WO2018120827A1

WO2018120827A1 - Pool skimming apparatus

Info

Publication number: WO2018120827A1
Application number: PCT/CN2017/094853
Authority: WO
Inventors: 王伟毅; 李跃明
Original assignee: 杭州巨星科技股份有限公司; 杭州巨星智能科技有限公司
Priority date: 2016-12-28
Filing date: 2017-07-28
Publication date: 2018-07-05

Abstract

A pool skimming apparatus comprises: a boat body (1); a cleaning device (2) provided at the bottom of the boat body (1) and used to collect and store debris floating on water surface; a propulsion device (4) provided at a front end and/or a rear end of the boat body (1) and used to propel the boat body (1) to move over the water surface; a steering device (5) provided at a corner portion formed by the front end and a side edge of the boat body (1), wherein if the boat body (1) encounters an obstacle while moving over the water surface, the steering device (5) causes the boat body (1) to rotate with respect to the obstacle so as to adjust a moving direction of the boat body (1); and a power unit (3) provided inside the boat body (1) and used to supply power to the propulsion device (4) and the steering device (5).

Description

Water surface cleaning machine

Technical field

The invention relates to a surface floating material cleaning device, in particular to a water surface cleaning machine.

Background technique

US Patent Document US7101475B1 A technical solution for an 'automatically propelled solar pool skimmer' is disclosed, which can be used to automatically clean up debris floating on the surface of the pool. In order to facilitate the steering of obstacles (such as the wall of the swimming pool), the power damper that rotates during operation is set in the solution. Once the power damper is in contact with the obstacle, the obstacle acts on the skimmer through the power damper. Force to deflect the skimmer to bypass obstacles.

The power damper is embodied as a runner. Since the diameter of the runner is small, the probability of the runner directly contacting the obstacle is small, and it is likely that the hull is in contact with the obstacle, but the runner cannot contact the obstacle, thereby Causes the skimmer to not turn. At the same time, the edge of the runner is in contact with the obstacle, and the contact area and friction coefficient between the two are small. It is easy for the runner to slip on the obstacle. The force exerted by the obstacle on the skimmer is not enough. Keep the skimmer away from obstacles, causing the skimmer to not turn. In addition, when the two runners are in contact with the obstacle at the same time (such as the pool wall of the swimming pool), because the rotation directions of the two runners are opposite, the force applied by the obstacle to the two runners is opposite, partially or completely canceled, As a result, the skimmer cannot be turned and it is difficult to deviate from the obstacle.

The other shortcoming of this technical solution is that the skimmer simultaneously uses two sets of geared motors to control the two propellers before and after, the overall quality is large, the energy consumption is large, and the buoyancy is very high; the slag collection box opening of the skimmer Larger, under the action of water flow, the garbage in the slag box may drift out, and the cleaning effect is poor.

Summary of the invention

The object of the present invention is to provide a water surface cleaning machine to solve the problem that the prior art water surface cleaning machine has difficulty in steering and encounters high energy consumption. Technical problems such as poor cleaning results.

In order to solve the above technical problem, the present invention provides a water surface cleaning machine comprising: a hull; a cleaning device disposed at the bottom of the hull for collecting and storing surface floating objects; and a propulsion device disposed at the front end of the hull and/or Or a rear end for propelling the hull to travel on the water surface; a steering device disposed at a corner portion of the front end and the side edge of the hull; the steering device enables the hull to contact an obstacle while traveling on the water surface The hull rotates relative to the obstacle to adjust a traveling direction of the hull; and a power device is disposed inside the hull for powering the propulsion device and the steering device.

Further, in various embodiments, the hull includes a ship plate; a casing is mounted above the ship plate; an assembly space is enclosed by the casing and the ship plate; and two pontoons are disposed at The left and right sides of the ship plate extend in the forward and backward directions; and the water passage is surrounded by the two pontoons and the ship plate.

Further, in various embodiments, the cleaning device includes a slag trap that is inserted into the water passage from the front end of the hull and is detachably assembled to the hull.

Further, in various embodiments, the slag collecting box comprises a slag collecting box bottom plate; two oppositely disposed slag collecting box side plates perpendicular to the slag collecting box bottom plate; the slag collecting box front plate, the upper edge thereof Height lower than the slag box side plate a height of the upper edge; a water inlet of the slag collecting box on the front plate of the slag box and the hull; a rear plate of the slag collecting box, perpendicular to the bottom plate of the slag collecting box; and a filter net disposed at the Slag box bottom plate and / Or the slag collection box on the rear panel.

Further, in different embodiments, the cleaning device further includes two slag collecting chutes respectively recessed on the outer side walls of the two slag collecting box side plates; two slag collecting box sliding rails respectively protruding from the Said on both sides of the water channel Two pontoon side walls are slidably assembled to the two slag collecting chutes; two slag box bayonet ports are respectively arranged at the upper ends of the rear ends of the two slag collecting slag boxes; and a slag collecting box baffle, Projecting downwardly at the bottom of the shipboard; when the slag collecting box is inserted into the water passing passage, the slag collecting frame slides slide along the slag collecting chute; when the slag collecting box is assembled to In the hull, the slag box baffle is snapped into the slag box bayonet.

Further, in various embodiments, the cleaning device includes a check piece disposed at the water inlet of the water passage and spanning the water passage; the upper end of the check piece is rotatably assembled to the At the bottom of the hull, the lower end can be rotated back and forth.

Further, in various embodiments, the cleaning device includes a check plate baffle protruding from the bottom of the slag collecting box and disposed opposite to the check piece; when the center of gravity of the check piece is at the lowest point The height of the lower edge of the check piece is smaller than the height of the upper edge of the check plate baffle; when the center of gravity of the check piece moves from a high position to a low position, the check piece is at the lowest point of the center of gravity The check plate is blocked.

Further, in various embodiments, the cleaning device includes a cleaning sweeping member that protrudes from a corner portion of the front end and the side edge of the hull.

Further, in various embodiments, the cleaning cleaning member is a brush, including a brush holder, detachably assembled to the hull; and bristles fixed to a side of the brush holder to the hull Extending in the front-down direction; or, the cleaning device is a sponge, EVA material or gauze.

Further, in various embodiments, the power device includes a geared motor for outputting torque, and a first torque transmitting mechanism for transmitting torque output by the geared motor to the propulsion device; a torque transmitting mechanism for transmitting torque outputted by the geared motor to the steering device; wherein the steering device acquires torque in synchronization with the propulsion device, and synchronous motion occurs.

Further, in various embodiments, the geared motor is located on a left side or a right side of the hull; the geared motor includes a power output shaft extending in a front-rear direction of the hull; both ends of the power output shaft They are each connected to a propulsion device by a first torque transmitting mechanism.

Further, in different embodiments, the first torque transmitting mechanism includes two transmission shafts rotatably assembled to the hull, respectively connected to two ends of the propeller shaft of the propulsion device; And one end of the power output shaft; and a worm wheel fixed to a transmission shaft and meshed with the worm.

Further, in different embodiments, the water surface cleaning machine further includes a transmission shaft bracket disposed on a lower surface of the ship plate and perpendicular to the ship plate; a drive shaft mounting hole is disposed in a middle portion of the transmission shaft bracket, and a transmission is provided The shaft is rotatably fitted into the drive shaft mounting hole.

Further, in various embodiments, the first torque transmitting mechanism further includes a torque transmission chute disposed in the end cap joint of the propulsion device; and a torque transmitting lug protruding from the transmission a surface at one end of the shaft and snapped into the torque transfer chute.

Further, in various embodiments, the second torque transmitting mechanism includes a first bevel gear and a second bevel gear, the first bevel gear includes a first tapered tooth; and the first bevel gear shaft is fixed Connected to a drive shaft; the second bevel gear includes a second tapered gear that is in driving engagement with the first bevel gear shaft; and a second bevel gear shaft that is perpendicular to the first bevel gear shaft and connected To the drive wheel of the steering device.

Further, in various embodiments, the propulsion device includes a propeller shaft rotatably assembled to the bottom of the hull; the propeller shaft is coupled to the geared motor through a first torque transmitting mechanism to obtain torque; And at least one blade radially evenly distributed on the side wall of the propeller shaft; when the hull floats on the water surface, the lower half of the propulsion device is below the water surface; when the propeller shaft rotates, The leaves are watered.

Further, in different embodiments, the two ends of the propeller shaft are respectively connected to a propeller shaft; the central axes of the two propeller shafts are on the same line as the central axis of the propeller shaft.

Further, in different embodiments, the propeller shaft includes a shaft through hole extending from one end of the propeller shaft to the other end; the first telescopic shaft is disposed at a middle portion of the shaft through the shaft, and the first elastic member is Provided in the through hole of the rotating shaft and connected to one end of the first telescopic shaft; wherein one of the transmission shafts is inserted into the through hole of the rotating shaft from one end of the rotating shaft of the propeller, and is connected to the first Elastic parts.

Further, in different embodiments, the propeller shaft includes a shaft through hole extending from one end of the propeller shaft to the other end; a first telescopic shaft is disposed at a middle portion of the shaft through hole; and a second elastic member Provided in the through hole of the rotating shaft and connected to one end of the first telescopic shaft; the second telescopic shaft is partially disposed in the through hole of the rotating shaft, one end of which is connected to the second elastic member, and the other end thereof An end cover through hole extending through the shaft end of the shaft is connected to a transmission shaft.

