CN220518549U - Transmission gear train and underwater cleaning robot - Google Patents

Abstract

The application discloses drive train and cleaning robot under water, this drive wheel system is applied to cleaning robot under water, cleaning robot under water includes casing and driving motor, driving motor installs in the casing, drive train includes two walking wheels, the conveyer belt, a main drive wheel and auxiliary wheel, two walking wheels set up along drive train's direction of delivery interval, and two walking wheels are configured to rotate for the casing and are connected, the conveyer belt is connected with walking wheel transmission, the main drive wheel is located between two walking wheels, and main drive wheel and driving motor's drive shaft connection, the auxiliary wheel is located between two walking wheels, and the auxiliary wheel is configured to rotate for the casing and be connected, the auxiliary wheel is connected with main drive wheel meshing, and at least one of auxiliary wheel and main drive wheel is connected with the walking wheel meshing. The auxiliary wheel can provide support for the main driving wheel, so that the load of the main driving wheel is stable, and the motion stability of the transmission gear train is improved.

Description

Transmission gear train and underwater cleaning robot

Technical Field

The application relates to the technical field of cleaning robots, in particular to a transmission gear train and an underwater cleaning robot.

Background

The transmission wheel train in the related art comprises a travelling wheel, a main driving wheel and a conveyor belt, wherein the conveyor belt is in transmission connection with the travelling wheel, the main driving wheel is connected with a driving shaft of a motor, the motor works to drive the main driving wheel to rotate, the main driving wheel rotates to drive the travelling wheel to rotate, and the travelling wheel rotates to drive the conveyor belt in transmission connection with the travelling wheel to move. The transmission gear train has larger impact on the main driving wheel in the movement process, for example, the load current of the motor can be suddenly changed in the turning process, so that the problem of stable movement of the main driving wheel is caused. Therefore, how to effectively improve the motion stability of the main driving wheel has become a problem to be solved.

Disclosure of Invention

The embodiment of the application provides a transmission gear train and an underwater cleaning robot, which can solve the problem of unstable movement of a main driving wheel in the related technology.

In a first aspect, embodiments of the present application provide a drive train; the transmission wheel system is applied to an underwater cleaning robot, the underwater cleaning robot comprises a shell and a driving motor, the driving motor is arranged in the shell, the transmission wheel system comprises at least two traveling wheels, a transmission belt, a main driving wheel and an auxiliary wheel, the two traveling wheels are arranged at intervals along the transmission direction of the transmission wheel system, the two traveling wheels are configured to be in rotary connection relative to the shell, the transmission belt is in transmission connection with the traveling wheels, the main driving wheel is positioned between the two traveling wheels, the main driving wheel is connected with a driving shaft of the driving motor, the auxiliary wheel is positioned between the two traveling wheels, the auxiliary wheel is configured to be in rotary connection relative to the shell, the auxiliary wheel is in meshed connection with the main driving wheel, and at least one of the auxiliary wheel and the main driving wheel is in meshed connection with the traveling wheels.

Based on the transmission gear train of the embodiment of the application, through designing the auxiliary wheel to be engaged with and connected with the main drive, the auxiliary wheel can provide support for the main drive wheel, so that the load of the main drive wheel is stable, the motion stability of the transmission gear train is improved, and the stability of the underwater cleaning robot walking under water is improved. The driving motor works to drive the main driving wheel connected with the driving shaft to rotate, the main driving wheel rotates to drive the travelling wheel directly or indirectly meshed with the main driving wheel to rotate, the travelling wheel rotates to drive the conveyor belt connected with the travelling wheel to move, and the conveyor belt moves to realize that the underwater cleaning robot walks under water, so that underwater garbage and dirt are effectively cleaned.

In some embodiments, the number of auxiliary wheels is one, the auxiliary wheels are positioned between the main driving wheel and one of the travelling wheels, and the auxiliary wheels are in meshed connection with the main driving wheel; or the auxiliary wheels are multiple in number, all the auxiliary wheels are positioned between the main driving wheel and one of the travelling wheels, all the auxiliary wheels are meshed with each other, and at least one auxiliary wheel is meshed with the main driving wheel.

