Driving device for robot, and robot

Abstract

A driving device for a robot, the driving device comprising a driving gear (100), traveling wheels (200), a driving paddle (300), and a transmission member (400), wherein each traveling wheel (200) comprises a first traveling wheel (210) and a second traveling wheel (220), the first traveling wheel (210) having first annular teeth (211), and the second traveling wheel (220) having second annular teeth (221); and the driving gear (100) meshes with the first annular teeth (211) or the second annular teeth (221). A robot using the driving device can be driven above water and underwater by one driving device.

Description

Robot drive device and robot

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on March 25, 2024, with application number CN202420595153.4 and invention name “Robot driving device and robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robots, and in particular to a robot drive device and a robot. Background Art

[0003] Robots, such as pool cleaning robots, which are capable of underwater and / or surface cleaning, are used in places such as home swimming pools, public swimming pools, and commercial swimming pools where automated cleaning is required to remove leaves, foam, and other debris from the places.

[0004] In related art, the driving gear of a cleaning robot transmits driving force to the active wheel and roller brush assembly through a multi-stage transition gear, allowing the cleaning robot to move around the pool and remove garbage. However, in existing cleaning robots, the same driving device can only drive the robot on the water surface or only drive the robot underwater. Therefore, how to use the same driving device to drive the robot both above and below the water has become an urgent problem to be solved.

[0005] Application Contents

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a robot driving device and a robot, which aims to realize how to drive the robot to move on water and underwater through the same driving device.

[0007] To solve the above technical problems, an embodiment of the present application provides a driving device for a robot, wherein the robot includes a rotatable cleaning member, and the driving device includes:

[0008] Drive gear;

[0009] The traveling wheels include a first traveling wheel and a second traveling wheel arranged in front and back, the first traveling wheel having a first annular tooth, the second traveling wheel having a second annular tooth, and the driving gear meshing with the first annular tooth or the second annular tooth;

[0010] a driving paddle, spaced apart from the cleaning member along the travel direction of the robot, the driving paddle being connected to a first driven gear, the first driven gear being in driving connection with the first traveling wheel;

[0011] The transmission member is respectively connected to the first traveling wheel and the second traveling wheel in transmission connection.

[0012] In some embodiments, the driving device further comprises:

[0013] a first transmission gear meshing with the first annular gear;

[0014] The second transmission gear is located between the first driven gear and the first transmission gear, and is meshed with the first driven gear and the first transmission gear respectively.

[0015] In some embodiments, the first driven gear meshes with the first ring gear.

[0016] In some embodiments, the first traveling wheel comprises:

[0017] First wheel body;

[0018] a first sleeve shaft portion, provided on the first wheel body, wherein the first wheel body is rotatably connected to the body of the robot through the first sleeve shaft portion;

[0019] The first annular teeth include first annular inner teeth or first annular outer teeth, the first annular inner teeth are provided on the inner peripheral wall of the first wheel body, and the first annular outer teeth are provided on the outer peripheral wall of the first sleeve shaft portion;

[0020] The first driven gear meshes with the first annular inner teeth or the first annular outer teeth.

[0021] In some embodiments, the first traveling wheel comprises:

[0022] First wheel body;

[0023] a first sleeve shaft portion, provided on the first wheel body, wherein the first wheel body is rotatably connected to the body of the robot through the first sleeve shaft portion;

[0024] The first annular teeth include first annular inner teeth and first annular outer teeth, the first annular inner teeth are provided on the inner peripheral wall of the first wheel body, and the first annular outer teeth are provided on the outer peripheral wall of the first sleeve shaft portion;

[0025] The first driven gear meshes with one of the first annular inner teeth and the first annular outer teeth, and the driving gear meshes with the other of the first annular inner teeth and the first annular outer teeth.

[0026] In some embodiments, a first cavity is formed between the first wheel body and the first sleeve shaft portion, and the first driven gear is accommodated in the first cavity.

[0027] In some embodiments, the driving device further comprises:

[0028] A power source is driven and connected to the driving gear to drive the driving gear to rotate.

[0029] In some embodiments, the driving device further comprises:

[0030] A gear set, wherein the power source is driven to connect to the driving gear through the gear set.

[0031] In some embodiments, the gear set includes:

[0032] a third transmission gear connected to the output execution end of the power source to rotate under the drive of the power source;

[0033] a fourth transmission gear, meshing with the third transmission gear;

[0034] The fourth transmission gear is sleeved on one end of the transmission shaft to drive the transmission shaft to rotate, and the driving gear is sleeved on the other end of the transmission shaft to rotate along with the transmission shaft.

