Underwater cleaning robot, and filtration structure and transmission structure thereof

Abstract

An underwater cleaning robot (10), and a filtration structure and transmission structure thereof. The underwater cleaning robot (10) comprises a plurality of independent sealing units, wherein the plurality of independent sealing units are configured to respectively seal a drive circuit (111), a drive electric motor, a battery and a charging port; and the plurality of independent sealing units are arranged in the underwater cleaning robot (10) in a distributed manner in such a way that the drive circuit (111), the drive electric motor, the battery and the charging port are respectively encapsulated by using different sealing units, such that when a fault occurs in a certain component, only the sealing unit associated with said component needs to be handled, and other parts are not affected.

Description

Underwater cleaning robot and its filtering structure and transmission structure Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular to an underwater cleaning robot and its filtering structure and transmission structure. Background Art

[0002] Underwater cleaning robots are designed for underwater cleaning applications. They can clean the underwater parts of structures and filter water. Because pollutants in water are highly corrosive and the conductivity of water can affect the performance of electronic components, sealing of underwater cleaning robot components is particularly important.

[0003] Underwater cleaning robots in related art typically have only a single, relatively large sealing unit, which seals components such as the drive circuit, drive motor, and battery. These components are centrally installed within the sealing unit. However, if a problem occurs with any of these components, repairs typically require disassembling other components to fully expose that component, which can easily adversely affect other components and result in high repair costs.

[0004] Summary of the Invention

[0005] In order to solve the above problems, an embodiment of the present application provides a new underwater cleaning robot to at least partially solve the above problems.

[0006] A first aspect of an embodiment of the present application provides an underwater cleaning robot, comprising a plurality of independent sealing units, wherein the plurality of independent sealing units are used to respectively seal a drive circuit, a drive motor, a battery and a charging port; and the plurality of independent sealing units are distributed in the underwater cleaning robot.

[0007] Optionally, among the plurality of sealing units, the sealing unit that seals the driving circuit includes a heat sink connected to the driving circuit.

[0008] Optionally, the sealing unit of the sealed driving circuit is provided with a heat dissipation through-hole, and the heat sink is partially located in the heat dissipation through-hole; and the heat sink is sealedly connected to the area around the heat dissipation through-hole on the sealing unit of the sealed driving circuit to prevent water from flowing into the sealing unit of the sealed driving circuit from the heat dissipation through-hole.

[0009] Optionally, among the plurality of sealing units, the sealing unit of the sealed battery is detachably connected to the battery.

[0010] Optionally, a battery mounting port is provided on the chassis of the underwater cleaning robot, and the battery mounting port is communicated with the interior of the sealing unit of the sealed battery; the sealing unit of the sealed battery includes a detachable sealing door, and the sealing door is configured to seal the battery mounting port to isolate the interior of the battery sealing unit from the outside world.

[0011] Optionally, among the plurality of sealing units, the sealing unit that seals the charging port is also used to seal the interaction unit; and the interaction unit is electrically connected to the driving circuit.

[0012] Optionally, a first power supply circuit is arranged between the sealing unit of the sealed battery and the sealing unit of the sealed charging port, and a second power supply circuit is arranged between the sealing unit of the sealed charging port and the sealing unit of the sealed drive circuit, and the first power supply circuit is connected to the second power supply circuit; the first power supply circuit is configured to supply power to the sealing unit of the sealed charging port, and the second power supply circuit is configured to supply power to the sealing unit of the sealed drive circuit.

[0013] Optionally, the underwater cleaning robot further includes a posture sensor; the posture sensor is arranged in a sealing unit that seals the drive circuit and a sealing unit that seals the charging port, in the one that is farther away from the drive motor.

[0014] Optionally, the underwater cleaning robot also includes a filter basket; the filter basket includes an outer filter basket and an inner filter basket; the outer filter basket is arranged outside the inner filter basket; and the size of the filter hole of the outer filter basket is smaller than the size of the filter hole of the inner filter basket; the inner filter basket includes a water inlet opening, and the opening can be communicated with the water inlet of the underwater cleaning robot.

[0015] Optionally, the underwater cleaning robot also includes a water pump, which includes a water pump motor and a mounting bracket; the water pump motor is installed on the mounting bracket, the mounting bracket is located adjacent to the outer filter basket, and a water pump suction port is provided on the side of the mounting bracket adjacent to the outer filter basket.

[0016] Optionally, two water pump guide vanes are further provided on the side of the mounting bracket adjacent to the outer filter basket, and the two water pump guide vanes are respectively located on opposite sides of the water pump suction port; and the closer the position is to the outer filter basket, the greater the distance between the two water pump guide vanes.

[0017] Optionally, the water outlet of the water pump is provided with a detachable blade cover.

[0018] Optionally, the water inlet of the underwater cleaning robot is arranged on the chassis of the underwater cleaning robot; at least two chassis guide plates are provided on the bottom surface of the chassis, and the two chassis guide plates are respectively located on the left and right sides of the water inlet; and the farther away from the water inlet, the greater the distance between the two chassis guide plates.

[0019] Optionally, the drive motor includes a motor body and an output shaft; the motor body is located in a sealing unit that seals the drive motor; the output shaft is connected to the motor body in the sealing unit that seals the drive motor, and the output shaft partially extends out of the sealing unit that seals the drive motor to facilitate power output.

[0020] Optionally, the underwater cleaning robot further includes a driving wheel driven by the output shaft of the driving motor; the driving wheel is mounted on a corresponding wheel axle via a bushing, and a ball bearing is provided between the driving wheel and the bushing to reduce friction via the ball bearing.

[0021] Optionally, the underwater cleaning robot also includes a front roller brush, which can rotate relative to the main body of the underwater cleaning robot; the front roller brush includes a brush wheel and a brush body, the brush body is mounted on the brush wheel, and multiple rows of parallel brush teeth are provided on the brush body; when the brush body is detached from the brush wheel and is in an unfolded state, each row of the brush teeth includes a first straight line segment and a second straight line segment that intersect, and the angle between the first straight line segment and the second straight line segment is an obtuse angle; when the brush body is installed on the brush wheel, the first straight line segment is parallel to the axis of the brush wheel.

[0022] Optionally, the brush wheel and the brush body are detachably connected.

[0023] Optionally, the underwater cleaning robot further includes a detachable rear roller brush; the front roller brush and the rear roller brush are respectively arranged on the front and rear sides of the underwater cleaning robot.

[0024] The second aspect of the embodiments of the present application provides a filtering structure of an underwater cleaning robot, comprising: a filter basket; the filter basket comprises an outer filter basket and an inner filter basket; the outer filter basket is arranged outside the inner filter basket; and the size of the filter hole of the outer filter basket is smaller than the size of the filter hole of the inner filter basket; the inner filter basket includes an opening for water inlet, and when the filtering structure is installed on the underwater cleaning robot, the opening can be communicated with the water inlet of the underwater cleaning robot; wherein, the underwater cleaning robot is the underwater cleaning robot described in any embodiment of the first aspect.

[0025] Optionally, the filtration structure also includes a water pump, which includes a water pump motor and a mounting bracket; the water pump motor is installed on the mounting bracket, the mounting bracket is located adjacent to the outer filter basket, and a water pump suction port is provided on the side of the mounting bracket adjacent to the outer filter basket.

[0026] Optionally, two water pump guide vanes are further provided on the side of the mounting bracket adjacent to the outer filter basket, and the two water pump guide vanes are respectively located on opposite sides of the water pump suction port; and the closer the position is to the outer filter basket, the greater the distance between the two water pump guide vanes.

[0027] Optionally, the filtering structure also includes a chassis of the underwater cleaning robot, and the water inlet of the underwater cleaning robot is provided on the chassis; at least two chassis guide plates are provided on the bottom surface of the chassis, and the two chassis guide plates are respectively located on the left and right sides of the water inlet; and the farther the position is from the water inlet, the greater the distance between the two chassis guide plates.

[0028] Optionally, the water outlet of the water pump is provided with a detachable blade cover.

[0029] The third aspect of the embodiments of the present application provides a transmission structure of an underwater cleaning robot, comprising the drive motor described in any embodiment of the first aspect above, and a sealing unit that seals the drive motor; the drive motor comprises a motor body and an output shaft; the motor body is located in the sealing unit that seals the drive motor; the output shaft is connected to the motor body in the sealing unit that seals the drive motor, and the output shaft partially extends out of the sealing unit that seals the drive motor to facilitate power output.

[0030] Optionally, the transmission structure further includes a driving wheel driven by the output shaft of the driving motor; the driving wheel is mounted on the corresponding wheel axle through a bushing, and a ball is provided between the driving wheel and the bushing to reduce friction through the ball.

[0031] Optionally, the transmission structure also includes a front roller brush, which can rotate relative to the main body of the underwater cleaning robot; the front roller brush includes a brush wheel and a brush body, the brush body is mounted on the brush wheel, and multiple rows of parallel brush teeth are provided on the brush body; when the brush body is detached from the brush wheel and is in an unfolded state, each row of the brush teeth includes a first straight line segment and a second straight line segment that intersect, and the angle between the first straight line segment and the second straight line segment is an obtuse angle; when the brush body is installed on the brush wheel, the first straight line segment is parallel to the axis of the brush wheel.

[0032] Optionally, the brush wheel and the brush body are detachably connected.

