Cleaning device

Abstract

The present disclosure relates to the field of water body cleaning, and provides a cleaning device, comprising a body which is provided with: a locomotion mechanism, a filtering mechanism, a water spraying mechanism, and a cleaning mechanism. The cleaning mechanism at least comprises a first rolling brush and a second rolling brush; the first rolling brush and the second rolling brush are rotatably provided at the bottom of the body in parallel in the axial direction; at least a first water inlet is provided on the corresponding body bottom shell between first and second rolling brush rotating shafts; the first rolling brush and the second rolling brush are respectively driven by the locomotion mechanism to rotate towards each other; the water spraying mechanism at least comprises a water spraying opening, the water spraying direction of the at least one water spraying opening can be adjusted between a first direction and a second direction, the first direction is roughly perpendicular to a surface to be cleaned, and the second direction is roughly parallel to said surface; and the body is provided with a first water inlet and a second water inlet, and the first water inlet and the second water inlet are respectively in fluid communication with the filtering mechanism by means of flow channels to form a first water flow channel and a second water flow channel which can be alternatively opened. According to the present disclosure, the cleaning mechanism, the flow channels and the spraying mechanism are improved, so that the cleaning performance of the device is improved.

Description

A cleaning device

[0001] This application is based on the PCT international application with application number PCT / CN2024 / 070968 and application date January 5, 2024, and claims the priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0002] This application is based on PCT international application with application number PCT / CN2024 / 070979 and application date January 5, 2024, and claims priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0003] This application is based on the PCT international application with application number PCT / CN2024 / 070973 and application date January 5, 2024, and claims the priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0004] This application is based on the PCT international application with application number PCT / CN2024 / 070972 and application date January 5, 2024, and claims the priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0005] This application is based on PCT international application with application number PCT / CN2024 / 070969 and application date January 5, 2024, and claims priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0006] This application is based on the PCT international application with application number PCT / CN2024 / 070976 and application date January 5, 2024, and claims the priority of the PCT international application. The entire content of the PCT international application is hereby incorporated into this application by reference.

[0007] This application is based on and claims the priority of Chinese patent application with application number 2024200315636 and application date of January 5, 2024. The entire content of the Chinese patent application is hereby incorporated into this application by reference. Technical Field

[0008] The present invention relates to the field of water cleaning technology, in particular to a cleaning device. Background Art

[0009] A swimming pool cleaning machine is a professional equipment specially used to clean and maintain the water quality of swimming pools. It is generally designed to move on the bottom and walls of the pool, while using brushes or rollers to scrub the dirt on the bottom and walls of the pool, and using an adsorption and filtration system to suck the dust-laden water flow into the filtration system, filter and concentrate the dirt in the water flow, and the clean water obtained after filtration is discharged back into the swimming pool to clean the swimming pool and keep the water quality clear.

[0010] However, in actual use, existing pool cleaning machines have been found to be prone to incomplete or unclean cleaning when cleaning the pool bottom and walls. For example, when the machine moves over an uneven surface, the distance between some parts of the bottom of the device and the surface increases, reducing the contact friction between the brush or roller brush and the surface, resulting in incomplete or unclean cleaning. Furthermore, some machines lack adequate adsorption and filtration capabilities, preventing all dirt stirred up by the brush from being absorbed into the machine. This causes some dirt to spread into the surrounding water, resulting in poor cleaning results. Therefore, further improvements are needed to the cleaning, adsorption and filtration, and travel functions of existing pool cleaning equipment.

[0011] Summary of the Invention

[0012] The purpose of the present disclosure is to provide a cleaning device to solve the technical problem of poor cleaning ability of existing cleaning devices.

[0013] To achieve the above objectives, the technical solutions adopted in this disclosure are:

[0014] In a first aspect, the present disclosure provides a cleaning device, comprising: a body, wherein the body is provided with:

[0015] A walking mechanism, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation;

[0016] The filter mechanism is located on the machine body at a forward position along the direction of movement of the equipment;

[0017] A water spray mechanism is provided on the machine body at a rearward position along the movement direction of the device and is fluidically connected to the outlet of the filtering mechanism. The water spray mechanism includes at least a fluid pumping device for providing a suction force for water to flow from the water inlet to the water spray mechanism;

[0018] The body is also provided with:

[0019] The cleaning mechanism includes at least a first roller brush and a second roller brush, the first and second roller brushes being axially parallel and rotatably disposed at the bottom of the body, and at least a first water inlet being provided on the bottom shell of the body corresponding to the rotating shafts of the first and second roller brushes; the first and second roller brushes being driven by the traveling mechanism to rotate in opposite directions;

[0020] The water spraying mechanism includes at least one water spraying port, and the water spraying direction of at least one of the water spraying ports can be adjusted between a first direction and a second direction, wherein the first direction is substantially perpendicular to the surface to be cleaned, and the second direction is substantially parallel to the surface to be cleaned;

[0021] At least one second water inlet is provided on the other side of the body which is different from the side where the first water inlet is located. The first water inlet is connected to the fluid of the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is connected to the fluid of the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0022] In a second aspect, the present disclosure provides a cleaning device, comprising: a body, wherein the body is provided with:

[0023] A walking mechanism, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation, and includes a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, and a first crawler mounted on the first front wheel and the first rear wheel, and a second crawler mounted on the second front wheel and the second rear wheel;

[0024] The filter mechanism is located on the machine body at a forward position along the direction of movement of the equipment;

[0025] A water spray mechanism is provided on the machine body at a rear position along the direction of movement of the device and is fluidically connected to the filtering mechanism. The water spray mechanism includes at least a fluid pumping device for providing a suction force for water to flow from the water inlet to the water spray mechanism;

[0026] The body is also provided with:

[0027] The cleaning mechanism includes at least a first roller brush and a second roller brush, the first and second roller brushes being axially parallel and rotatably arranged at the bottom of the body, and at least a first water inlet being provided on the bottom shell of the body corresponding to the rotation axes of the first and second roller brushes; the first and second roller brushes being driven to rotate in opposite directions by the first front wheel, or the first roller brush being driven to rotate by the first front wheel and the second roller brush being driven to rotate by the second front wheel;

[0028] At least one second water inlet is provided on the other side of the body which is different from the side where the first water inlet is located. The first water inlet is connected to the fluid of the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is connected to the fluid of the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0029] In a third aspect, the present disclosure provides a cleaning device, comprising: a body, wherein the body is provided with:

[0030] A walking mechanism, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation;

[0031] The filter mechanism is located on the machine body at a forward position along the direction of movement of the equipment;

[0032] A water spray mechanism is provided on the machine body at a rearward position along the movement direction of the device and is fluidically connected to the outlet of the filtering mechanism. The water spray mechanism includes at least a fluid pumping device for providing a suction force for water to flow from the water inlet to the water spray mechanism;

[0033] The body is also provided with:

[0034] The body includes at least a first water inlet and a second water inlet, and the first water inlet and the second water inlet are arranged on different surfaces. The first water inlet is connected to the fluid of the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is connected to the fluid of the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0035] The cleaning device provided by the present disclosure has at least the following beneficial effects:

[0036] On the one hand, the walking mechanism of the cleaning equipment provided by the present invention is a crawler-type walking mechanism. Due to the large ground contact area of ​​the crawler, it can provide better stability for the equipment, and can more easily adapt to uneven and multi-obstacle terrain, and has a strong obstacle-crossing ability; in addition, in the process of the walking mechanism pushing the equipment to move, the roller brush in the cleaning mechanism can also be driven to rotate by the walking wheel to scrub the surface on the passed path, for example, to scrub the bottom or wall of the pool, and scrub away the dirt attached to the bottom and wall of the pool, thereby increasing the cleaning ability of the equipment in water. More importantly, through the two roller brushes and the position setting of the first water inlet located between the two roller brushes, the two roller brushes in front and behind the first water inlet in the width direction and the side walls of the bottom shell at both ends of the roller brushes will form a closed negative pressure space, so that the suction force of the fluid pumping device is higher in the negative pressure space, and thus the suction force is stronger. In this way, the dirt and other garbage stirred up by the roller brushes can be quickly and easily sucked into the first water inlet to prevent it from spreading out, thereby effectively improving the cleaning performance of the equipment; and in the case of stronger suction, the chassis height of the equipment can be designed to be relatively higher, that is, the distance between the bottom of the equipment and the surface to be cleaned is relatively longer, thereby further improving the obstacle crossing ability of the equipment.

[0037] On the other hand, the water spraying direction of the water spraying mechanism is adjustable. When the water spraying mechanism sprays water outward, the sprayed water flow will generate a reverse thrust. By adjusting the direction of the water spray outlet, the direction of the reverse thrust can be adjusted, so that the reverse thrust can provide auxiliary power for the cleaning equipment and improve the flexibility of the equipment in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] FIG1 is a structural schematic diagram of a cleaning device provided by an embodiment of the present disclosure;

[0040] FIG2 is a front view of a flow channel adjustment mechanism provided in an embodiment of the present disclosure;

[0041] FIG3 is a side view of a flow channel adjustment mechanism provided in an embodiment of the present disclosure;

[0042] FIG4 is a side cross-sectional view of a flow channel regulating mechanism provided in an embodiment of the present disclosure;

[0043] FIG5A is a schematic diagram of a flow channel regulating mechanism in an alternative open state according to an embodiment of the present disclosure;

[0044] FIG5B is a second schematic diagram of a flow channel regulating mechanism in an alternative open state according to an embodiment of the present disclosure;

[0045] FIG6 is a side view of another flow channel regulating mechanism provided by an embodiment of the present disclosure;

[0046] FIG7 is a schematic top view of another flow channel regulating mechanism provided in an embodiment of the present disclosure;

[0047] FIG8 is a side cross-sectional view of another flow channel adjustment mechanism provided by an embodiment of the present disclosure;

[0048] FIG9 is a structural diagram of a second transmission mechanism provided in an embodiment of the present disclosure;

[0049] FIG10 is a first structural diagram of another flow channel regulating mechanism provided by an embodiment of the present disclosure;

[0050] FIG11 is a second structural diagram of another flow channel regulating mechanism provided by an embodiment of the present disclosure;

[0051] FIG12 is a second structural diagram of a cleaning device provided by an embodiment of the present disclosure;

[0052] FIG13 is a third structural diagram of a cleaning device provided by an embodiment of the present disclosure;

[0053] FIG14 is a perspective view of the positional relationship between a walking mechanism and a cleaning mechanism provided in an embodiment of the present disclosure;

[0054] FIG15 is a schematic structural diagram of a traveling wheel provided in an embodiment of the present disclosure;

[0055] FIG16 is a schematic structural diagram of another traveling wheel provided in an embodiment of the present disclosure;

[0056] FIG17 is a side cross-sectional view of a walking mechanism and a cleaning mechanism provided in an embodiment of the present disclosure;

[0057] FIG18 is a side cross-sectional view of another walking mechanism and cleaning mechanism provided in an embodiment of the present disclosure;

[0058] FIG19 is a first schematic diagram of a transmission relationship between a traveling wheel and a roller brush provided in an embodiment of the present disclosure;

[0059] FIG20 is a second schematic diagram of the transmission relationship between a traveling wheel and a roller brush provided in an embodiment of the present disclosure;

[0060] FIG21A is a fourth structural diagram of a cleaning device provided by an embodiment of the present disclosure;

[0061] FIG21B is a schematic structural diagram of a bottom shell of a machine body provided by an embodiment of the present disclosure;

[0062] FIG22 is a schematic diagram illustrating the water flow direction in a water cleaning device according to an embodiment of the present disclosure;

[0063] FIG23 is a cross-sectional view of a fluid pumping device and a water spray port provided in an embodiment of the present disclosure;

[0064] FIG24 is a schematic structural diagram of a water spout driven by an adjusting mechanism according to an embodiment of the present disclosure;

[0065] FIG25 is a schematic structural diagram of another regulating mechanism driving a water spout according to an embodiment of the present disclosure;

[0066] FIG26 is a side cross-sectional view of another regulating mechanism driving a water spout according to an embodiment of the present disclosure;

[0067] FIG27 is a front structural diagram of another regulating mechanism driving a water spout according to an embodiment of the present disclosure;

[0068] FIG28 is a front structural diagram of a water spout driven by an adjustment mechanism provided in an embodiment of the present disclosure;

[0069] FIG29 is a partial front cross-sectional view of a water spout driven by an adjustment mechanism provided in an embodiment of the present disclosure;

[0070] FIG30 is an exploded view of a clutch assembly provided in an embodiment of the present disclosure;

[0071] FIG31 is a schematic diagram showing the principle of a water spout driven by an adjusting mechanism according to an embodiment of the present disclosure;

[0072] FIG32 is a schematic diagram showing the principle of a filtering mechanism provided by an embodiment of the present disclosure;

[0073] Figure 33 is a positional structural diagram of a filter cleaning device and a filter provided in an embodiment of the present disclosure.