In some embodiments, the two road wheels are a first road wheel and a second road wheel, the first road wheel being disposed closer to the front end of the housing than the second road wheel; the main driving wheel is in meshed connection with the first travelling wheel; wherein, one end of the advancing direction of the underwater cleaning robot is the front end of the shell.

In some of these embodiments, the number of auxiliary wheels is one, the auxiliary wheels being located between the primary drive wheel and the second road wheel, the auxiliary wheels being spaced from the second road wheel.

In some embodiments, the auxiliary wheels are multiple in number, all auxiliary wheels are located between the main driving wheel and the second walking wheel, all auxiliary wheels are sequentially in meshed connection, the auxiliary wheel closest to the first walking wheel is in meshed connection with the main driving wheel, and the auxiliary wheel farthest from the first walking wheel is spaced from the second walking wheel.

In some embodiments, the number of auxiliary wheels is an even number, all auxiliary wheels are positioned between the main driving wheel and the second walking wheel, all auxiliary wheels are sequentially connected in a meshed mode, the auxiliary wheel closest to the first walking wheel is connected with the main driving wheel in a meshed mode, and the auxiliary wheel farthest from the first walking wheel is connected with the second walking wheel in a meshed mode.

In some of these embodiments, the axes of rotation of the two road wheels, the axis of rotation of the primary drive wheel and the axis of rotation of the auxiliary wheel lie in the same plane.

In some of these embodiments, the number of teeth of the primary drive wheel is less than the number of teeth of the road wheel; and/or the travelling wheel is in friction transmission or engagement transmission with the conveyor belt.

In a second aspect, an embodiment of the present application provides an underwater cleaning robot, including a housing, a driving motor and the transmission gear train described above, the transmission gear train is installed at two sides of the housing, the driving motor is installed in the housing, and a driving shaft of the driving motor is connected with a main driving wheel.

Based on the underwater cleaning robot in the embodiment of the application, the underwater cleaning robot with the transmission gear train can stably walk underwater so as to effectively clean underwater garbage and dirt; meanwhile, the service life of the water pump motor is prolonged, the sealing reliability is improved, the transmission belt is more stable in transmission, and the problems of belt falling and the like are not easy to occur.

In some of these embodiments, the underwater cleaning robot further includes a drum provided at least at one end of the housing near the advancing direction of the underwater cleaning robot.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a transmission gear train in an embodiment of the present application;

FIG. 2 is a schematic diagram of a transmission gear train according to another embodiment of the present application;

FIG. 3 is a schematic view of a transmission gear train according to another embodiment of the present disclosure;

FIG. 4 is a schematic view of a transmission gear train according to yet another embodiment of the present application;

FIG. 5 is a schematic view of a transmission gear train according to still another embodiment of the present application;

FIG. 6 is a schematic view of a transmission gear train according to yet another embodiment of the present application;

FIG. 7 is a schematic view of an underwater cleaning robot in an embodiment of the present application;

fig. 8 is a schematic structural view of an underwater cleaning robot in another embodiment of the present application.

Reference numerals: 10. a transmission gear train; 11. a walking wheel; 111. a first traveling wheel; 112. a second travelling wheel; 12. a conveyor belt; 121. a belt body; 122. sub-teeth; 13. a main driving wheel; 14. an auxiliary wheel; 20. an underwater cleaning robot; 21. a housing; XX', transfer direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The transmission wheel system shown in the drawing is on one side of the machine, and the other transmission wheel system can be provided with the same transmission structure according to actual conditions.

Referring to fig. 1, a first aspect of the present application proposes a transmission gear train 10, where the transmission gear train 10 includes an auxiliary wheel 14 and a main driving wheel 13, and the auxiliary wheel 14 can provide support for the main driving wheel 13, so that the load of the main driving wheel 13 is stable, and the motion stability of the transmission gear train 10 is improved.