[0035] In some embodiments, the driving device further comprises:

[0036] A sealed cavity is provided, wherein the power source and the gear set are both accommodated in the sealed cavity, and a portion of the gear set extends out from the sealed cavity to be transmission-connected to the driving gear.

[0037] In some embodiments, the driving paddle and the cleaning member are respectively located on both sides of the sewage suction port of the robot; the driving paddle and the cleaning member rotate in the same direction to jointly move the water flow with the cleaning member.

[0038] In some embodiments, the cleaning member is connected to a second driven gear, and the second driven gear is in driving connection with the second traveling wheel.

[0039] In some embodiments, the second traveling wheel comprises:

[0040] Second wheel body;

[0041] a second sleeve shaft portion, provided on the second wheel body, wherein the second wheel body is rotatably connected to the body of the robot through the second sleeve shaft portion;

[0042] The second annular teeth include second annular inner teeth and / or second annular outer teeth, the second annular inner teeth are provided on the inner circumferential wall of the second wheel body, and the second annular outer teeth are provided on the outer circumferential wall of the second sleeve shaft portion;

[0043] The second driven gear is engaged with the second annular inner teeth or the second annular outer teeth.

[0044] In some embodiments, the second driven gear meshes with the second ring gear.

[0045] In some embodiments, the transmission member is a traveling track, and the transmission member is wound around the outer circumference of the first traveling wheel and the second traveling wheel.

[0046] In some embodiments, the first traveling wheel is provided with first external teeth, the second traveling wheel is provided with second external teeth, the inner side of the transmission member is provided with transmission internal teeth, and the first external teeth and the second external teeth are both engaged with the transmission internal teeth.

[0047] The present application also provides a robot, comprising:

[0048] body;

[0049] a cleaning member rotatably disposed on the machine body; and

[0050] The two driving devices of the robot are respectively arranged on the left and right sides of the body.

[0051] The robot driving device provided in this application has the following beneficial effects:

[0052] The driving device of this embodiment drives the first traveling wheel or the second traveling wheel to move by setting a driving gear to engage with the first annular tooth or the second annular tooth, and sets a transmission member to respectively transmit and connect the first traveling wheel and the second traveling wheel to transmit the power of one of the first traveling wheel and the second traveling wheel to the other, so that one of the first traveling wheel and the second traveling wheel can drive the other to rotate. In this way, the first traveling wheel and the second traveling wheel can both rotate and move along the traveling direction of the robot, thereby driving the robot to move underwater. During the process of the robot moving underwater, the rotatable cleaning member on the robot can clean up garbage underwater.

[0053] At the same time, the driving device of this embodiment also provides a driving paddle and a cleaning member that are spaced apart along the traveling direction of the robot. The first traveling wheel can transmit the power of the driving gear or the power transmitted by the transmission member to the first driven gear, so that the driving paddle connected to the first driven gear can rotate. During the rotation process, the driving paddle can drive the robot to move on the water. At this time, the rotatable cleaning member on the robot can clean up garbage on the water surface.

[0054] As can be seen from the above, the driving device of the embodiment of the present application can drive the robot to move on water, and can also drive the robot to move underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0056] FIG1 is a schematic diagram of a structure of a robot provided in an embodiment of the present application;

[0057] FIG2 is a schematic diagram of a partial cross-sectional structure of a robot provided in an embodiment of the present application;

[0058] FIG3 is a partial enlarged schematic diagram of point a in FIG2 ;

[0059] FIG4 is a partial enlarged schematic diagram of point b in FIG2 ;

[0060] FIG5 is a schematic diagram of a partially exploded structure of a robot provided in an embodiment of the present application;

[0061] FIG6 is a partial enlarged schematic diagram of point c in FIG5;

[0062] FIG7 is a partial enlarged schematic diagram of point d in FIG5;

[0063] FIG8 is a schematic diagram of a partial structure of a driving device provided in an embodiment of the present application;

[0064] FIG9 is another schematic structural diagram of a robot provided in an embodiment of the present application;

[0065] FIG10 is a schematic cross-sectional structural diagram of the driving device of the robot in FIG9 .