[0074] The reference numerals in the figures are as follows: 1, body; 11, first water inlet; 12, second water inlet; 111, first flow channel; 121, second flow channel; 13, bottom shell; 131, First roller brush compartment; 132, second roller brush compartment; 2, walking mechanism; 21, walking wheel; 211, first front wheel; 212, second front wheel; 213, first rear wheel; 214, second rear wheel; 215, first outer tooth; 216, second outer tooth; 217, inner tooth; 218, center tooth; 22, crawler track; 221, tooth groove; 23, drive motor; 231, drive gear; 3, filter mechanism; 31, outer vortex space; 32, inner vortex space; 33, filter screen; 34, filter screen cleaning device; 341, impeller; 342, brush bar; 4, water spray mechanism; 41, fluid pumping device; 411, pump; 412, water wheel; 413, water outlet pipe; 414, sealing groove; 42, water spray port; 421 , first water spray outlet; 422, second water spray outlet; 423, flange; 424, valve; 51, door stop / baffle; 511, first door stop / baffle; 512, second door stop / baffle; 5111, first rack; 5121, second rack; 52, motor; 53, first transmission mechanism; 531, synchronous transmission assembly; 5311, synchronous pulley; 5312, synchronous belt; 532, first gear assembly; 5321, driving pulley; 5322, driven pulley; 533, linear transmission assembly; 54, second transmission mechanism; 541, second gear assembly; 5411, first gear; 5412, second gear; 5413, third gear; 5414, fourth gear; 5415, fifth gear; 5416, sixth gear; 542. Rotating shaft; 6. Buoyancy adjustment mechanism; 7. Cleaning mechanism; 71. First roller brush; 711. First roller brush gear; 72. Second roller brush; 721. Second roller brush gear; 8. Sealing chamber. DETAILED DESCRIPTION

[0075] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the present invention.

[0076] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0077] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0078] Please refer to Figure 1. The embodiment of the present disclosure provides a cleaning device, comprising: a body 1, on which are provided: a walking mechanism 2, a filtering mechanism 3, and a water spraying mechanism 4. The walking mechanism 2 is located at the bottom of the device and is connected to the body 1, and is used to drive the device to move at least on the surface to be cleaned during operation; the filtering mechanism 3 is located on the body 1 at a position forward along the direction of movement of the device; the water spraying mechanism 4 is located on the body 1 at a position backward along the direction of movement of the device and is connected to the outlet fluid of the filtering mechanism 3. The water spraying mechanism 4 includes at least a fluid pumping device 41 for providing water flow from the water inlet to the outlet fluid outlet of the filtering mechanism 3. The suction force of the water flowing out from the water inlet / suction port to the spray mechanism 4; the body 1 includes at least a first water inlet / suction port and a second water inlet / suction port, the first water inlet / suction port and the second water inlet / suction port are arranged on different surfaces, the first water inlet / suction port is connected to the fluid of the filtering mechanism 3 through the first flow channel 111 to form a first water flow channel; the second water inlet / suction port is connected to the fluid of the filtering mechanism 3 through the second flow channel 121 to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0079] The cleaning device can be used for water cleaning. For example, in some application scenarios, the cleaning device is used in a swimming pool to filter the pool water. The filter mechanism 3 uses the suction force generated by the fluid pumping device 41 to suck the pool water into the filter mechanism 3 at the water inlet, filter out the garbage in the water, and obtain clean water. The filtered water is then discharged from the device by the water spraying mechanism 4, thereby cleaning the pool water. During the cleaning process, the cleaning device can be moved in the swimming pool via the walking mechanism 2 to clean the pool water at different locations. For example, the cleaning device can move at the bottom of the pool, or it can also move on the pool wall. When the device moves on the pool wall, the first or second water inlet can be set at the bottom of the device. The suction force generated by the fluid pumping device 41 can also have the effect of adsorbing the device on the pool wall at the water inlet, so that it can move close to the pool wall. In addition, in conjunction with Figure 1, since the first water inlet 11 and the second water inlet 12 are provided on different surfaces of the body 1, the device can draw water from different water inlet positions of the body 1 for filtering treatment. For example, in one embodiment, the first water inlet 11 is provided at the bottom of the cleaning device. When the cleaning device is cleaning the bottom of the pool, the first water inlet 11 is opened to draw water, so that the garbage on the surface of the bottom of the pool is relatively easily sucked into the body 1 from the first water inlet 11 for filtering treatment; in another embodiment, the second water inlet 12 is provided on the side of the cleaning device. When the cleaning device is cleaning the water surface, the second water inlet 12 can also be opened to draw water, so that the garbage floating around the device is relatively easily sucked into the body 1 from the second water inlet 12 for filtering treatment. It can be seen that the cleaning device provided by the embodiment of the present disclosure increases the ability of the device to draw water from different positions for filtering treatment by arranging the first water inlet 11 and the second water inlet 12 at different positions of the body 1, thereby relatively easily sucking in garbage from different positions and improving the cleaning ability of the device in the water body.

[0080] In the cleaning device, the specific implementation of selectively opening the first water flow channel and the second water flow channel is not unique.

[0081] In some embodiments, a first door stop / baffle is provided at the first water inlet 11 or in the first flow channel 111, and the first door stop or baffle can be opened and closed passively or actively. A second door stop / baffle is provided at the second water inlet 12 or in the second flow channel 121, and the second door stop / baffle can be opened and closed passively or actively. The first water flow channel and the second water flow channel can be selectively opened or closed by selectively opening or closing the door stop / baffle 51.

[0082] Active opening and closing refers to the need for external energy input during the opening or closing process. In the embodiment of the present disclosure, the active opening and closing functions of the first and second door stops / baffles can be achieved by means of motor drive or other methods. Passive opening and closing refers to the need for external energy input during the opening or closing process, but relies on internal forces or other physical principles of the device to achieve the function. In the embodiment of the present disclosure, the passive opening and closing functions of the first and / or second door stops / baffles can be achieved by means of gravity, suction force, or springs.

[0083] In conjunction with Figures 2-4, in some embodiments, a first door stop 511 that can be passively opened and closed is provided at the first water inlet 11 or in the first flow channel 111. The first door stop 511 is in a normally closed state. A second door stop that can be driven is provided at the second water inlet 12 or in the second flow channel 121. The second door stop can be driven by a motor. For example, in Figure 2, a motor can be used to drive the second door stop to actively open and close in a gear transmission manner. The gear transmission can be two parallel-axis gears, one of which is connected to the output shaft of the motor and the other is connected to the rotating shaft of the second door stop. The two parallel-axis gears are meshed with each other for transmission. Optionally, the parallel-axis gears include but are not limited to cylindrical gears. When the cleaning device is cleaning the bottom or wall of the pool, the second gate stops closing the second water inlet 12 or closing the second flow channel 121, and the first gate stop 511 can be opened under the action of the fluid pumping device 41. The dust-laden water flow near the first water inlet 11 passes through the first water inlet 11 and the first flow channel 111, thereby entering the filter mechanism 3 for filtration and then being discharged out of the body 1; when the cleaning device is cleaning on the water surface, part of the second water inlet 12 is below the water surface and part is above the water surface. The motor drives the second gate stop to open, so that the garbage and water flow near the second water inlet 12 enter the filter mechanism 3 from the second water inlet 12 and the second flow channel 121. At this time, since the fluid pumping device 41 will preferentially act on the second flow channel 121 with smaller resistance, the first gate stop 511 in the first flow channel 111 with larger resistance or at the first water inlet 11 will be in a closed state. That is to say, due to the opening of the second flow channel 121, the first gate stop 511 will be in a closed state, even if the fluid suction device is turned on. Through the above arrangement, the structure of the whole machine can be simplified, while at the same time achieving the effect of selectively opening the first water flow channel and the second water flow channel.

[0084] In addition, the opening and closing of the flow channel can also be controlled by a baffle. For example, there are two baffles, and the driving device drives the two baffles to move between a first state of cutting off the first flow channel 111 and a second state of cutting off the second flow channel 121, so that the two baffles are always in a state of cutting off one flow channel and the other flow channel is in a state of being unobstructed, thereby realizing the selective opening of the two flow channels.

[0085] For example, in one embodiment, in conjunction with Figures 5A and 5B, the number of baffles is two, including a first baffle 511 and a second baffle 512. The first baffle 511 and the second baffle 512 are driven by at least one motor 52. The first baffle 511 is connected to the output shaft of one motor 52 and can rotate around the output shaft. The second baffle 512 is connected to the output shaft of one motor 52 through a first transmission mechanism 53 to reciprocate. Optionally, the motor 52 that drives the first baffle 511 and the motor 52 that drives the second baffle 512 are the same motor 52. Of course, In practice, the first baffle 511 and the second baffle 512 can also be driven by two motors 52 respectively; when the first baffle 511 rotates to the first position, the first baffle 511 cuts off the first flow channel 111, and the second baffle 512 is in a position to open the second water inlet 12 corresponding to the second flow channel 121, so as to open the second flow channel 121; when the first baffle 511 rotates to the second position, the first baffle 511 cuts off the second flow channel 121, and the second baffle 512 is in a position to close the second water inlet 12 corresponding to the second flow channel 121, and the first flow channel 111 is opened. In the embodiment of the present disclosure, the first position includes the position where the first baffle 511 cuts off the first flow channel 111 (such as position A in Figure 5A), and the position where the second baffle 512 opens the second water inlet 12 (such as position C in Figure 5A); and the second position includes the position where the first baffle 511 cuts off the second flow channel 121 (such as position B in Figure 5B), and the position where the second baffle 512 covers the second water inlet 12 (such as position D in Figure 5B).

[0086] In combination with the usage scenario, referring to Figure 5A, when the cleaning device is cleaning on the water surface, the device controls the motor 52 to drive the first baffle 511 to rotate to position A in Figure 5A, and at the same time, the second baffle 512 moves to position C in Figure 5A. At this time, the first flow channel 111 is cut off, the second water inlet 12 is open, and the second flow channel 121 is in a smooth state, that is, the second water flow channel is opened, so that the water flow near the second water inlet 12 is sucked into the second flow channel 121 and enters the filter mechanism 3 under the action of the suction force, and the dirt in the water flow is filtered by the filter mechanism 3 and then discharged back into the pool water; referring to Figure 5B, when the cleaning device is cleaning the pool bottom or wall, the device controls the motor 52 to drive the first baffle 511 to rotate to position B in FIG. 5B, while the second baffle 512 moves to position D in FIG. 5B. At this point, the second water inlet 12 is blocked, the second flow channel 121 is blocked, and the first flow channel 111 is unobstructed, i.e., the first water flow channel is opened. As a result, the water near the first water inlet 11 is sucked into the first flow channel 111 and enters the filter mechanism 3 under the action of suction. The filter mechanism 3 filters the dirt in the water and then discharges it back into the pool water, thereby achieving the effect of cleaning the swimming pool. The suction force is generated by the fluid pumping device 41 in the filter mechanism 3, which is used to pump the water from the water inlet to the outlet of the filter mechanism 3. The fluid pumping device 41 can optionally be a water pump.

[0087] The embodiment of the present disclosure not only utilizes the motor 52 to drive the first baffle 511 to rotate to selectively open a flow channel, but also synchronously drives the second baffle 512 to move back and forth in a straight line to cover or open the second water inlet 12, so that the second flow channel 121 is cut off and the second water inlet 12 is also covered, thereby preventing foreign matter from entering the flow channel space from the second water inlet 12 to the cut-off position of the second flow channel 121, thereby reducing the risk of the flow channel being blocked.

[0088] 5A , in the above embodiment, the first transmission mechanism 53 includes: a synchronous transmission component 531, a first gear component 532 and a linear transmission component 533. One end of the synchronous transmission component 531 is connected to the motor 52, and the other end is connected to the first gear component 532, so as to synchronously transmit the rotation of the motor 52 to the first gear component 532. The linear transmission component 533 is engaged with the first gear component 532 and is used to convert the rotational motion of the first gear component 532 into linear motion. The second baffle 512 is fixedly connected to the linear transmission component 533. When the motor 52 rotates, the second baffle 512 moves back and forth in the direction of the linear motion.