The transmission gear train 10 is applied to the underwater cleaning robot 20 (as shown in fig. 7 and 8), the underwater cleaning robot 20 includes a housing 21 and a driving motor (not shown in fig. 7 and 8) installed in the housing 21, and the transmission gear train 10 is installed at both sides of the housing 21. The transmission wheel system 10 comprises two travelling wheels 11, a conveyor belt 12, a main driving wheel 13 and an auxiliary wheel 14; the two travelling wheels 11 are arranged at intervals along the conveying direction XX' of the transmission gear train 10, and the two travelling wheels 11 are configured to be rotationally connected relative to the shell 21; the conveyor belt 12 is in transmission connection with the two travelling wheels 11; the main driving wheel 13 is positioned between the two travelling wheels 11, and the main driving wheel 13 is used for being connected with a driving shaft of a driving motor; the auxiliary wheel 14 is located between the two road wheels 11, the auxiliary wheel 14 is configured to be rotatably connected with respect to the housing 21, the auxiliary wheel 14 is in meshed connection with the main driving wheel 13, and at least one of the auxiliary wheel 14 and the main driving wheel 13 is in meshed connection with the road wheels 11.

The specific construction of the drive train 10 is described in detail below in connection with fig. 1-6.

The drive train 10 is applied to an underwater cleaning robot 20 (as shown in fig. 7 and 8), and the underwater cleaning robot 20 can be used not only for cleaning up refuse falling into the water, such as fallen leaves, plastic bags, etc., but also for cleaning up dirt adhering to the water, such as mud, etc. The application scenario of the underwater cleaning robot 20 can be, but is not limited to, swimming pools, ponds, large fish tanks, and the like.

The underwater cleaning robot 20 includes a housing 21 and a driving motor (not shown in fig. 7 and 8).

The shell 21 is used as a shell of the underwater cleaning robot 20, the specific shape of the shell 21 is not limited, and a designer can reasonably design according to actual needs; the specific material of the casing 21 is not limited, and a designer may select appropriately according to actual needs.

The driving motor is used as a power source of the underwater cleaning robot 20, the specific model of the driving motor is not limited, and a designer can select a motor with good waterproof performance according to actual needs.

The driving motor is installed in the housing 21, the specific installation mode between the driving motor and the housing 21 is not limited, and a designer can reasonably design according to actual needs. For example, the driving motor is arranged in the sealing box, and the sealing box and the shell 21 can be detachably connected or non-detachably connected; when the seal box is detachably connected with the housing 21, the seal box can be connected with the housing 21 by at least one of screwing, clamping or plugging; when the seal cartridge is non-detachably connected to the housing 21, the seal cartridge may be connected to the housing 21 by, but not limited to, welding or bonding.

As shown in fig. 1, the transmission train 10 includes a traveling wheel 11, a conveyor belt 12, a main drive wheel 13, and an auxiliary wheel 14.

The walking wheel 11 is used as one of the structural members for realizing the underwater walking of the underwater cleaning robot 20 in the transmission gear train 10, the specific structure of the walking wheel 11 is not limited, and a designer can reasonably design according to actual needs.

The number of the traveling wheels 11 is two, and the two traveling wheels 11 are arranged at intervals along the conveying direction XX' of the transmission gear train 10.

The two travelling wheels 11 are used for being rotationally connected with the shell 21, the specific rotational connection mode between the travelling wheels 11 and the shell 21 is not limited, and a designer can reasonably design according to actual needs. For example, the road wheel 11 may be rotatably connected to the housing 21 via a rotation shaft, and the road wheel 11 may be rotatably connected to the housing 21 via a bearing. And it will be appreciated that the rotational connection between the two road wheels 11 and the housing 21 may be the same or different.

