Propulsion device for underwater robot for cleaning up

Abstract

The utility model discloses a kind of propelling devices for cleaning pollution of underwater robot, including cleaning pollution robot, the surface of the cleaning pollution robot is provided with recess, the recess inside the cleaning pollution robot is provided with round frame, the outer side both ends of the round frame are provided with positioning shaft, the positioning shaft rotation penetrates cleaning pollution robot, the inside of the round frame is fixed with first motor by connecting piece, the drive shaft end of the first motor is fixed with paddle, the outside of the cleaning pollution robot is provided with turnover control mechanism, the upper end of the cleaning pollution robot is provided with buoyancy control device, the utility model is by using first motor drives paddle forward or reverse rotation, can be quickly submerged and float, and paddle output angle can be adjusted, facilitate cleaning pollution robot to bypass obstacle, facilitate cleaning pollution robot to escape, by setting buoyancy control device, when floating and diving, the buoyancy of cleaning pollution robot can be adjusted, improve the speed of floating and diving.

Description

Technical Field

[0001] This utility model relates to the field of underwater cleaning robot technology, specifically a propulsion device for underwater robot cleaning. Background Technology

[0002] An underwater cleaning robot is an intelligent piece of equipment capable of submerging in water to perform tasks such as underwater cleaning, pollutant treatment, and detection, replacing manual labor. It typically integrates underwater navigation technology, sensor technology, image recognition, mechanical operation, and artificial intelligence to solve various environmental and maintenance problems in underwater environments. According to existing technology, when an underwater cleaning robot encounters an obstacle, the aforementioned patent uses a conveyor belt to transport the obstacle away. However, underwater environments vary, and obstacles vary in size. If the obstacle is small, it will not affect the robot's movement. If the obstacle is large, the conveyor belt cannot transport the obstacle, and the robot must go around it. The aforementioned patent can only move by rollers and cannot go around obstacles. Moreover, moving only by rollers makes it easy to get stuck. The underwater surface is uneven, which can easily cause the rollers to get stuck. Furthermore, the robot's speed during ascent and descent is not adjustable, and the descent and ascent speeds are uncontrollable. Therefore, we need to propose a propulsion device for underwater robot cleaning. Utility Model Content

[0003] The purpose of this invention is to provide a propulsion device for underwater robot cleaning, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a propulsion device for underwater robot cleaning, comprising a cleaning robot, the surface of which is provided with a groove, a circular frame provided inside the groove, positioning shafts provided at both ends of the outer side of the circular frame, the positioning shafts rotating through the cleaning robot, a first motor fixed to the inner side of the circular frame via a connector, a propeller fixed to the drive shaft end of the first motor, a flipping control mechanism provided on the outer side of the cleaning robot, the positioning shafts on the outer side of the circular frame being connected to the flipping control mechanism, a protective mechanism provided on the outer side of the cleaning robot, the protective mechanism covering the outside of the flipping control mechanism, and a buoyancy control device provided at the upper end of the cleaning robot.

[0005] Preferably, the buoyancy control device includes a storage shell and a vacuum water pump. The surface of the vacuum water pump is fixedly connected to the surface of the cleaning robot. A first conduit is provided on one side of the vacuum water pump, and a second conduit is provided on the other side of the vacuum water pump. The first conduit is fixed to the inner side of the lower end of the storage shell and is interconnected with the storage shell.

[0006] Preferably, a protective net is fixed to the end face of the second conduit, and the protective net completely covers the surface of the conduit opening.

[0007] Preferably, the flipping control mechanism includes a driven bevel gear, a second motor, and a driving bevel gear. The second motor is fixedly connected to the surface of the cleaning robot. The driving shaft end of the second motor is fixed with the driving bevel gear. The surface of the positioning shaft is fixed with the driven bevel gear. The driving bevel gear and the driven bevel gear mesh with each other.

[0008] Preferably, the protective mechanism includes a protective cover and a mounting boss, the mounting boss being fixed to the surface of the protective cover, and the mounting boss of the protective cover being fixed to the surface of the cleaning robot by screws.

[0009] Preferably, the surface of the protective cover is covered with a sealing layer, and the sealing layer of the protective cover is in close contact with the surface of the cleaning robot.

[0010] Preferably, the surface of the cleaning robot is provided with rollers, and the surface of the rollers is provided with anti-slip strips, with a plurality of anti-slip strips distributed around the surface of the rollers.

[0011] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model uses a first motor to drive the propeller to rotate in the forward or reverse direction, and controls the rotation of the circular frame through a flipping control mechanism. The output angle of the propeller can be adjusted, allowing for rapid submersion and surfacing, which facilitates the cleaning robot to bypass obstacles and escape from trouble.

