealing surfaces of the water-blocking valve plate 130 include a first surface that faces and blocks the inlet 111 of the first water spray pipe 110 when the water-blocking valve plate 130 moves to the position of the inlet 111 of the first water spray pipe 110, and a second surface that faces and blocks the inlet 121 of the second water spray pipe 120 when the water-blocking valve plate 130 moves to the position of the inlet 121 of the second water spray pipe 120. The first surface and the second surface can be located on the same surface of the water-blocking valve plate 130 or on different surfaces of the water-blocking valve plate 130. The first surface and the second surface are respectively adapted to the first water spray pipe 110 or the second water spray pipe 120 to be blocked. The setting position, orientation, extension area, etc. of the two surfaces can be the same or different, as long as the blocking requirements of the first water spray pipe 110 and the second water spray pipe 120 are met. In the above embodiment, the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are distributed along the moving trajectory at non-overlapping first and second positions, such that the inlet positions of the two water spray pipes are located at different stroke nodes of the water-blocking valve plate 130. This arrangement allows the water-blocking valve plate 130 to approach the inlet of any water spray pipe by moving forward and backward during the movement, until the water-blocking valve plate 130 completely blocks the inlet of the water spray pipe, thereby achieving the purpose of blocking the water spray pipe that does not require water spraying.

[0059] The aforementioned first and second positions are configured to simultaneously satisfy the requirements for smooth movement of the sealing surface of the water-blocking valve plate 130 relative to the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, as well as the requirement for water flow blocking at the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120. For example, the first and second positions are configured such that the pipe end faces of the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 do not interfere with the blocking and connecting movement of the corresponding sealing surfaces during the reversing process, and the proximity of the pipe end faces at the inlets of the two water spray pipes and their respective corresponding sealing surfaces in the blocking state can basically prevent water flow in the waterway 150 from entering the blocked water spray pipe. In specific implementation, the gap size between the first position and the inlet of the first water spray pipe 110, and the gap size between the second position and the inlet 121 of the second water spray pipe 120, can be determined based on the material of the sealing surface of the water-blocking valve plate 130 and the material of the inlet portion of the water inlet. Specifically, if the inlet end or the sealing surface of the water-blocking valve plate 130 is made of a material with high hardness and poor deformation ability, the aforementioned gap size should be at least greater than zero, such as 0.2 mm, so that while sealing the inlet opening, it can be moved relative to the opening to switch the flow and sealing states of the opening. Those skilled in the art can adjust the gap size according to actual design requirements, increasing or decreasing it as the actual surface roughness of the inlet end or the sealing surface of the water-blocking valve plate 130 changes. Alternatively, if the inlet end or the sealing surface of the water-blocking valve plate 130 is made of a material with strong deformation capacity, for example, if the inlet end or the sealing surface of the water-blocking valve plate 130 is covered with a rubber or sponge layer, at least one of the inlet end and the sealing surface of the water-blocking valve plate 130 can be deformed to allow the water-blocking valve plate 130 to move misaligned relative to the inlet end, then the above-mentioned gap size can be equal to or even less than zero, such as being set to -0.05mm, so that the water-blocking valve plate 130 can move to the inlet end sealing position through surface deformation and fit tightly against the gap, ensuring a good sealing effect.

[0060] like Figure 1 and Figure 2As shown, in some embodiments where the sealing surface of the water-blocking valve plate 130 moves linearly, the transmission structure includes a linear guide structure 141 and a connecting structure. The linear guide structure 141 is fixedly installed in the water channel 150. The connecting structure and the linear guide structure 141 are movably coupled. The output end of the connecting structure is connected to the water-blocking valve plate 130, and the input end of the connecting structure is connected to the first drive unit 160. The first drive unit 160 drives the connecting structure to reciprocate along the linear guide structure 141 so as to drive the sealing surface of the water-blocking valve plate 130 to switch between a first position close to the inlet 111 of the first spray pipe 110 and a second position close to the inlet 121 of the second spray pipe 120.

[0061] like Figure 1 and Figure 2 As shown, the linear guide structure 141 can be a linear guide groove 1411 disposed within the waterway 150. This linear guide groove 1411 can be disposed on any structure within the waterway 150, such as on the inner wall of the underwater cleaning robot 10's shell, or on internal components of the underwater cleaning robot 10, such as on the outer wall of the sealed chamber. The connecting structure includes a body 142 and a rack 143 and a slider respectively connected to the connecting structure body 142. The slider is a slider structure that can be slidably engaged within the linear guide groove 1411, and the shape of the slider structure is adapted to the shape of the cross-section within the linear guide groove 1411. The connecting structure body 142 is connected to the water-blocking valve plate 130. The first drive unit 160 includes a power component 161 and a drive gear 162 that is driveably connected to the power component 161. The power component 161 is driveably connected to the drive gear 162 via a transmission shaft. The drive gear 162 meshes with a rack 143, so that the connecting structure uses the rack 143 as the power input end and the connection position of the water-blocking valve plate 130 as the power output end. The body 142 of the connecting structure drives the water-blocking valve plate 130 to move, while the sliding member restricts the movement path of the body 142 of the connecting structure. Through the rotation of the drive gear 162, the rack 143 can be driven to move the connecting structure back and forth in a straight line along the linear guide groove 1411, thereby enabling the water-blocking valve plate 130 to pass through the first position and the second position during the straight line movement. The movement direction of the water-blocking valve plate 130 is precisely controlled by the linear guide groove 1411, which can prevent the water-blocking valve plate 130 from deviating from the preset linear movement trajectory, ensure the accuracy of the overlap between the sealing surface of the water-blocking valve plate 130 and the first and second positions when it moves, and achieve a long-term, repeatable and reliable sealing effect of the water-blocking valve plate 130.