[0033] Optionally, the transmission structure underwater cleaning machine further includes a detachable rear roller brush; when the transmission mechanism is installed on the underwater cleaning robot, the front roller brush and the rear roller brush are respectively arranged on the front and rear sides of the underwater cleaning machine.

[0034] In an embodiment of the present application, the underwater cleaning robot includes multiple independent sealing units, which are used to seal the drive circuit, drive motor, battery and charging port respectively. The multiple independent sealing units are distributed in the underwater cleaning robot, so that components such as the drive circuit, drive motor, battery and charging port can be packaged separately using different sealing units. Therefore, when a problem occurs in a component such as the drive circuit, drive motor, battery and charging port, only the sealing unit involved in the component needs to be processed without involving other parts, which can significantly reduce the impact on other components and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The following drawings are only intended to illustrate and explain the present application and do not limit the scope of the present application.

[0036] FIG1 is a perspective view of an underwater cleaning robot provided in an embodiment of the present application.

[0037] FIG2 is a schematic diagram of the internal structure of an underwater cleaning robot provided in an embodiment of the present application.

[0038] FIG3 is a cross-sectional schematic diagram of a sealing unit of a sealed driving circuit provided in an embodiment of the present application.

[0039] FIG4 is a cross-sectional schematic diagram of an underwater cleaning robot provided in an embodiment of the present application.

[0040] FIG5 is a schematic diagram of a sealing unit for a sealed charging port provided in an embodiment of the present application.

[0041] FIG6 is a schematic diagram of a water pump installation of an underwater cleaning robot provided in an embodiment of the present application.

[0042] FIG7 is an exploded schematic diagram of a water pump provided in an embodiment of the present application.

[0043] FIG8 is a schematic diagram of the bottom surface of an underwater cleaning robot provided in an embodiment of the present application.

[0044] FIG9 is a schematic diagram of a partial structure of an underwater cleaning robot provided in an embodiment of the present application.

[0045] FIG10 is a schematic diagram of an exploded view of a front roller brush provided in an embodiment of the present application.

[0046] FIG11 is a schematic diagram of the unfolding of a front roller brush body provided in an embodiment of the present application.

[0047] Explanation of the accompanying symbols: 10. Underwater cleaning robot; 11. Sealing unit for sealing a driving circuit; 111. Driving circuit; 112. Heat sink; 1121. Heat dissipation teeth; 113. Heat dissipation through-hole; 12. Sealing unit for sealing a battery; 121. Sealing door; 13. Sealing unit for sealing a charging port; 131. Charging protection cover; 132. Interaction unit; 14. Sealing unit for sealing a driving motor; 141. Output shaft; 142. Transmission gear; 15. Filter basket; 151. Outer filter basket; 152. Inner filter basket; 1521. Opening; 153. Check valve; 16. Water inlet; 17. Water pump; 171. Water pump motor; 172. Mounting bracket; 173. Water pump suction port; 174. Water pump guide vane; 175. Blade cover; 176. Groove; 177. Protrusion; 18. Chassis; 181. Chassis guide vane; 19. Drive wheel; 191. Bushing; 192. Ball bearing; 193. Limiting groove; 194. Inner gear ring; 20. Front roller brush; 201. Brush wheel; 202. Brush body; 203. Brush teeth; 204. First straight segment; 205. Second straight segment; 206. Left roller brush; 207. Right roller brush; 208. Roller brush gear; 209. Transition gear; 21. Rear roller brush. DETAILED DESCRIPTION

[0048] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0049] In this document, “illustrative” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “illustrative” should not be interpreted as a more preferred or more advantageous technical solution.

[0050] To simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one or more components with the same structure or function are schematically shown, or only one or more are labeled.

[0051] A first aspect of the present application provides an underwater cleaning robot. The underwater cleaning robot is primarily used to clean the underwater portions of various structures, such as the bottoms and sidewalls of swimming pools, sewage treatment tanks, and landscape ponds, as well as the bottoms and sidewalls of artificial waterways such as man-made rivers. The cleaning of a swimming pool is used as an example for illustration below.

[0052] The embodiment of the present application mainly improves the sealing structure of the components of the underwater cleaning robot to enhance the safety of each component. The following is a brief description of the overall structure and working process of the underwater cleaning robot 10 in the embodiment of the present application:

[0053] The underwater cleaning robot of the embodiment of the present application may include components such as a water pump, a filter basket, a drive wheel, a drive motor, and a roller brush. The drive wheel, the drive motor, and the roller brush may be driven by gears or transmission belts. When the underwater cleaning robot is working, the drive motor drives the corresponding drive wheel to rotate, so that the drive wheel drives the underwater cleaning robot to move in the swimming pool and drives the roller brush to rotate synchronously. The rotation of the roller brush cleans the bottom surface or side walls of the swimming pool. In addition, while the underwater cleaning robot moves in the swimming pool, it can also use the water pump to suck liquid and / or pollutants into the filter basket. After the liquid and / or pollutants are filtered by the filter basket, the pollutants remain inside the filter basket, and the filtered liquid is discharged back into the swimming pool. This process is repeated to complete the filtration of the liquid in the swimming pool, thereby achieving the purpose of cleaning the swimming pool.

[0054] The underwater cleaning robot 10 according to the embodiment of the present application is described in detail below with reference to Figures 1-11:

[0055] As shown in Figures 1 and 2, some optional implementations of the present application provide an underwater cleaning robot 10, which includes a plurality of independent sealing units, which are used to respectively seal the drive circuit, drive motor, battery and charging port; and the plurality of independent sealing units are distributed in the underwater cleaning robot 10.

[0056] Each sealing unit may include a detachable sealing shell, which is used to seal the drive circuit, drive motor, battery, charging port, etc., so that the drive circuit, drive motor, battery, charging port, etc. can be repaired or maintained separately, avoiding adverse effects on other components when repairing or maintaining one of the components.

[0057] In addition to the aforementioned issues, the sealing units in the related art require a single sealing unit to seal a large number of components, such as the drive circuit, drive motor, battery, and charging port. This results in a relatively large volume, making it difficult to ensure the sealing effect of the sealing units in the related art. In the embodiments of the present application, multiple independent sealing units can be used to seal the drive circuit, drive motor, battery, and charging port, respectively, reducing the volume of each sealing unit and making it easier to ensure the sealing effect of each sealing unit.

[0058] The distributed arrangement of multiple independent sealing units in the underwater cleaning robot 10 means that the multiple independent sealing units can be respectively arranged at different positions in the underwater cleaning robot 10, which can facilitate the disassembly of each sealing unit. It should be understood that the electronic components within different sealing units can be connected using corresponding circuits, which does not affect the independent arrangement of each sealing unit.

[0059] In an embodiment of the present application, the underwater cleaning robot 10 includes multiple independent sealing units, and the multiple independent sealing units are used to seal the drive circuit, drive motor, battery and charging port respectively. The multiple independent sealing units are distributed in the underwater cleaning robot 10, so that components such as the drive circuit, drive motor, battery and charging port can be separately packaged using different sealing units. Therefore, when a problem occurs in a component such as the drive circuit, drive motor, battery and charging port, only the sealing unit involved in the component needs to be processed without involving other parts, which can significantly reduce the impact on other components and reduce the cost of component maintenance.

[0060] As shown in FIG. 2 and FIG. 3 , as a feasible implementation, among the multiple sealing units, the sealing unit 11 that seals the driving circuit includes a heat sink 112 connected to the driving circuit 111 .

[0061] In an embodiment of the present application, the sealing unit 11 of the sealed driving circuit may include a heat sink 112 connected to the driving circuit 111, so that the heat of the driving circuit 111 can be absorbed and dissipated through the heat sink 112 to avoid affecting the performance of the driving circuit 111 due to excessive temperature.

[0062] As a feasible implementation method, the sealing unit 11 of the sealed drive circuit may also include a main control circuit of the underwater cleaning robot 10, which controls the operation of the drive motor through the drive circuit 111. The main control circuit can be located on the side of the drive circuit 111 facing the inside of the corresponding sealed unit to reduce the influence of the main control circuit on the heat dissipation of the drive circuit 111. In addition, the heat sink 112 can be located on the side of the drive circuit 111 facing the outside of the corresponding sealed unit. For example, when the drive circuit 111 is located in the upper half of the corresponding sealed unit, the heat sink 112 can be located above the drive circuit 111 to reduce the distance between the heat sink 112 and the main unit outside the sealed unit, thereby facilitating the heat dissipation of the heat sink 112. Of course, the main control circuit, the drive circuit 111 and the heat sink 112 can also be located in other suitable positions, as long as it is convenient for the heat dissipation of the heat sink 112.

[0063] It should be understood that the driving circuit 111 and the main control circuit in the embodiment of the present application can exist in the form of a circuit board, a chip, etc. The specific setting method can refer to the relevant technology and will not be repeated here.

[0064] As shown in Figure 3, in some optional embodiments, the sealing unit 11 of the sealed driving circuit is provided with a heat dissipation through-hole 113, and the heat sink 112 is partially located in the heat dissipation through-hole 113; and the heat sink 112 is sealed and connected to the area around the heat dissipation through-hole 113 on the sealing unit 11 of the sealed driving circuit to prevent water from flowing into the sealing unit 11 of the sealed driving circuit from the heat dissipation through-hole 113.