Further, in various embodiments, the propulsion device further includes a blade seat fixed to the propeller shaft The blade holder is provided with at least one blade mounting position, the blade is assembled to the blade mounting position; and/or two rotating shaft end covers are fixed at both ends of the propeller shaft, which comprise an end cap body; An end cap through hole penetrating the center of the end cap body; an end cap bayonet disposed at an edge of the end cap body for engaging the blade; and an end cap joint disposed on the end cap body A side away from the shaft of the propeller for connecting the drive shaft.

Further, in various embodiments, the blade has a curved shape; when the hull travels forward, the blade bending direction coincides with a rotation direction of the propeller shaft.

Further, in various embodiments, the steering device is disposed at a left front end and/or a right front end of the hull, and includes a transmission wheel set disposed at a corner of the front end of the hull and the left side edge and/or the right side edge An endless track that surrounds the drive wheel set and is in a tensioned state, a section of the endless track being positioned by the drive wheel set at a corner and protruding from the hull.

Further, in various embodiments, the steering device includes a bevel gear mounting bracket disposed opposite to a portion of the endless track and fixedly coupled to the hull; the bevel gear mounting bracket includes a first bevel gear mounting hole, The first bevel gear is rotatably mounted therein; and the second bevel gear mounting hole is rotatably mounted with a second bevel gear.

Further, in various embodiments, the transmission wheel set includes a drive wheel coupled to the drive shaft by a second torque transmitting mechanism to obtain torque; a front load wheel disposed at a front end of the hull; and a corner A load wheel is disposed at a leftmost end or a rightmost end of the front portion of the hull; wherein a portion of an outer surface of the driving wheel, the front load wheel, and the corner load wheel is tangential to an inner surface of the endless track.

Further, in different embodiments, the steering device includes a wheel set mounting plate disposed opposite to the endless track, fixedly coupled to the hull; the drive wheel, the front load wheel, and the corner load wheel Rotatable assembly to the wheel set mounting plate.

Further, in various embodiments, the steering device includes a positioning roller that is rotatably assembled to the wheel set mounting plate; a portion of an outer surface thereof is tangential to an outer surface of the endless track.

Further, in different embodiments, the central axis of the driving wheel, the central axis of the front roller and the central axis of the roller bearing wheel form a triangular area on the projection of the wheel set mounting plate; The projection of the central axis of the positioning roller on the wheel set mounting plate is located within the triangular region.

Further, in various embodiments, the steering device includes a driving wheel mounting shaft that is vertically fixed to the wheel set mounting plate, and the driving wheel is rotatably sleeved outside the driving wheel mounting shaft; the front load wheel a mounting shaft vertically fixed to the wheel set mounting plate, the front load wheel being rotatably sleeved outside the front load wheel mounting shaft; and positioning the load wheel mounting shaft vertically fixed to the wheel set mounting plate The positioning roller is rotatably sleeved outside the positioning roller mounting shaft.

Further, in different embodiments, the steering device further includes a corner load wheel mounting shaft that is vertically fixed to the wheel set mounting plate, and the corner load wheel is rotatably sleeved outside the corner load wheel mounting shaft .

Further, in various embodiments, the steering device further includes a first axle mounting plate disposed at an edge of the wheel set mounting plate and protruding from the corner portion; and a second axle mounting plate disposed on the bevel gear An edge of the frame protruding from the corner portion and disposed opposite the first axle mounting plate; wherein the corner load wheel is rotatably assembled to the first axle mounting plate and the second axle mounting plate ; the corner load wheel A portion of the wheel wall is exposed to the exterior of the first axle mounting plate and the second axle mounting plate.

Further, in various embodiments, the steering device further includes a first axle mounting hole extending through the edge of the first axle mounting plate; and a second axle mounting hole extending through the edge of the second axle mounting plate, And the first axle mounting hole is opposite to the first axle mounting hole; the corner loading wheel comprises a middle section of the corner loading wheel, which is a circular platform body, one end of which is rotatably assembled to the first axle mounting hole, and the other end of which is rotatably assembled And the two wheel load bearing baffles are respectively disposed at two ends of the middle portion of the corner load wheel, respectively disposed on the outer side of the first axle mounting plate and the second axle mounting plate Where the part of the middle section of the corner load wheel The wheel wall is exposed to the first axle mounting hole, the exterior of the second axle mounting hole, and is covered by a section of the endless track.

Further, in different embodiments, the first axle mounting hole has an arcuate cross section, and a first axle mounting plate opening is disposed on a sidewall thereof; the second axle mounting hole has an arcuate cross section, and a side thereof a second axle mounting plate opening is provided on the wall; wherein the corner load wheel A portion of the wheel wall passes through the first axle mounting plate opening, the second axle mounting plate opening, and is exposed to the exterior of the hull.

Further, in different embodiments, the corner load wheel is inclined after being subjected to the pressure of the endless track; in the inclined state, the central axis of the corner load wheel forms an angle of 2 to 5 degrees with the vertical direction.

Further, in different embodiments, the front load wheel is disposed between the intermediate point of the front end of the hull and the corner load wheel; the distance between the front load wheel and the corner load wheel is greater than the front load wheel The distance from the midpoint of the front end of the hull.

Further, in various embodiments, the inner surface of the endless track is provided with meshing teeth; the drive wheel is a toothed pulley; the endless track is in driving engagement with the toothed pulley by the meshing teeth.

Further, in various embodiments, the surface cleaning machine further includes an anti-skid device disposed at a corner portion of the rear end and the side edge of the hull and protruding from the rear end and/or the side edge of the hull.

Further, in various embodiments, the anti-skid device is attached to the rear end of the hull and the left and/or right side sidewalls; and/or the anti-skid device is made of an elastic material; and/or The outer surface of the anti-skid device is provided with a rough surface.

The invention has the beneficial effects of providing a water surface cleaning machine, It can run freely on the water surface, complete the water area cleaning within a certain range during the running, and the cleaning effect is good; the invention Obstructions on the water surface can be bypassed during travel so that the obstacles do not affect the normal operation of the surface cleaner. In this embodiment, the water surface obstacle can be turned by itself during traveling to avoid the phenomenon of slipping, turning, and being unable to move. In this embodiment, only one set of motors can be used to power the propulsion device and the steering device, which can reduce production cost, reduce overall weight, and effectively reduce energy consumption.

DRAWINGS

1 is a schematic view showing the overall structure of Embodiment 1 of the present invention;

2 is a schematic view showing the structure of the bottom surface after removing the slag collecting box according to Embodiment 1 of the present invention;

3 is a schematic exploded view of Embodiment 1 of the present invention;

4 is a schematic structural view of a slag collecting box in Embodiment 1 of the present invention;

Figure 5 is a schematic view showing the layout of a power unit and a steering device in Embodiment 1 of the present invention;

6 is a schematic layout view of a power device, a propulsion device, and a steering device according to Embodiment 1 of the present invention;

Figure 7 is a schematic structural view of a first torque transmitting mechanism in Embodiment 1 of the present invention;

Figure 8 is a schematic structural view of a rotating shaft end cover and a transmission shaft in Embodiment 1 of the present invention;

9 is a schematic structural view of a second torque transmitting mechanism in Embodiment 1 of the present invention;

Figure 10 is a schematic exploded view showing the propulsion device in Embodiment 1 of the present invention;

Figure 11 is a schematic exploded view showing a rotating shaft of a propeller according to Embodiment 1 of the present invention;

Figure 12 is a schematic exploded view showing another propeller shaft in Embodiment 1 of the present invention;

Figure 13 is a schematic structural view of a right front steering device in Embodiment 1 of the present invention;

Figure 14 is a schematic exploded view showing the right front steering device in the first embodiment of the present invention;

Figure 15 is a schematic structural view of a left front steering device in Embodiment 1 of the present invention;

Figure 16 is a schematic overall structural view of Embodiment 2 of the present invention;

Figure 17 is a schematic view showing the structure of the bottom surface after removing the slag collecting box according to the embodiment 2 of the present invention;

Figure 18 is a schematic structural view of a brush in Embodiment 2 of the present invention;

Figure 19 is a schematic exploded perspective view of a propulsion device in Embodiment 2 of the present invention;

Figure 20 is a schematic overall structural view of Embodiment 3 of the present invention;

Figure 21 is a schematic structural view of a slag trap and a checker according to Embodiment 3 of the present invention;

Figure 22 is a schematic structural view of a left front steering device in Embodiment 3 of the present invention;

Figure 23 is a schematic exploded view showing the left front steering device in Embodiment 3 of the present invention;

Figure 24 is a schematic structural view of a right front steering device in Embodiment 3 of the present invention;

Figure 25 is a partial enlarged view of the inside of the circle in Figure 24.