[0062] In this embodiment, the sliding member is slidably positioned within the linear guide groove 1411, enabling movable engagement between the connecting structure and the linear guide groove 1411. This reduces the space occupied by the sliding member within the waterway 150, improving the utilization rate of the space within the waterway 150. In this embodiment, the transmission structure includes a linear guide structure 141 and a connecting structure. The linear guide structure 141 is fixedly installed within the waterway 150, while the connecting structure and the linear guide structure 141 are movably engaged. The output end of the connecting structure is connected to the water-blocking valve plate 130, and the input end of the connecting structure is connected to the first drive unit 160. The first drive unit 160 drives the connecting structure to reciprocate along the linear guide structure 141. The linear guide structure 141 provides a stable linear guide path for the movement of the connecting structure, allowing the water-blocking valve plate 130 to smoothly reciprocate along the linear movement trajectory under the drive of the first drive unit 160. This improves the accuracy and stability of the water-blocking valve plate 130 in blocking the water inlet.

[0063] like Figure 3-5 As shown, in some embodiments where the sealing surface of the water-blocking valve plate 130 moves linearly, the linear guide structure 141 is a guide protrusion 1412 disposed within the waterway. This guide protrusion 1412 can be disposed on any structure within the waterway 150, such as on the inner wall of the underwater cleaning robot 10's shell, or on internal components of the underwater cleaning robot 10, such as on the outer wall of the sealed chamber. The connecting structure includes a body 142 and a sliding hole 144 disposed on the body 142. The guide protrusion 1412 and the sliding hole 144 are slidably nested along the moving direction of the water-blocking valve plate 130, wherein the moving direction of the water-blocking valve plate 130 is a predetermined linear direction. The body 142 and the water-blocking valve plate 130 are connected. The connection structure also includes a rack 143 disposed on the body 142. The first drive unit includes a power component 161 and a drive gear 162 that is pulverizedly connected to the power component 161. The drive gear 162 meshes with the rack 143, so that the power component can drive the rack 143 to move the body 142 of the connection structure along a predetermined moving direction. The size of the sliding hole 144 in the sliding direction is larger than the extension size of the guide protrusion 1412 in the sliding direction, and the hole size is set to allow the body 142 to drive the water-blocking valve plate 130 to reciprocate to a first position and a second position relative to the guide protrusion 1412. Optionally, the size of the sliding hole 144 in the direction perpendicular to the sliding direction can be slightly larger than the extension size of the guide protrusion 1412 in that direction to reduce the resistance encountered by the body 142 of the connection structure when it moves relative to the guide protrusion 1412.

[0064] As a feasible implementation, the main body 142 of the connecting structure can be provided with one or more sliding holes 144, each sliding hole 144 being slidably nested with at least one guide protrusion 1412. The guide protrusion 1412 may include a first limiting portion 1413 and a second limiting portion 1414. One end of the first limiting portion 1413 can be connected to the inner wall of the waterway or other structures within the waterway, and the other end is connected to the second limiting portion 1414. The sliding hole 144 is sleeved outside the first limiting portion 1413, and the second limiting portion 1414 engages with the hole wall of the sliding hole 144, thereby allowing the sliding hole 144 to be nested outside the first limiting portion 1413 of the guide protrusion 1412. Figure 3-5 As shown, the second limiting part 1414 can be located on the side of the connecting structure body 142 opposite to the inner wall of the waterway to which the first limiting part 1413 is connected. The first limiting part 1413 can include a first sub-part 1415 and a second sub-part 1416 arranged sequentially along the sliding direction of the connecting structure, so that the connecting structure body 142 can move linearly through the sliding hole 144 along the sliding direction pointed to by the line connecting the first sub-part 1415 and the second sub-part 1416. Of course, the second limiting part 1414 can also be located inside the hole of the sliding hole 144. In this case, the first limiting part 1413 can include the aforementioned first sub-part 1415 and second sub-part 1416, and / or the second limiting part 1414 includes a third sub-part and a fourth sub-part arranged along the sliding direction. So that the connecting structure body 142 can move linearly through the sliding hole 144 along the sliding direction pointed to by the line connecting the first sub-part 1415 and the second sub-part 1416 and / or the third sub-part and the fourth sub-part.

[0065] In this embodiment, the guide protrusion 1412 and the sliding hole 144 are slidably nested along the moving direction of the water-blocking valve plate 130, providing a guiding path for the movement of the connecting structure body 142 and the water-blocking valve plate 130, enabling them to move stably along a predetermined moving direction. The size of the sliding hole 144 in the sliding direction is larger than the extension size of the guide protrusion 1412 in the sliding direction, providing a certain amount of space for the movement of the water-blocking valve plate 130. This allows the connecting structure body 142 to flexibly slide back and forth relative to the guide protrusion 1412 along the predetermined moving direction when moving the water-blocking valve plate 130, allowing the water-blocking valve plate 130 to switch freely between a first position and a second position, facilitating the sealing of the inlets of the first water spray pipe 110 and the second water spray pipe 120.

[0066] like Figure 1 and Figure 2As shown, in some optional embodiments, the first water spray pipe 110 and the second water spray pipe 120 are non-straight pipes, comprising multiple pipe segments that do not extend along the same straight line. For example, the first water spray pipe 110 includes a first inlet pipe segment 112 and a first outlet pipe segment 113. The inlet 111 of the first water spray pipe 110 is located at the inlet end of the first inlet pipe segment 112, the outlet end of the first inlet pipe segment 112 is connected to the inlet end of the first outlet pipe segment 113, and the outlet of the first water spray pipe 110 is located at the outlet end of the first outlet pipe segment 113. The first inlet pipe segment 112 and the first outlet pipe segment 113 have any included angle within the range of (0°, 180°), such as 60°, 90°, and 120°. It should be understood that the angle between the first inlet pipe section 112 and the first outlet pipe section 113 is the angle between the axis of the first inlet pipe section 112 and the axis of the first outlet pipe section 113. A rounded chamfer may be present at the connection between the second inlet pipe section 122 and the second outlet pipe section 123 to allow for a smooth transition between the first inlet pipe section 112 and the first outlet pipe section 113.