[0065] Optionally, as shown in FIG. 3 , the heat sink 112 may include a plurality of heat dissipation teeth 1121 extending into the heat dissipation through holes 113 to increase the heat dissipation area of ​​the heat sink 112 , thereby improving the heat dissipation efficiency of the heat sink 112 .

[0066] As a feasible implementation, the sealed unit 11 of the sealed drive circuit can be provided with a heat dissipation hole 113, with a heat sink 112 partially located within the heat dissipation hole 113. This allows the heat sink 112 to contact the water outside the sealed unit, achieving liquid cooling and heat dissipation of the heat sink 112 through the water, thereby improving heat dissipation efficiency. The heat sink 112 is sealedly connected to the area surrounding the heat dissipation hole 113 on the sealed unit 11 of the sealed drive circuit, preventing water from entering the sealed unit 11 of the sealed drive circuit through the heat dissipation hole 113, thereby ensuring the sealing effect of the sealed unit.

[0067] In some optional embodiments, among the multiple sealing units, the sealing units and the batteries of the sealed batteries are detachably connected.

[0068] Specifically, the sealing unit of the sealed battery and the battery can be connected by bolts, detachable snaps, etc., as long as the battery can be detachably fixed. This application does not limit the specific structure of the connection between the sealing unit of the sealed battery and the battery.

[0069] In the embodiment of the present application, by providing a detachable connection between the sealing unit of the sealed battery and the battery, the replacement and maintenance of the battery can be facilitated, which can effectively improve the practicality of the battery.

[0070] As shown in FIG4 , in some optional embodiments, a battery installation port 182 is provided on the chassis 18 of the underwater cleaning robot 10 . The battery installation port 182 communicates with the interior of the sealed battery unit 12 . As shown in FIG4 and FIG8 , the sealed battery unit 12 includes a detachable sealing door 121 , which is configured to seal the battery installation port 182 to isolate the interior of the sealed battery unit from the outside world.

[0071] It should be understood that the battery installation opening 182 provided on the chassis 18 can also serve as the battery installation opening for the corresponding sealed compartment, and the size of the battery installation opening is determined by the size of the battery to facilitate battery removal. The sealed door 121 can seal the battery installation opening 182 using structures such as bolts, sealing rubber strips, etc., or other suitable structures, all of which are within the scope of protection of the embodiments of the present application.

[0072] In an embodiment of the present application, a battery installation port 182 is provided on the chassis 18 of the underwater cleaning robot 10, and the battery installation port is sealed by a sealing door 121 of a sealing unit 12 that seals the battery. When disassembling or repairing the battery, the sealing door 121 can be opened directly from under the chassis 18 for operation, without having to open the underwater cleaning robot 10 and operate from the inside thereof, making the disassembly and repair of the battery more convenient.

[0073] As shown in FIG5 , in some optional embodiments, the housing of the sealing unit 13 that seals the charging port may include an openable and closable charging protective cover 131, with the charging port located on the inner side of the cover plate of the charging protective cover 131. When the charging protective cover 131 is open, the charging port is exposed to facilitate charging. When the charging protective cover 131 is closed, the charging port is sealed to prevent water from entering the charging port.

[0074] As shown in FIG. 5 , as a feasible implementation, among the multiple sealing units, the sealing unit 13 that seals the charging port is also used to seal the interaction unit 132 ; and the interaction unit 132 is electrically connected to the driving circuit 111 .

[0075] Optionally, the interactive unit 132 may include interactive components such as mechanical buttons or a touch screen, or other forms of interactive components, all of which are within the scope of protection of the embodiments of the present application. The interactive unit 132 may be sealed partially or fully, as long as it can prevent water from entering the circuits or electronic components within the interactive element.

[0076] The sealed unit 11 of the sealed drive circuit may include the main control circuit of the underwater cleaning robot 10, and the interactive unit 132 may be electrically connected to the drive circuit 111 via the main control circuit. The main control circuit may include a processor such as a CPU to facilitate processing control instructions generated by the interactive unit 132 based on interactive operations, and based on the control instructions, the control circuit controls the drive motor to perform corresponding operations. The specific circuit structure of the main control circuit and the drive circuit 111 can be referred to in related art and will not be further described here.

[0077] In the embodiment of the present application, the sealing unit 13 that seals the charging port is also used to seal the interaction unit 132, so that the interaction unit 132 and the drive circuit 111 can be separately set in different sealing units. The interaction unit 132 is electrically connected to the drive circuit 111, which can make the arrangement of the sealing unit more flexible and effectively avoid the interaction unit 132 and the drive circuit 111 from having an adverse effect on the other when one is repaired.

[0078] In some optional embodiments, the underwater cleaning robot 10 further includes a posture sensor, such as a gyroscope, an accelerometer, or an IMU (Inertial Measurement Unit). The posture sensor is disposed in the sealing unit 11 that seals the drive circuit and the sealing unit 13 that seals the charging port, the one farther from the drive motor.

[0079] Optionally, as shown in Figure 2, the sealing unit 11 of the sealed drive circuit can be adjacent to the sealing unit 14 of the sealed drive motor to facilitate the connection between the drive circuit and the drive motor. At this time, the sealing unit 13 of the sealed charging port is far away from the drive motor, and the posture sensor can be arranged in the sealing unit 13 of the sealed charging port.

[0080] In the embodiment of the present application, the underwater cleaning robot 10 further includes a posture sensor, which measures the posture of the underwater cleaning robot 10 through the posture sensor, so as to control the movement of the underwater cleaning robot 10 according to the posture of the underwater cleaning robot 10. In addition, by arranging the posture sensor in the sealing unit 11 that seals the drive circuit and the sealing unit 13 that seals the charging port, the one farther away from the drive motor can prevent the magnetic field / electric field of the drive motor from affecting the accuracy of the posture sensor.

[0081] In some optional embodiments, a first power supply circuit is arranged between the sealing unit 12 of the sealed battery and the sealing unit 13 of the sealed charging port, and a second power supply circuit is arranged between the sealing unit 13 of the sealed charging port and the sealing unit 11 of the sealed drive circuit, and the first power supply circuit is connected to the second power supply circuit; the first power supply circuit is configured to supply power to the sealing unit 13 of the sealed charging port, and the second power supply circuit is configured to supply power to the sealing unit 11 of the sealed drive circuit.

[0082] The first power supply circuit may include charging lines connected to the battery and the charging port, respectively, so that the charging port can charge the battery via the charging lines. When the sealing unit 13 of the sealed charging port includes an interaction unit 132 or a posture sensor, the interaction unit 132 or the posture sensor can be powered via the first power supply line.

[0083] In some optional embodiments, the sealing unit 13 of the sealed charging port includes an interactive unit 132, and the sealing unit 11 of the sealed drive circuit includes a main control unit. The second power supply circuit may include a signal transmission line electrically connected to the interactive unit 132 and the main control circuit respectively, so as to facilitate the transmission of the signal of the interactive unit 132 to the main control circuit.

[0084] In an embodiment of the present application, a first power supply circuit is provided between the sealed unit 12 of the sealed battery and the sealed unit 13 of the sealed charging port, and a second power supply circuit is provided between the sealed unit 13 of the sealed charging port and the sealed unit 11 of the sealed drive circuit. The first power supply circuit is configured to power the sealed unit 13 of the sealed charging port, and the second power supply circuit is configured to power the sealed unit 11 of the sealed drive circuit. The first power supply circuit is connected to the second power supply circuit, so that power can be supplied to the second power supply circuit via the first power supply circuit. In addition, the first power supply circuit can include a charging circuit connected to the battery and the charging port, respectively, and the second power supply circuit can include a signal transmission circuit electrically connected to the interaction unit 132 and the main control circuit, respectively. This allows the underwater cleaning robot 10 to not only power the sealed unit 13 of the sealed charging port and the sealed unit 11 of the sealed drive circuit through the first power supply circuit and the second power supply circuit, but also to connect the battery and the charging port, and to transmit signals between the interaction unit 132 and the main control circuit. This can facilitate the layout of the wiring in the underwater cleaning robot 10 and reduce the total length of the wiring.

[0085] As shown in FIG4 , in some optional embodiments, the underwater cleaning robot 10 further includes a filter basket 15 , so that pollutants in the water can be filtered through the filter basket 15 .

[0086] The filter basket 15 may include an outer filter basket 151 and an inner filter basket 152; the outer filter basket 151 is disposed outside the inner filter basket 152. The inner filter basket 152 includes an opening 1521 for water inlet, which is communicable with the water inlet 16 of the underwater cleaning robot 10. Thus, the water entering the underwater cleaning robot 10 from the water inlet 16 can be double-filtered by the inner filter basket 152 and the outer filter basket 151. A check valve 153 may be provided in the passage between the inner filter basket 152 and the water inlet 16. The check valve 153 only allows water to flow through the passage into the inner filter basket 152, but does not allow water to flow out of the inner filter basket 152 from the passage, thereby preventing contaminants in the inner filter basket 152 from following the water flow and returning to the water body outside the underwater cleaning robot 10 through the opening 1521.

[0087] In the embodiment of the present application, both outer filter basket 151 and inner filter basket 152 have filter holes to filter solid contaminants from the water. For example, a filter screen may be mounted on each of the outer filter baskets 151 and 152, with the filter holes being the mesh openings of the screen. Alternatively, the outer filter basket 151 and inner filter basket 152 may be integrally formed, with the filter holes being through-holes directly formed in the outer filter baskets 151 and 152.

