Underwater robot driving structure

Abstract

Disclosed in the present utility model is an underwater robot driving structure. An underwater robot comprises a housing, and a four-wheel drive mechanism for driving the robot to move is provided on two sides of the housing. The four-wheel drive mechanism comprises a driving wheel assembly and a driving electric motor, wherein the driving electric motor is configured to drive the driving wheel assembly to move. The present utility model can increase the driving force of the robot during travelling on the bottom of a pool, prevents slipping, and realizes full-coverage travelling of the robot on the bottom of the pool. In addition, the present utility model can drive, by means of only one driving electric motor and intermediate gears cooperating therewith, the four-wheel drive mechanism to drive the robot to move, thereby reducing the mounting space required by a sealing compartment, and reducing the volume of the sealing compartment, resulting in a more compact structure, thus leaving a larger space in the housing for placement of a garbage compartment, and increasing the waste collection capacity of the garbage compartment.

Description

An underwater robot driving structure TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of underwater robot driving structure. BACKGROUND

[0002] With the development of social economy, the demand for pool cleaning is higher and higher, and pool cleaning robots need to clean underwater garbage in the pool. Because the frictional resistance of the pool bottom is reduced due to the action of water during the operation of the four-wheel robot underwater, the front drive or rear drive is prone to skidding. Therefore, the robot needs to be driven by four wheels simultaneously to reduce the occurrence of skidding when running on the pool bottom.

[0003] In the prior art, the pool cleaning robots on the market generally use tracks, water jet propulsion or wheel type to move forward. The tracks are prone to material fatigue fracture and deformation and shedding during long-term use. The water jet propulsion method is suitable for flat pool environment. If the pool bottom is arc-shaped or has a slope, the robot will not be able to move completely on the pool bottom because the water jet thrust is small. In the existing wheel driving structure, a driving gear is used to directly drive the front and rear wheels. In this structure, the driving gear is in the middle of the line connecting the two wheels. Because the driving gear is connected to the driving motor, the volume of the sealed cabin where the driving motor is installed is relatively large, leaving insufficient space for the garbage compartment, and the garbage collection capacity is relatively small, and the structure is unreasonable.

[0004] UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide an underwater robot driving structure, which drives the front and rear wheels of the robot simultaneously by a single driving motor, avoids the problem of skidding of the front and rear wheels underwater, realizes that the robot can walk completely on the pool bottom, reduces the volume of the sealed cabin, leaves more space for the garbage compartment at the rear of the robot, and increases the garbage collection capacity of the garbage compartment.

[0006] To achieve the above purpose, the utility model provides an underwater robot driving structure, which comprises a shell, four-wheel drive driving mechanisms for driving the movement of the robot are arranged on both sides of the shell, the four-wheel drive driving mechanism comprises a driving wheel assembly and a driving motor, the driving motor is used to drive the movement of the driving wheel assembly, and the driving wheel assembly comprises a front wheel, a front wheel outer gear, a rear wheel, a rear wheel outer gear, an intermediate gear and a driving gear.

[0007] The outer side of the front wheel is connected with the outer side of the front outer gear, the outer side of the rear wheel is connected with the outer side of the rear outer gear, the intermediate gear is engaged with the front outer gear and the rear outer gear respectively, and the driving gear is engaged with the intermediate gear.

[0008] A further technical solution of this utility model is that the underwater robot also includes a sealed chamber and a waste chamber disposed within the shell, the waste chamber being located at the rear end of the sealed chamber, and the drive motor being disposed within the sealed chamber.

[0009] A further technical solution of this utility model is that the intermediate gear is disposed on the housing.

[0010] A further technical solution of this utility model is that, in the drive wheel assembly, the front wheel and the rear wheel are disposed on the outside of the housing and are symmetrical about the center of the intermediate gear.

[0011] A further technical solution of this utility model is that a PCB board is provided inside the sealed chamber, and a control system that is connected to the drive motor is provided on the PCB board.

[0012] A further technical solution of this utility model is that the housing is provided with a waterproof switch button and an indicator light connected to the control system.