[0067] The second water spray pipe 120 includes a second inlet pipe section 122 and a second outlet pipe section 123. The pipe shape design of the second water spray pipe 120 is similar to that of the first water spray pipe 110. The inlet 121 of the second water spray pipe 120 is located in the second inlet pipe section 122, and the outlet of the second water spray pipe 120 is located in the second outlet pipe section 123, which will not be described again here. In actual implementation, the pipe design schemes of the first water spray pipe 110 and the second water spray pipe 120 can be the same or different. Those skilled in the art can adjust the pipe shape and pipe outlet orientation of the first water spray pipe 110 and / or the second water spray pipe 120, as well as the included angle value of the water outlet directions of the two water spray pipes, according to actual driving requirements. For example, when designing the spray direction of the first water spray pipe 110 and the second water spray pipe 120, the first water outlet pipe section 113 and the second water outlet pipe section 123 can be arranged horizontally to minimize the vertical component of the driving force generated by the water spray and maximize the horizontal component, thus ensuring maximum driving effect. Of course, the first water outlet pipe section 113 and the second water outlet pipe section 123 can also be arranged differently. In this case, the driving force obtained by the water spray from the first water outlet pipe section 113 and the second water outlet pipe section 123 will be decomposed into a horizontal component and a vertical component. It should be understood that those skilled in the art can set the arrangement direction of the pipe axis of the first water outlet pipe section 113 and the second water outlet pipe section 123 according to specific driving requirements. For example, when a strong mobility effect of the underwater cleaning robot 10 is required, the water outlet directions of the two water spray pipes can be set to extend horizontally in two directions away from the underwater cleaning robot 10, so that the reaction force generated by the water spray is maximized to drive the underwater cleaning robot 10 forward. Alternatively, when it is necessary to enhance the ground-hugging mobility of the underwater cleaning robot 10, the outlet sections of the two water spray pipes can be set to extend obliquely from bottom to top, so that the underwater cleaning robot 10 generates a strong reaction force when spraying water. The driving force has a downward component in the vertical direction, so as to drive the underwater cleaning robot 10 forward while also enabling it to grip the ground. Alternatively, when it is necessary to improve the underwater cleaning robot 10's obstacle-crossing ability on uneven surfaces, the outlet sections of the two water spray pipes can be set to extend obliquely from top to bottom, so that the driving force generated when the underwater cleaning robot 10 sprays water has an upward component in the vertical direction, so as to drive the underwater cleaning robot 10 forward while also slightly lifting it. The above-mentioned water outlet direction setting can be applied to a single water spray pipe, so that only one water spray pipe has maximized horizontal driving force, gripping driving force, or lifting obstacle-crossing force, or it can be applied to two water spray pipes simultaneously.

[0068] Continue reading Figure 1 and Figure 2For the first inlet pipe section 112 of the first water spray pipe 110 and the second inlet pipe section 122 of the second water spray pipe 120, the axis of the inlet 111 of the first water spray pipe 110 and the axis of the inlet 121 of the second water spray pipe 120 are both perpendicular to the linear movement trajectory of the sealing surface of the water-blocking valve plate 130. The sealing surface of the water-blocking valve plate 130 moves linearly close to and parallel to the reference plane. The reference plane includes the plane where the inlet 111 of the first water spray pipe 110 is located and the plane where the inlet 121 of the second water spray pipe 120 is located. When the sealing surface used to seal the first water spray pipe 110 and the sealing surface used to seal the second water spray pipe 120 are the same surface, or located on the same surface, the number of reference planes is one. The plane where the inlet 111 of the first water spray pipe 110 is located and the plane where the inlet 121 of the second water spray pipe 120 is located are the same plane, such as when the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are flush (i.e.) Figure 1 and Figure 2 (As shown in the diagram). When the sealing surface used to seal the first water spray pipe 110 and the sealing surface used to seal the second water spray pipe 120 are different surfaces of the same water-blocking valve plate 130, or are surfaces of different water-blocking valve plates 130, there are two reference planes. The plane containing the inlet 111 of the first water spray pipe 110 and the plane containing the inlet 121 of the second water spray pipe 120 are different planes. When the reference plane is... Figure 1 , 2 When shown in the horizontal plane, the first water inlet pipe section 112 of the first water spray pipe 110 and the second water inlet pipe section 122 of the second water spray pipe 120 are arranged generally vertically, and the first water outlet pipe section 113, which is bent relative to the first water inlet pipe section 112, and the second water outlet pipe section 123, which is bent relative to the second water inlet pipe section 122, extend outward toward the side of the underwater cleaning robot 10 at a certain angle to each other. Figure 1 , 2 The diagram shows an example of a horizontally outwardly extending first water outlet pipe section 113 and second water outlet pipe section 123 that are opposite to each other, with the water spraying directions being one in front of the other.

[0069] In this embodiment, the first water spray pipe 110 includes a first inlet pipe section 112 and a first outlet pipe section 113. The inlet 111 of the first water spray pipe 110 is located in the first inlet pipe section 112, and the outlet of the first water spray pipe 110 is located in the first outlet pipe section 113. The first inlet pipe section 112 and the first outlet pipe section 113 form an angle. The second water spray pipe 120 includes a second inlet pipe section 122 and a second outlet pipe section 123. The inlet 121 of the second water spray pipe 120 is located in the second inlet pipe section 122, and the outlet of the second water spray pipe 120 is located in the second outlet pipe section 123. The second inlet pipe section 122 and the second outlet pipe section 123 form an angle. By utilizing the angle between the first inlet pipe section 112 and the first outlet pipe section 113, and the angle between the second inlet pipe section 122 and the second outlet pipe section 123, the inlet and outlet directions of the first spray pipe 110 and the second spray pipe 120 do not need to be the same, thus improving the flexibility of the installation of the first spray pipe 110 and the second spray pipe 120. The axis of the inlet 111 of the first spray pipe 110 and the axis of the inlet 121 of the second spray pipe 120 are both perpendicular to the movement trajectory of the sealing surface of the water-blocking valve plate 130. The sealing surface of the water-blocking valve plate 130 can move linearly close to and parallel to a reference plane. The reference plane includes the plane containing the inlet 111 of the first spray pipe 110 and the plane containing the inlet 121 of the second spray pipe 120. This allows the sealing surface to move linearly close to and parallel to the first... The position of the inlet 111 of the water spray pipe 110 and the inlet 121 of the second water spray pipe 120, in order to block the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, helps to reduce the gap between the water-blocking valve plate 130 and the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, thereby improving the effect of the water-blocking valve plate 130 in blocking the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120.