The parts in the figure are identified as follows:

1 hull, 2 cleaning device, 3 power unit, 4 propulsion unit, 5 steering unit, 6 control unit, 7 Power supply device, 8, anti-skid device;

11 ship board, 12 shells, 13 assembly space, 14 pontoons, 15 water passages;

21 slag box, 22 to clean the cleaning parts;

31 geared motor, 32 first torque transmitting mechanism, 33 second torque transmitting mechanism, 34 drive shaft bracket;

41 propeller shaft, 42 blades, 43 blade seats, 44 shaft end caps;

51 drive wheel set, 52 endless track, 53 bevel gear mounting, 54 wheel set mounting plate, 55 first axle mounting plate, 56 second axle mounting plate;

61 switch, 62 circuit board, 71 rechargeable battery, 72 solar panel;

111 slag box baffle, 141 slag box slide, 113 housing slider;

211 slag box bottom plate, 212 slag box side plate, 213 slag box front plate, 214 slag box rear plate;

215 slag box chute, 216 slag box bayonet, 217 anti-reverse film, 218 anti-reverse sheet baffle;

311 motor, 312 reducer, 313 power take-off shaft;

321 drive shaft, 322 worm, 323 worm gear, 324 torque transmission lug, 325 torque transfer chute;

331 first bevel gear, 332 second bevel gear, 341 drive shaft mounting hole;

411 shaft through hole, 412 first elastic member, 413 first telescopic shaft, 414 second elastic member, 415 Second telescopic shaft;

431 blade mounting position; 441 end cap body, 442 end cap through hole, 443 end cap bayonet, 444 End cap joint;

511 drive wheel, 512 front load wheel, 513 corner load wheel, 514 positioning load wheel;

521 rack, 531 first bevel gear mounting hole, 532 second bevel gear mounting hole;

541 drive wheel mounting shaft, 542 front load wheel mounting shaft, 543 corner load wheel mounting shaft, 544 Positioning the load wheel mounting shaft;

551 first axle mounting hole, 561 second axle mounting hole;

3311 First tapered tooth, 3312 first bevel gear shaft, 3321 second tapered tooth, 3322 Second bevel gear shaft;

5131 corner load wheel middle section, 5132 corner load wheel baffle, 5133 corner load wheel center axis, 5134 Vertical line in the vertical direction.

detailed description

The preferred embodiments of the present invention are fully described in the following description with reference to the accompanying drawings, in which The invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments disclosed herein.

In the figures, structurally identical components are denoted by the same reference numerals, and structural or functionally similar components are denoted by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the invention does not limit the size and thickness of each component. In order to make the illustration clearer, some parts of the drawing appropriately exaggerate the thickness of the parts.

The directional terms mentioned in the present invention, for example, upper, lower, front, rear, left, right, inner, outer, side, top, bottom, top, bottom, end, etc., are only directions in the drawings, but The invention is to be construed as illustrative and not to limit the scope of the invention.

When a component is described as being "on" another component, the component can be placed directly on the other component; an intermediate component can also be present, the component being placed on the intermediate component, And the intermediate part is placed on another part. When a component is described as "assembled to" or "connected to" another component, both can be understood as direct "assembly." Or "connected", or a component is "assembled" or "connected" to another component indirectly through an intermediate component.

Example 1

As shown in FIG. 1 to FIG. 2, the embodiment provides a water surface cleaning machine, including a hull 1 , a cleaning device 2 , and a power device 3 . , propulsion device 4 and steering device 5 .

The water surface cleaning machine of the embodiment has a main structure of the hull 1 and can float on the water surface. Cleaning device 2 set on hull 1 The bottom is used to collect and store surface floats. The propulsion device 4 is provided at the front end and/or the rear end of the hull 1 for propelling the hull 1 to travel on the water surface. Steering device 5 set on hull 1 The corner portion of the front end and the side edge; when the hull 1 contacts the obstacle on the water surface during traveling, the steering device 5 is used to rotate the hull 1 relative to the obstacle to adjust the traveling direction of the hull 1. Power unit 3 It is disposed inside the hull 1, and the main body is a geared motor for powering the propulsion device 4 and the steering device 5, so that the propulsion device 2 and the steering device 3 are simultaneously operated, and the two are synchronized.

This embodiment further includes a control device 6, a power supply device 7, and an anti-skid device 8. Control device 6 is set on the hull 1 Internally, it is used to plan the travel path of the hull 1 and to control the start and stop of the power unit 3. The power supply unit 7 is disposed inside the hull 1 and is a rechargeable battery for supplying power to the power unit 3. Anti-skid device 8 It is located at the corner of the rear end and side edge of the hull 1 and protrudes from the rear end and/or side edge of the hull 1.

As shown in Figures 1 to 3, the hull 1 includes a ship plate 11 and a casing 12 assembled above the ship plate 11 and a casing 12 With the ship board 11 enclose the assembly space 13 . Preferably, the assembly space 13 is a closed space, and the power unit 4 and the control unit 5 are disposed in the assembly space 13. Hull 1 also includes two pontoons 14 . It is arranged on the left and right sides below the ship plate 11 and extends in the forward and backward directions; the front and rear direction here refers to the front and rear direction of the hull 1 traveling. Power unit 4 The main structure includes a geared motor, which is located on the hull 1 On the left or right side, the buoyancy 14 under the geared motor receives more buoyancy than the other pontoon 14. Two pontoons 14 and a ship plate 11 enclose a water passage 15 , that is, two pontoons 14 The space between the water passages is the ship plate 11 and the lower half of the water passage 15 is below the water surface.

The cleaning device 2 is located at the bottom of the hull 1 to collect and store surface floats. Cleaning device 2 includes slag collecting box 21 from hull 1 The front end is inserted into the water passage 15 and is detachably assembled to the hull 1 .

As shown in FIG. 4, the slag collecting box 21 includes a slag collecting box bottom plate 211 and two oppositely disposed slag collecting box side plates 212, and a slag collecting box side plate. 212 is located on the left and right sides of the hull and is perpendicular to the slag bottom plate 211. The slag collecting box 21 further includes a slag collecting box front plate 213 and a slag collecting box rear plate 214, and a slag collecting box front plate 213 The height is lower than the side plate 212 of the slag box; the slag collecting box is formed between the upper edge of the slag collecting box front plate 213 and the hull 1 Inlet. When the surface cleaning machine of the present embodiment travels on the water surface, the debris on the water surface enters the slag trap 21 under the action of the water flow. The slag collecting box front plate 213 can be a sloping flat plate, and the slag box front plate 213 The angle formed by the plane of the slag box bottom plate 211 ranges from 30 to 60 degrees, and may also be a curved curved plate from the upper edge of the slag box front plate 213 to the slag collecting plate bottom plate 211 A smooth curved surface is formed between the longitudinal sections of the curved surface. Since the slag collecting box front plate 213 is provided at the front end of the hull 1, the slag collecting box front plate 213 during the traveling of the hull 1 The outer side is subject to the resistance generated by the water, and the slag box front plate 213 is inclined or curved to better overcome the water resistance. Slag box front plate 213 A pull ring, a handle, or the like that protrudes from the surface may be provided, or a recess may be provided to be recessed on the surface thereof. The slag collecting box rear plate 214 is perpendicular to the slag collecting box bottom plate 211; the slag collecting box bottom plate 211 and / Or the slag collecting box rear plate 213 is provided with a filter net. After the water carries the foreign matter into the slag collecting box 21, the hull 1 continues to travel, and the water is discharged from the filtering net, and the foreign matter is left in the slag collecting box 21. Slag box front plate 213 The width of the slag box rear plate 214 is the same, that is, the width of the slag box; the width of the front and rear portions of the water passage 15 is the same, and is slightly larger than the width of the slag box, so that the slag box 21 can enter and exit the water passage by itself. . The filter mesh is integrally molded with steel wire and plastic frame, which makes the slag box bottom plate 211 more sturdy and prolongs its service life.

The slag collecting box 21 further includes two slag collecting chutes 215 and two slag collecting bayonet 216, two slag collecting chutes 215 They are respectively recessed to the outer side walls of the two slag box side plates 212; two slag box bayonet ports 216 are respectively disposed at the upper ends of the rear ends of the two slag collecting box side plates 212, and the slag box bayonet 216 A right angle notch is preferably used to allow the slag box 21 to be stably connected to the hull 1 after being inserted into the water passage 15.

As shown in Figures 2 to 3, the cleaning device 2 further includes two slag box slide rails 141 and a slag container shutter 111. . Two slag box slide rails 141 respectively protrude from two pontoon side walls on both sides of the water passage 15, which belong to two pontoons 14 respectively, and are slidably assembled to two slag collection slags Box chute 215 . When the slag trap 21 is inserted into the water passage 15, the slag cartridge slide 141 slides along the slag chute 215, so that the slag trap 21 can be assembled to the hull quickly and easily. The bottom is removed from the bottom of the hull 1. The slag box shutter 111 protrudes downwardly from the bottom of the ship plate 11, and preferably, the slag box shutter 111 is perpendicular to the ship plate 11. When the slag box 21 is assembled to the hull At 1 o'clock, the slag box baffle 111 is snapped into the slag box mount 216 to keep the slag box 21 and the hull 1 relatively fixed.

As shown in Figures 5-6, the power unit 3 includes a geared motor 31 and a first torque transmitting mechanism 32. And a second torque transmitting mechanism 33. The reduction motor 31 is for outputting torque; the first torque transmission mechanism 32 is for transmitting the torque output from the reduction motor 31 to the propulsion device 4; the second torque transmission mechanism 33 is used to transmit the torque output from the reduction motor 31 to the steering device 5; wherein the steering device 5 and the propulsion device 4 acquire torque in synchronization, and synchronous movement occurs.

The reduction motor 31 includes a motor 311, a speed reducer 312, and a power take-off shaft 313. PTO shaft 313 to hull The front and rear direction of 1 (here, the front-rear direction refers to the traveling direction of the hull 1), and the two propulsion devices 4 at the front end and the rear end of the hull 1 are powered. The geared motor 31 is only one and can be placed on the hull 1 On one side, the geared motor 31 is disposed on the left or right side of the hull 1 based on the forward direction of the hull 1, and specifically, the reduction motor 31 is disposed in the assembly space 13, and the assembly space 13 Sealed well to prevent water from entering the geared motor 31. In the present embodiment, it is preferably disposed in the assembly space 13 on the right side of the hull 1, so that the weight on the right side of the hull 1 is greater than the left side, so that the hull on the right side of the hull 14 is larger than the vent on the left side. 14 The larger volume, the right pontoon 14 receives more buoyancy than the left pontoon 14 to ensure that the center of gravity of the hull 1 is on its centerline, ensuring that the hull is balanced left and right.