[0066] Explanation of the accompanying drawings: 10. Driving device of the robot; 20. Robot; 100. Driving gear; 200. Traveling wheel; 210. First traveling wheel; 211. First annular tooth; 2111. First annular inner tooth; 212. First wheel body; 213. First sleeve shaft portion; 214. First bearing; 215. First cavity; 216. First support plate; 217. First outer tooth; 220. Second traveling wheel; 221. Second annular tooth; 2211. Second annular inner tooth; 222. Second wheel body; 223. Second sleeve shaft portion Shaft; 224, second bearing; 225, second support plate; 226, second external tooth; 300, driving paddle; 310, first driven gear; 320, paddle; 400, transmission member; 410, transmission internal tooth; 500, first transmission gear; 600, second transmission gear; 700, power source; 800, gear set; 810, third transmission gear; 820, fourth transmission gear; 830, transmission shaft; 900, second driven gear; 201, body; 2011, first shaft; 2012, second shaft; 202, cleaning member; 203, sewage suction port. DETAILED DESCRIPTION

[0067] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0068] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship and movement status between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0069] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0070] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0071] In related art, cleaning robots, such as pool robots, can be driven by a drive device to move in water, allowing cleaning components on the cleaning robot to remove debris. However, the same drive device can only be used to move the robot on the water surface or underwater, and cannot be used to drive the robot both above and below the water.

[0072] Therefore, referring to Figure 1, an embodiment of the present application provides a robot driving device 10 and a robot 20, wherein the robot 20 includes a rotatable cleaning member 202. The robot driving device 10 can drive the robot 20 to move on the water surface and to drive the robot 20 to move underwater through the same driving device.

[0073] 1 to 4 , the driving device 10 of the robot provided in the embodiment of the present application includes a driving gear 100, a traveling wheel 200, a driving paddle 300, and a transmission member 400. The traveling wheel 200 includes a first traveling wheel 210 and a second traveling wheel 220 arranged in a front-to-rear manner. The first traveling wheel 210 has a first annular tooth 211, and the second traveling wheel 220 has a second annular tooth 221. The driving gear 100 is meshed with the first annular tooth 211 or the second annular tooth 221. The driving paddle 300 and the cleaning member 202 are arranged at intervals along the direction of travel of the robot 20. The driving paddle 300 is connected to a first driven gear 310, and the first driven gear 310 is transmission-connected to the first traveling wheel 210. The transmission member 400 is transmission-connected to the first traveling wheel 210 and the second traveling wheel 220, respectively.

[0074] In this embodiment, the driving device drives the first traveling wheel 210 or the second traveling wheel 220 to move by setting a driving gear 100 to engage with the first annular tooth 211 or the second annular tooth 221, and sets a transmission member 400 to respectively transmit and connect the first traveling wheel 210 and the second traveling wheel 220 to transmit the power of one of the first traveling wheel 210 and the second traveling wheel 220 to the other, so that one of the first traveling wheel 210 and the second traveling wheel 220 can drive the other to rotate. In this way, the first traveling wheel 210 and the second traveling wheel 220 can both rotate and move along the traveling direction of the robot 20, thereby driving the robot 20 to move underwater and realizing underwater driving of the robot 20. During the process of the robot 20 moving underwater, the rotatable cleaning member 202 on the robot 20 can clean up garbage underwater. The first traveling wheel 210 and the second traveling wheel 220 are arranged front to back. It should be understood that one of the first traveling wheel 210 and the second traveling wheel 220 is a front wheel and the other is a rear wheel.

[0075] At the same time, the driving device of this embodiment also provides a driving paddle 300 and a cleaning member 202 that are spaced apart along the traveling direction of the robot 20. The first traveling wheel 210 can transmit the power of the driving gear 100 or the power transmitted by the transmission member 400 to the first driven gear 310, so that the driving paddle 300 connected to the first driven gear 310 can rotate. During the rotation process, the driving paddle 300 can drive the robot to move on the water, thereby realizing the water drive of the robot 20. At this time, the rotatable cleaning member 202 on the robot can clean up garbage on the water surface.

[0076] As can be seen from the above, the drive device of the embodiment of the present application can drive the robot 20 both underwater and above water, thereby enabling the robot 20 to be driven both above and below water, facilitating both surface and underwater cleaning. In a specific application, when the traveling wheels 200 travel on a support surface, such as the bottom or wall of a pool, the side of the robot 20 facing away from the support surface is the front side. When the robot 20 is driven underwater, the first traveling wheel 210 and the second traveling wheel 220 roll on the support surface to drive the robot 20 to move forward, backward, or turn on the support surface. When the robot 20 is driven underwater, the front side of the robot 20 faces the support surface, with a distance between the first traveling wheel 210 and the second traveling wheel 220 and the support surface. Partially above the water surface, the first traveling wheel 210 and the second traveling wheel 220 may be exposed. At this time, the driving paddle 300 rotates to drive the robot 20 to move above water.