[0070] Alternatively, when the axis of the inlet 111 of the first spray pipe 110 and the axis of the inlet 121 of the second spray pipe 120 are both perpendicular to the linear movement trajectory of the sealing surface of the water-blocking valve plate 130, in addition to the example case where the two spray pipes are arranged on the same side of the water-blocking valve plate 130, the first spray pipe 110 and the second spray pipe 120 can also be arranged one above the other relative to the water-blocking valve plate 130. For example, according to Figure 1 or Figure 2As shown, the second water spray pipe 120 is symmetrically folded downwards along the surface of the water-blocking valve plate 130. In this configuration, the reference plane containing the inlet 121 of the second water spray pipe 120 and the reference plane containing the inlet 111 of the first water spray pipe 110 are two horizontal planes at different heights. The water-blocking valve plate 130 is positioned between these two reference planes, with its upper sealing surface blocking the first water spray pipe 110 and its lower sealing surface blocking the second water spray pipe 120. This pipe arrangement is suitable for scenarios where there is a height difference between the two spray directions. Of course, those skilled in the art can also adjust other methods to create a height difference between the two water spray outlets. For example, adjusting the length of the first inlet pipe section 112 / second inlet pipe section 122, or adjusting the angle between the first inlet pipe section 112 and the first outlet pipe section 113, and the angle between the second inlet pipe section 122 and the second outlet pipe section 123, etc.

[0071] like Figure 6 and Figure 7 As shown, in some alternative embodiments, the pipe bodies of the first water spray pipe 110 and the second water spray pipe 120 are not arranged horizontally, so that the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are opposite each other. Optionally, the first water spray pipe 110 and the second water spray pipe 120 are... Figure 6 and Figure 7 The straight shape shown is used to reduce the resistance of the first water spray pipe 110 and the second water spray pipe 120 to water, thereby improving the water spraying efficiency of the first water spray pipe 110 and the second water spray pipe 120. Of course, the first water spray pipe 110 and the second water spray pipe 120 can also be non-straight shapes such as arcs. This embodiment does not limit the specific shape of the first water spray pipe 110 and the second water spray pipe 120, as long as there is an included angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120. A gap is provided between the water inlet 111 of the first water spray pipe 110 and the water inlet 121 of the second water spray pipe 120. The water blocking valve plate 130 is located between the water inlet 111 of the first water spray pipe 110 and the water inlet 121 of the second water spray pipe 120, and the sealing surface of the water blocking valve plate 130 is configured to be axially aligned with the water inlet 111 of the first water spray pipe 110 and the water inlet 121 of the second water spray pipe 120.

[0072] The sealing surface of the aforementioned water-blocking valve plate 130 is axially aligned with the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120. Specifically, this includes projecting the inlet 111 and the sealing surface of the water-blocking valve plate 130 used to block the inlet 111 along the axial direction of the inlet 111, so that the projected area of ​​the inlet 111 is completely covered by the projected area of ​​the sealing surface of the water-blocking valve plate 130; and projecting the inlet 121 and the sealing surface of the water-blocking valve plate 130 used to block the second water spray pipe 120 along the axial direction of the inlet 121, so that the projected area of ​​the inlet 121 is completely covered by the projected area of ​​the sealing surface of the water-blocking valve plate 130.

[0073] In this embodiment, the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are positioned opposite each other and spaced apart. The water-blocking valve plate 130 is located between the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, which can effectively utilize the space between the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, thereby improving the utilization rate of the internal space of the underwater cleaning robot 10. The sealing surface of the water-blocking valve plate 130 is configured to be axially aligned with the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, which helps to improve the accuracy of the water-blocking valve plate 130 in sealing the inlets of the first water spray pipe 110 and the second water spray pipe 120, so that the water-blocking valve plate 130 can reliably prevent water from entering the sealed inlet.

[0074] like Figure 8-15 As shown, in some optional embodiments, the transmission structure includes a transmission turntable 145, a water-blocking valve plate 130 fixed to the transmission turntable 145, the transmission turntable 145 pivotally mounted in the water channel 150, a first drive unit 160 being connected to the transmission turntable 145, the inlet 111 of the first spray pipe 110 and the inlet 121 of the second spray pipe 120 being located on or near the rotation trajectory of the sealing surface of the water-blocking valve plate 130, the first drive unit 160 being able to drive the transmission turntable 145 to rotate so as to drive the water-blocking valve plate 130 to block the inlet 111 of the first spray pipe 110 or the inlet 121 of the second spray pipe 120.

[0075] The transmission turntable 145 is pivotally mounted within the waterway 150, meaning that the transmission turntable 145 is rotatably arranged within the waterway 150. The transmission turntable 145 can be rotatably connected to the inner wall of the housing or the outer wall of the sealed chamber in the waterway 150 area, so as to drive the water-blocking valve plate 130 to rotate within the waterway 150. The pivotal mounting structure of the transmission turntable 145 is not limited. For example, the transmission turntable 145 can be pivotally mounted using a rotating shaft structure, or by being slidably engaged in the annular groove 146, etc. The following will combine... Figures 8-15 The three pivot mounting structures listed are described in detail.

[0076] In this embodiment, the first driving unit 160 can drive the transmission turntable 145 to reciprocate in an arc or circumferential rotation, causing the transmission turntable 145 to move the water-blocking valve plate 130 fixed thereon along the arc curve trajectory, so as to approach the inlet of any water spray pipe until the water-blocking valve plate 130 completely blocks the inlet of the water spray pipe, thereby achieving the purpose of blocking the water spray pipe that does not need to spray water. Furthermore, the transmission turntable 145 has the advantages of more uniform load distribution, more reliable limiting and matching method, and smaller occupied moving space, which is beneficial for providing more stable support for the water-blocking valve plate 130 and optimizing the spatial arrangement of the water-blocking valve plate 130.