The conveyor belt 12 is used as another structural member for realizing the underwater walking of the underwater cleaning robot 20 in the transmission wheel train 10, the conveyor belt 12 is in transmission connection with the walking wheel 11, the conveyor belt 12 can drive the walking wheel 11 (particularly a second walking wheel 112 which is described below) in transmission connection with the conveyor belt to rotate, the conveyor belt 12 can also move under the rotation action of the walking wheel 11 (particularly a first walking wheel 111 which is described below) in transmission connection with the conveyor belt 12, and the conveyor belt 12 is matched with the walking wheel 11 to realize the underwater walking of the underwater cleaning robot 20. It should be noted that, the specific transmission mode between the conveyor belt 12 and the travelling wheel 11 is not limited, and a designer can reasonably design according to actual needs; for example, the belt 12 and the travelling wheel 11 may be in friction (e.g. belt) transmission or in engagement (e.g. toothed belt) transmission.

The main driving wheel 13 is used as a driving wheel in the transmission gear train 10, the specific structure of the main driving wheel 13 is not limited, and a designer can reasonably design according to actual needs.

The number of the main driving wheels 13 is one, the one main driving wheel 13 is positioned between the two travelling wheels 11, and the one main driving wheel 13 is used for being connected with a driving shaft of a driving motor, and the driving motor works to drive the main driving wheel 13 connected with the driving shaft to rotate.

The auxiliary wheel 14 is used as a structural member for supporting the main driving wheel 13 in the transmission gear train 10, the specific structure of the auxiliary wheel 14 is not limited, and a designer can reasonably design according to actual needs.

The number of auxiliary wheels 14 may be one or a plurality (two or more), and all the auxiliary wheels 14 are located between the two traveling wheels 11.

All auxiliary wheels 14 are used for being rotatably connected with the shell 21, the specific rotation connection mode between the auxiliary wheels 14 and the shell 21 is not limited, and a designer can reasonably design according to actual needs. For example, the auxiliary wheel 14 may be rotatably connected to the housing 21 via a rotation shaft, and the auxiliary wheel 14 may be rotatably connected to the housing 21 via a bearing. And it is understood that when the number of auxiliary wheels 14 is plural, the rotational connection between the plural auxiliary wheels 14 and the housing 21 may be the same or different.

The auxiliary wheel 14 is in meshed connection with the main driving wheel 13. For example, when the number of the auxiliary wheels 14 is one, the one auxiliary wheel 14 is engaged with the main driving wheel 13; when the number of the auxiliary wheels 14 is plural, at least one auxiliary wheel 14 among the plural auxiliary wheels 14 is engaged with the main driving wheel 13.

At least one of the auxiliary wheel 14 and the main drive wheel 13 is engaged with the road wheel 11. For example, the main driving wheel 13 may be engaged with one of the road wheels 11 (the first road wheel 111 as described below), and all the auxiliary wheels 14 are not engaged with both the road wheels 11; it is also possible that one of the auxiliary wheels 14 is engaged with one of the road wheels 11, and neither the main driving wheel 13 nor the remaining auxiliary wheel 14 is engaged with the other road wheel 11 (a second road wheel 112 as described below); the main driving wheel 13 is meshed with one of the travelling wheels 11, and at the moment, an auxiliary wheel 14 is meshed with the other travelling wheel 11; there may be two auxiliary wheels 14 engaged with the two traveling wheels 11, respectively, and neither the main driving wheel 13 nor the remaining auxiliary wheels 14 are engaged with the two traveling wheels 11.

Based on the transmission gear train 10 in the embodiment of the application, the driving motor works to drive the main driving wheel 13 connected with the driving shaft to rotate, the main driving wheel 13 rotates to drive the travelling wheel 11 in direct or indirect meshed connection with the main driving wheel, the travelling wheel 11 rotates to drive the conveyor belt 12 in transmission connection with the travelling wheel to move, and the movement of the conveyor belt 12 can realize that the underwater cleaning robot 20 walks underwater, so that the underwater garbage and dirt can be effectively cleaned. Through design auxiliary wheel 14 and main drive meshing connection, auxiliary wheel 14 can provide the support for main drive wheel 13, makes the load of main drive wheel 13 steady, improves the motion stationarity of this drive train 10 to improve the stationarity that cleaning robot 20 walked under water, the transmission of simultaneous conveyer belt 12 is also more steady, is difficult for appearing conveyer belt 12 and breaks away from the condition of walking wheel 11.