[0089] In one embodiment, with reference to FIG5A , the synchronous transmission assembly 531 includes two synchronous pulleys 5311 and a synchronous belt 5312. The synchronous belt 5312 is sleeved on the two synchronous pulleys 5311 to achieve an adaptive connection. One of the synchronous pulleys 5311 is connected to the output shaft of the motor 52 to rotate synchronously with the motor 52. Specifically, the synchronous pulley 5311 is a transmission member that is typically used in conjunction with the synchronous belt 5312. The synchronous pulley 5311 is generally provided with special teeth and grooves that match the teeth and grooves on the synchronous belt 5312 to ensure that the two operate synchronously. In this embodiment, since the length of the synchronous belt 5312 is adjustable and can synchronously transmit the rotation of the motor 52, the appropriate length of the synchronous belt 5312 can be selected based on the spatial characteristics between the motor 52 and the baffle, thereby improving the flexibility of installing the first transmission mechanism 53 between the motor 52 and the baffle.

[0090] Among them, the first gear assembly 532 is a transmission combination of at least one gear. For example, in conjunction with Figure 5A, the first gear assembly 532 includes a driving wheel 5321 and at least one driven wheel 5322, the driving wheel 5321 and the at least one driven wheel 5322 are meshed and connected in sequence, the driving wheel 5321 is connected to the shaft of a synchronous pulley 5311 away from the motor 52 to rotate with the synchronous pulley 5311, and one of the driven wheels 5322 is meshed with the linear transmission assembly 533 to convert the rotational motion of the gear into linear motion. Specifically, the number of driven wheels 5322 in Figure 5A is one. Of course, in practice, two or more driven wheels 5322 can also be used to mesh and transmit with the driving wheel 5321, or only one driving wheel 5321 can be used to respectively transmit to the synchronous transmission assembly 531 and the linear transmission assembly 533, and is not limited to the embodiment shown in Figure 5A. In addition, the driving wheel 5321 and the driven wheel 5322 in Figure 5A are two gears of different sizes and gear ratios. It can be understood that the number and size of the gears can be adaptively selected according to the transmission speed ratio requirements of the actual application scenario and the size of the installation space, and the embodiments of the present disclosure do not limit this.

[0091] In one embodiment, referring to FIG5A , the linear transmission assembly 533 may be a rack fixedly connected to the second baffle 512. In practice, the rack and the second baffle 512 may be fixedly connected or integrally formed, which is equivalent to providing a rack structure on the second baffle 512, but this is not limited in the present embodiment. The rack meshes with a gear in the first gear assembly 532 to convert the gear's rotational motion into linear motion, enabling the second baffle 512 to reciprocate along a straight line to cover or open the second water inlet 12.

[0092] It can be understood that the function of the first transmission mechanism 53 is to convert the rotational motion of the motor 52 into linear motion, so that the rotational power output by the motor 52 can drive the first baffle 511 to rotate between the first position and the second position to cut off the first flow channel 111 or the second flow channel 121, while also driving the second baffle 512 to move back and forth in a straight line to cover or open the second water inlet 12, so as to achieve the effect of selectively opening one of the two flow channels and synchronously covering or opening the second water inlet 12.

[0093] In some embodiments, in conjunction with FIG6 , the opening and closing of the flow channel are also controlled by a baffle, and the number of the baffles is two, including a first baffle and a second baffle, and driven by at least one motor 52. The number of motors 52 can be one or two, which will not be described in detail here. A second transmission mechanism 54 is provided between the motor 52 and the two baffles. The second transmission mechanism 54 is respectively connected to the output shaft of the motor 52 and the two baffles. The motor 52 drives the first baffle 511 and the second baffle 512 to reciprocate between the first state and the second state, that is, the first baffle 511 and the second baffle 512 are respectively driven by the second transmission mechanism 54. The driving mechanism 54 is connected to the output shaft of the motor 52 for synchronous movement, wherein the movement directions of the first baffle 511 and the second baffle 512 are approximately perpendicular to each other. When the first baffle 511 and the second baffle 512 move synchronously to the first state, the first baffle 511 opens the first flow channel 111 and the second baffle 512 blocks the second flow channel 121, thereby opening the first flow channel 111 (as shown in FIG6 ); when the first baffle 511 and the second baffle 512 move synchronously to the second state, the first baffle 511 blocks the first flow channel 111 and the second baffle 512 opens the second flow channel 121, thereby opening the second flow channel 121. Depending on the configuration of the two flow channels, the movement directions of the first baffle 511 and the second baffle 512 can be any non-perpendicular angle.

[0094] Here, the first state is where the first baffle 511 opens the first flow channel 111 and the second baffle 512 blocks the second flow channel 121; the second state is where the first baffle 511 blocks the first flow channel 111 and the second baffle 512 opens the second flow channel 121. In other words, in the first state, the two baffles only open the first flow channel 111, and in the second state, the two baffles only open the second flow channel 121, thereby achieving selective opening of the two flow channels.

[0095] Compared with the above-mentioned method of driving the baffle to rotate to cut off the flow channel and realize selective opening of one of the flow channels, since only one end of the baffle has a supporting force when it rotates, when the baffle is in the position of cutting off the flow channel, the water flow continuously impacts the baffle surface, which may generate a rotational torque, causing the baffle to deviate from the first or second position, thereby affecting the flow channel cutting-off effect. Therefore, the embodiment of the present disclosure drives the two baffles to move in a straight line synchronously. When the baffle cuts off the flow channel, if there is fluid impacting the baffle surface, an impact force in the straight direction is generated, but no rotational torque is generated, so that the baffle is more evenly stressed, so that the baffle is not prone to position changes, thereby improving the reliability of the first flow channel 111 and the second flow channel 121 when they are cut off.

[0096] The second transmission mechanism 54 is used to convert the rotational motion of the motor 52 into linear motion in two directions at an angle to each other, which are shown in two approximately perpendicular directions in Figure 6, so as to drive the first baffle 511 and the second baffle 512 to move back and forth to selectively cut off the two flow channels and realize the selective opening of one of the two flow channels.

[0097] In practice, the specific implementation of the second transmission mechanism 54 is not unique, including but not limited to a gear transmission structure.

[0098] 6 and 7 , in a second transmission mechanism 54 , the motor 52 has two output shafts, the first baffle 511 is provided with a first rack, and the second baffle 512 is provided with a second rack. The second transmission mechanism 54 includes a second gear assembly 541 , which includes a first gear 5411 and a second gear 5412 . The first gear 5411 and the second gear 5412 are respectively axially connected to the two output shafts at both ends of the motor 52 . The first gear 5411 meshes with the first rack on the first baffle 511 , and the second gear 5412 meshes with the second rack on the second baffle 512 . When the motor 52 rotates, the first baffle 511 and the second baffle 512 perform synchronous linear motion, and the directions of the linear motion of the first baffle 511 and the second baffle 512 are substantially perpendicular to each other. The second gear assembly 541 is a transmission assembly comprising at least one gear.

[0099] For example, when the cleaning device is in use, in conjunction with Figure 6, when it is necessary to selectively open the first flow channel 111, the motor 52 is controlled to rotate clockwise, and the first gear 5411 and the second gear 5412 at both ends of the motor 52 rotate synchronously, wherein the first gear 5411 is engaged with the first rack to drive the first baffle 511 to move right, and the second gear 5412 is engaged with the second rack to drive the second baffle 512 to move upward, until the first state, the first baffle 511 opens the first flow channel 111, and the second baffle 512 cuts off the second flow channel 121, so as to complete the first flow. When it is necessary to selectively open the second flow channel 121, the motor 52 is controlled to rotate counterclockwise, and the first gear 5411 and the second gear 5412 at both ends of the motor 52 rotate synchronously, wherein the first gear 5411 is engaged with the first rack to drive the first baffle 511 to move to the left, and the second gear 5412 is engaged with the second rack to drive the second baffle 512 to move downward, until the second state, the first baffle 511 cuts off the first flow channel 111, and the second baffle 512 opens the second flow channel 121 to complete the opening of the second flow channel 121.

[0100] In some application scenarios of cleaning equipment, the first water inlet 11 is set at the bottom of the equipment and is connected to the first flow channel 111 downstream. The second water inlet 12 is set on the side of the body 1 of the equipment and is connected to the second flow channel 121 downstream. When the equipment is cleaning the surface to be cleaned (including the bottom and wall of the pool), the control motor 52 is rotated in a first direction, for example, clockwise, to drive the first baffle 511 and the second baffle 512 to move to the first state, so as to selectively open the first flow channel 111, allowing water to flow from the first water inlet 11 and the first flow channel 111 into the filter mechanism 3 for filtration and then discharge; when the equipment is cleaning on the water surface, the control motor 52 is rotated in a second direction, for example, counterclockwise, to drive the first baffle 511 and the second baffle 512 to move to the second state, so as to selectively open the second flow channel 121, allowing water to flow from the second water inlet 12 and the second flow channel 121 into the filter mechanism 3 for filtration and then discharge, so as to achieve the effect of swimming pool cleaning.

[0101] This embodiment uses two gears as the second transmission mechanism 54 to convert the rotational motion of the motor 52 into linear motion in two directions, so as to drive the two baffles to reciprocate between the first position / state and the second position / state, which not only achieves the effect of selectively opening the two flow channels, but also has a simple structure of this selective opening scheme.

[0102] 8 and 9 , in another second transmission mechanism 54, the motor 52 has two output shafts, two rows of first racks are provided on the first baffle 511, the two rows of first racks are arranged in parallel and spaced apart on one side of the first baffle 511, and a row of second racks is provided in the middle position of one side of the second baffle 512; the second transmission mechanism 54 includes: a second gear assembly 541 and a rotating shaft 542, the second gear assembly 541 includes a third gear 5413, a fourth gear 5414, a fifth gear 5415 and a sixth gear 5416, the third gear 5413, the fourth gear 5414 and the fifth gear 5415. The third gear 5413 and the fourth gear 5414 are respectively connected to the ends and the middle of the rotating shaft 542. The sixth gear 5416 is connected to the output shaft of the motor 52. The third gear 5413 and the fourth gear 5414 are respectively meshed with the first racks on both sides of the first baffle 511. The fifth gear 5415 is respectively meshed with the second rack and the sixth gear 5416 on the second baffle 512. When the motor 52 rotates, the first baffle 511 and the second baffle 512 move linearly synchronously, and the directions of the linear motion of the first baffle 511 and the second baffle 512 are perpendicular to each other. The second gear assembly 541 is a transmission assembly of at least one gear. Preferably, in this embodiment, the second gear assembly 541 includes the third gear 5413, the fourth gear 5414, the fifth gear 5415, and the sixth gear 5416, for a total of four gears.

[0103] 8 , when it is necessary to selectively open the first flow channel 111, the control motor 52 is rotated counterclockwise, and the sixth gear 5416 rotates in the same direction as the motor 52, thereby driving the third gear 5413, the fourth gear 5414 and the fifth gear 5415 on the rotating shaft 542 to rotate in opposite directions, wherein the third gear 5413 and the fourth gear 5414 drive the first baffle 511 to translate to the right by meshing with the first racks on both sides of the first baffle 511, and the fifth gear 5415 meshes with the second rack on the second baffle 512 to drive the second baffle 512 to move upward until the first state is reached, the first baffle 511 opens the first flow channel 111, and the second baffle 512 cuts off the second flow channel 121, thereby completing the first flow channel 1 11 is opened; when it is necessary to select one of the second flow channel 121 to be opened, the control motor 52 is rotated in the clockwise direction, and the sixth gear 5416 rotates in the same direction as the motor 52, thereby driving the third gear 5413, the fourth gear 5414 and the fifth gear 5415 on the rotating shaft 542 to rotate in the opposite direction, wherein the third gear 5413 and the fourth gear 5414 drive the first baffle 511 to move horizontally to the left by meshing with the first racks on both sides of the first baffle 511, and the fifth gear 5415 meshes with the second rack on the second baffle 512 to drive the second baffle 512 to move downward until the second state, the first baffle 511 cuts off the first flow channel 111, and the second baffle 512 opens the second flow channel 121 to complete the opening of the second flow channel 121.

[0104] Compared with the second transmission mechanism 54 in the previous embodiment, the structure of the second transmission mechanism 54 in the embodiment of the present disclosure is relatively more complicated, especially the two rows of first racks on both sides of the first baffle 511. When the motor 52 drives the first baffle 511 to move, the first baffle 511 is subjected to balanced force on both sides, so that the first baffle 511 can move back and forth more smoothly and reliably; and the part of the first baffle 511 between the two rows of first racks is a hollow structure, which makes the structure of the baffle lighter.