[0013] A further technical solution of this utility model is that a water outlet channel is provided at the top of the shell.

[0014] The beneficial effects of this utility model's underwater robot drive structure are:

[0015] This utility model, through the above-described technical solution, describes an underwater robot comprising a shell. The shell is characterized by having four-wheel drive mechanisms on both sides for driving the robot's movement. Each four-wheel drive mechanism includes a drive wheel assembly and a drive motor. The drive motor drives the drive wheel assembly. The drive wheel assembly includes a front wheel, a front external gear, a rear wheel, a rear external gear, an intermediate gear, and a drive gear. The front wheel is connected to the outer side of the front external gear, and the rear wheel is connected to the outer side of the rear external gear. The intermediate gear meshes with both the front and rear external gears, and the drive gear meshes with the intermediate gear. This increases the driving force for the robot as it walks on the bottom of the pool, preventing slippage and enabling the robot to walk on the entire bottom of the pool. Furthermore, this utility model uses only one drive motor and its corresponding intermediate gear to drive the four-wheel drive mechanism and move the robot. This reduces the installation space required for the sealed compartment, decreases its volume, and makes the structure more compact. This allows for more space inside the shell to house the waste bin, increasing its waste collection capacity. Attached Figure Description

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description, obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.

[0017] Fig. 1 is a schematic diagram of the overall structure of the preferred embodiment of the underwater robot driving structure of the present application;

[0018] Fig. 2 is a schematic diagram of the structure of the preferred embodiment of the underwater robot driving structure of the present application without a shell;

[0019] Fig. 3 is a front view of the driving wheel assembly;

[0020] Fig. 4 is a schematic diagram of the three-dimensional structure of the driving wheel assembly.

[0021] Explanation of reference numerals:

[0022] Shell 1; sealed bin 2; garbage bin 3; front wheel 4, front wheel outer gear 5, rear wheel 6, rear wheel outer gear 7, intermediate gear 8; driving gear 9; water outlet flow channel 10; driving motor 11.

[0023] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the drawings. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application, obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0025] The present application provides an underwater robot driving structure, please refer to Fig. 1 to Fig. 4, the underwater robot includes a shell 1, the underwater robot includes a shell 1, characterized in that, the two sides of the shell 1 are provided with four-wheel drive driving mechanism for driving the robot movement. The four-wheel drive driving mechanism includes a driving wheel assembly and a driving motor 10, the driving motor 10 is used for driving the driving wheel assembly movement, the driving wheel assembly includes a front wheel 4, a front wheel outer gear 5, a rear wheel 6, a rear wheel outer gear 7, an intermediate gear 8 and a driving gear 9.

[0026] The front wheel 4 is connected with the outer side of the front outer gear, the rear wheel 6 is connected with the outer side of the rear outer gear, the intermediate gear 8 is engaged with the front outer gear and the rear outer gear respectively, the driving gear 9 is engaged with the intermediate gear 8, and the input end of the driving gear 9 is connected with the output end of the driving motor 10.

[0027] In the embodiment, the driving motor 10 is rigidly connected with the driving gear 9, and the front wheel 4 and the rear wheel 6 can move forward and backward under the driving of the front wheel outer gear 5 and the rear wheel outer gear 7 respectively.

[0028] The four-wheel drive mechanism can drive the robot to move, the driving force of the robot during walking on the bottom of the pool can be increased, slippage can be prevented, and the robot can walk on the bottom of the pool.

[0029] In the embodiment, the intermediate gear 8 is arranged on the shell 1, the front wheel 4 and the rear wheel 6 are arranged outside the shell 1 in the driving wheel assembly, and the front wheel 4 and the rear wheel 6 are rotationally symmetrical about the center of the intermediate gear 8.

[0030] Further, in the embodiment, the underwater robot further comprises a sealed bin 2 and a garbage bin 3 arranged in the shell 1, the garbage bin 3 is located at the rear end of the sealed bin 2, and the driving motor 10 is arranged in the sealed bin 2.