As shown in FIG. 6, the present embodiment includes two propulsion devices 4 at the front end and the rear end of the hull 1, and also includes a power output shaft 313. Two first torque transmitting mechanisms 32 at both ends are respectively disposed at the front end and the rear end of the hull 1. Both ends of the power output shaft 313 are connected to a propulsion device through a first torque transmitting mechanism 32, respectively. . Under the action of the same power output shaft 313, the propulsion devices 4 at the front and rear ends of the hull 1 are synchronized in the same direction. When the power output shaft 313 rotates in the forward direction, the front and rear propulsion devices 4 At the same time, water is drained backward, and the hull travels forward; when the power output shaft 313 rotates in the reverse direction, the front and rear propulsion devices 4 simultaneously dial water forward, and the hull travels backward.

As shown in FIG. 7, each of the first torque transmitting mechanisms 32 includes two transmission shafts 321 , a worm 322 and a worm gear 323 . . Two drive shafts 321 are rotatably assembled to the hull 1 and are respectively connected to both ends of the propeller shaft 41 of the propulsion device 4; the central axis of the propeller shaft 321 and the power output shaft 313 The center axis is perpendicular to the surface, and the worm 322 is disposed at one end of the power output shaft 313; the worm wheel 323 is fixed to a drive shaft 321 and is in driving engagement with the worm 322.

When the power output shaft 313 is rotated, under the action of the worm 322 and the worm gear 323, the power output shaft 313 The two drive shafts 321 and the propeller shaft 41 are driven to rotate synchronously. Since the two first torque transmitting mechanisms 32 provided at the front end and the rear end of the hull are identical in structure, the four drive shafts 321 are on the same power output shaft. Synchronous rotation under the action of 313.

The embodiment further includes a transmission shaft bracket 34 disposed on the lower surface of the ship plate 1 and perpendicular to the ship plate 1; the drive shaft bracket 34 A drive shaft mounting hole is provided in the middle, and the drive shaft 321 is rotatably fitted into the drive shaft mounting hole. Preferably, the drive shaft 321 is assembled to the drive shaft mounting hole through the bearing. Inside. Since a total of four drive shafts 321 are included in the present embodiment, correspondingly, four drive shaft brackets 34 are provided to ensure that the drive shaft 321 can freely rotate.

As shown in FIG. 8, the first torque transmitting mechanism 32 further includes a torque transmitting projection 324 and a torque transmitting chute 325. The torque transfer lug 324 snaps into the torque transfer chute 325. One of the torque transfer lug 324 and the torque transfer chute 325 protrudes from a drive shaft 321 The surface at one end and the other are disposed in the end cap joint of the end cap of the propeller unit 4. The moment transfer lug 324 cooperates with the torque transfer chute 325 to cause the drive shaft 321 and the propulsion device 4 The shaft end cap 44 remains relatively fixed to transmit torque to the propulsion unit 4 .

The present embodiment includes two steering devices 5, which are disposed on the left and right sides of the front end of the hull 1, and a first torque transmitting mechanism at the front end of the hull 1. 32. Two drive shafts 321 at both ends thereof are connected to a steering device 5 via a second torque transmitting mechanism 33. First torque transmitting mechanism 32 Two drive shafts at the left and right ends 321 It is symmetrical on the hull.

As shown in FIG. 9, this embodiment includes two second torque transmitting mechanisms 33, which are identical in structure, and each of the second torque transmitting mechanisms 33. The first bevel gear 331 and the second bevel gear 332 that cooperate with each other are included. The first bevel gear 331 includes a first tapered tooth 3311 and a first bevel gear shaft 3312, and a first bevel gear shaft The 3312 is fixedly attached to a drive shaft 321 . The second bevel gear 332 includes a second tapered gear tooth 3321 and a second bevel gear shaft 3322 which are integrally provided, and the second tapered gear tooth 3321 The first bevel gear shaft is in meshing engagement; the second bevel gear shaft 3322 is perpendicular to the first bevel gear shaft 3312 and is coupled to the drive wheel 511 of the steering device 5.

When the drive shaft 321 rotates, under the action of the first bevel gear 331 and the second bevel gear 332, the drive wheel of the steering device 5 The 511 is rotated by the second torque transmitting mechanism 33. In this embodiment, two steering devices 5 are respectively disposed on the left and right sides of the front end of the hull 1, due to the two transmission shafts 321 at the front end of the hull Synchronous rotation, the two second torque transmitting mechanisms 33 are identical in structure, and the driving wheels 511 of the two steering devices 5 also rotate synchronously.

In the present embodiment, the power unit 3 simultaneously supplies torque to the propulsion unit 4 and the steering unit 5, so that two propulsion units are provided in front of and behind the hull. 4 Rotation can occur synchronously with the two steering devices 5 located on the left and right sides of the front end of the hull.

Similarly, the embodiment may further include four steering devices 5 and four second torque transmitting mechanisms 33, four steering devices 5 They are located on the left and right sides of the front and rear ends of the hull 1, respectively. Each of the first torque transmitting mechanisms 32 is provided with a drive shaft 321 at each end, and the four drive shafts 321 respectively pass through a second torque transmitting mechanism 33. Connect to a steering unit 5 .

As shown in FIG. 6 and FIG. 10, preferably, the embodiment includes two propulsion devices 4, which are respectively disposed on the hull 1 The front and rear ends are used to propel the hull 1 on the surface of the water. Each propulsion device 4 includes a propeller shaft 41 and at least one vane 42, preferably eight vanes 42 . This embodiment may also include only one propulsion device 4 disposed at the front or rear end of the hull 1.

The propeller shaft 41 is rotatably assembled to the bottom of the hull 1; the propeller shaft 41 is passed through the first torque transmitting mechanism 32 Connect to the geared motor for torque. Specifically, the two ends of the propeller shaft 41 are respectively coupled to a propeller shaft 321, the central axes of the two propeller shafts 321 and the propeller shaft 41. The center axes are on the same line.

The propeller shaft 41 is a retractable shaft, the length of which is variable, so that during the hull travel, the shock absorber is actuated, so that the propeller shaft 41 can be smoothly and steadily rotated under the action of the first torque transmitting mechanism 32. To achieve this effect, the present embodiment provides the following two technical solutions.

As shown in Fig. 11, the propeller shaft 41 is a hollow shaft in which a shaft through hole 411 is formed. Shaft through hole 411 One end of the seal is sealed, and the other end is provided with a first elastic member 412 and a first telescopic shaft 413 in order from the outside to the inside. A drive shaft 321 of the first torque transmitting mechanism 32 passes through a shaft end cap 44 The end cap through hole 442 is inserted into the shaft through hole 411 and is coupled to the first elastic member 412. In the present embodiment, the first elastic member 412 is preferably a helical compression spring.

As shown in FIG. 12, two first elastic members 412 and one first telescopic shaft 413 may be disposed in the shaft through hole 411. The first telescopic shaft 413 is located at a middle portion of the shaft through hole 411, and the two first elastic members 412 are respectively connected to both ends of the first telescopic shaft 413. Two drive shafts in the first torque transmitting mechanism 32 The end cover through holes 442 are respectively passed through a shaft end cover 44, and are inserted into the shaft through holes 411 from both ends of the propeller shaft 41, and are respectively connected to a first elastic member 412.

The propulsion device 4 further includes a vane seat 43 fixed to the propeller shaft 41, preferably with the propeller shaft 41 It is integrally disposed and disposed on the outer surface of the propeller shaft 41; the vane seat 43 is provided with at least one vane mounting position 431, preferably eight, and each vane mounting position 431 is fitted with a vane 42. Blade 42 It is a planar blade that is radially evenly distributed and fixed to the side wall of the propeller shaft 41. When the propeller shaft 41 rotates, the vane 42 dials back to push the hull 1 forward.

As shown in Fig. 8, the propulsion device 4 further includes two shaft end caps 44 fixed to both ends of the propeller shaft 41. Rotary end cover 44 The cover body 441, the end cover through hole 442, the at least one end cover 443 and the end cover joint 444 are included. End cap body 441 The cover is in the form of a circular flat plate integrally provided and an annular side wall protruding from the circular flat plate. The end cap through hole 442 is provided at the center of the end cap body 441 and penetrates the center point of the circular flat plate. Multiple end cap mounts 443 (8 in this embodiment) is provided at the edge of the end cap body 441 (i.e., the annular side wall), and a blade 42 is engaged in each end cap bayonet 443. End cap connector 444 is provided on the end cap body 441 A side away from the shaft of the propeller protrudes from the surface of the circular plate for connecting the drive shaft 321 .

The blade mounting position of the propeller shaft 41, the end cap of the shaft end cap 44, 443, a plurality of blades 42 It is fixed with the propeller shaft 41 and the shaft end cover 44 to form a plane impeller. When the hull 1 floats on the surface of the water, the lower half of the propulsion unit 4 is below the surface of the water. When the geared motor 31 is running, the drive shaft 321 The torque is obtained from the power output shaft 313, and the propeller shaft 41 is rotated, and the blade 42 is rearwardly dialed to push the hull 1 to travel.