[0105] In the above embodiments, two door stops or baffles are used to achieve selective opening of one of the flow channels. In practice, a single baffle can also be used to achieve selective opening of one of the flow channels. In one embodiment, the baffle can be a first baffle, which is driven by a motor 52. The motor 52 drives a first baffle 511 to rotate, causing the first baffle 511 to move between a first position blocking the first flow channel 111 and a second position blocking the second flow channel 121. The first baffle 511 is always in a position that blocks one flow channel while leaving the other flow channel unobstructed, thereby achieving the effect of selectively opening the two flow channels.

[0106] For example, in some embodiments, in conjunction with Figures 10-11, there is one baffle, which is driven by a motor and connected to the output shaft of the motor and rotates about the output shaft. When the baffle rotates to a first position, the baffle blocks the first flow channel 111, leaving the second flow channel 121 unobstructed. When the baffle rotates to a second position, the baffle blocks the second flow channel 121, leaving the first flow channel 111 unobstructed. In the disclosed embodiments, the first position includes the position where the baffle blocks the first flow channel 111, and the second position includes the position where the baffle blocks the second flow channel 121. The motor drives the baffle to rotate between the first position and the second position, so that one of the flow channels is always in a blocked state, thereby achieving the effect of selectively opening the first and second flow channels.

[0107] Compared with the method of using two door stops or baffles to control the selective opening of one of the flow channels, the embodiment of the present disclosure drives a baffle to rotate to selectively cut off one of the two flow channels, so that one of the flow channels remains unobstructed, allowing the equipment to open the corresponding flow channel to inhale water near the corresponding water inlet for cleaning when cleaning at different positions. This method of selectively opening the flow channel has a simple structure and low cost.

[0108] In order to increase the range of movement of the cleaning device in the water, in some embodiments, in conjunction with Figure 12, the cleaning device further includes a buoyancy adjustment mechanism 6, which can adjust the depth position of the cleaning device in the swimming pool. Under the action of the buoyancy adjustment mechanism 6, the cleaning device can float to the water surface for cleaning, or it can dive to the bottom of the pool for cleaning. Compared to the cleaning device shown in Figure 1, in addition to being able to move on the bottom or wall of the pool through the walking mechanism 2, the embodiment of the present disclosure can also achieve floating or diving movement through the buoyancy adjustment mechanism 6. For example, under the action of the buoyancy adjustment mechanism 6, the cleaning device floats from the bottom of the pool to the water surface, or the cleaning device dives from the water surface to the bottom of the pool, or moves from the bottom of the pool or the water surface to any depth position between the bottom of the pool and the water surface. This not only expands the range of movement of the cleaning device in the water, but also allows the device to move directly from the bottom of the pool to the water surface, or from the water surface directly to the bottom of the pool without having to pass through the pool wall, thereby improving the flexibility of the device moving in the water.

[0109] The specific implementation of the buoyancy adjustment mechanism 6 is not unique.

[0110] In one embodiment, as shown in FIG12 , the buoyancy adjustment mechanism 6 includes an airbag. The airbag's inflation volume is varied by inflating or releasing air to adjust the device's buoyancy. For example, when the device is floating, the airbag is inflated to increase the device's buoyancy, allowing it to reach the desired depth. When the device is submerged, the airbag is deflated to reduce the device's buoyancy, allowing it to reach the desired depth, thereby adjusting the cleaning device's depth within the pool.

[0111] It is understandable that in order to ensure the balance of the equipment in water, the airbags are symmetrically arranged on the cleaning equipment. For example, the airbags are symmetrically arranged along the center line of the travel direction of the equipment's walking mechanism 2, or symmetrically arranged in the equipment along the geometric center of the equipment, including but not limited to positions on both sides, in the middle or around the equipment.

[0112] In another embodiment, the buoyancy adjustment mechanism 6 comprises an adjustable liquid device that changes the buoyancy of the device by injecting or draining liquid into or out of an adjustable space within the device. Specifically, this space allows liquid to enter or exit. By varying the volume of liquid within this space, the buoyancy of the device can be adjusted. For example, when the volume of liquid increases, the buoyancy of the device increases, causing it to float; when the volume of liquid decreases, the buoyancy decreases, causing the device to dive, thereby adjusting the depth of the cleaning device in the pool.

[0113] In conjunction with the above-mentioned embodiment of selectively opening one of the flow channels, when the cleaning device is moved to the first depth position via the buoyancy adjustment mechanism 6, the first flow channel 111 is opened and the second flow channel 121 is closed; when the cleaning device is moved to the second depth position via the buoyancy adjustment mechanism 6, the second flow channel 121 is opened and the first flow channel 111 is closed. Here, the first depth position can be selected as the position of the device at the bottom or wall of the pool, and the second depth position can be selected as the position of the device at the water surface.

[0114] It is understandable that in order to accurately obtain the depth position of the device in the water, water level sensors, attitude sensors and other sensor elements can be set on the body 1. These sensor elements collect signals and send them to the device processor. The processor analyzes the collected signals to accurately identify the depth position of the device in the water, and then controls the opening and closing of the corresponding flow channel.

[0115] 13 and 14 , the embodiment of the present disclosure further provides another cleaning device, which includes: a body 1, on which are provided: a walking mechanism 2, a filtering mechanism 3, a water spraying mechanism 4 and a cleaning mechanism 7; the walking mechanism 2 is located at the bottom of the device and is connected to the body 1, and is used to drive the device to move at least on the surface to be cleaned during operation, and includes at least four walking wheels 21, namely: a first front wheel 211, a second front wheel 212, a first rear wheel 213, a second rear wheel 214, and a first crawler 22A mounted on the first front wheel 211 and the first rear wheel 213, and a second crawler 22B mounted on the second front wheel 212 and the second rear wheel 214; the filtering mechanism 3 is located on the body 1 at a position forward along the direction of movement of the device; the water spraying mechanism 4 is located on the body 1 at a position backward along the direction of movement of the device, and is fluidically connected to the filtering mechanism 3, and the water spraying mechanism 4 includes at least a fluid pumping device 41 for providing water flow from the water inlet to the water spraying mechanism. The suction force flowing out of the mechanism 4; the cleaning mechanism 7 includes at least a first roller brush 71 and a second roller brush 72, and the first and second roller brushes 72 are axially parallel and rotatably arranged at the bottom of the body 1, and at least a first water inlet 11 is opened on the bottom shell of the body 1 corresponding to the rotating shafts of the first and second roller brushes 72; the first and second roller brushes 72 are driven by the first front wheel 211 to rotate toward each other, or the first roller brush 71 is driven to rotate by the first front wheel 211, and the second roller brush 72 is driven to rotate by the second front wheel 212; at least one second water inlet 12 is provided on the other side of the body 1 different from the side where the first water inlet 11 is located, the first water inlet 11 is connected to the fluid of the filtering mechanism 3 through the first flow channel 111 to form a first water flow channel; the second water inlet 12 is connected to the fluid of the filtering mechanism 3 through the second flow channel 121 to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0116] The difference compared to the cleaning equipment shown in Figure 1 is that the walking mechanism 2 of the cleaning equipment in the embodiment of the present invention is a crawler walking mechanism. Due to the large ground contact area of ​​the crawler, it can provide better stability for the equipment, and is easier to adapt to uneven and multi-obstacle terrain, and has strong obstacle-crossing ability; in addition, in the process of the walking mechanism 2 pushing the equipment to move, the roller brush in the cleaning mechanism 7 can also be driven to rotate by the walking wheel 21 to scrub dirt and other garbage on the surface of the path passed by, for example, scrubbing the bottom or wall of the pool, and scrubbing the dirt attached to the bottom and wall of the pool, thereby increasing the cleaning ability of the equipment in water. More importantly, by arranging the first water inlet 11 between two parallel roller brushes, it is equivalent to forming a closed negative pressure space with the two roller brushes in front and behind the first water inlet 11 in the width direction and the side walls of the bottom shell at both ends of the roller brush in the axial direction, so that the suction force of the fluid pumping device 41 is higher in the negative pressure space, and thus the suction force is stronger, so that the dirt and other garbage stirred up by the roller brush can be quickly and easily sucked into the first water inlet 11 to prevent it from spreading out, thereby effectively improving the cleaning performance of the equipment; and in the case of stronger suction, the chassis height of the equipment can be designed to be relatively high, that is, the distance between the bottom of the equipment and the surface to be cleaned is relatively longer, thereby further improving the obstacle crossing ability of the equipment.

[0117] In some embodiments, a first and second roller brush compartments are disposed at the bottom of the housing 1, corresponding to the first and second roller brushes 71 and 72. The first and second roller brushes 71 and 72 are at least partially disposed within the space within the roller brush compartments. A first water inlet 11 is disposed at the junction of the first and second roller brush compartments or on the first or second roller brush compartments. Water and debris swept up by the two roller brushes as they move toward each other enter the filter mechanism 3 through the first water inlet 11 under the action of the fluid pumping device. During operation, the first and second roller brushes 71 and 72 contact the surface to be cleaned. Flexible brush strips or rubber are disposed on the sidewalls of the first and second roller brush compartments or the sidewalls of the housing, either in close proximity to the surface to be cleaned, or at the bottom of the sidewalls of the first and second roller brush compartments, corresponding to the ends of the first and second roller brushes, to interfere with the surface to be cleaned. This creates a relatively enclosed negative pressure space between the sidewalls and the contact space between the first and second roller brushes and the surface to be cleaned, providing a better suction effect when the fluid pumping device is in operation.

[0118] With reference to FIG14 , in some embodiments, the running wheels 21 of the walking mechanism 2 include at least a first front wheel 211, a second front wheel 212, a first rear wheel 213, and a second rear wheel 214. The first front wheel 211 and the first rear wheel 213 are sheathed with a first crawler 22A, and the second front wheel 212 and the second rear wheel 214 are sheathed with a second crawler 22B. The first crawler 22A and the second crawler 22B are arranged on both sides of the traveling direction of the cleaning device. At least one of the drive motors 23 is connected to at least one running wheel 21 to drive the first crawler 22A and the second crawler 22B on both sides to roll, thereby realizing the traveling function of the cleaning device. The rolling speeds of the first crawler 22A and the second crawler 22B on both sides of the walking mechanism 2 can be the same or different. When the first crawler 22A and the second crawler 22B roll at the same speed, the cleaning device moves in a straight line; when only the first crawler 22A or the second crawler 22B rolls, or the first crawler 22A and the second crawler 22B roll at a differential speed, the cleaning device moves in a curve.

[0119] In practice, the structure of the traveling wheels 21 in the traveling mechanism 2 is not unique.

[0120] 15 , in some embodiments, at least one circle of external teeth is provided on the outer periphery of the traveling wheel 21, including first external teeth 215 and second external teeth 216. The first external teeth 215 and the second external teeth 216 are arranged side by side along the axial direction of the traveling wheel 21, and internal teeth 217 are provided on the inner side of the traveling wheel 21.

[0121] 16 , in some embodiments, the travel wheel 21 is provided with external teeth and central teeth 218 . The axes of the external teeth and central teeth 218 coincide with the axis of the travel wheel 21 . The external teeth are provided on the outer circumference of the travel wheel 21 , and the central teeth 218 are provided on a rotating shaft portion on one side of the travel wheel 21 . The external teeth include first external teeth 215 , which are similar to the first external teeth 215 of the travel wheel 21 shown in FIG. 15 , and are used for meshing with the track 22 for transmission.

[0122] Of course, the travel wheel 21 is not limited to the two aforementioned configurations and may also be implemented as a combination of at least one of the first outer teeth 215, the second outer teeth 216, the inner teeth 217, and the center teeth 218. For example, in one embodiment, the travel wheel 21 is provided with only the first outer teeth 215 for transmission connection with the crawler track 22; or the travel wheel 21 is provided with outer teeth including the first outer teeth 215, the second outer teeth 216, the inner teeth 217, and the center teeth 218.

[0123] In some cleaning equipment, at least one of the first front wheel 211, the second front wheel 212, the first rear wheel 213 and the second rear wheel 214 in the walking mechanism 2 can be optionally the walking wheel 21 of the structure shown in Figure 15, or the walking wheel 21 of the structure shown in Figure 16.