[0088] In the embodiment of the present application, the size of the filter holes of the outer filter basket 151 can be smaller than the size of the filter holes of the inner filter basket 152, so that the water flow entering the underwater robot can be first coarsely screened by the inner filter basket 152, and then finely screened by the outer filter basket 151, thereby filtering pollutants in the water at multiple levels and improving the filtering effect of the filter basket 15.

[0089] As shown in FIG2 and FIG6-7 , in some optional embodiments, the underwater cleaning robot 10 further includes a water pump 17 , which includes a water pump motor 171 and a mounting bracket 172 . The water pump motor 171 is mounted on the mounting bracket 172 .

[0090] In an embodiment of the present application, the underwater cleaning robot 10 also includes a water pump 17, which includes a water pump motor 171 and a mounting bracket 172. The water pump motor 171 is mounted on the mounting bracket 172, so that the water pump 17 can be installed in the underwater cleaning robot 10 through the mounting bracket 172, and the stability of the water pump motor 171 is ensured by the mounting bracket 172.

[0091] As shown in Figure 2, the mounting bracket 172 can be located adjacent to the outer filter basket 151, thereby shortening the distance between the water pump 17 and the outer filter basket 151, so that the water pump motor 171 installed on the mounting bracket 172 can quickly absorb the filtered water flow and discharge it as soon as possible.

[0092] As shown in FIG2 and FIG6 , a water pump suction port 173 may be provided on one side of the mounting bracket 172 adjacent to the outer filter basket 151 , which may further improve the efficiency of the water pump motor 171 in absorbing filtered water and improve the effective utilization rate of the water pump 17 .

[0093] As shown in Figures 2 and 6-7, in some optional embodiments, two water pump guide vanes 174 are further provided on one side of the mounting bracket 172 adjacent to the outer filter basket 151. The two water pump guide vanes 174 are located on opposite sides of the water pump suction port 173. Furthermore, the closer the mounting bracket is to the outer filter basket 151, the larger the distance between the two water pump guide vanes 174 becomes, so that water flowing from the outer filter basket 151 is concentrated toward the water pump suction port 173.

[0094] The water pump guide vane 174 can be an arc-shaped guide vane, so that the gradient of the distance between the two guide vanes can be set more flexibly. Of course, the water pump guide vane 174 can also be a straight guide vane, which is also within the scope of protection of this application.

[0095] As a feasible implementation method, in addition to the water pump guide vanes 174 on the left and right sides of the water pump water suction port 173 on the mounting bracket 172 in Figures 6 and 7, water pump guide vanes 174 can also be provided above and / or below the water pump water suction port 173 on the outside of the mounting bracket 172. The water pump guide vanes 174 above the water pump water suction port 173 gradually tilt upward as they approach the outer filter basket 151, and the water pump guide vanes 174 below the water pump water suction port 173 gradually tilt downward as they approach the outer filter basket 151, thereby further enhancing the gathering effect of the water flow at the outer filter basket 151.

[0096] In the embodiment of the present application, two water pump guide vanes 174 may be provided on one side of the mounting bracket 172 adjacent to the outer filter basket 151, respectively located on opposite sides of the water pump suction port 173, and the closer the position is to the outer filter basket 151, the larger the spacing between the two water pump guide vanes 174, that is, the two water pump guide vanes 174 form a trumpet shape that opens toward the outer filter basket 151, so that the water pump guide vanes 174 can gather the water flow at the outer filter basket 151 under the suction force of the water pump motor 171, thereby more efficiently absorbing the water flow just filtered out of the filter basket 15, reducing the amount of water flow absorbed by the water pump 17 at other positions, and improving the working efficiency of the water pump 17.

[0097] As shown in FIG7 , in some optional embodiments, a detachable blade cover 175 is provided at the water outlet of the water pump 17. The blade cover 175 can be used to protect the propeller of the water pump motor 171. In the event of a malfunction of the water pump 17, for example, when a foreign object is entangled in the propeller of the water pump 17, the blade cover 175 can be removed to facilitate maintenance of the water pump 17, thereby improving the maintenance efficiency of the water pump 17.

[0098] The connection between the blade cover 175 and the water outlet of the water pump 17 can be a snap-fit ​​connection. For example, as shown in FIG7 , the water outlet of the water pump 17 can have multiple sets of grooves 176 formed inside. Each set of grooves 176 includes a first groove and a second groove, with one end of the first groove perpendicularly intersecting the edge of the water outlet of the water pump 17 and the other end of the first groove perpendicularly intersecting the second groove.

[0099] The outer side of the blade cover 175 is provided with a protrusion 177 that is adapted to the shape of the groove 176 of the water outlet of the water pump 17, so that the protrusion 177 of the blade cover 175 can enter the groove 176 and be stuck on the side wall of the groove 176 (such as the second groove).

[0100] When installing blade cover 175, protrusion 177 on blade cover 175 can pass through the first groove in each set of grooves 176 and enter the second groove, thereby being locked and fixed to the water outlet of water pump 17 by the groove wall of the second groove. When removing blade cover 175, it is only necessary to rotate blade cover 175 so that protrusion 177 of blade cover 175 returns from the second groove in each set of grooves 176 to the first groove, and then blade cover 175 can be pulled out of the water outlet of water pump 17. This simple and convenient structure can greatly facilitate the removal of blade cover 175.

[0101] In addition, the second groove includes two opposing groove walls and a groove bottom intersecting the two groove walls. A limit threshold can be provided on any groove wall, which divides the second groove into two parts. Protrusion 177 of blade cover 175 includes a bottom end and a top end. The bottom end of protrusion 177 is connected to the main body of blade cover 175, and a gap can be provided on protrusion 177 that passes through the bottom end of the top end, dividing protrusion 177 into two halves. When pressure is applied toward the gap, either half of protrusion 177 can undergo elastic deformation and move toward the gap, compressing the total volume of protrusion 177, thereby making it easier for protrusion 177 of blade cover 175 to enter the first groove and the second groove. When the protrusion 177 of the blade cover 175 is compressed based on the above-mentioned crack, the protrusion 177 can enter another part of the second groove from one part of the second groove through the gap between the limit threshold of the groove wall on one side of the second groove and the groove wall on the other side; when the protrusion 177 is not compressed, the protrusion 177 cannot enter another part of the second groove from one part of the second groove through the gap between the limit threshold of the groove wall on one side of the second groove and the groove wall on the other side.

[0102] In the embodiment of the present application, a limiting threshold can be provided on any groove wall of the second groove, and when the protrusion 177 of the blade cover 175 is compressed by the above-mentioned gap, the protrusion 177 can pass from one part of the second groove through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side, and enter the other part of the second groove; when the protrusion 177 is not compressed by the above-mentioned gap, the protrusion 177 cannot pass from one part of the second groove through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side, and enter the other part of the second groove. In this way, the protrusion 177 of the blade cover 175 can only pass through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side under a certain pressure, and enter from one part of the second groove to the other part. The limiting threshold can prevent the protrusion 177 of the blade cover 175 from falling off from the second groove, thereby preventing the blade cover from falling off by itself.

[0103] As shown in Figures 4 and 8, in some optional embodiments, the water inlet 16 of the underwater cleaning robot 10 is provided on the chassis 18 of the underwater cleaning robot 10. The bottom surface of the chassis 18 is provided with at least two chassis guide plates 181, which are respectively located on the left and right sides of the water inlet 16; and the farther away from the water inlet 16, the larger the distance between the two chassis guide plates 181.

[0104] It should be understood that the left and right sides of the water inlet 16 mentioned above are relative to the front side / front and rear side / tail of the underwater cleaning robot 10. The water inlet 16 can be set on the centerline of the chassis 18, or the centerline of the chassis 18 can be directly used as the axis of symmetry, and the chassis guide blades 181 on the left and right sides of the water inlet 16 can be symmetrically arranged about the centerline of the chassis 18.

[0105] Optionally, the two chassis guide blades 181 may be partially or completely disposed between the water inlet 16 and the front edge of the chassis 18, or between the water inlet 16 and the rear edge of the chassis 18. Alternatively, as shown in FIG8 , a pair of chassis guide blades 181 may be disposed between the water inlet 16 and the front edge of the chassis 18, and between the water inlet 16 and the rear edge of the chassis 18, respectively, to divert water from multiple directions around the chassis 18 and improve the water intake efficiency of the water inlet 16. The arrangement of each pair of chassis guide blades 181 is similar to that of the two chassis guide blades 181 in the aforementioned embodiment and will not be further described here.

[0106] In the embodiment of the present application, the water inlet 16 of the underwater cleaning robot 10 is disposed on the chassis 18 of the underwater cleaning robot 10, allowing the water inlet 16 to be at a relatively low height, thereby facilitating the underwater cleaning robot 10 to draw water into the robot for cleaning. The bottom surface of the chassis 18 of the underwater cleaning robot 10 is also provided with at least two chassis guide vanes 181, located on the left and right sides of the water inlet 16, respectively. Furthermore, the farther from the water inlet 16 the location, the greater the spacing between the two chassis guide vanes 181. Similar to the function of the water pump guide vane 174, these two chassis guide vanes 181 can be used to converge water flowing around the chassis 18 toward the water inlet 16, thereby improving the water intake efficiency of the water inlet 16.