In the present embodiment, two propulsion devices 4 are disposed at the front end and the rear end of the hull 1 through the first torque transmitting mechanism 32. Simultaneously obtain the torque output from the geared motor 31, and then synchronously rotate, while pushing the water surface backwards or forwards, so that the hull 1 travels forward or backward.

As shown in Fig. 6, the steering device 5 is disposed at the left front end and/or the right front end of the hull 1, specifically on the hull 1 The corner of the front end with its left edge and / or its right edge.

As shown in Figures 13-15, the steering device 5 includes a drive wheel set 51 and an endless track 52.

In the present embodiment, two transmission wheel sets 51 are preferably provided on the left and right sides of the front end of the hull 1 respectively, when the hull 1 When the corner portion on either side of the front end contacts the obstacle, the hull 1 can rotate relative to the obstacle. This embodiment may also include only one transmission wheel set 51, which is disposed on the left or right side of the front end of the hull 1 only when the hull is When the corner portion on the side of the steering device is in contact with the obstacle, the hull 1 can rotate relative to the obstacle.

Each of the transmission wheel sets 51 includes a drive wheel 511, a front load wheel 512, and a corner load wheel 513. Drive wheel 511 The second torque transmitting mechanism 33 is coupled to the drive shaft 321 to obtain torque; the front load wheel 512 is disposed at the foremost end of the hull 1; the corner load wheel 513 is disposed at the hull 1 The leftmost or rightmost end of the front. The driving wheel 511, the front roller 512 and the corner roller 513 are all wheeled structures, and each includes an annular outer wall, referred to as a wheel wall.

Wherein, the front load wheel 512 is disposed between the intermediate point of the front end of the hull 1 and the corner load wheel 513; the front load wheel 512 The distance from the corner load wheel 513 is greater than the distance between the front load wheel 512 and the intermediate point of the front end of the hull 1 such that the front load wheel 512 is closer to the intermediate point of the front end of the hull 1. On the hull 1 The two transmission wheel sets 51 on the left and right sides of the front end are respectively provided with a front load wheel 512, and the side walls of the hull between the two front load wheels 512 are recessed inward to form a concave surface, and the two front load wheels 512 are ensured. It can be located at the very front of the hull 1.

The steering device 5 includes a bevel gear mount 53 for mounting a second torque transmitting mechanism 33, a bevel gear mount 53 Opposite a portion of the endless track 52, it is secured to the wheel set mounting plate 54 and is thus fixedly coupled to the hull 1 . The bevel gear mount 53 includes a first bevel gear mounting hole 531 and a second bevel gear mounting hole 532. The central axis of the first bevel gear mounting hole 531 is perpendicular to the central axis of the second bevel gear mounting hole 532. The first bevel gear mounting hole 531 is rotatably mounted with the first bevel gear 331. The second bevel gear mounting hole 532 is rotatably fitted with a second bevel gear 332.

In this embodiment, the geared motor 31 of the power unit 3 is operated, and the power output shaft 313 outputs torque; the first torque transmitting mechanism 32 The drive shaft 321 takes torque from the power take-off shaft 313 and rotates. When the drive shaft 321 is rotated, the drive wheel 511 is driven by the first bevel gear 331 and the second bevel gear 332. Drive to rotate. In the present embodiment, the two steering devices 5 are respectively disposed on the left and right sides of the front end of the hull 1, and the two second torque transmitting mechanisms 33 are synchronously rotated by the two transmission shafts 321 at the front end of the hull. The structure is the same, and the driving wheels 511 of the two steering devices 5 also rotate in the same direction.

The steering device 5 includes a wheel set mounting plate 54 that is disposed opposite the endless track 52 and is fixedly coupled to the hull 1 The drive wheel 511, the front load wheel 512 and the corner load wheel 513 are rotatably mounted to the wheel set plate 54. Bevel gear mounting bracket 53 and wheel mounting plate 54 are respectively located on the endless track 52 On both sides, in this embodiment, the wheel mounting plate 54 is disposed above the endless track 52 and disposed under the endless track 52.

Specifically, the steering device 5 includes a drive wheel mounting shaft 541, a front load wheel mounting shaft 542, and a corner load wheel mounting shaft 543 , both under the wheel mounting plate 54 and vertically fixed to the wheel mounting plate 54. Wherein, the driving wheel 511 is rotatably sleeved outside the driving wheel mounting shaft 541, and the front roller 512 The rotatably sleeved outer sleeve mounting shaft 542 is externally mounted, and the corner load wheel 513 is rotatably sleeved outside the corner load wheel mounting shaft 543 so that the driving wheel 511 below the wheel set mounting plate 54 The front load wheel 512 and the corner load wheel 513 are free to rotate.

The endless track 52 encloses an irregularly shaped interior of the track. The endless track 52 surrounds the drive wheel set 51 and the drive wheel 511 The front load wheel 512 and the corner load wheel 513 are disposed inside the track inner space. Drive wheel 511, front load wheel 512 and corner load wheel 513 At the same height, the width of the wheel wall is the same, slightly larger than the width of the endless track 52, and the endless track 52 is made of a material having a certain elasticity (such as rubber), and is tensioned so that the driving wheel 511 and the front load wheel are A portion of the wheel wall of the 512 and corner load wheel 513 is tangent to the inner surface of the endless track 52 such that the front load wheel 512 and the corner load wheel 513 can be driven by the wheel 511. The rotation occurs so that the endless track 52 can be driven by the drive wheel 511.

When the drive wheel 511 is rotated, the endless track 52 can be driven by the wheel 511 because the endless track 52 is in tension. Driven and synchronized with the drive wheel 511. Since the drive wheels 511 of the two steering devices 5 rotate in the same direction, the circular tracks 52 of the two steering devices 5 Synchronous transmission in the same direction also occurs.

The inner surface of the endless track 52 is provided with meshing teeth (not shown); the drive wheel 512 is a toothed pulley; the endless track 52 The gear teeth are in meshing engagement by the meshing teeth. Similarly, the front load wheel 512 and the corner load wheel 513 may also be toothed pulleys through which the meshing teeth and the endless track 52 The drive meshes. Alternatively, the outer side surfaces of the front weight wheel 512 and the corner load wheel 513 are rough surfaces which can increase the friction coefficient thereof, and the rough surface is provided with particles, patterns or racks. When the drive wheel 511 When rotating, since the endless track 52 is in tension and wrapped around the rotatable front roller 512 and the corner load wheel 513, the front roller 512 and the corner roller The 513 rotates synchronously with the drive wheel 511 under the action of the endless track 52.

In the present embodiment, if the transmission wheel set 51 includes only the drive wheel 511, the front load wheel 512, and the corner load wheel 513 Then, the shape of the inner space of the crawler belt surrounded by the endless track 52 is similar to a triangle, and occupying a large space in the hull 1 affects the layout of other components in the hull. Therefore, positioning the load wheel is arranged outside the inner space of the crawler belt 514, rotatably assembled to the wheel set mounting plate 54 to define the position of the endless track 52. Specifically, the embodiment further includes positioning the load wheel mounting shaft 544 protruding from the wheel set mounting plate 54. Bottom, and vertically fixed to the wheel mounting plate 54, the positioning roller 514 is rotatably sleeved outside the positioning roller mounting shaft 544, so that the positioning roller 514 below the wheel mounting plate 54 It can rotate freely. The driving wheel 511, the front roller 512, the corner roller 513 and the positioning roller 514 are at the same height, and the widths of the respective wheel walls are the same, slightly larger than the endless track 52. The width. The wheel wall of the outer surface of the positioning roller 514 is tangential to the outer surface of the endless track 52 to define the position of the endless track 52 and to reduce the coverage of the space within the track such that the shape of the space within the track approximates L shape.

Annular track 52 outer surface, road wheel 514 The outer surface may be a rough surface, and the rough surface may be provided with particles, a pattern, etc., in this embodiment, a rack 521 is preferably used to increase the friction coefficient between the wheel wall of the load wheel 514 and the outer side wall of the endless track 52, so that the weight wheel The 514 is able to rotate under the action of the endless track 52 so as not to affect the normal transmission of the endless track 52.

A section of the endless track 52 is used to contact an obstacle on the surface of the water and may be referred to as a track contact. The track contact portion is driven by the drive wheel set 51 Positioned at a corner portion, specifically, the front load wheel 512 and the corner load wheel 513 are positioned at the corners of the front end of the hull 1 and its left side edge and/or its right side edge. Ring track 52 A section protrudes from the front end or/and the side edge of the hull 1 and is exposed to the outside of the hull 1. Specifically, an opening is formed at the joint (corner portion) of the front wall and the left and right side edges of the hull 1, and the track contact portion 521 The opening thus extends beyond the hull 1.

The track contact portion includes a front contact portion, an angular contact portion, and a middle portion contact portion. Wherein, the front contact portion is wrapped around the front load wheel 512 The outer portion of the crawler belt has an angular contact portion that is a portion of the crawler belt that is wrapped around the outer side of the corner load wheel 513, and the middle portion of the contact portion is a portion of the crawler belt that is disposed between the front load roller 512 and the corner load wheel 513. Due to the front load wheel 512 is disposed at the foremost end of the hull 1, and the corner load wheel 513 is disposed at the leftmost or rightmost end of the front portion of the hull 1; therefore, the track contact portion is wrapped around the hull 1 The front end, the left end or the far right end. When the hull is moving forward, if there is an obstacle on the surface of the water surface, it must be first contacted by one or both of the track contacts 521 at the front end of the hull 1.