It should be noted that, by designing the auxiliary wheel 14 to be engaged with the main driving wheel 13, the movement of the main driving wheel 13 is relatively stable (the main driving wheel 13 can stably work under the condition of moving state conversion or touching a wall in the running process of the underwater cleaning robot 20), so that the driving motor connected with the main driving wheel 13 works relatively stably, thereby prolonging the service life of the driving motor. In addition, a sealing element (such as a sealing ring or sealant) is designed at the position of the driving shaft of the driving motor, so that the sealing performance of the driving motor is enhanced.

Further, in some embodiments, the number of auxiliary wheels 14 is one, the auxiliary wheels 14 are located between the main driving wheel 13 and one of the travelling wheels 11, and the auxiliary wheels 14 are in meshed connection with the main driving wheel 13. The auxiliary wheel 14 provides support for the main driving wheel 13, so that the load of the main driving wheel 13 is stable, and the motion stability of the transmission gear train 10 is improved.

In some embodiments, the number of auxiliary wheels 14 is plural, all auxiliary wheels 14 are located between the main driving wheel 13 and one of the road wheels 11, at least one auxiliary wheel 14 is engaged with each other, and at least one auxiliary wheel 14 is engaged with the main driving wheel 13. The auxiliary wheel 14 provides support for the main driving wheel 13, so that the load of the main driving wheel 13 is stable, and the motion stability of the transmission gear train 10 is improved.

Further, as shown in fig. 1, in some embodiments, the two road wheels 11 are a first road wheel 111 and a second road wheel 112; the first traveling wheel 111 is disposed closer to the front end of the housing 21 than the second traveling wheel 112 (the front end of the housing 21 is the front end of the housing 21, for example, the front end of the housing 21 is the end of the housing 21 provided with a drum), both the first traveling wheel 111 and the second traveling wheel 112 are configured to be rotatably connected with respect to the housing 21, and both the first traveling wheel 111 and the second traveling wheel 112 are in driving connection with the conveyor belt 12; the main drive wheel 13 is engaged with the first running wheel 111. In the design, through the design that the main driving wheel 13 is directly meshed with the first traveling wheel 111, the driving motor works to drive the main driving wheel 13 connected with the driving shaft to rotate, the rotation of the main driving wheel 13 drives the first traveling wheel 111 directly meshed with the main driving wheel to rotate, the rotation of the first traveling wheel 111 drives the conveyor belt 12 connected with the first traveling wheel in a transmission manner to move, and the movement of the conveyor belt 12 realizes that the underwater cleaning robot 20 walks under water, so that the underwater garbage and dirt are effectively cleaned. In addition, by designing the main driving wheel 13 to be directly engaged with the first traveling wheel 111, a driving motor connected to the main driving wheel 13 is also disposed relatively close to the front end of the housing 21, so that a sufficient installation space is reserved for the installation of a water tank (described later) of the underwater cleaning robot 20 at the bottom of the housing 21.

Of course, as shown in fig. 2, in other embodiments, the main driving wheel 13 may be indirectly engaged with the first traveling wheel 111 through the auxiliary wheel 14, where the number of auxiliary wheels 14 between the main driving wheel 13 and the first traveling wheel 111 may be one or more.

Further, based on the fact that the main driving wheel 13 is directly engaged with the first traveling wheel 111, as shown in fig. 1, in some embodiments, the number of auxiliary wheels 14 is one, the auxiliary wheels 14 are located between the main driving wheel 13 and the second traveling wheel 112, the auxiliary wheels 14 are engaged with the main driving wheel 13, and the auxiliary wheels 14 are spaced from the second traveling wheel 112. In the design, the auxiliary wheel 14 is arranged on one side of the main driving wheel 13, which is opposite to the first travelling wheel 111, and is in meshed connection with the main driving wheel 13, the auxiliary wheel 14 can provide support for the main driving wheel 13, so that the load of the main driving wheel 13 is stable, the motion stability of the transmission gear train 10 is improved, and the stability of the underwater walking of the underwater cleaning robot 20 is improved.