[0124] 15-17 , in some embodiments, a tooth groove 221 is provided on the track 22 in the walking mechanism 2. When the track 22 is mounted on the outer periphery of the walking wheel 21, the tooth groove 221 matches the external teeth. For example, the tooth groove 221 matches the first external teeth 215. The first external teeth 215 are embedded in the tooth groove 221, so that the track 22 and the walking wheel 21 form a tight connection in the circumferential direction. When the walking wheel 21 rotates, the first external teeth 215 and the tooth groove 221 are mutually limited and locked, so that the track 22 is pulled or pushed to roll; when the track 22 rolls, the tooth groove 221 on the track 22 and the external teeth (such as the first external teeth 215) on the walking wheel 21 are mutually limited and locked, so that the walking wheel 21 is pulled or pushed to rotate.

[0125] In practice, the first front wheel 211, the second front wheel 212, the first rear wheel 213, the second rear wheel 214, the first track 22A mounted on the first front wheel 211 and the first rear wheel 213, and the second track 22B mounted on the second front wheel 212 and the second rear wheel 214 can be driven directly or indirectly by a drive motor 23.

[0126] In some embodiments, the cleaning mechanism 7 can be driven by a walking wheel 21. Combined with Figure 14, the number of drive motors 23 can be one, and one drive motor 23 is connected to the first or second rear wheel. The first roller brush 71 and the second roller brush 72 are respectively connected to the first or second front wheel in the same direction and reverse direction. When the drive motor 23 drives the first or second rear wheel to rotate, the rotation of the first or second rear wheel is transmitted to the first or second front wheel on the same side through the track 22, causing the first or second front wheel 212 to rotate, and the first or second front wheel 212 drives the first and second roller brushes 71 and 72 to rotate toward each other, and the rotation of the first or second roller brush 71 and 72 drives the first or second front wheel 212 on the opposite side to rotate.

[0127] 14, 15, 16 and 18, the first and second rear wheels 214 are provided with at least a first outer tooth 215, and at least one of a second outer tooth 216, an inner tooth 217 and a center tooth 218, and the first and second front wheels 212 are provided with at least a first outer tooth 215, a second outer tooth 216 and an inner tooth 217; the first outer teeth 215 on the first front wheel 211 and the first rear wheel 213 are meshed and connected with the tooth grooves 221 on the first crawler 22A, and the first outer teeth 215 on the second front wheel 212 and the second rear wheel 214 are meshed and connected with the tooth grooves 221 on the second crawler 22B; a driving gear 231 is provided on the output shaft of a driving motor 23, and the driving gear 231 is meshed and connected with the center tooth 218 or the inner tooth 217 or the outer tooth of the first rear wheel 213. When the driving motor 23 rotates, the first rear wheel 213 is driven to rotate, and the rotation of the first rear wheel 213 drives the second rear wheel 213 to rotate. A track 22A rolls, thereby driving the first front wheel 211 to rotate; a first roller brush gear 711 is provided at one end of the rotating shaft of the first roller brush 71, and a second roller brush gear 721 is provided at one end of the rotating shaft of the second roller brush 72; the first roller brush gear 711 and the second roller brush gear 721 are respectively connected to the outer teeth and inner teeth 217 of the first front wheel 211, so that the first roller brush 71 and the second roller brush 72 can rotate towards each other; in addition, a third roller brush gear is provided at the other end of the rotating shaft of the first roller brush 71, and the third roller brush gear is meshed and connected to the outer teeth of the second front wheel 212, or a third roller brush gear is provided at the other end of the rotating shaft of the second roller brush 72, and the third roller brush gear is meshed and connected to the inner teeth 217 of the second front wheel 212; when the first or second roller brush 72 rotates, it drives the second front wheel 212 to rotate, and the rotation of the second front wheel 212 drives the roller brush of the second track 22B, thereby driving the second rear wheel 214 to rotate. It is understandable that if one drive motor 23 is used to drive the second rear wheel 214 , the process is the same as the process of driving the first rear wheel 213 , and therefore will not be described in detail here.

[0128] Among them, in order to reduce the mold opening cost, the four walking wheels 21 of the walking mechanism 2 can be selected to have the same structure. For example, in combination with Figures 14-16, the first and second front wheels 212, and the first and second rear wheels 214 are all provided with first outer teeth 215, second outer teeth 216 and inner teeth 217.

[0129] Here, a front wheel is used as the drive input for the first and second roller brushes 72. The first roller brush 71 is driven by the front wheel's external teeth, and the second roller brush 72 is driven by the front wheel's internal teeth 217. Since the first and second roller brushes 72, as well as the front wheel, are in contact with the surface to be cleaned during travel, the rotation axes of the first and second roller brushes 71, 72 are located on either side of the front wheel's rotation axis. Viewed from the side of the cleaning device, the rotation axis of the first roller brush 71 is located outside the range of the front wheel, while the rotation axis of the second roller brush 72 is located within the range of the front wheel. In the disclosed embodiment, the internal and external teeth 217 on the front wheel on one side of the traveling mechanism 2 simultaneously drive the two roller brushes on either side of the front wheel's rotation axis, thereby causing the two roller brushes to rotate in opposite directions.

[0130] 14-18, in some embodiments, the first and second rear wheels 214 are provided with first external teeth 215, and at least one of second external teeth 216, internal teeth 217 and center teeth 218; the first and second front wheels 212 are provided with first external teeth 215 and center teeth 218; the first external teeth 215 on the first front wheel 211 and the first rear wheel 213 are meshed and connected to the tooth grooves 221 on the first crawler 22A for transmission; the first external teeth 215 on the second front wheel 212 and the second rear wheel 214 are meshed and connected to the tooth grooves 221 on the second crawler 22B for transmission; a driving gear 231 is provided on the output shaft of a driving motor 23, and the driving gear 231 is meshed with the center teeth 218 or the internal teeth 217 or the external teeth of the first rear wheel 213 for transmission, and when the driving motor 23 rotates, the driving The first rear wheel 213 is driven to rotate together, and the rotation of the first rear wheel 213 drives the first crawler 22A to roll, thereby driving the first front wheel 211 to rotate; a first roller brush gear 711 is provided at one end of the rotating shaft of the first roller brush 71, and a second roller brush gear 721 is provided at one end of the rotating shaft of the second roller brush 72; the first roller brush gear 711 and the second roller brush gear 721 are respectively connected to the center teeth 218 of the first front wheel 211, wherein the first roller brush gear 711 and the center teeth 218 of the first front wheel 211 can be connected by a first transition gear, and similarly, the second roller brush gear 721 and the center teeth 218 of the first front wheel 211 can also be connected by a second transition gear, but in order to enable the first roller brush 71 and the second roller brush 72 to rotate towards each other, the first and second transition gears are set selectively. Furthermore, a third roller brush gear is provided at the other end of the rotating shaft of the first roller brush 71. This third roller brush gear meshes with the center teeth 218 of the second front wheel 212, or the second roller brush gear 721 is connected to the center teeth 218 of the second front wheel 212 via a third transition gear. This drives the second front wheel 212 to rotate. Simultaneously, the rotation of the second front wheel 212 drives the second track 22B, thereby driving the second rear wheel 214. In this way, a single drive motor 23 indirectly drives the wheels 21 and tracks 22 on both sides of the traveling mechanism 2 to rotate in the same direction, while one of the front wheels simultaneously drives the first and second roller brushes 72 to rotate in opposite directions. If the drive motor 23 drives the second rear wheel 214, the process is the same as driving the first rear wheel 213, and therefore will not be further described.

[0131] In some embodiments, the four traveling wheels 21 of the traveling mechanism 2 may be of the same structure. For example, the first and second front wheels 212 and the first and second rear wheels 214 are all provided with first outer teeth 215 and center teeth 218 .

[0132] In conjunction with Figure 14, in some embodiments, the cleaning mechanism 7 is driven by a walking wheel 21, the number of drive motors 23 is one, and the two ends of the output shaft of one drive motor 23 are respectively connected to the first or second rear wheel 214 for transmission, and the first roller brush 71 and the second roller brush 72 are respectively connected to the first or second front wheel 212 for transmission in the same direction and reverse direction. When the drive motor 23 drives the first and second rear wheels 214 to rotate, the rotation of the first and second rear wheels 214 is correspondingly transmitted to the first and second front wheels 212 through the crawler 22, so that the first and second front wheels 212 rotate, and the rotation of the first or second front wheel 212 drives the first and second roller brushes 72 to rotate in opposite directions.

[0133] Specifically, the drive motor 23 has two output shafts, which can rotate synchronously or independently. Optionally, in one embodiment, the drive motor 23 is a dual-shaft motor, and the two output shafts of the drive motor 23 rotate synchronously.

[0134] For example, in conjunction with Figures 15-18, the first and second rear wheels 214 are provided with first external teeth 215, and at least one of second external teeth 216, internal teeth 217 and center teeth 218, the first and second front wheels 212 are provided with first external teeth 215 and center teeth 218, or first external teeth 215, second external teeth 216 and internal teeth 217, the first external teeth 215 on the first front wheel 211 and the first rear wheel 213 are meshed and connected to the tooth grooves 221 on the first crawler 22A, and the first external teeth 215 on the second front wheel 212 and the second rear wheel 214 are meshed and connected to the tooth grooves 221 on the second crawler 22B; a driving motor 23 is provided with a driving gear 231 on each of the output shafts at both ends of the axis, and the driving gears 231 at both ends are respectively meshed with the center teeth 218 or the internal teeth 217 or the external teeth of the first and second rear wheels 214 for transmission, so that the first and second rear wheels 214 are driven when the driving motor 23 rotates. The first and second rear wheels 214 rotate together, and the rotation of the track 22 drives the first and second front wheels 212 to rotate. A first brush gear 711 is provided at one end of the rotating shaft of the first brush 71, and a second brush gear 721 is provided at one end of the rotating shaft of the second brush 72. The first brush gear 711 and the second brush gear 721 are respectively connected to the center teeth 218 of the first front wheel 211. The first brush gear 711 and the second brush gear 721 are respectively connected to the center teeth 218 of the first front wheel 211. The first brush gear 711 and the center teeth 218 of the first front wheel 211 can be connected to each other via a first transition gear, and the second brush gear 721 and the center teeth 218 of the first front wheel 211 can also be connected to each other via a second transition gear. However, to enable the first and second brushes 71 and 72 to rotate in opposite directions, only one of the first and second transition gears is provided. Alternatively, the first brush gear 711 and the second brush gear 721 are respectively connected to the outer and inner teeth 217 of the first front wheel 211, enabling the first and second brushes 71 and 72 to rotate in opposite directions.

[0135] Among them, the four walking wheels 21 of the walking mechanism 2 can be selected to have the same structure, for example, the first and second front wheels 212, and the first and second rear wheels 214 are all provided with first outer teeth 215 and center teeth 218; or, the first and second front wheels 212, and the first and second rear wheels 214 are all provided with first outer teeth 215, second outer teeth 216 and inner teeth 217.

[0136] In the above embodiment, a driving motor 23 drives one or two traveling wheels 21 to make the traveling mechanism 2 roll on the tracks 22 on both sides. At the same time, the front wheel on one side is used to drive the first and second roller brushes 71 and 72 of the cleaning mechanism to rotate toward each other, thereby achieving the effect of independently driving the first and second roller brushes 71 and 72 to rotate toward each other by one traveling wheel 21. Not only is the structure sophisticated, but also the number of driving parts is small, which is conducive to optimizing product costs.

[0137] Furthermore, with reference to FIG14 , in the embodiment described above where a single drive motor 23 drives two rear wheels to achieve a single front wheel driving two roller brushes to rotate in opposite directions, to achieve the same effect, two motors can be used instead of one, i.e., the two motors are respectively connected to the first and second rear wheels 214. However, when two drive motors 23 are used, the traveling mechanisms on both sides of the traveling mechanism 2 are driven by independent motors. When the drive motor 23 drives the two sides of the traveling mechanism 2 to move at a differential speed, the device can be made to turn and move on the pool bottom or wall, thereby enhancing the device's travel function.

[0138] Among them, the above all use a motor to drive the rear wheel to realize the walking movement of the walking mechanism 2. In practice, a motor can also be used to directly or indirectly drive the front wheel to realize the walking movement of the walking mechanism 2.