The width of the endless track 52 can be adjusted according to actual needs, and the endless track 52 In contact with the obstacle surface, compared with the prior art roller, the contact area of the embodiment is larger, the friction force is larger, and the slip phenomenon is less likely to occur. Ring track 52 The outer surface is a rough surface provided with particles, patterns or racks, etc., for increasing the coefficient of friction of the outer surface of the endless track 52 so that the endless track 52 It can be better driven on the surface of the obstacle, and it is not easy to slip, so that the hull 1 and the obstacle rotate relative to each other, thereby adjusting the traveling direction of the hull 1. When the hull 1 is completely separated from the obstacle, the hull 1 Under the action of the two front and rear propulsion devices 4, it travels in a new direction.

As shown in Fig. 6, the present embodiment includes two left and right steering devices 5, as the driving wheels 511 of the two steering devices 5 are shown. The steering is the same, so the direction of rotation of the endless track 52 of the two steering devices 5 is also the same. When both endless tracks 52 are in contact with the obstacle surface, the two endless tracks 52 Relative rotation in the same direction as the obstacle, the obstacle exerts the same force on the hull 1 via the two endless tracks, thereby causing the hull 1 to deviate from the obstacle and realize the steering of the hull 1.

In the power unit 3, the power output shaft 313 of the reduction motor 31 It can be a two-way rotary axis, that is to say it can be rotated in the opposite direction. When the power output shaft 313 is rotated in the reverse direction, the propeller shaft 41 of the propulsion device 4 rotates in the opposite direction, and the blades 42 rotate forward, and the hull 1 Go backwards.

As shown in Figures 1 to 3, the control unit 6 is disposed inside the hull 1 for planning the travel path of the hull 1 and controlling the hull 1 Follow the planned route and try to clean up the debris within the entire waters in the shortest possible time. The upper surface of the hull 1 is provided with a switch 61 for controlling the starting and stopping of the power unit 3; and a circuit board 62 , set up a circuit

The power supply unit 7 includes a rechargeable battery 71 and a solar panel 72. Rechargeable battery 71 The lithium battery can be repeatedly charged and discharged; two solar panels 72 are disposed on the upper surface of the hull 1 and symmetrically disposed; the photoelectric conversion module is also disposed on the circuit board 62.

The anti-skid device 8 is made of an elastic material to prevent the hull 1 from colliding with the hull 1 during the backward movement of the hull 1 Damaged. The anti-skid device 8 is attached to the rear end of the hull 1 and the left side and/or the right side wall; the outer surface of the anti-skid device 8 is provided with a rough surface, and the rough surface is provided with particles, patterns or racks to increase the anti-slip Device 8 The coefficient of friction of the outer surface.

In the process of the hull 1 moving backwards, if it touches the obstacle on the water surface, the anti-skid device 8 The top of the obstacle forms a pivot point, and under the action of the propulsion device 4 and the steering device 5, the traveling direction of the hull 1 is changed.

Take the process of cleaning the pool with a surface cleaner. The main obstacles are the pool wall of the pool and the handrails at the pool side. Hull 1 reverses along the pool wall, anti-skid device 8 leaning against the wall of the pool, the wall exerts a resistance to the hull 1 to form a pivot point, and under the action of the propulsion device 4 and the steering device 5, the hull 1 is made After turning a certain angle and then performing the forward cleaning task, the hull 1 can be driven to the central area of the pool from time to time to form a full-area cleaning of the entire pool. Whether the hull 1 is moving forward or backward, when the hull 1 When hitting the wall, the surface cleaning machine will not appear to be stuck on the wall or corner of the pool.

An advantage of this embodiment is that a water surface cleaning machine is provided, It can run freely on the surface of the water, complete a certain range of water clearing during travel, and can avoid obstacles on the water surface during travel, so that the obstacles will not affect the normal operation of the surface cleaner. In this embodiment, the water surface obstacle can be turned by itself during traveling to avoid the phenomenon of slipping, turning, and being unable to move. In this embodiment, only one set of motors can be used for the propulsion device. 4 and steering unit 5 provide power to reduce production costs, reduce overall weight and reduce energy consumption.

Example 2

Embodiment 2 includes most of the technical solutions in Embodiment 1, and further includes the following distinguishing technical features.

In the embodiment 1, the water inlet of the slag collecting box 21 is always kept open, and when the hull 1 is retracted, the slag collecting box 21 The debris inside will drift out of the water inlet.

As shown in FIGS. 16-17, a distinguishing feature of Embodiment 2 and Embodiment 1 is that the cleaning device 2 includes a check piece. 217. It is disposed at the water inlet of the water passage 15 and spans the water passage 15; the upper end of the thrust plate 217 is rotatably assembled to the bottom of the hull 1, and the lower end thereof is rotatable forward and backward. When water flows into the water channel 15 At this time, the water flow brings the floating matter floating on the water into the slag trap 21, and the check piece 217 can be rotated, and it remains perpendicular to the slag bottom plate 215 for most of the time. When the hull 1 retreats, the anti-reverse film 217 It is possible to prevent the foreign matter in the slag trap 21 from drifting out from the water inlet.

Another distinguishing feature of Embodiment 2 and Embodiment 1 is that the cleaning device 2 includes a cleaning member 22 that protrudes from the hull 1 The corner of the front end and the side edge. When the hull 1 advances along the wall of the pool, the cleaning sweeping member pushes forward the debris located at the wall of the pool, and the leading device 4 closes the debris to the water passage 15 And stored in the slag trap 21, thereby achieving cleaning of the debris at the pool wall.

As shown in Fig. 18, the cleaning member 22 is preferably a brush comprising a brush holder 221 and bristles 222. Brush holder 221 Removably assembled to the hull 1 , when the cleaning parts are damaged, the cleaning parts can be replaced. The bristles 222 are fixed to one side of the brush holder 221 to the hull 1 The front and rear directions are extended so as to be able to contact the pool wall to clean debris. The cleaning element 22 can also be used for materials that are easy to deform and restore the shape, and can replace other parts of the brush, including sponge, EVA. Material or gauze, and so on. The cleaning member 22 can be swiped by some debris that is adsorbed on the side wall of the pool or that is not sucked around the hull 1, so that it is sucked into the slag trap 21.

The steering device 5 is located at a corner portion where the front end of the hull 1 intersects the side edge, and the cleaning member 22 is folded. Also located at the corner, its height is lower than the steering unit 5. When the surface cleaning machine described in this embodiment is in operation, the steering device 5 is located above the water surface, and the cleaning member (such as a brush, etc.) is extended into the water to clean the debris. Figure 19 As shown, another distinguishing feature of Embodiment 2 and Embodiment 1 is that the propulsion device 4 is a curved impeller, each of the blades 42 is curved, and its cross section is an arc; the bending direction of the blade 32 is when the hull is 1 The direction of rotation of the propeller shaft 41 is the same when moving forward. The blade mounting position of the propeller shaft 41, the end cap of the shaft end cap 44 443, the plurality of blades 42 and the propeller shaft 41. The shaft end cover 44 is fixed in one piece to form a curved impeller.

During the forward movement of the hull 1, the curved blade 42 The resistance is small and the displacement is large. The surface cleaning machine with curved impeller has higher kinetic energy conversion efficiency than the surface cleaning machine with flat impeller.

Another distinguishing feature of Embodiment 2 and Embodiment 1 is that the propeller shaft 41 includes a shaft through hole 411 and a first telescopic shaft. 413, a second elastic member 414, and a second telescopic shaft 415.

The through hole 411 of the rotating shaft extends from one end of the propeller shaft 41 to the other end; the first telescopic shaft 413 is provided in the middle of the rotating shaft through hole 411 The second through-hole 411 is provided with a second elastic member 414 connected to one end of the first telescopic shaft 413. The second telescopic shaft 415 is partially disposed in the through-hole 411 of the rotating shaft, and one end thereof is connected to the second elastic member. 415, one end of which extends out of the shaft through hole 411, and is connected to a transmission shaft 321 through an end cover through hole 442 of a shaft end cover 4. The first elastic member 412 in this embodiment Preferably, the helical compression spring is such that the propeller shaft 41 is a retractable shaft that can be dampened during travel of the hull so that the propeller shaft 41 can be at the first torque transmitting mechanism 32. It rotates smoothly and stably under the action.

Other technical features of Embodiment 2 are the same as those of Embodiment 1, and are not described herein.

An advantage of this embodiment is that a water surface cleaning machine is provided, The water surface can be freely operated, and a certain range of water area cleaning can be completed during the running. In this embodiment, the water surface obstacle can be turned by itself to avoid the phenomenon of slipping, turning, and being unable to move; The reverse film can effectively prevent the debris in the slag box from sliding out of the water inlet; and the cleaning member can be used to push the debris forward to make it easy to enter the slag box, thereby improving the cleaning effect.

Example 3

Embodiment 3 includes most of the technical solutions of Embodiment 2, and further includes the following distinguishing technical features.

In Embodiment 2, the check piece 217 is urged against the gravity of the reverse piece 217 itself, thereby causing the check piece 217 The debris in the slag trap 21 is blocked perpendicular to the slag trap bottom plate 211. Since the rotation range of the lower end of the check piece 217 is large, and the hull 1 causes a certain sway during traveling, when the hull 1 When retreating, some of the debris will drift out of the water inlet of the slag box.