Further, based on the fact that the main driving wheel 13 is directly engaged with the first traveling wheel 111, as shown in fig. 3, in some embodiments, the number of auxiliary wheels 14 is plural, all auxiliary wheels 14 are located between the main driving wheel 13 and the second traveling wheel 112, all auxiliary wheels 14 are engaged in sequence, the auxiliary wheel 14 closest to the first traveling wheel 111 is engaged with the main driving wheel 13, and the auxiliary wheel 14 furthest from the first traveling wheel 111 is spaced from the second traveling wheel 112. In the design, a plurality of auxiliary wheels 14 which are sequentially meshed and connected are arranged on one side of the main driving wheel 13, which is opposite to the first traveling wheel 111, and the auxiliary wheel 14 closest to the first traveling wheel 111 in all the auxiliary wheels 14 is meshed and connected with the main driving wheel 13, so that the auxiliary wheel 14 closest to the first traveling wheel 111 can provide support for the main driving wheel 13, the load of the main driving wheel 13 is stable, the motion stability of the transmission gear train 10 is improved, and the stability of the underwater walking of the underwater cleaning robot 20 is improved.

Further, based on the above-mentioned fact that the auxiliary wheel 14 is spaced from the second travelling wheel 112, as shown in fig. 1 and 3, in some embodiments, the number of teeth of all the auxiliary wheels 14 is the same, so that the overall processing difficulty of the transmission gear train 10 can be reduced. Of course, in other embodiments, the number of teeth of all of the auxiliary wheels 14 may be different.

Further, as shown in fig. 4, in some embodiments, the number of the auxiliary wheels 14 is an even number, all the auxiliary wheels 14 are located between the main driving wheel 13 and the second traveling wheel 112, all the auxiliary wheels 14 are sequentially engaged, the auxiliary wheel 14 closest to the first traveling wheel 111 is engaged with the main driving wheel 13, and the auxiliary wheel 14 farthest from the first traveling wheel 111 is engaged with the second traveling wheel 112. In the design, an even number of auxiliary wheels 14 which are sequentially meshed and connected are arranged on one side of the main driving wheel 13, which is opposite to the first traveling wheel 111, and the auxiliary wheel 14 closest to the first traveling wheel 111 in all the auxiliary wheels 14 is meshed and connected with the main driving wheel 13, so that the auxiliary wheel 14 closest to the first traveling wheel 111 can provide support for the main driving wheel 13, the load of the main driving wheel 13 is stable, the motion stability of the transmission gear train 10 is improved, and the running stability of the underwater cleaning robot 20 under water is improved; in addition, the auxiliary wheel 14 farthest from the first traveling wheel 111 in all the auxiliary wheels 14 is meshed with the second traveling wheel 112, so that the main driving wheel 13 can directly drive the first traveling wheel 111 meshed with the main driving wheel to rotate, and can indirectly drive the second traveling wheel 112 meshed with the auxiliary wheels 14 to rotate through an even number of auxiliary wheels 14, namely, the main driving wheel 13 can drive the first traveling wheel 111 and the second traveling wheel 112 at the same time (the rotation of the second traveling wheel 112 is not driven only by the movement of the conveyor belt 12), the load of the conveyor belt 12 is reduced, and the conveyor belt 12 is not easy to stretch, deform or fall off.

Further, based on the above-mentioned situation that the auxiliary wheels 14 are engaged with the second travelling wheel 112, as shown in fig. 4, in some embodiments, the number of teeth of all the auxiliary wheels 14 is the same, so that the overall processing difficulty of the transmission gear train 10 can be reduced. Of course, in other embodiments, the number of teeth of all of the auxiliary wheels 14 may be different. Specifically, as shown in fig. 4, the number of auxiliary wheels 14 is two, one of the auxiliary wheels 14 is engaged with the main driving wheel 13, and the other auxiliary wheel 14 is simultaneously engaged with one of the auxiliary wheels 14 and the second traveling wheel 112. Of course, as shown in fig. 1, 2 and 4, the radial dimension of the road wheel 11 > the radial dimension of the main driving wheel 13. Such a design can further enhance the stability of the movement of the main drive wheel 13. The specific gear ratio can be designed according to actual needs.