[0077] 1 , 2 and 3 , in some embodiments, the driving device further includes a first transmission gear 500 and a second transmission gear 600 , and the first transmission gear 500 is engaged with the first annular tooth 211 , so that the first traveling wheel 210 can transmit the power transmitted from the driving gear 100 or the transmission member 400 to the first annular tooth 211 to drive the first annular tooth 211 to move, thereby driving the first transmission gear 500 to rotate.

[0078] Moreover, the second transmission gear 600 is located between the first driven gear 310 and the first transmission gear 500, and is respectively engaged with the first driven gear 310 and the first transmission gear 500. In this way, the second transmission gear 600 can rotate under the drive of the first transmission gear 500, and drive the first driven gear 310 to rotate. The rotation of the first driven gear 310 can drive the driving paddle 300 to rotate.

[0079] 9 and 10 , in other embodiments, the first driven gear 310 is engaged with the first annular gear 211 , so that the first driven gear 310 rotates under the transmission action of the first annular gear 211 , thereby driving the driving paddle 300 to rotate.

[0080] In this embodiment, a second transmission gear 600 is provided to engage with the first driven gear 310 and the first transmission gear 500 respectively to realize the transmission connection between the first annular tooth 211 and the first driven gear 310. Compared with setting the first driven gear 310 to engage with the first annular tooth 211 to realize the transmission connection between the first annular tooth 211 and the first driven gear 310, the radius of the driving paddle 300 can be increased, thereby increasing the driving force of the driving paddle 300. Moreover, when using driving paddles 300 of the same radius, providing the first transmission gear 500 and the second transmission gear 600 can effectively prevent the driving paddle 300 from extending from the body 201 of the robot 20 to the outside of the body 201, so that when the traveling wheel 200 travels on the underwater support surface, the driving paddle 300 can be effectively prevented from hitting the bottom wall, side wall and other support surfaces of the pool, thereby avoiding interference between the driving paddle 300 and the support surface.

[0081] 1 , 5 , and 6 , in some embodiments, the first traveling wheel 210 includes a first wheel body 212 and a first sleeve shaft portion 213. The first sleeve shaft portion 213 is disposed on the first wheel body 212. The first wheel body 212 is rotatably connected to the body 201 of the robot 20 via the first sleeve shaft portion 213, thereby securing the first traveling wheel 210 to the body 201. In one embodiment, the body 201 is provided with a first shaft portion 2011 for the first sleeve shaft portion 213 to be sleeved thereon. The first sleeve shaft portion 213 is mounted on the first shaft portion 2011 via a first bearing 214. The first bearing 214 ensures that the first shaft portion 2011 does not rotate with the first sleeve shaft portion 213, thereby effectively maintaining the structural stability of the body 201. In one embodiment, the first sleeve shaft portion 213 is disposed at the center of the first wheel body 212 and rotates about the same axis as the first wheel body 212, thereby enhancing the rotational stability of the first traveling wheel 210.

[0082] 5 and 8 , in some embodiments, the first annular teeth 211 can be disposed on the inner circumferential wall of the first wheel body 212 or the outer circumferential wall of the first sleeve shaft portion 213, both of which can realize the transmission function of the first traveling wheel 210 to the first driven gear 310. In one embodiment, the first annular teeth 211 include first annular inner teeth 2111, which are disposed on the inner circumferential wall of the first wheel body 212. The first driven gear 310 engages with the first annular inner teeth 2111, and the first driven gear 310 can rotate under the drive of the first annular inner teeth 2111. In another embodiment, the first annular teeth 211 include first annular outer teeth (not shown), which are disposed on the outer circumferential wall of the first sleeve shaft portion 213. The first driven gear 310 engages with the first annular outer teeth, and the first driven gear 310 can rotate under the drive of the first annular outer teeth.

[0083] 5 and 8 , in other embodiments, the first annular teeth 211 include first annular inner teeth 2111 and first annular outer teeth. The first annular inner teeth 2111 are provided on the inner circumferential wall of the first wheel body 212, and the first annular outer teeth are provided on the outer circumferential wall of the first sleeve shaft portion 213. The first driven gear 310 meshes with one of the first annular inner teeth 2111 and the first annular outer teeth, and the driving gear 100 meshes with the other of the first annular inner teeth 2111 and the first annular outer teeth. It is understood that the first driven gear 310 can be configured to mesh with the first annular inner teeth 2111 and the driving gear 100 can be configured to mesh with the first annular outer teeth, or the first driven gear 310 can be configured to mesh with the first annular outer teeth and the driving gear 100 can be configured to mesh with the first annular inner teeth 2111.