As shown in Figures 20 to 21, a distinguishing feature of Embodiment 3 and Embodiment 2 is that the cleaning device 2 A check plate baffle 218 is also included, which protrudes from the slag trap bottom plate 211 and is disposed opposite the check piece 217. When the center of gravity of the anti-reverse film 217 is at the lowest point, the anti-reverse film 217 The height of the lower edge is smaller than the height of the upper edge of the stop plate guard 218; when the center of gravity of the check piece 217 is moved from a high position to a low position, the check piece 217 is blocked by the stop plate stopper 218 at the lowest point of the center of gravity. Stop film 217 can only rotate to the inside of the hull 1, but can not rotate to the outside, neither affecting the surface debris from the water inlet into the slag collecting box 21, and effectively preventing the debris from drifting out of the slag collecting box 21 from the water inlet.

In the embodiment 1 or 2, the endless track 52 The degree of tension is not adjustable. On the other hand, if the surface cleaning machine described in this embodiment is in contact with an irregularly shaped obstacle during operation, an endless track may occur. The outer surface can only have some problems of contact with obstacles, and it is prone to technical problems of slipping and hull difficulty. If the ring track 52 This problem can be solved by the fact that the outer surface can change in a certain range.

As shown in FIGS. 22 to 25, another distinguishing feature of the embodiment 3 and the embodiment 2 is that the steering device 5 Also included is a first axle mounting plate 55 and a second axle mounting plate 56, the first axle mounting plate 55 being disposed at the edge of the wheel set mounting plate 54 and projecting from the corner portion; the second axle mounting plate 56 It is disposed at the edge of the bevel gear mounting frame 53 and protrudes from the corner portion and is disposed opposite to the first axle mounting plate 55.

Wherein, the corner load wheel 513 is not assembled to the wheel set mounting plate 54, but is rotatably assembled to the first axle mounting plate 55. And the second axle mounting plate 56; the steering device 5 further includes a first axle mounting hole 551 and a second axle mounting hole 561, and the first axle mounting hole 551 extends through the first axle mounting plate 55 At the edge; the second axle mounting hole 561 extends through the edge of the second axle mounting plate 56, and the second axle mounting hole 561 is disposed opposite the first axle mounting hole 551.

The first axle mounting hole 551 has an arcuate cross section, and the arc of the arc is larger than a semicircle for stably placing the corner load wheel 513 The first axle mounting plate 55 has a first axle mounting plate opening on the side wall that corresponds to the arcuate chord. A portion of the wheel wall of the corner load wheel 513 passes through the first axle mounting plate opening and is exposed to the first axle mounting plate 55. The outside. The second axle mounting hole 561 has an arcuate cross section, and the arcuate arc is larger than a semicircle; the second axle mounting plate 56 has a second axle mounting plate opening on the side wall corresponding to the arcuate chord. Corner load wheel 513 A portion of the wheel wall passes through the second axle mounting plate opening and is exposed to the exterior of the sidewall of the second axle mounting plate 56. The side walls of the two axle mounting holes are open such that the corner load wheel 513 can be looped by the track 52 Cover and drive.

The corner load wheel 513 may be one or more, detachably and rotatably assembled to the first axle mounting plate 55 and the second axle mounting plate 56. The tension of the endless track 52 can be adjusted by changing the number of corner load wheels 513.

The corner load wheel 513 includes a middle section of the corner load wheel 5131 and two corner load wheel baffles 5132, the middle section of the corner load wheel The 5131 is a truncated cone body, one end of which is rotatably assembled to the first axle mounting hole 551, and the other end of which is rotatably assembled to the second axle mounting hole 561. Two corner load wheel baffles 5132 The two ends of the middle section 5131 of the corner load wheel are respectively disposed outside the first axle mounting plate 55 and the second axle mounting plate 56. Among them, the middle section of the corner load wheel 5131 A portion of the wheel wall is exposed to the outside of the first axle mounting hole 551 and the second axle mounting hole 561 and is covered by a section of the endless track 52.

As shown in Fig. 25, the corner load wheel 513 is not disposed in the vertical direction (the direction of the plumb line), wherein the axis 5133 A vertical angle is formed with the vertical line 5134. Generally, the central axis of the corner load wheel 513 forms an angle of 2 to 5 degrees with the vertical line.

Since the cross-section of the two axle mounting holes is arcuate, the arcuate chord corresponds to the opening portion of the axle mounting plate, and the two axle mounting holes 551 The shape may undergo a small deformation after being stressed, so that when the endless track 51 is subjected to external pressure, the corner load wheel 513 may be inclined or swayed at an angle.

When the surface cleaning machine described in this embodiment is in contact with an irregularly shaped obstacle during operation, due to the endless track 52 There is a certain pressure between the obstacle and the obstacle (the pressure generated by the propulsion device pushes the obstacle), and the plurality of corner load wheels 513 provided at the corner of the hull 1 are tilted or swayed after being stressed, so that the endless track 52 It fully contacts the surface of the obstacle and increases the contact area, so that the coefficient of friction between the endless track 52 and the obstacle is larger, thereby avoiding the problem that the track is slippery and the steering is difficult.

Other technical features of Embodiment 3 are the same as those of Embodiment 2, and are not described herein.

The beneficial effect of the embodiment is that a water surface cleaning machine is provided, It is used to clear the waters; the hull can turn around and avoid the obstacles on the surface during the journey to avoid slipping, turning, and moving. In this embodiment, a check piece and a check plate are provided, which can effectively prevent the debris in the slag box from slipping out of the water inlet; in addition, the corner load wheel is detachable and can be used to adjust the tension of the endless track. Degree; the corner load wheel is inclined, which can be used to reduce the resistance of the endless track and save energy consumption of the geared motor.

The above has described in detail the preferred embodiments of the invention. It should be understood that one of ordinary skill in the art can practice the invention in accordance with the present invention without inventive effort. The idea has been changed and changed. Therefore, those skilled in the art according to the present invention The technical solution that can be obtained by logic analysis, reasoning or limited experiment on the basis of the prior art is within the scope of protection determined by the claims.

Claims

A water surface cleaning machine, comprising:

Hull

a cleaning device disposed at the bottom of the hull for collecting and storing surface floating objects;

a propulsion device disposed at a front end and/or a rear end of the hull for pushing the hull to travel on the water surface;

a steering device disposed at a corner portion of the front end and the side edge of the hull; and when the hull contacts the obstacle while traveling on the water surface, the steering device rotates the hull relative to the obstacle to adjust the Describe the direction of travel of the hull;

A power unit is disposed inside the hull for powering the propulsion device and the steering device.
A surface cleaning machine according to claim 1 wherein said hull comprises

Ship board

a housing mounted above the ship plate;

An assembly space surrounded by the housing and the ship plate;

Two pontoons arranged on the left and right sides below the ship plate and extending in the forward and backward directions;

The water passage is surrounded by the two pontoons and the ship plate.
A surface cleaning machine according to claim 1, wherein said cleaning device comprises

A slag collecting box is inserted from the front end of the hull into the water passage and is detachably assembled to the hull.
A surface cleaning machine according to claim 3, wherein said slag collecting box comprises

Slag box bottom plate;

Two oppositely disposed slag box side plates perpendicular to the slag collection box bottom plate;

a slag collecting box front plate, the height of the upper edge thereof is lower than the height of the side edge of the slag collecting box; the water collecting port of the slag collecting box is formed between the slag collecting box front plate and the hull;

a slag collecting box rear plate perpendicular to the bottom of the slag collecting box;

The filter screen is disposed on the bottom plate of the slag collecting box and/or the rear plate of the slag collecting box.
A surface cleaning machine according to claim 4, wherein said cleaning device further comprises

Two slag box chutes are respectively recessed on the outer side walls of the two slag box side plates;

Two slag box slide rails respectively protrude from two ventilating side walls on both sides of the water passage, and are slidably assembled to the two slag box chutes;

Two slag box bayonet ports respectively disposed at the upper ends of the rear ends of the two slag box side plates;

Slag box baffle, protruding downwards at the bottom of the shipboard;

When the slag trap is inserted into the water passage, the slag cartridge slide slides along the slag chute;

When the slag box is assembled to the hull, the slag box baffle is snapped into the slag box bayonet.
A surface cleaning machine according to claim 4, wherein said cleaning device comprises

a check piece is disposed at the water inlet of the water passage and spans the water passage; the upper end of the check piece is rotatably assembled to the bottom of the hull, and the lower end thereof is rotatable forward and backward.
A surface cleaning machine according to claim 6 wherein said cleaning means comprises

a check plate baffle protruding from the bottom plate of the slag collecting box and disposed opposite to the check piece;

When the center of gravity of the check piece is at the lowest point, the height of the lower edge of the check piece is smaller than the height of the upper edge of the check plate;

When the center of gravity of the thrust piece moves from a high position to a low position, the check piece is blocked by the check plate baffle at the lowest point of the center of gravity.
A surface cleaning machine according to claim 1, wherein said cleaning device comprises

The cleaning member is gathered to protrude from a corner portion of the front end and the side edge of the hull.
A surface cleaning machine according to claim 8 wherein:

The squeezing cleaning member is a brush, which includes

a brush holder detachably assembled to the hull;

a bristles fixed to a side of the brush holder and extending to a front-down direction of the hull;

or,

The squeezing cleaning member is any one of a sponge, an EVA material, or a gauze.
A surface cleaning machine according to claim 1 wherein said power unit comprises

a geared motor for outputting torque;

a first torque transmitting mechanism for transmitting torque output by the reduction motor to the propulsion device;

a second torque transmission mechanism for transmitting torque outputted by the reduction motor to the steering device;