[0077] like Figure 8 , 9 As shown in 12 and 14, in some optional embodiments, the transmission structure further includes an annular groove 146 disposed on the inner wall of the waterway 150 / top of the sealed chamber. The transmission turntable 145 is provided with a limiting structure that slides and engages with the annular groove 146, for example... Figure 8 and Figure 9 The transmission turntable 145 shown has a protruding edge that engages with the annular groove 146 on the side near the annular groove 146. Transmission teeth are provided on the inner or outer circumferential side of the transmission turntable 145. Optionally, to improve space utilization, the transmission teeth 1452 can be located on the inner circumference of the transmission turntable 145; see [reference needed]. Figure 8 As shown. The first drive unit 160 includes a power component 161 and a drive gear 162 that is drively connected to the power component 161. The drive gear 162 meshes with the transmission gear. It should be understood that the meshing in the embodiments of this application includes direct meshing and indirect meshing. When the internal space of the underwater cleaning robot 10 is small, the installation position of the power component 161 is not convenient for the drive gear 162 to directly mesh with the transmission gear, or it is necessary to adjust the output speed of the drive gear 162, a suitable transition structure can be set between the drive gear 162 and the transmission gear. The drive gear 162 forms indirect meshing with the transmission gear through this transition structure. For example, the drive gear 162 can form indirect meshing with the transmission gear through a suitable transition gear.

[0078] In this embodiment, by providing an annular groove 146 within the waterway 150 and a limiting structure that slides and engages with the transmission turntable 145, the stability and reliability of the transmission turntable 145 during rotation are effectively improved, preventing problems such as offset or shaking of the transmission turntable 145 during operation. Simultaneously, the transmission teeth on the periphery of the transmission turntable 145 mesh with the drive gear 162 in the first drive unit 160, and the power component 161 is connected to the drive gear 162, enabling the power of the power component 161 to be efficiently and accurately transmitted to the transmission turntable 145. This ensures that the transmission turntable 145 moves synchronously with the power component 161 during transmission, improving the operating efficiency and performance of the transmission system.

[0079] like Figure 10 and Figure 11 As shown, in some optional embodiments, the transmission structure further includes a limiting ring 147 disposed within the waterway 150. The limiting ring 147 can be disposed on any structure within the waterway 150, such as on the inner wall of the underwater cleaning robot 10's shell, or on an internal component of the underwater cleaning robot 10, such as on the outer wall of the sealed chamber. The transmission turntable 145 includes a rotating support 1451. The rotating support 1451 is shaped to allow water flow in the waterway to pass through the rotating support 1451 and enter the inlet of the spray pipe. For example, the rotating support 1451 is provided with several through-hole mechanisms that allow water to pass through (see...). Figure 11 The rotating support 1451 has multiple square through holes, or at least one of the radial dimension and axial height of the rotating support 1451 is configured to allow water to flow through the rotating support 1451 into the inlet of the spray pipe without obstructing the flow of water in the water channel. The first end of the rotating support 1451 is sleeved on the outside of the limiting ring 147, and the first end of the rotating support 1451 is rotatable relative to the limiting ring 147. The second end of the rotating support 1451 is connected to the water-blocking valve plate 130. The outer periphery of the rotating support 1451 is provided with transmission teeth. The first drive unit 160 includes a power component 161 and a drive gear 162 that is drively connected to the power component 161. The drive gear 162 and the transmission teeth mesh.

[0080] It is understood that the first drive unit 160 is not limited to the scenario described above where it meshes with the outside of the rotating support 1451. For example, the transmission teeth 1452 can also be disposed on the inner circumference of the rotating support 1451, and correspondingly, the inner ring surface of the limiting ring 147 is rotatably sleeved on the outside of the rotating support 1451, thereby limiting the rotation of the rotating support 1451. Those skilled in the art can adjust the meshing position of the rotating support 1451 according to the actual arrangement requirements of the first drive unit 160. In this embodiment, a limiting ring 147 is provided within the waterway 150. The transmission turntable 145 includes a rotating support 1451, with its first end sleeved outside the limiting ring 147 and its second end connected to the water-blocking valve plate 130. The limiting ring 147 restricts the radial movement of the rotating support 1451, allowing it to rotate relative to the limiting ring 147. This effectively improves the stability and reliability of the transmission turntable 145 during rotation. Simultaneously, the transmission teeth on the outer periphery of the transmission turntable 145 mesh with the drive gear 162 in the first drive unit 160. The power assembly 161 is connected to the drive gear 162, enabling efficient and precise transmission of power from the power assembly 161 to the transmission turntable 145. This ensures that the transmission turntable 145 moves synchronously with the power assembly 161 during transmission, improving the operating efficiency and performance of the transmission system.

[0081] In some optional embodiments, the transmission structure further includes a limiting structure disposed within the waterway. Along the rotation axis of the rotating support 1451, the side of the water-blocking valve plate 130 away from the rotating support 1451 slidably abuts against the limiting structure. This limits the axial movement of the rotating support 1451, preventing movement other than rotation and improving the stability of the transmission turntable 145's rotation. The first end of the rotating support 1451 can also abut against the structure connected to the limiting ring 147, thus limiting the axial movement of the rotating support 1451 together with the aforementioned limiting structure. Alternatively, the first end of the rotating support 1451 can be limited in other ways, such as by providing a raised edge on the limiting ring 147 and having the first end of the rotating support 1451 abut against this raised edge.

[0082] like Figure 10 As shown, optionally, the limiting structure can be an annular groove 148 provided in the water channel 150. The side of the water-blocking valve plate 130 facing away from the rotating support 1451 can slide against the annular groove 148, thereby restricting the axial movement of the water-blocking valve plate 130 along the rotating support 1451 through the annular groove 148, and also restricting the radial movement of the water-blocking valve plate 130 along the rotating support 1451, thereby improving the stability of the rotation of the water-blocking valve plate 130.