[0107] As shown in FIG9 , in some optional embodiments, the drive motor includes a motor body and an output shaft 141. The motor body is located within the sealed unit 14 of the sealed drive motor; the output shaft 141 is connected to the motor body within the sealed unit 14 of the sealed drive motor, and the output shaft 141 partially extends out of the sealed unit 14 of the sealed drive motor to facilitate power output.

[0108] It should be understood that the combined structure of the sealing unit and the drive motor of the sealed drive motor in the embodiment of the present application can also be used for other types of underwater cleaning robots or ground cleaning robots, all within the protection scope of the embodiment of the present application.

[0109] Alternatively, the motor body of the drive motor may not include a drive motor housing. In this case, the sealing unit 14 that seals the drive motor may directly serve as the drive motor housing, and the motor body includes structures such as the coil and rotor of the drive motor. The motor body of the drive motor may also include a drive motor housing. In this case, the drive motor housing is disposed within the sealing unit 14 that seals the drive motor.

[0110] A dynamic sealing structure may be provided between the output shaft 141 and the sealing unit 14 of the sealed drive motor to prevent water from entering the sealing unit. Specific implementations of the dynamic sealing structure may refer to related technologies and will not be described in detail here.

[0111] The portion of the output shaft 141 of the drive motor extending out of the sealing unit can be connected to a transmission gear 142, which is engaged with the drive wheel 19 of the underwater cleaning robot 10 through the transmission gear 142, so that the drive motor can drive the corresponding drive wheel 19 to rotate through the transmission gear 142, thereby driving the underwater cleaning robot 10 to move. Of course, as a feasible implementation method, the output shaft 141 of the drive motor can directly serve as the axle of the drive wheel 19, and the drive motor directly drives the corresponding drive wheel 19 to rotate through the output shaft 141.

[0112] In this embodiment of the present application, the drive motor is equipped with an independent sealing unit, which can improve the flexibility of the drive motor seal and facilitate the maintenance of the drive motor. This ensures that the maintenance of the drive motor does not affect the components within the other sealing units, thereby reducing maintenance costs. At the same time, the output shaft 141 of the drive motor can partially extend out of the sealing unit 14 that seals the drive motor to output power. This can flexibly set the layout of the drive motor while ensuring the power output of the drive motor, thereby improving the practicality of the drive motor.

[0113] As shown in Figures 2 and 9, in some optional embodiments, the underwater cleaning robot 10 further includes a drive wheel 19 driven by the output shaft 141 of the drive motor. The drive wheel 19 is mounted on a corresponding wheel axle and can rotate about the wheel axle when driven. Ball bearings 192 can be disposed between the drive wheel 19 and the corresponding wheel axle to reduce friction when the drive wheel 19 and the wheel axle move relative to each other.

[0114] As a feasible implementation, the drive wheel 19 is mounted on the corresponding axle via a sleeve 191. As shown in Figure 9, a ball bearing 192 is disposed between the drive wheel 19 and the sleeve 191. This sleeve 191 facilitates connection of the drive wheel 19 to the corresponding axle and reduces friction during relative motion between the drive wheel 19 and the sleeve 191. The space between the drive wheel 19 and the sleeve 191 for mounting the ball bearing 192 can be sealed with a specialized seal to isolate the space from the outside world, preventing contaminants from entering and hindering the rotation of the ball bearing 192.

[0115] In the embodiment of the present application, the driving wheel 19 and / or the sleeve 191 may be provided with a circle of limiting grooves 193 around the axis of the axle of the driving wheel 19 on the surface in contact with the balls 192, as shown in FIG9 . The limiting grooves 193 define the position of the balls 192, preventing the balls 192 from moving along the axis of the axle of the driving wheel 19, thereby ensuring that the balls 192 are relatively evenly distributed around the axle of the driving wheel 19.

[0116] As shown in FIG8 , in some optional embodiments, the underwater cleaning robot 10 further includes a front roller brush 20, which is rotatable relative to the main body of the underwater cleaning robot 10. For example, the front roller brush 20 can be externally meshed with the roller brush gear 208 shown in FIG9 , and the roller brush gear 208 can be externally meshed with the inner ring gear 194 of the drive wheel 19 via a transition gear 209. When the drive wheel rotates, the inner ring gear 194 of the drive wheel drives the roller brush gear 208 to rotate via the transition gear 209, which in turn drives the front roller brush 20 to rotate for cleaning.

[0117] As shown in Figures 9 and 10, the front roller brush 20 includes a brush wheel 201 and a brush body 202. The brush body 202 is sleeved on the brush wheel 201. In addition, the brush body 202 is provided with multiple rows of parallel brush teeth 203.

[0118] As shown in FIG11 , when the brush body 202 is detached from the brush wheel 201 and in the unfolded state, each row of brush teeth 203 includes a first straight segment 204 and a second straight segment 205 intersecting each other, and the angle between the first straight segment 204 and the second straight segment 205 is an obtuse angle. As shown in FIG9 , when the brush body 202 is mounted on the brush wheel 201, the first straight segment 204 is parallel to the axis of the brush wheel 201. The combination of the two second straight segments 205 allows the brush teeth 203 on the brush body 202 to form a V-shape with the opening direction perpendicular to the first straight segment 204. Therefore, when the brush rotates, the V-shaped combination of the brush teeth 203 can be used to converge water and pollutants in the water toward the water inlet 16 below the chassis 18, so that the water inlet 16 can absorb the pollutants in the water.

[0119] As shown in FIG8 , as a feasible implementation, the front roller brush 20 includes a left roller brush 206 and a right roller brush 207 to facilitate installation of the front roller brush 20. Both the left roller brush 206 and the right roller brush 207 may include the same brush body 202. The rotation direction of the brush body 202 of the left roller brush 206 is opposite to that of the right roller brush 207. Furthermore, the second straight line segment 205 of the brush body 202 of the left roller brush 206 is adjacent to the second straight line segment 205 of the brush body 202 of the right roller brush 207. Furthermore, the second straight line segment 205 of the brush body 202 of the left roller brush 206 and the second straight line segment 205 of the brush body 202 of the right roller brush 207 are combined into a V-shape. Therefore, when the roller brushes rotate, the V-shaped brush teeth 203 can be used to converge water and pollutants in the water toward the water inlet 16 below the chassis 18, so that the water inlet 16 can absorb the pollutants in the water.

[0120] In some optional embodiments, the brush wheel 201 and the brush body 202 are detachably connected, so that when the brush body 202 is worn, a new brush body 202 can be replaced without replacing the entire roller brush, thereby saving costs. The brush body 202 can be detachably mounted on the brush wheel 201 by a snap connection or a bolt connection, etc. The embodiment of the present application does not limit the method of detachable connection between the brush wheel 201 and the brush body 202.

[0121] As shown in FIG8 , in some optional embodiments, the underwater cleaning robot further includes a rear roller brush 21 to enhance the cleaning effect of the underwater cleaning robot 10. The front roller brush 20 and the rear roller brush 21 can be respectively disposed on the front and rear sides of the underwater cleaning robot 10, so that the front roller brush 20 and the rear roller brush 21 can be used to sweep pollutants from the front and rear directions toward the water inlet 16 of the chassis 18 of the underwater cleaning robot 10, thereby improving the cleaning efficiency of the underwater cleaning robot 10.

[0122] In the embodiment of the present application, the rear roller brush 21 can be detachably mounted on the underwater cleaning robot 10 so that the rear roller brush 21 can be removed when it becomes inconvenient to use, allowing the underwater cleaning robot 10 to adapt to a wider range of usage scenarios. Similar to the front roller brush including a left roller brush and a right roller brush, the rear roller brush can also include two roller brushes to further facilitate removal and installation of the rear roller brush.

[0123] A second aspect of the embodiments of the present application provides a filtration structure for an underwater cleaning robot, wherein the underwater cleaning robot may be any of the embodiments described in the first aspect above. Thus, when the filtration structure is installed on the underwater cleaning robot, the same effects as those of the embodiments of the first aspect can be achieved. The specific implementation process can be found in the description of the aforementioned underwater cleaning robot embodiments and will not be further described here. Of course, the filtration structure can also be used with other suitable underwater cleaning robots, all of which are within the scope of protection of the embodiments of the present application.

[0124] The filtering structure provided in the embodiments of the present application is described in detail below.

[0125] In some optional embodiments, the filtering structure of the underwater cleaning robot provided in the embodiment of the present application includes a filter basket 15 as shown in FIG4 , so as to filter pollutants in the water through the filter basket 15 .

[0126] The filter basket 15 may include an outer filter basket 151 and an inner filter basket 152; the outer filter basket 151 is disposed outside the inner filter basket 152. The inner filter basket 152 includes an opening 1521 for water inlet. When the filter structure is installed on the underwater cleaning robot 10, the opening 1521 can communicate with the water inlet 16 of the underwater cleaning robot 10, thereby allowing the water entering the underwater cleaning robot 10 from the water inlet 16 to be double-filtered by the inner filter basket 152 and the outer filter basket 151. The passage between the inner filter basket 152 and the water inlet 16 may be configured with a check valve 153. The check valve 153 only allows water to flow through the passage into the inner filter basket 152, but does not allow water to flow out of the passage. This prevents contaminants in the inner filter basket 152 from following the water flow and returning to the water outside the underwater cleaning robot 10 through the opening 1521.