[0012] 2. By setting up a buoyancy control device, this utility model can draw water into the storage shell through a vacuum water pump to increase the overall weight and facilitate diving. By drawing water out of the storage shell through a vacuum water pump, the weight is reduced and the buoyancy is increased. The buoyancy of the cleaning robot can be adjusted when it rises and falls, thereby increasing the speed of rising and falling. Attached Figure Description

[0013] Figure 1 This is a first schematic diagram of the overall structure of this utility model; Figure 2 This is a second schematic diagram of the overall structure of this utility model; Figure 3 This is a third schematic diagram of the overall structure of this utility model (schematic diagram after the protective cover is disassembled). Figure 4 This is a schematic cross-sectional view of the overall structure of this utility model; Figure 5 This is an enlarged schematic diagram of point A of this utility model.

[0014] In the diagram: 1. Cleaning robot; 2. Groove; 3. Circular frame; 4. Connector; 5. First motor; 6. Paddle; 30. Positioning shaft; 7. Storage shell; 8. Vacuum water pump; 9. First conduit; 100. Protective net; 10. Second conduit; 11. Protective cover; 12. Mounting boss; 13. Roller; 14. Anti-slip strip; 31. Driven bevel gear; 32. Second motor; 33. Driven bevel gear. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-5 This utility model provides a technical solution: a propulsion device for underwater robot cleaning, including a cleaning robot 1. The cleaning mechanism of the cleaning robot 1 is existing technology and is not shown in the figure. The surface of the cleaning robot 1 is provided with a groove 2. A circular frame 3 is provided inside the groove 2 of the cleaning robot 1. Positioning shafts 30 are provided at both ends of the outer side of the circular frame 3. The positioning shafts 30 rotate through the cleaning robot 1. A first motor 5 is fixed to the inner side of the circular frame 3 through a connector 4. The first motor 5 is an underwater special propulsion motor, which is an electric propulsion device suitable for use as a propulsion system for underwater robots and is existing technology. A propeller 6 is fixed to the drive shaft end of the first motor 5. A flip control mechanism is provided on the outer side of the cleaning robot 1. The positioning shaft 30 on the outer side of the circular frame 3 is connected to the flip control mechanism. A protective mechanism is provided on the outer side of the cleaning robot 1, which covers the outside of the flip control mechanism. A buoyancy control device is provided at the upper end of the cleaning robot 1. The buoyancy control device includes a storage shell 7 and a vacuum water pump 8. The surface of the vacuum water pump 8 is fixedly connected to the surface of the cleaning robot 1. A first conduit 9 is provided on one side of the vacuum water pump 8, and a second conduit 10 is provided on the other side of the vacuum water pump 8. The first conduit 9 is fixed to the inner side of the lower end of the storage shell 7 and is interconnected with the storage shell 7. Furthermore, when the buoyancy control device is in use, during submersion, the vacuum water pump 8 drives the second conduit 10 to draw in water, which is then guided into the storage shell 7 through the first conduit 9. At this time, the storage shell 7 contains water, which increases the weight of the cleaning robot 1 and allows for faster submersion. During surfacing, the vacuum water pump 8 drives the first conduit 9 to extract the water from the storage shell 7, which is then guided away through the second conduit 10. At this time, the storage shell 7 is under vacuum, which increases buoyancy during surfacing, allowing the cleaning robot 1 to surface quickly, improving the speed of submersion and surfacing, and increasing efficiency. The vacuum water pump 8 can be a circulating water vacuum pump, which achieves vacuuming through the formation of a water ring and the rotation of the impeller. Furthermore, a protective net 100 is fixed to the end face of the second conduit 10, and the protective net 100 completely covers the surface of the pipe opening of the second conduit 10; the protective net 100 is used to filter out impurities when water is drawn in through the second conduit 10, so as to prevent impurities from entering. The flipping control mechanism includes a driven bevel gear 31, a second motor 32, and a driving bevel gear 33. The second motor 32 is fixedly connected to the surface of the cleaning robot 1. The driving bevel gear 33 is fixed to the drive shaft end of the second motor 32, and the driven bevel gear 31 is fixed to the surface of the positioning shaft 30. The driving bevel gear 33 and the driven bevel gear 31 mesh with each other. The second motor 32 is a forward and reverse electromagnetic brake planetary motor, which is a prior art device, and the control method is a prior art. In use, the circular frame 3 is flipped via the flipping control mechanism, which adjusts the propulsion angle. The angle can be adjusted to move the robot to the desired position. Specifically, the second motor 32 drives the active bevel gear 33 to rotate, which in turn drives the driven bevel gear 31 to rotate, which in turn drives the positioning shaft 30 to rotate, which in turn drives the circular frame 3 to rotate. This allows for adjustment of the propulsion angle of the paddle 6, enabling the cleaning robot 1 to move to different positions. The propulsion control is convenient. During propulsion, the first motor 5 drives the paddle 6 to rotate and propel the water flow, facilitating the robot's ability to float, dive, and move forward, backward, left, and right to escape obstacles. This improves flexibility and makes it easier to escape and bypass large obstacles. The protective mechanism includes a protective cover 11 and a mounting boss 12. The mounting boss 12 is fixed to the surface of the protective cover 11, and the mounting boss 12 of the protective cover 11 is fixed to the surface of the cleaning robot 1 by screws. Installation is convenient. The surface of the protective cover 11 is covered with a sealing layer. The sealing layer can use rubber gaskets, which can be glued to the surface of the protective cover 11. After installation, the protective cover 11 can be tightly attached to the surface of the cleaning robot 1, which can increase the sealing performance. The protective cover 11 can protect the tilting control mechanism and prevent foreign objects from entering and affecting the gear meshing transmission. The surface of the cleaning robot 1 is provided with rollers 13, and the surface of the rollers 13 is provided with anti-slip strips 14. Several anti-slip strips 14 are distributed around the surface of the rollers 13. The drive of the rollers 13 is the existing technology of the cleaning robot 1. The anti-slip strips 14 around the rollers 13 can increase the rolling friction when walking on the ground underwater.