Further, as shown in fig. 1-4, in some embodiments, the axes of rotation of the two road wheels 11, the axis of rotation of the main drive wheel 13, and the axis of rotation of the auxiliary wheel 14 lie in the same plane. The design can reduce the meshing difficulty among the travelling wheels 11, the main driving wheels 13 and the auxiliary wheels 14; and the rotation centers of the two traveling wheels 11, the rotation center of the main driving wheel 13 and the rotation center of the auxiliary wheel 14 are positioned on the same straight line, so that the number of the auxiliary wheels 14 can be reduced, the cost can be reduced, and the overall weight of the underwater cleaning robot 20 can be reduced.

Of course, as shown in fig. 5 and 6, in other embodiments, the rotation axes of the two traveling wheels 11, the rotation axis of the main driving wheel 13, and the rotation axis of the auxiliary wheel 14 may not be in the same plane, for example, the line between the rotation centers of the two traveling wheels 11, the rotation center of the main driving wheel 13, and the rotation center of the auxiliary wheel 14 may have a wave shape.

Further, as shown in fig. 1-6, in some embodiments, the number of teeth of the main driving wheel 13 is smaller than the number of teeth of the road wheel 11, and the number of teeth of the main driving wheel 13 is designed to be smaller than the number of teeth of the road wheel 11, so that the main driving wheel 13 acts like a decelerator when engaged with the road wheel 11.

It should be noted that the relationship between the number of teeth of the auxiliary wheel 14 and the number of teeth of the travelling wheel 11 and the number of teeth of the main driving wheel 13 is not limited, and the number of teeth of the auxiliary wheel 14 may be designed according to actual needs, such as a space design or a transmission design.

Further, it is contemplated that the belt 12 may be in friction or engagement with the road wheels 11. For example, when friction transmission is performed between the conveyor belt 12 and the travelling wheel 11, the travelling wheel 11 includes a sub-pulley (not shown in the figure) and a sub-gear (not shown in the figure), the sub-pulley and the sub-gear may be fixedly connected coaxially, and the sub-pulley is disposed closer to the housing 21 than the sub-gear and is rotatably connected with the housing 21; the conveyor belt 12 is a belt, the belt is in transmission connection with the sub belt pulley, and the auxiliary wheel 14 or the main driving wheel 13 is in meshed connection with the sub gear. In the embodiment of the present application, the belt 12 and the travelling wheel 11 are in meshed transmission (toothed belt transmission). As shown in fig. 1, specifically, the traveling wheel 11 is a gear; the conveyor belt 12 includes a belt body 121 and a plurality of sub-teeth 122, all the sub-teeth 122 are disposed on the surface of the belt body 121 facing the gear at intervals along the conveying direction XX' of the transmission train 10, the sub-teeth 122 are engaged with the gear, and at this time, the auxiliary wheel 14 or the main driving wheel 13 is also engaged with the gear. By the design, not only can the transmission connection between the travelling wheel 11 and the conveyor belt 12 be realized, but also the transmission connection between the travelling wheel 11 and the main driving wheel 13 or the auxiliary wheel 14 can be realized, and the structure is simple.

Referring to fig. 7-8, a second aspect of the present application proposes an underwater cleaning robot 20, the underwater cleaning robot 20 includes a housing 21, a driving motor and the above-mentioned transmission gear train 10, the transmission gear train 10 is connected with the housing 21, the driving motor is installed in the housing 21 (not shown, in some embodiments, the driving motor is placed in a sealing box, the sealing box is detached from or detachably connected with the housing 21), and a driving shaft of the driving motor is connected with the main driving wheel 13. In this design, the underwater cleaning robot 20 having the above-described transmission train 10 can stably travel under water to effectively clean garbage and dirt under water.