[0139] In conjunction with Figure 19, in one embodiment, the first and second roller brushes 71 and 72 of the cleaning mechanism are driven by two front wheels to rotate, the number of the drive motor 23 is one, the drive motor 23 is arranged in the first roller brush 71, the first roller brush 71 is connected to the drive motor 23 for relative rotation, so that the first roller brush 71 does not rotate with the drive motor 23, and the axis of the first roller brush 71 coincides with the axis of the drive motor 23, the drive motor 23 is connected to the first front wheel 211 at one axial end of the first roller brush 71, and the other axial end of the first roller brush 71 is connected to the second front wheel 21 2 transmission connection, one end of the rotating shaft of the second roller brush 72 is transmission connected to the first front wheel 211, and the other side of the rotating shaft of the second roller brush 72 is transmission connected to the second front wheel 212. When the drive motor 23 rotates, it drives the first front wheel 211 to rotate. The rotation of the first front wheel 211 drives the second roller brush 72 to rotate, and at the same time drives the first crawler 22A and the first rear wheel 213 to rotate. The rotation of the second roller brush 72 drives the second front wheel 212 to rotate. The rotation of the second front wheel 212 drives the first roller brush 71, and at the same time drives the second crawler 22B and the second rear wheel 214 to rotate.

[0140] In another embodiment, the first and second roller brushes 71 and 72 of the cleaning mechanism are driven to rotate by a front wheel and a drive motor 23. Continuing with FIG19, the number of the drive motor 23 is one, and the drive motor 23 is arranged in the first roller brush 71. The first roller brush 71 is relatively fixedly connected to the drive motor 23 so that the first roller brush 71 rotates with the drive motor 23, and the axis of the first roller brush 71 coincides with the axis of the drive motor 23. The drive motor 23 is transmission-connected to the first front wheel 211 at one axial end of the first roller brush 71, and the other axial end of the first roller brush 71 is connected to the first front wheel 211. It is connected to the rotation support of the second front wheel 212, one end of the rotating shaft of the second roller brush 72 is transmission-connected to the first front wheel 211, and the other side of the rotating shaft of the second roller brush 72 is transmission-connected to the second front wheel 212. When the drive motor 23 rotates, it drives the first roller brush 71 and the first front wheel 211 to rotate. The rotation of the first front wheel 211 drives the second roller brush 72 to rotate, and at the same time drives the first track 22A and the first rear wheel 213 to rotate. The rotation of the second roller brush 72 drives the second front wheel 212 to rotate. The rotation of the second front wheel 212 drives the second track 22B and the second rear wheel 214 to rotate.

[0141] The drive motor 23 and the front wheels may be connected in a variety of ways. For example, referring to Figures 16 and 18 , in one embodiment, the front wheels are provided with first outer teeth 215 and center teeth 218 . The drive motor 23 is driven by a drive gear 231 that meshes with the center teeth 218 on the first front wheel 211 . The first roller brush 71 is rotated by a first roller brush gear 711 disposed on the rotating shaft that meshes with the center teeth 218 of the second front wheel 212 . The second roller brush 72 is provided with second roller brush gears 721 at each end of the rotating shaft. The two sections of the second roller brush gear 721 are connected to the center teeth 218 of the first and second front wheels 211 and 212 respectively via a transition gear. In another embodiment, the front wheels are provided with first external teeth 215, second external teeth 216, and internal teeth 217. The drive motor 23 transmits power via a drive gear 231 meshing with the external or internal teeth 217 of the first front wheel 211. The first roller brush 71 rotates via a first roller brush gear 711 provided on the rotating shaft meshing with the external or internal teeth 217 of the second front wheel 212. The second roller brush 72 is provided with a second roller brush gear 721 at each end of the rotating shaft. The two second roller brush gears 721 respectively mesh with the internal teeth 217 or external teeth of the first and second front wheels 211 and 212, respectively, to transmit power. Of course, the rear wheels are provided with at least first external teeth 215. The front and rear wheels transmit power via their respective first external teeth 215 meshing with the tooth grooves 221 of the track 22.

[0142] In practice, there are various methods for fixedly connecting the first roller brush 71 and the drive motor 23 relative to each other. For example, the output shaft of the drive motor 23 can be connected to the rotating shaft of the first roller brush 71 by a shaft connection, a key connection, or a coupling connection. Similarly, there are various methods for rotationally connecting the first roller brush 71 and the drive motor 23 relative to each other. For example, the output shaft of the drive motor 23 can be connected to the rotating shaft of the first roller brush 71 by a bearing connection.

[0143] The embodiment of the present disclosure drives the front wheel on one side of the walking mechanism 2 to rotate and drive one of the roller brushes to rotate by arranging the drive motor 23 inside the roller brush, so that one of the roller brushes drives the front wheel on the other side to rotate and drives the other roller brush to rotate. This not only realizes the walking drive on both sides of the walking mechanism 2 and the opposite rotation of the two roller brushes, but also installs the drive motor 23 inside the roller brush, reduces the occupation of the internal space of the body 1, and frees up more useful space for the body 1, so as to make the volume of the filtering mechanism 3 larger and improve the cleaning ability of the cleaning equipment.

[0144] In some embodiments, in combination with Figures 14 and 19, the drive motor 23 is set in one of the roller brushes. The drive motor 23 itself can be a waterproof motor with a sleeve on the outside that runs across the entire roller brush, and the motor is fixed in the sleeve; or the drive motor 23 itself is not waterproof, and is fixedly set in the sleeve, and both ends of the sleeve are waterproofed; the motor sleeve can be set on the body 1, that is, fixedly connected to the body 1 through one end or both ends of the sleeve, and the first roller brush 71 is sleeved outside the motor sleeve and can rotate relatively.

[0145] In addition, the driving motor 23 may also be disposed in the second roller brush 72 . The implementation is the same as that of disposing the driving motor 23 in the first roller brush 71 , so it will not be described in detail here.

[0146] In combination with the above-mentioned embodiment of the walking mechanism driving the two roller brushes to rotate, it can be seen that in practice, the first front wheel 211, the first rear wheel 213, and the first track 22A are directly or indirectly driven by the first drive motor 23; the second front wheel 212, the second rear wheel 214, and the second track 22B are directly or indirectly driven by the second drive motor 23.

[0147] For example, in some embodiments, as shown in FIG14 , the cleaning mechanism is driven by two running wheels 21 , with two drive motors 23 . Each of the two rear wheels is driven by an independent drive motor 23 to drive the first and second rear wheels 214 to rotate. The first roller brush 71 is in transmission connection with the first front wheel 211 , and the second roller brush 72 is in transmission connection with the second front wheel 212 . When the drive motor 23 drives the first and second rear wheels 214 to rotate, the first and second front wheels 212 on the same side as the first and second rear wheels 214 are driven by the tracks 22 to rotate, thereby achieving rolling on both sides of the running mechanism 2 . The first and second front wheels 212 respectively drive the first and second roller brushes 71 and 72 to rotate toward each other, thereby achieving rotation of the roller brushes. It can be seen that the two sides of the running mechanism 2 are driven by the two drive motors 23 in transmission connection with the two rear wheels. In practice, the front wheels, rear wheels, and tracks on each side of the running mechanism 2 can also be driven directly or / and indirectly by the drive motors.

[0148] For example, with reference to FIG20 , in some embodiments, there are two drive motors 23, and the two drive motors 23 are correspondingly disposed in the two roller brushes. That is, the drive motors 23 include a first drive motor and a second drive motor, with the first drive motor disposed in the first roller brush 71 and the second drive motor disposed in the second roller brush 72. In this case, both sides of the walking mechanism are directly driven by the drive motors to achieve walking movement.

[0149] In one embodiment, in combination with Figure 20, two roller brushes can be directly driven by a drive motor 23 and a front wheel, the first roller brush 71 is coaxially fixedly connected to the first drive motor, the second roller brush 72 is coaxially movably connected to the second drive motor, the first roller brush 71 rotates together with the first drive motor, the first drive motor is transmission-connected to the first front wheel 211, one end of the rotating shaft of the second roller brush 72 is transmission-connected to the first front wheel 211, and the second drive motor is transmission-connected to the second front wheel 212 at the other end of the rotating shaft of the second roller brush 72. When the first drive motor rotates, it drives the first roller brush 71 and the first front wheel 211 to rotate. The rotation of the first front wheel 211 drives the second roller brush 72 to rotate, and at the same time drives the first track 22A and the first rear wheel 213 to rotate. The second front wheel 212 is driven to rotate by the second drive motor, and the rotation of the second front wheel 212 drives the second track 22B and the second rear wheel 214 to rotate together.

[0150] In another embodiment, in conjunction with Figure 20, the two roller brushes are directly driven by two drive motors. The first roller brush 71 is coaxially fixedly connected to the first drive motor, and the first roller brush 71 rotates together with the first drive motor. The second roller brush 72 is coaxially fixedly connected to the second drive motor, and the second roller brush 72 rotates together with the second drive motor. The first drive motor is transmission-connected to the first front wheel 211 at one end of the rotating shaft of the first roller brush 71, and the other end of the rotating shaft of the first roller brush 71 is rotationally supported and connected to the second front wheel 212. The second drive motor is One end of the rotating shaft of the second roller brush 72 is transmission-connected to the second front wheel 212, and the other end of the rotating shaft of the second roller brush 72 is rotationally supported and connected to the first front wheel 211. When the first drive motor rotates, it drives the first roller brush 71 and the first front wheel 211 to rotate, and the rotation of the first front wheel 211 drives the first track 22A and the first rear wheel 213 to rotate together. When the second drive motor rotates, it drives the second roller brush 72 and the second front wheel 212 to rotate, and the rotation of the second front wheel 212 drives the second track 22B and the second rear wheel 214 to rotate together.

[0151] Among them, the transmission connection method between the drive motor and the front wheel is not unique. For example, in combination with Figure 16, in one embodiment, a first outer tooth 215 and a center tooth 218 are provided on the front wheel. If two drive motors drive two roller brushes to rotate, then the first drive motor is engaged with the center tooth 218 on the first front wheel 211 through the first drive gear 231 for transmission, and the second drive motor is engaged with the center tooth 218 on the second front wheel 212 through the second drive gear 231 through the second transition gear for transmission; if one drive motor and one front wheel drive two roller brushes to rotate, then the first drive motor is engaged with the center tooth 218 on the first front wheel 211 through the first drive gear 231 for transmission, and the second drive motor is engaged with the center tooth 218 on the second front wheel 212 through the second drive gear 231 through the second transition gear for transmission, a roller brush gear is provided on the rotating shaft on the second roller brush 72, and the roller brush gear is engaged with the center tooth 218 of the first front wheel 211 through the first transition gear for transmission.

[0152] In another embodiment, referring to FIG15 , the front wheel is provided with first external teeth 215, second external teeth 216, and internal teeth 217. If two drive motors are used to drive the two roller brushes, the first drive motor is driven by meshing the external or internal teeth 217 on the first front wheel 211 via the drive gear 231, and the second drive motor is driven by meshing the internal teeth 217 or external teeth on the second front wheel 212 via the second drive gear 231. If one drive motor and one front wheel are used to drive the two roller brushes, the first drive motor is driven by meshing the external or internal teeth 217 on the first front wheel 211 via the drive gear 231, and the second drive motor is driven by meshing the internal teeth 217 or external teeth on the second front wheel 212 via the second drive gear 231. A roller brush gear is provided on the rotating shaft of the second roller brush 72, and the second roller brush 72 is driven by meshing the roller brush gear on the rotating shaft with the internal teeth 217 or external teeth of the first front wheel 211. Of course, at least the rear wheel is provided with a first external tooth 215 , and the front wheel and the rear wheel are driven by engaging the respective first external teeth 215 with the tooth grooves 221 on the crawler 22 .

[0153] The embodiment of the present disclosure drives the walking mechanism 2 to move on both sides by setting two driving motors in the two roller brushes, and the two roller brushes rotate towards each other, which not only reduces the space occupied by the driving motor on the body 1, frees up more free space on the body 1 for the cleaning equipment, so that the filter mechanism can be made larger and the cleaning ability of the cleaning equipment can be improved; it also can realize differential walking drive on both sides of the walking mechanism 2, providing the equipment with a turning function on the bottom and wall of the pool, and has very comprehensive functions.

[0154] In the above embodiment, a gear transmission is used between the drive motor and the travel wheel 21, for example, a transmission connection between the drive motor and the rear wheel, and a transmission connection between the drive motor and the front wheel. A drive gear 231 is provided on the output shaft of the drive motor. The drive gear 231 meshes with the outer teeth (e.g., the second outer teeth 216), the inner teeth 217, or the center teeth 218 on the travel wheel 21. When the drive motor rotates, the travel wheel 21 is driven to rotate by the meshing transmission of the drive gear 231 with the outer teeth (e.g., the second outer teeth 216), the inner teeth 217, or the center teeth 218 on the travel wheel 21.