[0017] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A propulsion device for underwater robot cleaning, comprising a cleaning robot (1), characterized in that: The surface of the cleaning robot (1) is provided with a groove (2). A circular frame (3) is provided inside the groove (2) of the cleaning robot (1). Positioning shafts (30) are provided at both ends of the outer side of the circular frame (3). The positioning shafts (30) rotate through the cleaning robot (1). A first motor (5) is fixed to the inner side of the circular frame (3) through a connector (4). A paddle (6) is fixed to the drive shaft end of the first motor (5). A flipping control mechanism is provided on the outer side of the cleaning robot (1). The positioning shaft (30) on the outer side of the circular frame (3) is connected to the flipping control mechanism. A protective mechanism is provided on the outer side of the cleaning robot (1). The protective mechanism covers the outside of the flipping control mechanism. A buoyancy control device is provided at the upper end of the cleaning robot (1).

2. The underwater robot propulsion device for cleaning debris according to claim 1, characterized in that: The buoyancy control device includes a storage shell (7) and a vacuum water pump (8). The surface of the vacuum water pump (8) is fixedly connected to the surface of the cleaning robot (1). A first conduit (9) is provided on one side of the vacuum water pump (8), and a second conduit (10) is provided on the other side of the vacuum water pump (8). The first conduit (9) is fixed to the inner side of the lower end of the storage shell (7), and the first conduit (9) is interconnected with the storage shell (7).

3. The underwater robot propulsion device for cleaning debris according to claim 2, characterized in that: A protective net (100) is fixed to the end face of the second conduit (10), and the protective net (100) completely covers the surface of the opening of the second conduit (10).

4. The underwater robot propulsion device for cleaning debris according to claim 1, characterized in that: The flipping control mechanism includes a driven bevel gear (31), a second motor (32), and a driving bevel gear (33). The second motor (32) is fixedly connected to the surface of the cleaning robot (1). The driving shaft end of the second motor (32) is fixed with the driving bevel gear (33). The surface of the positioning shaft (30) is fixed with the driven bevel gear (31). The driving bevel gear (33) and the driven bevel gear (31) mesh with each other.

5. The underwater robot propulsion device for cleaning debris according to claim 1, characterized in that: The protective mechanism includes a protective cover (11) and a mounting boss (12). The mounting boss (12) is fixed to the surface of the protective cover (11), and the mounting boss (12) of the protective cover (11) is fixed to the surface of the cleaning robot (1) by screws.

6. The underwater robot propulsion device for cleaning debris according to claim 5, characterized in that: The surface of the protective cover (11) is covered with a sealing layer, and the sealing layer of the protective cover (11) is in close contact with the surface of the cleaning robot (1).

7. The underwater robot propulsion device for cleaning debris according to claim 1, characterized in that: The surface of the cleaning robot (1) is provided with rollers (13), and the surface of the rollers (13) is provided with anti-slip strips (14). Several anti-slip strips (14) are distributed around the surface of the rollers (13).

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