[0084] In this embodiment, the driving gear 100 meshes with the first annular inner teeth 2111 or the first annular outer teeth to drive the first traveling wheel 210 to rotate, and the first driven gear 310 meshes with the first annular outer teeth or the first annular inner teeth 2111 to achieve rotation under the transmission action of the first traveling wheel 210. In the embodiment where the first driven gear 310 meshes with the first annular inner teeth 2111 and the driving gear 100 meshes with the first annular outer teeth, the driving gear 100 drives the first annular outer teeth to move, thereby driving the first sleeve shaft portion 213 to rotate, and then the first wheel body 212 can rotate along with the first sleeve shaft portion 213, so that the first annular inner teeth 2111 follow the movement of the first wheel body 212 and drive the first driven gear 310 to rotate.

[0085] In an embodiment in which the first driven gear 310 is engaged with the first annular outer teeth and the driving gear 100 is engaged with the first annular inner teeth 2111, the driving gear 100 drives the first annular inner teeth 2111 to move, thereby driving the first wheel body 212 to rotate, and then the first sleeve shaft portion 213 can follow the first wheel body 212 to rotate, so that the first annular outer teeth follow the first sleeve shaft portion 213 to move and drive the first driven gear 310 to rotate.

[0086] 3 , 5 , and 8 , in some embodiments, a first cavity 215 is formed between the first wheel body 212 and the first sleeve shaft portion 213, and the first driven gear 310 is received in the first cavity 215, facilitating meshing of the first wheel body 212 with the first annular gear 211. In embodiments where the drive device further includes a first transmission gear 500 and a second transmission gear 600, both the first transmission gear 500 and the second transmission gear 600 are received in the first cavity 215, effectively utilizing the space between the first wheel body 212 and the first sleeve shaft portion 213 and improving the structural compactness of the first transmission gear 500, the second transmission gear 600, the first driven gear 310, and the first wheel body 212.

[0087] 5 and 8 , in one embodiment, a side of the first wheel body 212 away from the body 201 is provided with a plurality of first support plates 216 arranged around the circumference of the first sleeve shaft portion 213, and the two ends of the first support plates 216 are respectively connected to the inner circumferential wall of the first wheel body 212 and the outer circumferential wall of the first sleeve shaft portion 213 to strengthen the connection between the first sleeve shaft portion 213 and the first wheel body 212 and effectively ensure the stability of the first cavity 215.

[0088] 1 and 8 , in some embodiments, the driving device further includes a power source 700, which is connected to the driving gear 100 to rotate the driving gear 100. In this embodiment, the power source 700 provides a driving force to rotate the driving gear 100. Exemplarily, the power source 700 is a motor.

[0089] 1 and 8 , in some embodiments, the drive device further comprises a gear set 800, and the power source 700 is driven to connect to the drive gear 100 via the gear set 800. In this embodiment, the power source 700 drives the gear set 800 to move, so that the gear set 800 transmits power to the drive gear 100, driving the drive gear 100 to rotate.

[0090] 8 , in some embodiments, the gear set 800 includes a third transmission gear 810, a fourth transmission gear 820 and a transmission shaft 830. The third transmission gear 810 is connected to the output execution end of the power source 700 to rotate under the drive of the power source 700; the fourth transmission gear 820 is engaged with the third transmission gear 810; the fourth transmission gear 820 is sleeved on one end of the transmission shaft 830 to drive the transmission shaft 830 to rotate, and the driving gear 100 is sleeved on the other end of the transmission shaft 830 to rotate with the transmission shaft 830.

[0091] In this embodiment, the gear set 800 includes a third transmission gear 810, a fourth transmission gear 820, and a transmission shaft 830. This simplifies the structure of the gear set 800 and transmits the power of the power source 700 to the drive gear 100 via the third transmission gear 810, the fourth transmission gear 820, and the transmission shaft 830. Specifically, the third transmission gear 810, driven by the power source 700, can drive the fourth transmission gear 820 to rotate. The fourth transmission gear 820 and the drive gear 100 are respectively connected to the two ends of the transmission shaft 830, so that the transmission shaft 830 can drive the drive gear 100 to rotate under the transmission action of the fourth transmission gear 820. The fourth transmission gear 820, the drive gear 100, and the transmission shaft 830 rotate about the same axis. The output actuator end of the power source 700 can be understood as the output end of the output shaft of the power source 700.