[0155] In addition, in the embodiment of the driving motor driving the walking mechanism 2, a specific embodiment is also provided in which the first front wheel 211 and / or the second front wheel 212 drives the first roller brush 71 and the second roller brush 72 to rotate.

[0156] The first and second roller brushes 71, 72 are disposed parallel and spaced apart between the first and second front wheels 212. The first and second roller brushes 71, 72 are independently driven by one of the travel wheels 21. For example, the first and second roller brushes 71, 72 are independently driven by the first front wheel 211 or the second front wheel 212. Alternatively, the first and second roller brushes 71, 72 are driven by both travel wheels 21. For example, the first roller brush 71 is driven by the first front wheel 211, while the second roller brush 72 is driven by the second front wheel 212. For another example, the first and second roller brushes 71, 72 are each divided into two sections. The first front wheel 211 drives one section of the first and second roller brushes 71, 72 to rotate toward each other, while the second front wheel 212 drives the other section of the first and second roller brushes 71, 72 to rotate relative to each other.

[0157] In some embodiments, when the first and second roller brushes 71 and 72 are driven by a front wheel, such as the first front wheel 211, to rotate toward each other, the first front wheel 211 includes first outer teeth 215 and inner teeth 217. The driving teeth of the first roller brush 71 mesh with the first outer teeth 215, and the driving teeth of the second roller brush 72 mesh with the inner teeth 217. The driving teeth of the first roller brush 71 include a first roller brush gear 711, the driving teeth of the second roller brush gear 721 include a second roller brush gear 721, and the outer teeth of the first front wheel 211 include the second outer teeth 216.

[0158] In other embodiments, when the first and second roller brushes 71 and 72 are driven to rotate toward each other by a front wheel, such as the first front wheel 211, the first front wheel 211 is provided with a central tooth 218. The driving teeth of the first roller brush 71 directly mesh with the central tooth 218, while the driving teeth of the second roller brush 72 mesh with the central tooth 218 via a transition tooth. The driving teeth of the first roller brush 71 include a first roller brush gear 711, and the driving teeth of the second roller brush gear 721 include a second roller brush gear 721.

[0159] In some other embodiments, when the first roller brush 71 is driven by two front wheels, for example, the first roller brush 71 is driven to rotate by the first front wheel 211 and the second roller brush 72 is driven to rotate by the second front wheel 212:

[0160] At this time, referring to Figures 15 and 17 , the driving teeth of the first roller brush 71 mesh with the outer teeth of the first front wheel 211, and the driving teeth of the second roller brush 72 mesh with the inner teeth 217 of the second front wheel 212; or the driving teeth of the first roller brush 71 mesh with the outer or inner teeth 217 of the first front wheel 211, and the driving teeth of the second roller brush 72 mesh with the outer or inner teeth 217 of the second front wheel 212 via transition teeth; or, referring to Figures 16 and 18 , the driving teeth of the first roller brush 71 mesh with the center teeth 218 of the first front wheel 211, and the driving teeth of the second roller brush 72 mesh with the center teeth 218 of the second front wheel 212 via transition teeth. The driving teeth of the first roller brush 71 include the first roller brush gear 711, the driving teeth of the second roller brush gear 721 include the second roller brush gear 721, and the outer teeth of the first and second front wheels 212 may alternatively be the second outer teeth 216.

[0161] It is understandable that the outer teeth, inner teeth 217 and center teeth 218 on the traveling wheel 21 , as well as the gear types of the roller brush gear on the roller brush and the drive gear 231 on the drive motor are generally determined by the relative positions of the roller brush and the drive motor and the traveling wheel 21 . For example, if the transmission between the roller brush and the drive motor and the traveling wheel 21 is a parallel axis transmission, the outer teeth, inner teeth 217 and center teeth 218 on the traveling wheel 21, as well as the drive gear 231 on the drive motor and the roller brush gear on the roller brush can be selected as parallel axis gears, including but not limited to spur gears, helical gears, inner teeth 217 wheels or outer gears, etc.; if the transmission between the roller brush and the drive motor and the traveling wheel 21 is an intersecting axis transmission, the outer teeth, inner teeth 217 and center teeth 218 on the traveling wheel 21, as well as the drive gear 231 on the drive motor and the roller brush gear on the roller brush can be selected as intersecting axis gears, including but not limited to straight bevel gears, spiral bevel gears or zero-degree bevel gears, etc.; if the transmission between the roller brush and the drive motor and the traveling wheel 21 is a staggered axis transmission, the outer teeth, inner teeth 217 and center teeth 218 on the traveling wheel 21, as well as the drive gear 231 on the drive motor and the roller brush gear on the roller brush can be selected as staggered axis gears, including but not limited to staggered axis helical gears, worm gears or hypoid gears, etc.

[0162] In some embodiments, in combination with Figures 21A and 21B, a first roller brush bin 131 and a second roller brush bin 132 are provided at the bottom of the body 1 corresponding to the first roller brush 71 and the second roller brush 72. Specifically, a bottom shell 13 is provided at the bottom of the body 1, and the first roller brush bin 131 and the second roller brush bin 132 are provided on the bottom shell. The first roller brush 71 and the second roller brush bin 132 are at least partially provided in the space of the roller brush bin, and a first water inlet 11 is provided at the connection between the first roller brush bin 131 and the second roller brush bin 132 or on the first roller brush bin 131 or the second roller brush bin 132. The water flow and garbage rolled up by the two roller brushes moving towards each other enter the filtering mechanism 3 from the first water inlet 11 under the action of the fluid pumping device 41. The first roller brush 71 and the second roller brush 72 are in contact with the surface to be cleaned during operation; the side walls of the first and second roller brush bins 131, 132 or the side walls of the machine body or the side walls of the bottom shell 13 are close to the surface to be cleaned, or flexible brush strips or soft rubber are provided on the side walls of the first and second roller brush bins 131, 132 or the bottom of the machine body side walls, corresponding to the positions at the two ends of the first roller brush and the second roller brush, which interfere with the surface to be cleaned, thereby forming a relatively closed negative pressure space in the space where the above side walls and the first and second roller brushes are in contact with the surface to be cleaned, which has a better suction effect when the fluid pumping device is acting.

[0163] 21A and 21B , an embodiment of the present disclosure provides a cleaning device, comprising: a body 1, on which are provided: a walking mechanism 2, a filtering mechanism 3, a water spraying mechanism 4 and a cleaning mechanism 7; the walking mechanism 2 is located at the bottom of the device and is connected to the body 1, for driving the device to move at least on the surface to be cleaned during operation; the filtering mechanism 3 is provided on the body 1 at a position forward along the direction of movement of the device; the water spraying mechanism 4 is provided on the body 1 at a position backward along the direction of movement of the device, and is connected to the outlet fluid of the filtering mechanism 3, the water spraying mechanism 4 at least includes a fluid pumping device 41 for providing a suction force for water to flow out from the water inlet to the water spraying mechanism 4; the cleaning mechanism 7 at least includes a first roller brush 71 and a second roller brush 72, the first and second roller brushes 71 and 72 are axially parallel and rotatably arranged at the bottom of the body 1, and the first and second roller brushes 71 and 72 rotate At least a first water inlet 11 is provided on the bottom shell of the body 1 corresponding to the axes; the first and second roller brushes 71 and 72 are driven by the walking mechanism 2 to rotate toward each other; the water spraying mechanism 4 includes at least one water spraying port, and the water spraying direction of at least one water spraying port can be adjusted between a first direction and a second direction, the first direction is approximately perpendicular to the surface to be cleaned, and the second direction is approximately parallel to the surface to be cleaned; at least one second water inlet 12 is provided on the other side of the body 1 which is different from the side where the first water inlet 11 is located, the first water inlet 11 is connected to the fluid of the filtering mechanism 3 through a first flow channel 111 to form a first water flow channel; the second water inlet 12 is connected to the fluid of the filtering mechanism 3 through a second flow channel 121 to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

[0164] Compared with the cleaning equipment in the above-mentioned embodiments, the difference of the cleaning equipment provided by the embodiment of the present disclosure is that the water spraying direction of the water spraying mechanism 4 is adjustable. Since the water spraying mechanism 4 will generate a reverse thrust when spraying water outward, the direction of the reverse thrust can be adjusted by adjusting the direction of the water spray port, so that the reverse thrust can provide auxiliary power for the cleaning equipment and enhance the flexibility of the equipment in the water.

[0165] The walking mechanism 2 in the cleaning device can be optionally a crawler-type walking mechanism or a wheeled walking mechanism. For example, in one embodiment, with reference to FIG14 , the walking mechanism 2 is a crawler-type walking mechanism, comprising at least four walking wheels 21, namely a first front wheel 211, a second front wheel 212, a first rear wheel 213, and a second rear wheel 214. The first front wheel 211 and the first rear wheel 213 are sheathed with a first crawler 22A, and the second front wheel 212 and the second rear wheel 214 are sheathed with a second crawler 22B. The first crawler 22A and the second crawler 22B are arranged on both sides of the walking direction of the cleaning device, and are driven by at least one of the drive motors 23 in transmission connection with at least one walking wheel 21 to drive the first crawler 22A and the second crawler 22B on both sides to roll, thereby realizing the walking function of the cleaning device. The first roller brush 71 and the second roller brush 72 are driven by the same travel wheel 21 of the traveling mechanism 2, for example, the first front wheel 211 or the second front wheel 212; or the first roller brush 71 is driven by the first travel wheel 21 of the traveling mechanism 2, for example, the first front wheel 211 or the second front wheel 212; and the second roller brush 72 is driven by the second travel wheel 21 of the traveling mechanism 2, for example, the second front wheel 212 or the first front wheel 211. The specific implementations of the drive motor 23 driving the traveling mechanism 2 to travel and the travel wheel 21 driving the roller brush to rotate are the same as those in the above embodiments and will not be repeated here.

[0166] There is not only one way to adjust the water spraying direction of the water nozzle.

[0167] Specifically, the direction adjustment of the water nozzle can be considered as the switching of at least one water nozzle between at least a first state and a second state. For example, the adjustment angle of the water nozzle between the first state and the second state can be between 0-180 degrees, wherein in the first state, the direction of water spray from the at least one water nozzle is substantially perpendicular to the direction of movement of the cleaning device, and in the second state, the direction of water spray from the at least one water nozzle is substantially parallel to the direction of movement of the cleaning device.

[0168] In one embodiment, the movement of the water nozzle also includes a third state that is different from the first state and the second state. In the first state, the water spraying direction of the water nozzle is roughly perpendicular to the traveling direction, that is, roughly perpendicular to the surface to be cleaned, mainly providing downward pressure for the cleaning equipment, helping the cleaning equipment to stick to the surface to be cleaned, such as when cleaning the pool wall; in the second state, the water spraying direction of the water nozzle is roughly parallel to the traveling direction, which includes roughly 0° in the same direction as the traveling direction and roughly 180° in the opposite direction of the traveling direction. The reverse thrust of the water nozzle can provide auxiliary power for the backward or forward movement of the cleaning equipment. For example, when cleaning the water surface, the reverse thrust of 0° is for cleaning. The water nozzle is the main power source for the backward movement of the cleaning equipment, and the 180° reverse thrust is the main power source for the forward movement of the cleaning equipment; in the third state, the water nozzle can be directed to any angle other than 0°, 90° and 180°, so the reverse thrust of the water nozzle can be decomposed into a first reverse thrust along the moving direction of the cleaning equipment and a second reverse thrust perpendicular to the moving direction of the cleaning equipment. The first reverse thrust and the second reverse thrust can be adjusted to various sizes according to the instructions of the control system based on the complex operating environment, which can help the cleaning equipment adapt to various cleaning scenarios.

[0169] In some embodiments, in combination with Figures 21 and 22, the water nozzle 42 can be adjusted by the adjustment mechanism 43 to change the water spray direction. When the device is cleaning at different positions, the water nozzle 42 can change the appropriate water spray direction according to the position of the device, so that the reverse thrust generated by the water nozzle 42 when spraying water outward can provide movement assistance for the device and improve the movement performance of the device in water.

[0170] The cleaning device (hereinafter referred to as the device) can move underwater to clean water, such as the bottom and walls of a swimming pool; it can also move on the surface of the water to clean, such as the surface and waterline of a swimming pool.