[0083] like Figure 8 and Figure 9As shown, in some optional embodiments, the axis of the inlet 111 of the first water spray pipe 110, the axis of the inlet 121 of the second water spray pipe 120, and the central axis of the water-blocking valve plate 130 all intersect the rotation axis of the transmission turntable 145. Furthermore, the angles between the axis of the inlet 111 of the first water spray pipe 110 and the rotation axis of the transmission turntable 145, and the angle between the axis of the inlet 121 of the second water spray pipe 120 and the rotation axis of the transmission turntable 145, are equal to the angles between the central axis of the sealing surface of the water-blocking valve plate 130 and the rotation axis of the transmission turntable 145. The central axis of the sealing surface of the water-blocking valve plate 130 perpendicularly passes through the center of the sealing surface. Optionally, the first water spray pipe 110 and the second water spray pipe 120 can be symmetrical with respect to the rotation center of the transmission turntable 145. The first water spray pipe 110 and the second water spray pipe 120 can be... Figure 8 and Figure 9 The straight shape shown is used to reduce the resistance of the first water spray pipe 110 and the second water spray pipe 120 to water, thereby improving the water spraying efficiency of the first water spray pipe 110 and the second water spray pipe 120. Of course, the first water spray pipe 110 and the second water spray pipe 120 can also be non-straight shapes such as arcs. This embodiment does not limit the specific shape of the first water spray pipe 110 and the second water spray pipe 120, as long as there is an angle between the water outlet directions of the first water spray pipe 110 and the second water spray pipe 120.

[0084] When the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are blocked by the same water-blocking valve plate 130, the angle between the pipe axis of the inlet 111 of the first water spray pipe 110 and the rotation axis of the transmission turntable 145, the angle between the pipe axis of the inlet 121 of the second water spray pipe 120 and the rotation axis of the transmission turntable 145, and the angle between the central axis of the blocking surface of the water-blocking valve plate 130 and the rotation axis of the transmission turntable 145 can all be equal. When the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are blocked by different water-blocking valve plates 130, the angle between the pipe axis of the inlet 111 of the first water spray pipe 110 and the rotation axis of the transmission turntable 145 is equal to the angle between the central axis of the blocking surface of the water-blocking valve plate 130 (corresponding to the first water spray pipe 110) and the rotation axis of the transmission turntable 145. Similarly, the angle between the pipe axis of the inlet 121 of the second water spray pipe 120 and the rotation axis of the transmission turntable 145 is equal to the angle between the central axis of the blocking surface of the water-blocking valve plate 130 (corresponding to the second water spray pipe 110) and the rotation axis of the water-blocking valve plate 130 (corresponding to the second water spray pipe 120) and the rotation axis of the water-blocking valve plate 130 (corresponding to the second water spray pipe 120). The angle between the central axis of the sealing surface of the valve plate 130 and the rotation axis of the transmission turntable 145 is equal. It is not limited to the relationship between the angles formed by the inlet axis of the first water spray pipe 110 and the inlet axis of the second water spray pipe 120 with the rotation axis of the transmission turntable 145, or the relationship between the angles formed by the central axis of the sealing surface of the water blocking valve plate 130 corresponding to the first water spray pipe 110 and the central axis of the sealing surface of the water blocking valve plate 130 corresponding to the second water spray pipe 120 with the rotation axis of the transmission turntable 145.

[0085] The included angle between the axis of the inlet 111 of the first water spray pipe 110 and the axis of the inlet 121 of the second water spray pipe 120 can be any angle value within the range of (0°, 180°), with 180° being a preferred choice, so that the water outlet directions of the two water spray pipes are approximately opposite. It should be understood that the flatness of the sealing surface of the water-blocking valve plate 130 is adapted to the position and shape of the inlet of the water spray pipe, as long as the actual shape of the sealing surface allows the water-blocking valve plate 130 to move misaligned relative to the inlet of the water spray pipe when rotating, and can substantially prevent the water flow in the water channel 150 from entering the inlet when blocking the inlet. The sealing surface can be a plane or may include at least a portion of a curved surface.

[0086] In this embodiment, there is an angle between the axis of the inlet 111 of the first water spray pipe 110 and the axis of the inlet 121 of the second water spray pipe 120, which allows the underwater cleaning robot 10 to have a first driving direction opposite to the water outlet direction of the first water spray pipe 110 and a second driving direction opposite to the water outlet direction of the second water spray pipe 120, thereby enabling the underwater cleaning robot 10 to move in different directions.

[0087] The axis of the inlet 111 of the first water spray pipe 110, the axis of the inlet 121 of the second water spray pipe 120, and the central axis of the water-blocking valve plate 130 all intersect with the rotation axis of the transmission turntable 145. Furthermore, the angle between the axis of the inlet 111 of the first water spray pipe 110 and the rotation axis of the transmission turntable 145, and the angle between the axis of the inlet 121 of the second water spray pipe 120 and the rotation axis of the transmission turntable 145, are equal to the angle between the central axis of the sealing surface of the water-blocking valve plate 130 and the rotation axis of the transmission turntable 145, respectively. When the water-blocking valve plate 130 is moved by the transmission turntable 145 between the inlet 111 of the first water spray pipe 110 and the rotation axis of the transmission turntable 145, the central axis of the sealing surface of the water-blocking valve plate 130 can be parallel to the pipe inlet axis of the first water spray pipe 110. Since the pipe inlet axis of the first water spray pipe 110 is perpendicular to the plane containing the inlet 111, the sealing surface of the water-blocking valve plate 130 can be parallel to the plane containing the inlet 111 of the first water spray pipe 110. Similarly, when the water-blocking valve plate 130 is moved by the transmission turntable 145 between the inlet 121 of the second water spray pipe 120 and the rotation axis of the transmission turntable 145, the sealing surface of the water-blocking valve plate 130 can be parallel to the plane containing the inlet 121 of the second water spray pipe 120. The sealing surface of the water-blocking valve plate 130 is parallel to the plane where the inlet 111 of the first water spray pipe 110 is located, and the sealing surface of the water-blocking valve plate 130 is parallel to the plane where the inlet 121 of the second water spray pipe 120 is located. This makes it easier for the sealing surface of the water-blocking valve plate 130 to be as close as possible to the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, thereby reducing the gap between the water-blocking valve plate 130 and the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120, and improving the sealing effect of the water-blocking valve plate 130.