[0092] In conjunction with Figures 2 and 8 , in some embodiments, the drive device further includes a sealed chamber (not shown), in which the power source 700 and gear set 800 are housed. A portion of the gear set 800 extends from the sealed chamber to provide a transmission connection to the drive gear 100. In this embodiment, the robot 20 typically operates in underwater or aquatic environments. The provision of a sealed chamber effectively protects the power source 700 and gear set 800 from water, thereby effectively ensuring their normal operation. In specific applications, the sealed chamber is disposed on the body 201.

[0093] 1 , in some embodiments, the driving paddle 300 and the cleaning member 202 are respectively located on either side of the suction port 203 of the robot 20 ; the driving paddle 300 rotates in the same direction as the cleaning member 202 to jointly move the water flow with the cleaning member 202 .

[0094] In this embodiment, the driving paddle 300 and the cleaning member 202 are respectively arranged on either side of the sewage suction port 203, and the driving paddle 300 and the cleaning member 202 rotate in the same direction, so that the driving paddle 300 and the cleaning member 202 can together move the water flow in the same direction, thereby accelerating the flow rate of the water flow, such as increasing the speed of the water flow from the cleaning member 202 to the driving paddle 300, thereby accelerating the speed of the water flow into the sewage suction port 203, making the water flow smoother, improving the speed and efficiency of the cleaning member 202 moving the water flow to collect garbage, and improving the garbage cleaning efficiency. With reference to Figures 5 and 6, in one embodiment, the cleaning member 202 is a roller brush, and the driving paddle 300 includes a rotating shaft (not shown) and a plurality of paddles 320 arranged around the circumference of the rotating shaft. The paddles 320 are connected to the rotating shaft, and the first driven gear 310 is mounted at the power input end of the rotating shaft. The rotation of the first driven gear 310 can drive the rotating shaft to rotate, thereby driving the paddles 320 to rotate so that the paddles 320 move the water flow.

[0095] 2 and 4 , in some embodiments, the cleaning member 202 is connected to a second driven gear 900, which is in transmission connection with the second traveling wheel 220. Thus, the second driven gear 900 rotates under the transmission action of the second traveling wheel 220, thereby driving the cleaning member 202 to rotate and shift the water flow. In this embodiment, the drive device, by providing the second driven gear 900, can achieve the goal of driving the robot 20 both above and below the water while also driving the cleaning member 202. In other embodiments, a drive structure can be provided on the body 201 in combination with related technologies to drive the cleaning member 202 to rotate, which is not described in detail in this embodiment.

[0096] 5 and 7 , in some embodiments, the second traveling wheel 220 includes a second wheel body 222 and a second sleeve shaft portion 223. The second sleeve shaft portion 223 is disposed on the second wheel body 222. The second wheel body 222 is rotatably connected to the robot body 201 via the second sleeve shaft portion 223, thereby securing the second traveling wheel 220 to the robot body 201. In one embodiment, the robot body 201 is provided with a second shaft portion 2012 for the second sleeve shaft portion 223 to be sleeved thereon. The second sleeve shaft portion 223 is mounted on the second shaft portion 2012 via a second bearing 224. The second bearing 224 ensures that the second shaft portion 2012 does not rotate with the second sleeve shaft portion 223, thereby effectively maintaining the structural stability of the robot body 201. In one embodiment, the second sleeve shaft portion 223 is disposed at the center of the second wheel body 222 and rotates about the same axis as the second wheel body 222, thereby enhancing the rotational stability of the second traveling wheel 220.

[0097] At the same time, in combination with Figures 2 and 4, the second annular teeth 221 include second annular inner teeth 2211 and / or second annular outer teeth (not shown in the figure), the second annular inner teeth 2211 are arranged on the inner circumferential wall of the second wheel body 222, and the second annular outer teeth are arranged on the outer circumferential wall of the second sleeve shaft portion 223; the second driven gear 900 is engaged with the second annular inner teeth 2211 or the second annular outer teeth.

[0098] It can be understood that in this embodiment, the second annular teeth 221 can be set to include second annular inner teeth 2211, and the second annular inner teeth 2211 are arranged on the inner circumferential wall of the second wheel body 222, and the second driven gear 900 is engaged with the second annular inner teeth 2211. In this way, the second annular inner teeth 2211 can move under the drive of the second wheel body 222 or the driving gear 100, thereby driving the second driven gear 900 to rotate, realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0099] The second annular teeth 221 can also be provided to include second annular outer teeth, and the second annular outer teeth are provided on the outer peripheral wall of the second sleeve shaft portion 223, and the second driven gear 900 is engaged with the second annular outer teeth. In this way, the second sleeve shaft portion 223 drives the second annular outer teeth to move under the drive of the second wheel body 222, or the driving gear 100 drives the second annular outer teeth to move, so that the second annular outer teeth drive the second driven gear 900 to rotate, thereby realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0100] Two annular teeth can also be provided, including second annular inner teeth 2211 provided on the inner circumferential wall of the second wheel body 222 and second annular outer teeth provided on the outer circumferential wall of the second sleeve shaft portion 223. The second driven gear 900 is meshed with the second annular inner teeth 2211 or the second annular outer teeth. The second annular inner teeth 2211 can move with the second wheel body 222, and the second annular outer teeth can move with the second sleeve shaft portion 223. In this way, the second driven gear 900 can rotate under the drive of the second annular inner teeth 2211 or the second annular outer teeth, thereby realizing the transmission connection between the second traveling wheel 220 and the second driven gear 900.