[0031] In the embodiment, only one driving motor 10 and the cooperating intermediate gear 8 can drive the four-wheel drive mechanism to drive the robot to move, so that the installation space required by the sealed bin 2 can be reduced, the volume of the sealed bin 2 can be reduced, the structure is more compact, and more space is left in the shell 1 for placing the garbage bin 3, so that the garbage collection capacity of the garbage bin 3 is increased.

[0032] Further, in the embodiment, a PCB board is arranged in the sealed bin 2, and a control system connected with the driving motor 10 in signal is arranged on the PCB board.

[0033] The shell 1 is provided with a waterproof switch button, an indicator light and a waterproof charging socket connected with the control system.

[0034] Further, in the embodiment, a water outlet flow channel is arranged on the top of the shell 1, wherein the water outlet flow channel is used for discharging clean water after filtration.

[0035] The underwater robot driving structure has the following advantages:

[0036] The utility model discloses a above-mentioned technical scheme, underwater robot includes the casing, its characterized in that, the both sides of casing are provided with four drive drive mechanism for driving robot movement, four drive drive mechanism includes drive wheel subassembly and drive motor, drive motor is used for driving drive wheel subassembly movement, drive wheel subassembly includes front wheel, front wheel outer gear, rear wheel, rear wheel outer gear, intermediate gear and drive gear, wherein, the front wheel is connected with the outside of front outer gear, the rear wheel is connected with the outside of rear outer gear, intermediate gear is engaged with front outer gear, rear outer gear respectively, drive gear is engaged with intermediate gear, can increase the driving force of robot in the walking process in the bottom of pool, prevents skidding, realizes that robot can walk in the bottom of swimming pool full coverage, in addition, the utility model discloses only through one drive motor and the intermediate gear that cooperates with it can drive four drive drive mechanism drive robot movement, thereby can reduce the installation space required for sealed storehouse, reduce sealed storehouse volume, structure is more compact, and further leave greater space in casing and place the garbage bin of garbage bin, increase the garbage collection of garbage bin.

[0037] The above-mentioned is only the preferred embodiment of the utility model, and does not limit the patent range of the utility model, and the equivalent structural transformation of the contents of the utility model specification and drawings is made under the concept of the utility model, or direct / indirect application in other related technical fields are included in the patent protection range of the utility model.

Claims

1. An underwater robot drive structure, the underwater robot comprising a housing, characterized in that, Two sides of the shell are provided with four-wheel drive mechanisms for driving the robot to move, the four-wheel drive mechanism comprising a drive wheel assembly and a drive motor, the drive motor being used to drive the drive wheel assembly to move, the drive wheel assembly comprising a front wheel, a front wheel outer gear, a rear wheel, a rear wheel outer gear, an intermediate gear and a drive gear; Wherein, the front wheel is connected with the outer side of the front outer gear, the rear wheel is connected with the outer side of the rear outer gear, the intermediate gear is engaged with the front outer gear and the rear outer gear respectively, and the drive gear is engaged with the intermediate gear.

2. The underwater robotic drive structure of claim 1, wherein, The underwater robot further comprises a sealed cabin and a garbage bin arranged in the shell, the garbage bin being located at the rear end of the sealed cabin, and the drive motor being arranged in the sealed cabin.

3. The underwater robotic drive structure of claim 2, wherein, The intermediate gear is arranged on the shell.

4. The underwater robotic drive structure of claim 1, wherein, In the drive wheel assembly, the front wheel and the rear wheel are arranged outside the shell and are rotationally symmetrical with the center of the intermediate gear.

5. The underwater robotic drive structure of claim 1, wherein, A PCB board is arranged in the sealed cabin, and a control system connected with the drive motor in signal is arranged on the PCB board.

6. The underwater robotic drive structure of claim 4, wherein, A waterproof switch button and an indicator light connected with the control system are arranged on the shell.

7. The underwater robotic drive structure of claim 5, wherein, An outlet flow channel is arranged on the top of the shell.

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