[0088] like Figure 12-15 As shown, in some optional embodiments, the first water spray pipe 110 includes a first inlet pipe section 112 and a first outlet pipe section 113. The inlet 111 of the first water spray pipe 110 is located in the first inlet pipe section 112, and the outlet of the first water spray pipe 110 is located in the first outlet pipe section 113. The first inlet pipe section 112 and the first outlet pipe section 113 form an angle. The second water spray pipe 120 includes a second inlet pipe section 122 and a second outlet pipe section 123. The inlet 121 of the second water spray pipe 120 is located in the second inlet pipe section 122, and the outlet of the second water spray pipe 120 is located in the second outlet pipe section 123. The second inlet pipe section 122 and the second outlet pipe section 123 form an angle. The specific structure of the first water spray pipe 110 and the specific structure of the second inlet pipe section 122 can be found in the embodiments above, and will not be repeated here.

[0089] The axis of the inlet 111 of the first water spray pipe 110 and the axis of the inlet 121 of the second water spray pipe 120 are both perpendicular to the sealing surface of the water-blocking valve plate 130. The sealing surface of the water-blocking valve plate 130 can rotate close to and parallel to the reference plane. The reference plane includes the plane where the inlet 111 of the first water spray pipe 110 is located and the plane where the inlet 121 of the second water spray pipe 120 is located.

[0090] When the sealing surface used to seal the first water spray pipe 110 and the sealing surface used to seal the second water spray pipe 120 are the same surface, or located on the same surface, the number of reference planes is one. The plane where the inlet 111 of the first water spray pipe 110 is located and the plane where the inlet 121 of the second water spray pipe 120 is located are the same plane, such as when the inlet 111 of the first water spray pipe 110 and the inlet 121 of the second water spray pipe 120 are flush. Figure 12 and Figure 14 As shown, when the inlet 111 of the first water spray pipe 110 is blocked by the water-blocking valve plate 130, the positional relationship between the inlet 111 of the first water spray pipe 110 and the water-blocking valve plate 130 is visible. Figure 13 When the inlet 121 of the second water spray pipe 120 is blocked by the water-blocking valve plate 130, the positional relationship between the inlet 121 of the second water spray pipe 120 and the water-blocking valve plate 130 is visible. Figure 15When the sealing surface used to block the first water spray pipe 110 and the sealing surface used to block the second water spray pipe 120 are different surfaces of the same water-blocking valve plate 130, or are surfaces of different water-blocking valve plates 130, the number of reference planes is two. The plane where the inlet 111 of the first water spray pipe 110 is located and the plane where the inlet 121 of the second water spray pipe 120 is located are different planes. In this embodiment, the angle between the first inlet pipe section 112 and the first outlet pipe section 113, and the angle between the second inlet pipe section 122 and the second outlet pipe section 123, can be used to make the water inlet direction and the water outlet direction of the first water spray pipe 110 and the second water spray pipe 120 not necessarily the same, which can improve the flexibility of the setting of the first water spray pipe 110 and the second water spray pipe 120. The axis of the inlet 111 of the first water spray pipe 110 and the axis of the inlet 121 of the second water spray pipe 120 are both perpendicular to the sealing surface of the water-blocking valve plate 130. The sealing surface of the water-blocking valve plate 130 can rotate close to and parallel to a reference plane. The reference plane includes the plane containing the inlet 111 of the first water spray pipe 110 and the plane containing the inlet 121 of the second water spray pipe 120. This allows the sealing surface to rotate close to and parallel to the inlet 111 of the first water spray pipe 110 and the second water spray pipe 120, respectively. The position of the inlet 121 of the water pipe improves the blocking effect of the water valve plate 130 on the water inlet 111 of the first water pipe 110 and the water inlet 121 of the second water pipe 120, and ensures that the blocking effect of the water valve plate 130 on the water inlet 111 of the first water pipe 110 and the water inlet 121 of the second water pipe 120 is consistent, thus avoiding the difference in power provided by the first water pipe 110 and the second water pipe 120.

[0091] like Figure 2 and Figure 9 As shown, in some optional embodiments, the power assembly 161 of the above embodiment includes a servo motor 1611 and a drive shaft 1612. The servo motor 1611 is connected to the drive gear 162 via the drive shaft 1612. The servo drive of the servo motor 1611 can precisely control the rotation angle and speed of the drive shaft 1612, thereby achieving precise drive of the drive gear 162 and ensuring the transmission accuracy between the power assembly 161 and the transmission structure, providing stable and reliable power support for the water-blocking valve plate 130. By configuring the drive source of the power assembly 161 as a small servo motor, the weight and installation space occupied by the power assembly 161 can be reduced while meeting the smaller drive requirements of the water-blocking valve plate 130, thus achieving the overall lightweighting and miniaturization of the underwater cleaning robot.

[0092] This application also provides an underwater cleaning robot, including the drive system described in any of the above embodiments.

[0093] The underwater cleaning robot provided in this application embodiment is based on the same inventive concept as the aforementioned underwater cleaning robot drive system embodiment and can achieve the same effect. For the specific implementation process, please refer to the description in the aforementioned drive system embodiment, which will not be repeated here.

[0094] 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.

[0095] 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)).

[0096] 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.

[0097] 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. A drive system for an underwater cleaning robot, characterized in that, include: The first water spray pipe and the second water spray pipe have their inlets connected to the waterways inside the underwater cleaning robot, and there is an angle between the water outlet directions of the first water spray pipe and the second water spray pipe. A water-blocking valve assembly includes a water-blocking valve plate and a transmission structure. The water-blocking valve plate is disposed in the water channel and is located outside the inlets of the first and second water spray pipes. The transmission structure is connected to the water-blocking valve plate and is configured to drive the water-blocking valve plate to block either the inlet of the first water spray pipe or the inlet of the second water spray pipe. A first drive unit is connected to the transmission structure and is used to drive the transmission structure to move the water-blocking valve. The second drive unit is used to drive water flow through the water channel to spray out from the first spray pipe or the second spray pipe.

2. The drive system according to claim 1, characterized in that, The movement trajectory of the water-blocking valve plate, driven by the transmission structure, is set to pass through a first position and a second position that do not overlap. The first position is close to the inlet of the first water spray pipe, and the second position is close to the inlet of the second water spray pipe. The movement trajectory is the movement trajectory of the sealing surface of the water-blocking valve plate, and the shape of the movement trajectory is a straight line or a circular arc curve.