[0127] In the embodiment of the present application, both outer filter basket 151 and inner filter basket 152 have filter holes to filter solid contaminants from the water. For example, a filter screen may be mounted on each of the outer filter baskets 151 and 152, with the filter holes being the mesh openings of the screen. Alternatively, the outer filter basket 151 and inner filter basket 152 may be integrally formed, with the filter holes being through-holes directly formed in the outer filter baskets 151 and 152.

[0128] In the embodiment of the present application, the size of the filter holes of the outer filter basket 151 can be smaller than the size of the filter holes of the inner filter basket 152, so that the water flow entering the underwater robot can be first coarsely screened by the inner filter basket 152, and then finely screened by the outer filter basket 151, thereby filtering pollutants in the water at multiple levels and improving the filtering effect of the filter basket 15.

[0129] As shown in FIG2 and FIG6-7, in some optional embodiments, the filtering structure of the underwater cleaning robot may further include a water pump 17, and the water pump 17 includes a water pump motor 171 and a mounting bracket 172. The water pump motor 171 is mounted on the mounting bracket 172.

[0130] In an embodiment of the present application, the underwater cleaning robot 10 also includes a water pump 17, which includes a water pump motor 171 and a mounting bracket 172. The water pump motor 171 is mounted on the mounting bracket 172, so that the water pump 17 can be installed in the underwater cleaning robot 10 through the mounting bracket 172, and the stability of the water pump motor 171 is ensured by the mounting bracket 172.

[0131] As shown in Figure 2, when the filtering structure is installed on the underwater cleaning robot, the mounting bracket 172 can be located adjacent to the outer filter basket 151, thereby shortening the distance between the water pump 17 and the outer filter basket 151, so that the water pump motor 171 installed on the mounting bracket 172 can quickly absorb the filtered water flow and discharge it as soon as possible.

[0132] As shown in Figures 2 and 6, when the filtering structure is installed on the underwater cleaning robot, a water pump suction port 173 can be provided on the side of the mounting bracket 172 adjacent to the outer filter basket 151, which can further improve the efficiency of the water pump motor 171 in absorbing the filtered water flow and improve the effective utilization rate of the water pump 17.

[0133] Furthermore, in some optional embodiments, two water pump guide vanes 174 may be provided on one side of the mounting bracket 172 adjacent to the outer filter basket 151. The two water pump guide vanes 174 are located on opposite sides of the water pump suction port 173. Furthermore, the closer the mounting bracket 172 is to the outer filter basket 151, the larger the distance between the two water pump guide vanes 174 is, so that water flowing from the outer filter basket 151 is concentrated toward the water pump suction port 173.

[0134] The water pump guide vane 174 can be an arc-shaped guide vane, so that the gradient of the distance between the two guide vanes can be set more flexibly. Of course, the water pump guide vane 174 can also be a straight guide vane, which is also within the scope of protection of this application.

[0135] As a feasible implementation method, in addition to the water pump guide vanes 174 on the left and right sides of the water pump water suction port 173 on the mounting bracket 172 in Figures 6 and 7, water pump guide vanes 174 can also be provided above and / or below the water pump water suction port 173 on the outside of the mounting bracket 172. The water pump guide vanes 174 above the water pump water suction port 173 gradually tilt upward as they approach the outer filter basket 151, and the water pump guide vanes 174 below the water pump water suction port 173 gradually tilt downward as they approach the outer filter basket 151, thereby further enhancing the gathering effect of the water flow at the outer filter basket 151.

[0136] In the embodiment of the present application, two water pump guide vanes 174 can be provided on one side of the mounting bracket 172 adjacent to the outer filter basket 151, respectively located on opposite sides of the water pump suction port 173, and when the filter structure is installed on the underwater cleaning robot, the closer the position is to the outer filter basket 151, the larger the distance between the two water pump guide vanes 174, that is, the two water pump guide vanes 174 can form a trumpet shape that opens toward the outer filter basket 151, so that the water pump guide vanes 174 can gather the water flow at the outer filter basket 151 under the suction force of the water pump motor 171, thereby more efficiently absorbing the water flow just filtered out of the filter basket 15, reducing the amount of water flow absorbed by the water pump 17 at other positions, and improving the working efficiency of the water pump 17.

[0137] As shown in FIG7 , in some optional embodiments, a detachable blade cover 175 is provided at the water outlet of the water pump 17. The blade cover 175 can be used to protect the propeller of the water pump motor 171. In the event of a malfunction of the water pump 17, for example, when a foreign object is entangled in the propeller of the water pump 17, the blade cover 175 can be removed to facilitate maintenance of the water pump 17, thereby improving the maintenance efficiency of the water pump 17.

[0138] The connection between the blade cover 175 and the water outlet of the water pump 17 can be a snap-fit ​​connection. For example, as shown in FIG7 , the water outlet of the water pump 17 can have multiple sets of grooves 176 formed inside. Each set of grooves 176 includes a first groove and a second groove, with one end of the first groove perpendicularly intersecting the edge of the water outlet of the water pump 17 and the other end of the first groove perpendicularly intersecting the second groove.

[0139] The outer side of the blade cover 175 is provided with a protrusion 177 that is adapted to the shape of the groove 176 of the water outlet of the water pump 17, so that the protrusion 177 of the blade cover 175 can enter the groove 176 and be stuck on the side wall of the groove 176 (such as the second groove).

[0140] When installing blade cover 175, protrusion 177 on blade cover 175 can pass through the first groove in each set of grooves 176 and enter the second groove, thereby being locked and fixed to the water outlet of water pump 17 by the groove wall of the second groove. When removing blade cover 175, it is only necessary to rotate blade cover 175 so that protrusion 177 of blade cover 175 returns from the second groove in each set of grooves 176 to the first groove, and then blade cover 175 can be pulled out of the water outlet of water pump 17. This simple and convenient structure can greatly facilitate the removal of blade cover 175.

[0141] In addition, the second groove includes two opposing groove walls and a groove bottom intersecting the two groove walls. A limit threshold can be provided on any groove wall, which divides the second groove into two parts. Protrusion 177 of blade cover 175 includes a bottom end and a top end. The bottom end of protrusion 177 is connected to the main body of blade cover 175, and a gap can be provided on protrusion 177 that passes through the bottom end of the top end, dividing protrusion 177 into two halves. When pressure is applied toward the gap, either half of protrusion 177 can undergo elastic deformation and move toward the gap, compressing the total volume of protrusion 177, thereby making it easier for protrusion 177 of blade cover 175 to enter the first groove and the second groove. When the protrusion 177 of the blade cover 175 is compressed based on the above-mentioned crack, the protrusion 177 can enter another part of the second groove from one part of the second groove through the gap between the limit threshold of the groove wall on one side of the second groove and the groove wall on the other side; when the protrusion 177 is not compressed, the protrusion 177 cannot enter another part of the second groove from one part of the second groove through the gap between the limit threshold of the groove wall on one side of the second groove and the groove wall on the other side.

[0142] In the embodiment of the present application, a limiting threshold can be provided on any groove wall of the second groove, and when the protrusion 177 of the blade cover 175 is compressed by the above-mentioned gap, the protrusion 177 can pass from one part of the second groove through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side, and enter the other part of the second groove; when the protrusion 177 is not compressed by the above-mentioned gap, the protrusion 177 cannot pass from one part of the second groove through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side, and enter the other part of the second groove. In this way, the protrusion 177 of the blade cover 175 can only pass through the gap between the limiting threshold of the groove wall on one side of the second groove and the groove wall on the other side under a certain pressure, and enter from one part of the second groove to the other part. The limiting threshold can prevent the protrusion 177 of the blade cover 175 from falling off from the second groove, thereby preventing the blade cover from falling off by itself.

[0143] As shown in Figures 4 and 8 , in some optional embodiments, the filtration structure further includes a chassis 18 of the underwater cleaning robot, which is provided with the underwater cleaning robot's water inlet 16. The bottom surface of chassis 18 is provided with at least two chassis guide vanes 181, located on the left and right sides of water inlet 16, respectively. Furthermore, the distance between the two chassis guide vanes 181 increases as the distance from water inlet 16 increases.

[0144] It should be understood that the left and right sides of the water inlet 16 mentioned above refer to the front and rear sides of the underwater cleaning robot when the filtration structure is installed on the underwater cleaning robot. The water inlet 16 can be located on the centerline of the chassis 18, or the centerline of the chassis 18 can be directly used as the axis of symmetry. The chassis guide vanes 181 on the left and right sides of the water inlet 16 can be symmetrically arranged about the centerline of the chassis 18.

[0145] Optionally, the two chassis guide blades 181 can be partially or completely arranged between the water inlet 16 and the edge of the front side of the chassis 18, or can be arranged between the water inlet 16 and the edge of the rear side of the chassis 18 (the front and rear sides of the chassis 18 are respectively aligned with the front and rear sides of the cleaning robot). Alternatively, as shown in FIG8 , a pair of chassis guide blades 181 can be respectively arranged between the water inlet 16 and the edge of the front side of the chassis 18 and between the water inlet 16 and the edge of the rear side of the chassis 18, thereby diverting the water around the chassis 18 in multiple directions and improving the water intake efficiency of the water inlet 16. The arrangement of each group of chassis guide blades 181 is similar to that of the two chassis guide blades 181 in the aforementioned embodiment and will not be repeated here.