[0101] 2 , 4 and 5 , in one embodiment, a second cavity (not shown) is formed between the second wheel body 222 and the second sleeve shaft portion 223 , and the second driven gear 900 is accommodated in the second cavity. A side of the second wheel body 222 away from the body 201 is provided with a plurality of second support plates 225 arranged around the circumference of the second sleeve shaft portion 223 , and two ends of the second support plates 225 are respectively connected to the inner circumferential wall of the second wheel body 222 and the outer circumferential wall of the second sleeve shaft portion 223 to strengthen the connection between the second sleeve shaft portion 223 and the second wheel body 222 and effectively ensure the stability of the second cavity.

[0102] In combination with Figures 2 and 4, in some embodiments, the second driven gear 900 is engaged with the second annular tooth 221 to rotate under the transmission action of the second annular tooth 221. In this embodiment, the second driven gear 900 is arranged to be engaged with the second annular tooth 221 to realize the transmission connection between the second driven gear 900 and the second traveling wheel 220.

[0103] 5 , in some embodiments, the transmission member 400 is a traveling track, which is disposed around the outer circumference of the first traveling wheel 210 and the second traveling wheel 220. In this embodiment, the transmission member 400 is configured as a traveling track to improve the stability of the robot 20 when the first traveling wheel 210 and the second traveling wheel 220 drive the robot 20 on a supporting surface such as a pool bottom or pool wall.

[0104] 5 , in some embodiments, the first traveling wheel 210 is provided with first outer teeth 217, the second traveling wheel 220 is provided with second outer teeth 226, and the inner side of the transmission member 400 is provided with transmission inner teeth 410. The first outer teeth 217 and the second outer teeth 226 are both engaged with the transmission inner teeth 410, thereby realizing the transmission connection between the transmission member 400 and the first traveling wheel 210 and the second traveling wheel 220 respectively.

[0105] 1 , the robot 20 of the embodiment of the present application includes a body 201 , a cleaning member 202 and the aforementioned robot drive device 10 . The cleaning member 202 is rotatably disposed on the body 201 , and two drive devices are respectively disposed on the left and right sides of the body 201 .

[0106] It is understood that the robot 20 of the embodiment of the present application, because it uses the aforementioned robot drive device 10, can be driven to move underwater for cleaning purposes, and can also be driven to move above water for surface cleaning purposes. During underwater cleaning, the cleaning element 202 can clean debris from supporting surfaces such as the pool bottom and pool walls, while during surface cleaning, the cleaning element 202 can clean surface debris such as fallen leaves.

[0107] 1 , in some embodiments, the machine body 201 is provided with a sewage suction port 203 located between the cleaning member 202 and the driving paddle 300. The sewage suction port 203 is connected to a garbage collection bin (not shown) built into the machine body 201. The cleaning member 202 can stir the water flow so that the water flow carrying garbage flows into the sewage suction port 203. The garbage can be intercepted and collected in the garbage collection bin, and the water flow can be discharged from a drain port (not shown) on the machine body 201.

[0108] In specific applications, when the robot 20 is cleaning underwater, the sewage suction port 203 is located at the bottom of the body 201. When the robot 20 is cleaning on the water surface, the robot 20 will be flipped over so that the sewage suction port 203 faces away from the support surface, so that when cleaning the water surface, the cleaning member 202, in cooperation with the driving paddle 300, drives the water to flow into the sewage suction port 203.

[0109] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A driving device for a robot, the robot including a rotatable cleaning member, the driving device comprising: Drive gear; The traveling wheels include a first traveling wheel and a second traveling wheel arranged in front and back, the first traveling wheel having a first annular tooth, the second traveling wheel having a second annular tooth, and the driving gear meshing with the first annular tooth or the second annular tooth; a driving paddle, spaced apart from the cleaning member along the travel direction of the robot, the driving paddle being connected to a first driven gear, the first driven gear being in driving connection with the first traveling wheel; The transmission member is respectively connected to the first traveling wheel and the second traveling wheel in transmission connection.