Further, in some embodiments, the underwater cleaning robot 20 further includes a drum (not shown in the drawings) provided at least at one end of the housing 21 near the advancing direction of the underwater cleaning robot 20. By designing the drum, the drum rolls during the underwater traveling of the underwater cleaning robot 20 to achieve effective cleaning of dirt adhered to the wall surface.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, this is for convenience of description and simplification of the description, but does not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely used for illustration and are not to be construed as limitations of the present patent, and that the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to the specific circumstances.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. The transmission gear train is characterized by being applied to an underwater cleaning robot, wherein the underwater cleaning robot comprises a shell and a driving motor, and the driving motor is arranged in the shell; the transmission gear train comprises:

the two travelling wheels are arranged at intervals along the conveying direction of the transmission gear train and are configured to be rotationally connected relative to the shell;

the conveying belt is in transmission connection with the travelling wheel;

the main driving wheel is positioned between the two travelling wheels and is connected with the driving shaft of the driving motor;

an auxiliary wheel located between the two travelling wheels and configured to be rotatably connected with respect to the housing;

the auxiliary wheel is connected with the main driving wheel in a meshed mode, and at least one of the auxiliary wheel and the main driving wheel is connected with the travelling wheel in a meshed mode.

2. A transmission train as claimed in claim 1, wherein,

the auxiliary wheels are arranged between the main driving wheel and one of the travelling wheels, and are in meshed connection with the main driving wheel; or (b)

The auxiliary wheels are multiple in number, at least one auxiliary wheel is located between the main driving wheel and one of the walking wheels, all auxiliary wheels are meshed with each other, and at least one auxiliary wheel is connected with the main driving wheel in a meshed mode.

3. A transmission train as claimed in claim 2, wherein,

the two travelling wheels are a first travelling wheel and a second travelling wheel, and the first travelling wheel is arranged closer to the front end of the shell than the second travelling wheel;

the main driving wheel is in meshed connection with the first travelling wheel;

wherein, the one end of the forward direction of the underwater cleaning robot is the front end of the shell.

4. A transmission train as claimed in claim 3, wherein,

the number of the auxiliary wheels is one, the auxiliary wheels are positioned between the main driving wheel and the second travelling wheels, and the auxiliary wheels are spaced from the second travelling wheels.

5. A transmission train as claimed in claim 3, wherein,

the auxiliary wheels are arranged between the main driving wheels and the second travelling wheels, all the auxiliary wheels are sequentially connected in a meshed mode, the auxiliary wheel closest to the first travelling wheel is connected with the main driving wheels in a meshed mode, and the auxiliary wheel farthest from the first travelling wheel is spaced from the second travelling wheels.

6. A transmission train as claimed in claim 3, wherein,

the auxiliary wheels are arranged in an even number, all the auxiliary wheels are positioned between the main driving wheel and the second travelling wheel, all the auxiliary wheels are sequentially connected in a meshed mode, the auxiliary wheel closest to the first travelling wheel is connected with the main driving wheel in a meshed mode, and the auxiliary wheel farthest from the first travelling wheel is connected with the second travelling wheel in a meshed mode.

7. A transmission train as claimed in any one of claims 1 to 6,

the rotation axes of the two travelling wheels, the rotation axis of the main driving wheel and the rotation axis of the auxiliary wheel are positioned in the same plane.

8. A transmission train as claimed in any one of claims 1 to 6,

the number of teeth of the main driving wheel is smaller than that of the travelling wheels; and/or

The travelling wheel is in friction transmission or meshing transmission with the conveyor belt.

9. An underwater cleaning robot, comprising:

a housing;

a drive train according to any one of claims 1 to 8, which is mounted on both sides of the housing; and

And the driving motor is arranged on the shell, and a driving shaft of the driving motor is connected with the main driving wheel.

10. The underwater cleaning robot of claim 9, wherein,

the underwater cleaning robot further comprises a roller, and the roller is at least arranged at one end, close to the advancing direction of the underwater cleaning robot, of the shell.