[0146] In this embodiment of the present application, the filtration structure also includes a chassis 18 of the underwater cleaning robot. The chassis 18 is provided with the underwater cleaning robot's water inlet 16, allowing the water inlet 16 to be located at a relatively low height, thereby facilitating the filtration structure's ability to draw water into the underwater cleaning robot 10 for cleaning. The bottom surface of the chassis 18 is also provided with at least two chassis guide vanes 181, located on the left and right sides of the water inlet 16, respectively. Furthermore, the farther from the water inlet 16, the greater the distance between the two chassis guide vanes 181. Similar to the function of the water pump guide vane 174, these two chassis guide vanes 181 can be used to converge water flowing around the chassis 18 toward the water inlet 16, thereby improving the water intake efficiency of the water inlet 16.

[0147] A third aspect of the embodiments of the present application provides a transmission structure for an underwater cleaning robot, wherein the underwater cleaning robot may be the underwater cleaning robot described in the embodiment of the first aspect above. Thus, when the filtration structure is installed on the underwater cleaning robot, the same effects as those of the embodiment of the first aspect can be achieved. The specific implementation process can be found in the description of the aforementioned underwater cleaning robot embodiment and will not be repeated here. Of course, the transmission structure can also be used for other suitable underwater cleaning robots, or terrestrial cleaning robots, all of which are within the scope of protection of the embodiments of the present application.

[0148] The filtering structure provided in the embodiments of the present application is described in detail below.

[0149] The transmission structure provided in the embodiment of the present application may include the drive motor described in any embodiment of the first aspect above, and a sealing unit for sealing the drive motor;

[0150] As shown in Figure 9, the drive motor includes a motor body and an output shaft 141. The motor body is located within the sealed unit 14 of the sealed drive motor; the output shaft 141 is connected to the motor body within the sealed unit 14 of the sealed drive motor, and the output shaft 141 partially extends out of the sealed unit 14 of the sealed drive motor to facilitate power output.

[0151] It should be understood that the combined structure of the sealing unit and the drive motor of the sealed drive motor in the embodiment of the present application can also be used for other types of underwater cleaning robots or ground cleaning robots, all within the protection scope of the embodiment of the present application.

[0152] Alternatively, the motor body of the drive motor may not include a drive motor housing. In this case, the sealing unit 14 that seals the drive motor may directly serve as the drive motor housing, and the motor body includes structures such as the coil and rotor of the drive motor. The motor body of the drive motor may also include a drive motor housing. In this case, the drive motor housing is disposed within the sealing unit 14 that seals the drive motor.

[0153] A dynamic sealing structure may be provided between the output shaft 141 and the sealing unit 14 of the sealed drive motor to prevent water from entering the sealing unit. Specific implementations of the dynamic sealing structure may refer to related technologies and will not be described in detail here.

[0154] When the transmission structure is installed on the underwater cleaning robot, the portion of the output shaft 141 of the drive motor extending out of the sealing unit can be connected to a transmission gear 142, which is engaged with the drive wheel 19 of the underwater cleaning robot 10 through the transmission gear 142, so that the drive motor can drive the corresponding drive wheel 19 to rotate through the transmission gear 142, thereby driving the underwater cleaning robot 10 to move. Of course, as a feasible implementation method, the output shaft 141 of the drive motor can directly serve as the axle of the drive wheel 19, and the drive motor directly drives the corresponding drive wheel 19 to rotate through the output shaft 141.

[0155] In this embodiment of the present application, the drive motor is equipped with an independent sealing unit, which can improve the flexibility of the drive motor seal and facilitate the maintenance of the drive motor. This ensures that the maintenance of the drive motor does not affect the components within the other sealing units, thereby reducing maintenance costs. At the same time, the output shaft 141 of the drive motor can partially extend out of the sealing unit 14 that seals the drive motor to output power. This can flexibly set the layout of the drive motor while ensuring the power output of the drive motor, thereby improving the practicality of the drive motor.

[0156] As shown in Figures 2 and 9, in some optional embodiments, the transmission structure further includes a drive wheel 19 driven by the output shaft 141 of the drive motor. Drive wheel 19 is mounted on a corresponding axle and, when driven, can rotate about the axle. Ball bearings 192 can be disposed between drive wheel 19 and the corresponding axle to reduce friction when the drive wheel 19 and the axle move relative to each other.

[0157] As a feasible implementation, the drive wheel 19 is mounted on the corresponding axle via a sleeve 191. As shown in Figure 9, a ball bearing 192 is disposed between the drive wheel 19 and the sleeve 191. This sleeve 191 facilitates connection of the drive wheel 19 to the corresponding axle and reduces friction during relative motion between the drive wheel 19 and the sleeve 191. The space between the drive wheel 19 and the sleeve 191 for mounting the ball bearing 192 can be sealed with a specialized seal to isolate the space from the outside world, thereby preventing contaminants from entering and hindering the rotation of the ball bearing 192.

[0158] In the embodiment of the present application, the driving wheel 19 and / or the sleeve 191 may be provided with a circle of limiting grooves 193 around the axis of the axle of the driving wheel 19 on the surface in contact with the balls 192, as shown in FIG9 . The limiting grooves 193 define the position of the balls 192, preventing the balls 192 from moving along the axis of the axle of the driving wheel 19, thereby ensuring that the balls 192 are relatively evenly distributed around the axle of the driving wheel 19.

[0159] In some optional embodiments, the transmission structure further includes a front roller brush 20, as shown in FIG8 , which can rotate relative to the main body of the underwater cleaning robot 10. For example, the front roller brush 20 can be externally meshed with the roller brush gear 208 in FIG9 , which can be externally meshed with the inner ring gear 194 of the drive wheel 19 via a transition gear 209. When the drive wheel rotates, the inner ring gear 194 of the drive wheel drives the roller brush gear 208 to rotate via the transition gear 209, which in turn drives the front roller brush 20 to rotate for cleaning.

[0160] As shown in Figures 9 and 10, the front roller brush 20 includes a brush wheel 201 and a brush body 202. The brush body 202 is sleeved on the brush wheel 201. In addition, the brush body 202 is provided with multiple rows of parallel brush teeth 203.

[0161] As shown in FIG11 , when the brush body 202 is detached from the brush wheel 201 and in an unfolded state, each row of brush teeth 203 includes an intersecting first straight segment 204 and a second straight segment 205, and the angle between the first straight segment 204 and the second straight segment 205 is an obtuse angle. As shown in FIG9 , when the brush body 202 is mounted on the brush wheel 201, the first straight segment 204 is parallel to the axis of the brush wheel 201. By combining the two second straight segments 205, the brush teeth 203 on the roller brush body 202 can be made to form a V-shape with the opening direction perpendicular to the first straight segment 204. Thus, when the transmission structure is mounted on the underwater cleaning robot and the roller brush rotates, the V-shaped combination of brush teeth 203 can be used to converge water and pollutants in the water toward the water inlet 16 under the chassis 18 of the underwater cleaning robot, so that the water inlet 16 can absorb the pollutants in the water.

[0162] As shown in FIG8 , as a feasible implementation, the front roller brush 20 includes a left roller brush 206 and a right roller brush 207 to facilitate installation of the front roller brush 20. The left roller brush 206 and the right roller brush 207 can both include the same brush body 202. The rotation direction of the brush body 202 of the left roller brush 206 is opposite to that of the brush body 202 of the right roller brush 207. The second straight line segment 205 of the brush body 202 of the left roller brush 206 is adjacent to the second straight line segment 205 of the brush body 202 of the right roller brush 207. The second straight line segment 205 of the brush body 202 of the left roller brush 206 and the second straight line segment 205 of the brush body 202 of the right roller brush 207 are combined into a V-shape. Therefore, when the transmission structure is installed on the underwater cleaning robot and the roller brushes rotate, the V-shaped brush teeth 203 can be used to converge water and pollutants in the water toward the water inlet 16 under the chassis 18 of the underwater cleaning robot, so that the water inlet 16 can absorb the pollutants in the water.

[0163] In some optional embodiments, the brush wheel 201 and the brush body 202 are detachably connected, so that when the brush body 202 is worn, a new brush body 202 can be replaced without replacing the entire roller brush, thereby saving costs. The brush body 202 can be detachably mounted on the brush wheel 201 by a snap connection or a bolt connection, etc. The embodiment of the present application does not limit the method of detachable connection between the brush wheel 201 and the brush body 202.

[0164] As shown in Figure 8, in some optional embodiments, the transmission structure further includes a rear roller brush 21 to enhance cleaning effectiveness. When the transmission mechanism is installed on an underwater cleaning robot, the front roller brush 20 and the rear roller brush 21 can be respectively disposed on the front and rear sides of the underwater cleaning robot 10. This allows the front roller brush 20 and the rear roller brush 21 to sweep contaminants from both the front and rear directions toward the water inlet 16 of the chassis 18 of the underwater cleaning robot 10, thereby improving the cleaning efficiency of the underwater cleaning robot 10.