2. The robot driving device according to claim 1, wherein: The driving device further comprises: a first transmission gear meshing with the first annular gear; The second transmission gear is located between the first driven gear and the first transmission gear, and is meshed with the first driven gear and the first transmission gear respectively.

3. The robot driving device according to claim 1, wherein: The first driven gear meshes with the first ring gear.

4. The robot driving device according to claim 1, wherein: The first traveling wheel comprises: First wheel body; a first sleeve shaft portion, provided on the first wheel body, wherein the first wheel body is rotatably connected to the body of the robot through the first sleeve shaft portion; The first annular teeth include first annular inner teeth or first annular outer teeth, the first annular inner teeth are provided on the inner peripheral wall of the first wheel body, and the first annular outer teeth are provided on the outer peripheral wall of the first sleeve shaft portion; The first driven gear meshes with the first annular inner teeth or the first annular outer teeth.

5. The robot driving device according to claim 1, wherein: The first traveling wheel comprises: First wheel body; a first sleeve shaft portion, provided on the first wheel body, wherein the first wheel body is rotatably connected to the body of the robot through the first sleeve shaft portion; The first annular teeth include first annular inner teeth and first annular outer teeth, the first annular inner teeth are provided on the inner peripheral wall of the first wheel body, and the first annular outer teeth are provided on the outer peripheral wall of the first sleeve shaft portion; The first driven gear meshes with one of the first annular inner teeth and the first annular outer teeth, and the driving gear meshes with the other of the first annular inner teeth and the first annular outer teeth.

6. The robot driving device according to claim 4 or 5, wherein: A first cavity is formed between the first wheel body and the first sleeve shaft portion, and the first driven gear is accommodated in the first cavity.

7. The robot driving device according to claim 1, wherein: The driving device further comprises: A power source is driven and connected to the driving gear to drive the driving gear to rotate.

8. The robot driving device according to claim 7, wherein: The driving device further comprises: A gear set, wherein the power source is driven to connect to the driving gear through the gear set.

9. The robot driving device according to claim 8, wherein: The gear set includes: a third transmission gear connected to the output execution end of the power source to rotate under the drive of the power source; a fourth transmission gear, meshing with the third transmission gear; The fourth transmission gear is sleeved on one end of the transmission shaft to drive the transmission shaft to rotate, and the driving gear is sleeved on the other end of the transmission shaft to rotate along with the transmission shaft.

10. The robot driving device according to claim 8 or 9, wherein: The driving device further comprises: A sealed cavity is provided, wherein the power source and the gear set are both accommodated in the sealed cavity, and a portion of the gear set extends out from the sealed cavity to be transmission-connected to the driving gear.

11. The robot driving device according to claim 1, wherein: The driving paddle and the cleaning member are respectively located on both sides of the sewage suction port of the robot; the driving paddle and the cleaning member rotate in the same direction to jointly move the water flow with the cleaning member.

12. The robot driving device according to claim 1, wherein: The cleaning member is connected to a second driven gear, and the second driven gear is transmission-connected to the second traveling wheel.

13. The robot driving device according to claim 12, wherein: The second traveling wheel comprises: Second wheel body; a second sleeve shaft portion, provided on the second wheel body, wherein the second wheel body is rotatably connected to the body of the robot through the second sleeve shaft portion; The second annular teeth include second annular inner teeth and / or second annular outer teeth, the second annular inner teeth are provided on the inner circumferential wall of the second wheel body, and the second annular outer teeth are provided on the outer circumferential wall of the second sleeve shaft portion; The second driven gear is engaged with the second annular inner teeth or the second annular outer teeth.

14. The robot driving device according to claim 13, wherein: The second driven gear meshes with the second ring gear.

15. The robot driving device according to claim 1, wherein: The transmission member is a traveling crawler belt, and the transmission member is wound around the outer circumference of the first traveling wheel and the second traveling wheel.

16. The driving device of the robot according to claim 1, wherein: The first traveling wheel is provided with first external teeth, the second traveling wheel is provided with second external teeth, and the inner side of the transmission member is provided with transmission internal teeth, and the first external teeth and the second external teeth are both engaged with the transmission internal teeth.

17. A robot, wherein: include: body; A cleaning member rotatably disposed on the machine body; as well as Two driving devices of the robot according to any one of claims 1 to 16, wherein the two driving devices are respectively arranged on the left and right sides of the body.

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