3. The drive system according to claim 2, characterized in that, The transmission structure includes a linear guide structure and a connecting structure. The linear guide structure is fixedly installed in the water channel. The connecting structure and the linear guide structure are movable and cooperate with each other. The output end of the connecting structure is connected to the water-blocking valve plate, and the input end of the connecting structure is connected to the first driving unit. The first driving unit drives the connecting structure to reciprocate along the linear guide structure so as to drive the water-blocking valve plate to block the inlet of the first spray pipe or the inlet of the second spray pipe.

4. The drive system according to claim 3, characterized in that, The linear guide structure is a linear guide groove disposed in the waterway. The connecting structure includes a body and a rack and a sliding member respectively connected to the body. The sliding member is slidably engaged in the linear guide groove. The body is connected to the water-blocking valve plate. The first drive unit includes a power component and a drive gear that is driven and connected to the power component. The drive gear meshes with the rack.

5. The drive system according to claim 3, characterized in that, The linear guide structure is a guide protrusion disposed in the waterway. The connecting structure includes a body and a sliding hole disposed on the body. The guide protrusion and the sliding hole are slidably nested along the moving direction of the water-blocking valve plate. The body and the water-blocking valve plate are connected, and the connection structure also includes a rack disposed on the body. The first drive unit includes a power component and a drive gear that is pulsatorically connected to the power component. The drive gear meshes with the rack. The size of the sliding hole in the sliding direction is larger than the extension size of the guide protrusion in the sliding direction, and the hole size is set to allow the body to drive the water-blocking valve plate to reciprocate to the first position and the second position relative to the guide protrusion.

6. The drive system according to claim 3, characterized in that, The first water spray pipe includes a first inlet pipe section and a first outlet pipe section. The inlet of the first water spray pipe is located in the first inlet pipe section, and the outlet of the first water spray pipe is located in the first outlet pipe section. The first inlet pipe section and the first outlet pipe section form an angle. The second water spray pipe includes a second inlet pipe section and a second outlet pipe section. The inlet of the second water spray pipe is located in the second inlet pipe section, and the outlet of the second water spray pipe is located in the second outlet pipe section. The second inlet pipe section and the second outlet pipe section form an angle. The axis of the inlet of the first water spray pipe and the axis of the inlet of the second water spray pipe are both perpendicular to the movement trajectory of the sealing surface of the water-blocking valve plate. The sealing surface of the water-blocking valve plate can move linearly close to and parallel to the reference plane, which includes the plane where the inlet of the first water spray pipe is located and the plane where the inlet of the second water spray pipe is located.

7. The drive system according to claim 3, characterized in that, The inlet of the first water spray pipe and the inlet of the second water spray pipe are opposite to each other and spaced apart. The water-blocking valve is located between the inlet of the first water spray pipe and the inlet of the second water spray pipe, and the sealing surface of the water-blocking valve is configured to be axially aligned with the inlet of the first water spray pipe and the inlet of the second water spray pipe.

8. The drive system according to claim 2, characterized in that, The transmission structure includes a transmission turntable, the water-blocking valve plate is fixed to the transmission turntable, the transmission turntable is pivotally mounted in the water channel, the first drive unit is connected to the transmission turntable, and the first drive unit can drive the transmission turntable to rotate so as to drive the water-blocking valve plate to rotate and block the inlet of the first spray pipe or the inlet of the second spray pipe.

9. The drive system according to claim 8, characterized in that, The transmission structure further includes an annular groove disposed in the waterway, and the transmission turntable is provided with a limiting structure that slides and engages with the annular groove. The transmission turntable is provided with transmission teeth on its periphery. The first drive unit includes a power component and a drive gear that is connected to the power component in a transmission manner. The drive gear and the transmission teeth mesh.

10. The drive system according to claim 8, characterized in that, The transmission structure further includes a limiting ring disposed within the waterway, and the transmission turntable includes a rotating support. The first end of the rotating support is sleeved outside the limiting ring, and the second end of the rotating support is connected to the water-blocking valve plate. The outer periphery of the rotating support is provided with transmission teeth. The first drive unit includes a power component and a drive gear that is transmittedly connected to the power component. The drive gear and the transmission teeth mesh.

11. The drive system according to claim 10, characterized in that, The transmission structure also includes a limiting structure disposed within the waterway. Along the rotation axis of the rotating support, the side of the water-blocking valve plate away from the rotating support is slidably abutted against the limiting structure.

12. The drive system according to claim 8, characterized in that, The inlet axis of the first water spray pipe, the inlet axis of the second water spray pipe, and the central axis of the water-blocking valve plate all intersect the rotation axis of the transmission turntable. Furthermore, the angle between the inlet axis of the first water spray pipe and the rotation axis of the transmission turntable, and the angle between the inlet axis of the second water spray pipe and the rotation axis of the transmission turntable, are equal to the angle between the central axis of the sealing surface of the water-blocking valve plate and the rotation axis of the transmission turntable, respectively. The central axis of the sealing surface of the water-blocking valve plate passes perpendicularly through the center of the sealing surface.

13. The drive system according to claim 8, characterized in that, The first water spray pipe includes a first inlet pipe section and a first outlet pipe section. The inlet of the first water spray pipe is located in the first inlet pipe section, and the outlet of the first water spray pipe is located in the first outlet pipe section. The first inlet pipe section and the first outlet pipe section form an angle. The second water spray pipe includes a second inlet pipe section and a second outlet pipe section. The inlet of the second water spray pipe is located in the second inlet pipe section, and the outlet of the second water spray pipe is located in the second outlet pipe section. The second inlet pipe section and the second outlet pipe section form an angle. The axis of the inlet of the first water spray pipe and the axis of the inlet of the second water spray pipe are both perpendicular to the sealing surface of the water-blocking valve plate. The sealing surface of the water-blocking valve plate can rotate close to and parallel to the reference plane, wherein the reference plane includes the plane where the inlet of the first water spray pipe is located and the plane where the inlet of the second water spray pipe is located.

14. An underwater cleaning robot, characterized in that, The drive system included in any one of claims 1-13.

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