[0165] In this embodiment of the present application, the transmission structure may include a detachable rear roller brush 21, so that the rear roller brush 21 can be removed when it becomes inconvenient to use, allowing the underwater cleaning robot 10 equipped with the above transmission mechanism to adapt to a wider range of usage scenarios. Similar to the front roller brush including a left roller brush and a right roller brush, the rear roller brush may also include two roller brushes to further facilitate the removal and installation of the rear roller brush.

[0166] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0167] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications, and combinations made by any person skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. An underwater cleaning robot comprising a plurality of independent sealing units, wherein the plurality of independent sealing units are used to respectively seal a drive circuit, a drive motor, a battery, and a charging port; and The multiple independent sealing units are distributed in the underwater cleaning robot.

2. The underwater cleaning robot according to claim 1, wherein: Among the plurality of sealing units, the sealing unit for sealing the driving circuit includes a heat sink connected to the driving circuit.

3. The underwater cleaning robot according to claim 2, wherein: The sealing unit of the sealed driving circuit is provided with a heat dissipation through-hole, and the heat sink is partially located in the heat dissipation through-hole; and the heat sink is sealedly connected to the area around the heat dissipation through-hole on the sealing unit of the sealed driving circuit to prevent water from flowing into the sealing unit of the sealed driving circuit from the heat dissipation through-hole.

4. The underwater cleaning robot according to any one of claims 1 to 3, wherein: In the plurality of sealing units, the sealing unit of the sealed battery is detachably connected to the battery.

5. The underwater cleaning robot according to claim 4, wherein: The chassis of the underwater cleaning robot is provided with a battery installation port, and the battery installation port is communicated with the interior of the sealing unit of the sealed battery; The sealing unit of the sealed battery includes a detachable sealing door, which is configured to seal the battery installation port to isolate the interior of the battery sealing unit from the outside.

6. The underwater cleaning robot according to any one of claims 1 to 5, wherein: Among the plurality of sealing units, the sealing unit for sealing the charging port is also used to seal the interaction unit; and, The interaction unit is electrically connected to the driving circuit.

7. The underwater cleaning robot according to any one of claims 1 to 6, wherein: A first power supply circuit is provided between the sealing unit of the sealed battery and the sealing unit of the sealed charging port, and a second power supply circuit is provided between the sealing unit of the sealed charging port and the sealing unit of the sealed drive circuit, wherein the first power supply circuit is connected to the second power supply circuit; The first power supply circuit is configured to supply power to a sealing unit of a sealed charging port, and the second power supply circuit is configured to supply power to a sealing unit of a sealed driving circuit.

8. The underwater cleaning robot according to any one of claims 1 to 7, wherein: The underwater cleaning robot also includes a posture sensor; The posture sensor is arranged in a sealing unit that seals the driving circuit and a sealing unit that seals the charging port, in the one that is farther from the driving motor.

9. The underwater cleaning robot according to any one of claims 1 to 8, wherein: The underwater cleaning robot also includes a filter basket; The filter basket includes an outer filter basket and an inner filter basket; The outer filter basket is arranged outside the inner filter basket; Furthermore, the size of the filter holes of the outer filter basket is smaller than the size of the filter holes of the inner filter basket; The inner filter basket includes a water inlet opening, and the opening can be communicated with the water inlet of the underwater cleaning robot.

10. The underwater cleaning robot according to claim 9, wherein: The underwater cleaning robot further includes a water pump, which includes a water pump motor and a mounting bracket; The water pump motor is mounted on the mounting bracket, the mounting bracket is located adjacent to the outer filter basket, and a water pump suction port is provided on one side of the mounting bracket adjacent to the outer filter basket.

11. The underwater cleaning robot according to claim 10, wherein: Two water pump guide vanes are further provided on one side of the mounting bracket adjacent to the outer filter basket, and the two water pump guide vanes are respectively located on opposite sides of the water pump suction port; and the closer the position is to the outer filter basket, the larger the distance between the two water pump guide vanes.

12. The underwater cleaning robot according to claim 10 or 11, wherein: The water outlet of the water pump is provided with a detachable blade cover.

13. The underwater cleaning robot according to any one of claims 10 to 12, wherein: The water inlet of the underwater cleaning robot is arranged on the chassis of the underwater cleaning robot; At least two chassis guide plates are provided on the bottom surface of the chassis, and the two chassis guide plates are respectively located on the left and right sides of the water inlet; and the farther away from the water inlet, the greater the distance between the two chassis guide plates.

14. The underwater cleaning robot according to any one of claims 1 to 13, wherein: The driving motor includes a motor body and an output shaft; The motor body is located in a sealing unit that seals the drive motor; the output shaft is connected to the motor body in the sealing unit that seals the drive motor, and the output shaft partially extends out of the sealing unit that seals the drive motor to facilitate power output.

15. The underwater cleaning robot according to claim 14, wherein: The underwater cleaning robot further includes a driving wheel driven by an output shaft of the driving motor; The driving wheel is mounted on the corresponding wheel axle through a shaft sleeve, and a ball bearing is provided between the driving wheel and the shaft sleeve to reduce friction through the ball bearing.

16. The underwater cleaning robot according to claim 14 or 15, wherein: The underwater cleaning robot further includes a front roller brush, which is rotatable relative to the main body of the underwater cleaning robot; The front roller brush includes a brush wheel and a brush body, wherein the brush body is sleeved on the brush wheel and has multiple rows of parallel brush teeth. When the brush body is separated from the brush wheel and is in an unfolded state, each row of the brush teeth includes a first straight line segment and a second straight line segment intersecting each other, and the angle between the first straight line segment and the second straight line segment is an obtuse angle; When the brush body is mounted on the brush wheel, the first straight line segment is parallel to the axis of the brush wheel.

17. The underwater cleaning robot according to claim 16, wherein: The brush wheel and the brush body are detachably connected.

18. The underwater cleaning robot according to claim 15 or 16, wherein: The underwater cleaning machine also includes a detachable rear roller brush; The front roller brush and the rear roller brush are respectively arranged on the front and rear sides of the underwater cleaning robot.

19. A filtering structure for an underwater cleaning robot, comprising: filter basket; The filter basket includes an outer filter basket and an inner filter basket; The outer filter basket is arranged outside the inner filter basket; Furthermore, the size of the filter holes of the outer filter basket is smaller than the size of the filter holes of the inner filter basket; The inner filter basket includes an opening for water inlet, and when the filter structure is installed on the underwater cleaning robot, the opening can communicate with the water inlet of the underwater cleaning robot; Wherein, the underwater cleaning robot is the underwater cleaning robot according to claim 1.

20. The filter structure according to claim 19, wherein The filtering structure further comprises a water pump, and the water pump comprises a water pump motor and a mounting bracket; The water pump motor is mounted on the mounting bracket, the mounting bracket is located adjacent to the outer filter basket, and a water pump suction port is provided on one side of the mounting bracket adjacent to the outer filter basket.

21. The filter structure according to claim 20, wherein: Two water pump guide vanes are further provided on one side of the mounting bracket adjacent to the outer filter basket, and the two water pump guide vanes are respectively located on opposite sides of the water pump suction port; and the closer the position is to the outer filter basket, the larger the distance between the two water pump guide vanes.

22. The filter structure according to any one of claims 19 to 21, wherein: The filtering structure further comprises a chassis of the underwater cleaning robot, and the chassis is provided with a water inlet of the underwater cleaning robot; At least two chassis guide plates are provided on the bottom surface of the chassis, and the two chassis guide plates are respectively located on the left and right sides of the water inlet; and the farther away from the water inlet, the greater the distance between the two chassis guide plates.

23. The filter structure according to any one of claims 19 to 22, wherein: The water outlet of the water pump is provided with a detachable blade cover.

24. A transmission structure of an underwater cleaning robot, comprising the drive motor according to claim 1 and a sealing unit for sealing the drive motor; The driving motor includes a motor body and an output shaft; The motor body is located in a sealing unit that seals the drive motor; the output shaft is connected to the motor body in the sealing unit that seals the drive motor, and the output shaft portion extends A sealing unit is provided for sealing the driving motor to facilitate power output.

25. The transmission structure according to claim 24, wherein: The transmission structure further includes a driving wheel driven by an output shaft of the driving motor; The driving wheel is mounted on the corresponding wheel axle through a shaft sleeve, and a ball bearing is provided between the driving wheel and the shaft sleeve to reduce friction through the ball bearing.

26. The transmission structure according to claim 24 or 25, wherein: The transmission structure further includes a front roller brush, which can rotate relative to the main body of the underwater cleaning robot; The front roller brush includes a brush wheel and a brush body, wherein the brush body is sleeved on the brush wheel and has multiple rows of parallel brush teeth. When the brush body is separated from the brush wheel and is in an unfolded state, each row of the brush teeth includes a first straight line segment and a second straight line segment intersecting each other, and the angle between the first straight line segment and the second straight line segment is an obtuse angle; When the brush body is mounted on the brush wheel, the first straight line segment is parallel to the axis of the brush wheel.

27. The transmission structure according to claim 26, wherein: The brush wheel and the brush body are detachably connected.

28. The transmission structure according to claim 26 or 27, wherein: The transmission structure also includes a detachable rear roller brush; When the transmission mechanism is installed on the underwater cleaning robot, the front roller brush and the rear roller brush are respectively arranged on the front and rear sides of the underwater cleaning machine.

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