Wherein, the steering device acquires torque in synchronization with the propulsion device, and synchronous motion occurs.
A surface cleaning machine according to claim 10, wherein

The geared motor is located on the left or right side of the hull;

The geared motor includes a power output shaft extending to the front and rear direction of the hull;

Both ends of the power output shaft are respectively connected to a propulsion device through a first torque transmitting mechanism.
A surface cleaning machine according to claim 10, wherein

The first torque transmitting mechanism includes

Two transmission shafts rotatably assembled to the hull, respectively connected to two ends of the propeller shaft of the propulsion device;

a worm disposed at one end of the power take-off shaft;

The worm gear is fixed to a drive shaft and meshed with the worm drive.
A surface cleaning machine according to claim 12, further comprising

The drive shaft bracket is disposed on the lower surface of the ship plate and perpendicular to the ship plate; a drive shaft mounting hole is disposed in a middle portion of the drive shaft bracket, and a drive shaft is rotatably assembled into the drive shaft mounting hole.
A surface cleaning machine according to claim 12, wherein

The first torque transmitting mechanism further includes

a torque transfer chute disposed in an end cap joint of the propulsion device;

The torque transmitting projection protrudes from a surface of one end of the transmission shaft and is engaged into the torque transmission chute.
A surface cleaning machine according to claim 10, wherein

The second torque transmitting mechanism includes

First bevel gear, including

First tapered tooth; and

a first bevel gear shaft fixedly coupled to a drive shaft;

Second bevel gear, including

a second tapered tooth that is in meshing engagement with the first bevel gear shaft;

A second bevel gear shaft, perpendicular to the first bevel gear shaft, and coupled to a drive wheel of the steering device.
A surface cleaning machine according to claim 1 wherein said propulsion means comprises

a propeller shaft rotatably assembled to the bottom of the hull; the propeller shaft being coupled to the geared motor through a first torque transmitting mechanism to obtain torque;

At least one blade is radially evenly distributed on the side wall of the propeller shaft;

When the hull floats on the water surface, the lower half of the propulsion device is below the water surface;

When the propeller shaft rotates, the vanes dial water.
A surface cleaning machine according to claim 16, wherein

The two ends of the propeller shaft are respectively connected to a transmission shaft;

The central axes of the two drive shafts are on the same line as the central axis of the propeller shaft.
A surface cleaning machine according to claim 17, wherein

The propeller shaft includes

a through hole through which the end of the propeller shaft extends to the other end;

a first telescopic shaft is disposed in the middle of the through hole of the rotating shaft

a first elastic member disposed in the through hole of the rotating shaft and connected to one end of the first telescopic shaft;

Wherein one of the transmission shafts is inserted from one end of the propeller shaft to the shaft through hole and is connected to the first elastic member.
A surface cleaning machine according to claim 17, wherein

The propeller shaft includes

a through hole through which the end of the propeller shaft extends to the other end;

a first telescopic shaft is disposed in the middle of the through hole of the rotating shaft

a second elastic member disposed in the through hole of the rotating shaft and connected to one end of the first telescopic shaft;

a second telescopic shaft is partially disposed in the through hole of the rotating shaft, one end of which is connected to the second elastic member, the other end of which protrudes beyond the through hole of the rotating shaft, and the end cover of the end cover of the rotating shaft passes through The hole is connected to a drive shaft.
A surface cleaning machine according to claim 16, wherein

The propulsion device further includes

a blade seat fixed to the propeller shaft; the vane seat being provided with at least one vane mounting position, the vane being assembled to the vane mounting position; and Or,

Two shaft end caps fixed to both ends of the propeller shaft, including

End cap body

An end cap through hole extending through the center of the end cap body;

An end cap bayonet disposed at an edge of the end cap body for engaging the blade;

An end cap joint is disposed on a side of the end cap body away from the propeller shaft for connecting the propeller shaft.
A surface cleaning machine according to claim 16, wherein

The blade is curved;

When the hull travels forward, the blade bending direction coincides with the direction of rotation of the propeller shaft.
A surface cleaning machine according to claim 1, wherein

The steering device is disposed at a left front end and/or a right front end of the hull, and includes

a drive wheel set disposed at a corner of the front end and the left side edge and/or the right side edge of the hull;

An endless track surrounds the drive wheel set and is tensioned, a section of the endless track being positioned by the drive wheel set at a corner and protruding from the hull.
A surface cleaning machine according to claim 22, wherein

The steering device includes

a bevel gear mounting bracket disposed opposite to a portion of the endless track and fixedly coupled to the hull;

The bevel gear mounting bracket includes

a first bevel gear mounting hole rotatably mounted with a first bevel gear;

a second bevel gear mounting hole rotatably fitted with a second bevel gear.
A surface cleaning machine according to claim 22, wherein

The drive wheel set includes

a drive wheel coupled to the drive shaft by a second torque transmitting mechanism to obtain torque;

a front load wheel disposed at the foremost end of the hull;

a corner load wheel disposed at the leftmost or rightmost end of the front portion of the hull;

Wherein a portion of the drive wheel, the front load wheel and the wheel wall of the corner load wheel are tangential to the inner surface of the endless track.
A surface cleaning machine according to claim 24, wherein

The steering device includes

a wheel assembly plate disposed opposite to the endless track and fixedly coupled to the hull;

Wherein, the driving wheel, the front weight wheel, and the corner load wheel are rotatably assembled to the wheel set mounting plate.
A surface cleaning machine according to claim 25, wherein

The steering device includes

A load wheel is positioned rotatably assembled to the wheel set mounting plate; a portion of its outer surface is tangential to an outer surface of the endless track.
A surface cleaning machine according to claim 26, wherein

a central axis of the drive wheel, a central axis of the front load wheel, and a central axis of the corner load wheel are surrounded by a projection of the wheel set mounting plate into a triangular area;

A projection of the central axis of the positioning roller on the wheel set mounting plate is located within the triangular region.
A surface cleaning machine according to claim 26, wherein

The steering device includes

a driving wheel mounting shaft, vertically fixed to the wheel set mounting plate, the driving wheel is rotatably sleeved outside the driving wheel mounting shaft;

a front load wheel mounting shaft vertically fixed to the wheel set mounting plate, the front load wheel being rotatably sleeved outside the front load wheel mounting shaft;

Positioning the load wheel mounting shaft, vertically fixed to the wheel set mounting plate, the positioning load wheel is rotatably sleeved outside the positioning load wheel mounting shaft.
A surface cleaning machine according to claim 28, wherein

The steering device also includes

The corner load wheel mounting shaft is vertically fixed to the wheel set mounting plate, and the corner load wheel is rotatably sleeved outside the corner load wheel mounting shaft.
A surface cleaning machine according to claim 28, wherein

The steering device also includes

a first axle mounting plate disposed at an edge of the wheel set mounting plate and protruding from the corner portion;

a second axle mounting plate is disposed at an edge of the bevel gear mounting bracket, protrudes from the corner portion, and is disposed opposite to the first axle mounting plate;

Wherein the corner load wheel is rotatably assembled to the first axle mounting plate and the second axle mounting plate; a portion of the wheel wall of the corner roller is exposed to the first axle mounting plate and the The outside of the second axle mounting plate.
A surface cleaning machine according to claim 30, wherein

The steering device also includes

a first axle mounting hole extending through an edge of the first axle mounting plate;

a second axle mounting hole extending through the edge of the second axle mounting plate and disposed opposite to the first axle mounting hole;

The corner load wheel includes

a middle portion of a corner load wheel, which is a truncated cone body, one end of which is rotatably fitted to the first axle mounting hole, and the other end of which is rotatably assembled to the second axle mounting hole;

Two corner load wheel baffles are respectively disposed at two ends of the middle section of the corner load wheel, respectively disposed on the outer side of the first axle mounting plate and the second axle mounting plate;

Wherein a part of the wheel wall of the middle section of the corner load wheel is exposed to the outside of the hull and is covered by a section of the endless track.
A surface cleaning machine according to claim 31, wherein

The first axle mounting hole has an arcuate cross section, and a sidewall of the first axle mounting plate is provided on the sidewall;

The second axle mounting hole has an arcuate cross section, and a second axle mounting plate opening is disposed on the sidewall thereof;

Wherein a portion of the wheel wall of the corner load wheel passes through the first axle mounting plate opening, the second axle mounting plate opening, and is exposed to the exterior of the hull.
A surface cleaning machine according to claim 31, wherein

The corner load wheel is inclined after being subjected to the pressure of the endless track;

In the inclined state, the central axis of the corner load wheel forms an angle of 2 to 5 degrees with the vertical direction.
A surface cleaning machine according to claim 24, wherein

The front load wheel is disposed between an intermediate point of the front end of the hull and the corner load wheel;

The distance between the front weight wheel and the corner load wheel is greater than the distance between the front weight wheel and the intermediate point of the front end of the hull.
A surface cleaning machine according to claim 24, wherein

The inner surface of the endless track is provided with meshing teeth;

The drive wheel is a toothed pulley;

The endless track is in driving engagement with the toothed pulley by the meshing teeth.
A surface cleaning machine according to claim 1 further comprising

The anti-skid device is disposed at a corner portion of the rear end and the side edge of the hull and protrudes from the rear end and/or the side edge of the hull.
A surface cleaning machine according to claim 36, wherein

The anti-skid device is attached to the rear end of the hull and the left and/or right side walls; and/or,

The anti-skid device is made of an elastic material; and/or,

The outer surface of the anti-skid device is provided with a rough surface.