[0171] Regarding the state of the water spout 42, in the first state, the direction of water spray from the water spout 42 is approximately perpendicular to the direction of movement of the cleaning device. In this case, the steering angle of the water spout 42 is assumed to be 0°. In the second state, the direction of water spray from the water spout 42 is approximately parallel to the direction of movement of the cleaning device. Relative to the first state, the steering angle of the water spout 42 in this state can be ±90°. In practice, the adjustment mechanism 43 can adjust the water spout 42 between a steering angle of 0° and a steering angle of ±90°, or can also adjust the water spout 42 to any angle between 0° and ±90°. For example, the adjustment mechanism 43 can drive the water spout 42 to rotate between the first and second states, causing the water spout 42 to stop at steering angles of ±20°, ±30°, ±40°, ±45°, and ±60°. Thus, in this embodiment, the steering angle of the water spout 42 is approximately ±90°. Of course, in practice, the steering angle of the water spout 42 can be appropriately greater or less than ±90°, or even greater or less than 0°.

[0172] In one application scenario, taking the use of the device to clean a swimming pool as an example, when the device is at the bottom of the pool, the steering angle of the water nozzle 42 can be more inclined to 90°. Since the water flow ejected from the water nozzle 42 will generate a reverse thrust, the vertical component of the reverse thrust (that is, the component of the reverse thrust in the direction perpendicular to the movement of the device) provides a certain downward force for the device, so that the device can stick to the surface of the pool bottom, and the horizontal component of the reverse thrust (that is, the component of the reverse thrust in the direction parallel to the movement of the device) can assist in providing propulsion and increase the power of the device in the direction of movement; when the device is at the pool wall, the steering angle of the water nozzle 42 can be more inclined to 0°, so that the vertical component of the reverse thrust generated by the water nozzle 42 spraying water is greater than the horizontal component, thereby providing a greater downward force for the device to ensure that the device sticks to the pool wall. When the equipment is running on the water surface, the steering angle of the water nozzle 42 can be more biased towards ±90°, which is 90° when moving forward and -90° when moving backward. Similarly, the horizontal component of the reverse thrust generated by the water nozzle 42 spraying water can assist in providing forward propulsion or backward and turning propulsion, which helps to maintain a constant draft.

[0173] The number of water outlets 42 can be one or more. For example, at least two water outlets 42 can be provided on the device. If there is one water outlet 42, the horizontal projection of the axis of the water outlet 42 is collinear with the center line of the cleaning device 1 in the direction of movement; if there are two water outlets 42, the two water outlets 42 are roughly symmetrically arranged relative to the center line of the cleaning device 1 in the direction of movement, for example, the two water outlets 42 are arranged on both sides of the center line of the device's direction of movement and are symmetrical to each other; if there are four water outlets 42, the four water outlets 42 are divided into two groups, each group has two water outlets 42, the water outlet direction of one group of water outlets 42 is roughly perpendicular to the direction of movement of the device, and the water outlet direction of the other group of water outlets 42 is roughly parallel to the direction of movement of the device, and the two water outlets 42 in each group are arranged on both sides of the center line of the device's direction of movement and are symmetrical to each other. This embodiment ensures that the water outlets 42 are coordinated with the overall balance and stability of the equipment by symmetrically arranging the water outlets 42 on both sides of the center line of the equipment's movement direction. At the same time, when the water outlets 42 spray water, the movement balance of the equipment can be ensured when the water outlets 42 drain water. At the same time, the ability of the equipment to turn during operation can be increased by separately controlling the water spraying volume of different water outlets 42.

[0174] In practice, there is not a single way to adjust the direction of the water outlet 42. For example, the water outlet includes at least a first water outlet and a second water outlet. The first and second water outlets can be driven by at least one adjustment mechanism 43 to achieve synchronous or asynchronous adjustment of the water spray direction. The adjustment mechanism 43 includes but is not limited to a drive motor. The method of synchronously or asynchronously adjusting the water spray direction will be described in detail below through specific embodiments.

[0175] In some embodiments, as shown in FIG22 , there are two water spouts 42 , and the fluid pumping device 41 has two outlets. The two water spouts 42 are movably connected to the two outlets of the fluid pumping device 41 in a one-to-one correspondence. The adjustment mechanism 43 includes a drive motor C1 and a transmission assembly C2 . The two water spouts 42 are axially linked and fixed via the transmission assembly C2 . The drive motor C1 is in transmission connection with the transmission assembly C2 . When the drive motor C1 rotates, the two water spouts 42 rotate synchronously between the first state and the second state. In this embodiment, the rotational motion of the drive motor C1 is simultaneously transmitted to the two water spouts 42 via the transmission assembly C2 , causing the two water spouts 42 to rotate simultaneously to achieve the transition between the first state and the second state.

[0176] As shown in FIG23 , in one embodiment, the fluid pumping device 41 includes a pump 411, a water wheel 412, and a water outlet pipe 413. The water wheel is connected to the pump to form a water pump. Water pumped by the water pump enters the water outlet pipe 413 under the force of the water pump. The end of the water outlet pipe 413 is provided with at least one outlet, i.e., the outlet of the fluid pumping device 41. For ease of understanding, the outlet of the fluid pumping device 41 is referred to as the outlet of the water outlet pipe 413, and the two outlets of the fluid pumping device 41 are referred to as the two outlets of the water outlet pipe 413.

[0177] Specifically, embodiments of the movable connection between the water spout 42 and the outlet of the fluid pumping device 41 include, but are not limited to, a rotational connection. For example, with reference to FIG23 , the outlet of the water outlet pipe 413 is provided with a sealing groove 414, and the opening at one end of the water spout 42 is provided with a flange 423. The flange 423 is configured to be inserted into the sealing groove 414 to achieve a rotational connection between the water spout 42 and the outlet. That is, the rotation of the flange 423 within the sealing groove 414 allows the water spout 42 to rotate relative to the outlet of the fluid pumping device 41, thereby sealingly connecting the water spout 42 and the outlet of the fluid pumping device 41.

[0178] Furthermore, the specific embodiment of the rotational connection between the water spout 42 and the outlet of the fluid pumping device 41 is not limited. For example, the water spout 42 and the outlet of the fluid pumping device 41 may also be connected via a rotary joint. Specifically, the rotary joint typically includes internal and external rotating parts, with the internal part connected to the water spout 42 and the external part connected to the outlet of the fluid pumping device 41. The internal and external parts may be connected via a bearing or other rotating mechanism to achieve relative rotation, thereby achieving the rotational connection between the water spout 42 and the outlet of the fluid pumping device 41. Of course, in practice, other rotational connection structures may be used between the water spout 42 and the outlet of the fluid pumping device 41, and the presently disclosed embodiments are not limited thereto.

[0179] In some embodiments, the two water outlets 42 can be adjusted synchronously, as shown in Figure 24. One water outlet includes a connected inlet and outlet, and the inlet of the water outlet is rotatably connected to the outlet of the fluid pumping device 41; the transmission component C2 includes a first transmission component C21, and the first transmission component C21 includes: a worm C211, a right bevel gear C212, a left bevel gear C213, a connecting rod C214 and a connecting pipe C215. The worm C211 is connected to the drive motor C1 shaft, and the worm C211, the right bevel gear C212 and the left bevel gear C213 are meshed and connected in sequence. One end of the connecting rod C214 is fixedly connected to the left bevel gear C213, and the other end of the connecting rod C214 is vertically connected to the middle position of the connecting pipe C215. The two ends of the connecting pipe C215 are respectively fixedly connected to the two water outlets 42, and the connecting pipe C215 is fixedly connected to the left bevel gear C213 is axially parallel, so the two water outlets 42 are on the same axis as the left bevel gear C213, realizing axial linkage and fixation. When the driving motor C1 rotates, the driving worm C211 rotates synchronously, and the rotation of the worm C211 drives the right bevel gear C212 to rotate, and the right bevel gear C212 drives the left bevel gear C213 to rotate. Since the connecting rod C214 is fixedly connected to the left bevel gear C213, the rotation of the left bevel gear C213 drives the connecting rod C214 to rotate synchronously along the rotation axis of the left bevel gear. The two ends of the connecting pipe C215 are respectively connected to the two water outlets 42, and the middle position is fixedly connected to the connecting rod C214. When the connecting rod C214 rotates, the connecting pipe C215 and the two water outlets 42 also rotate synchronously along the rotation axis of the left bevel gear, thereby realizing synchronous steering adjustment of the two water outlets 42. In this embodiment, the water outlet 42 is driven to rotate synchronously by the transmission connection between the drive motor C1 and the first transmission component C21, so that the water outlet 42 can not only rotate to the first state and the second state, but also can rotate to any position between the first state and the second state, that is, the steering angle of the water outlet 42 can be selected to be 0-±90°.

[0180] In combination with the application scenario, if the device moves on the bottom or wall of the pool, the drive motor C1 is controlled to rotate in the first direction to drive the two water outlets 42 to rotate to the first state, so that the water spraying direction of the water outlet 42 is roughly perpendicular to the movement direction of the cleaning device; if the device moves on the water surface, the drive motor C1 is controlled to rotate in the second direction to drive the two water outlets 42 to rotate to the second state, so that the water spraying direction of the water outlet 42 is roughly parallel to the movement direction of the cleaning device; the above first direction and second direction can be the same or opposite.

[0181] This embodiment achieves the purpose of a single drive motor C1 driving the two water outlets 42 to rotate synchronously, so that the two water outlets 42 can be switched to the first state or the second state at the same time, or the two water outlets 42 can be switched to any position between the first state and the second state at the same time; in addition, since the worm C211, the right bevel gear C212, and the left bevel gear C213 rotate in one direction, when the drive motor C1 stops rotating, it can lock the water outlet 42, so that the water outlet 42 remains in a stable state.

[0182] In some embodiments, the two water outlets 42 can be adjusted synchronously, as shown in Figure 25. The water outlet 42 has a connected inlet and outlet, and the axes of the two outlets coincide. The diameter of the inlet of the water outlet 42 is larger than the diameter of the outlet of the fluid pumping device 41, and it is rotatably sleeved on the outlet of the fluid pumping device 41. For example, the water outlet 42 can be sleeved on a telescopic tube; the transmission assembly C2 includes a second transmission assembly C22, and the second transmission assembly C22 includes: a worm C221, a worm gear C222 and a connecting rod C223. The worm C221 is engaged with the worm gear C222, and the connecting rod C223 is axially fixedly connected to the worm gear C222, and the two ends of the connecting rod C223 are respectively fixedly connected to the two water outlets 42 to achieve axial linkage and fixation of the two water outlets 42. The drive motor C1 is connected to the shaft of the worm C221. When the drive motor C1 rotates, the transmission assembly transmits the rotational motion to the two water outlets 42, causing them to rotate synchronously. Specifically, the worm C221 rotates synchronously with the output shaft of the drive motor C1. The rotation of the worm C221 drives the worm wheel C222 to rotate. The connecting rod C223 is axially fixedly connected to the worm wheel C222. Therefore, the worm wheel C222 drives the connecting rod C223 to rotate together, thereby driving the two water outlets 42 at both ends of the connecting rod C223 to rotate synchronously.

[0183] As shown in FIG26 , a cylindrical surface is provided between the two openings of the water spout 42. A limiting strip is provided on the outer wall of the water outlet pipe 413, which abuts against the inner wall of the cylindrical surface where the water spout 42 is located. The inlet of the water spout 42 is sealed and connected to the outer wall of the water outlet 132A through relative friction and rotation between the inner wall of the cylindrical surface and the limiting strip. In this way, while the water spout 42 is sealed and connected to the water outlet pipe 413, it can also rotate relative to the outlet of the water outlet, thereby realizing a rotational connection between the water spout 42 and the fluid pumping device 41. Obviously, compared with the rotational connection method, the rotation of the water spout 42 in this embodiment is limited by the diameter of the opening. Optionally, the radial turning angle of the water spout 42 at the outlet of the fluid pumping device 41 can be selected to be 0-±40°. Then, with the outlet axis of the fluid pumping device 41 as the center, the water spout 42 can rotate radially with the connecting rod C223 by a maximum of ±20°.

[0184] Of course, other rotating sleeve structures may be used between the water spray port 42 and the outlet of the fluid pumping device 41 , and are not limited to the above-mentioned embodiments. The embodiments of the present disclosure do not impose any restrictions on this.

[0185] In one embodiment, if the device is moving on the bottom or wall of the pool, the drive motor C1 is controlled to rotate in a first direction to drive the two water outlets 42 to rotate 20° toward the first state direction, so that the water spray direction of the water outlets 42 is maximally perpendicular to the direction of movement of the cleaning device. If the device is moving on the water surface, the drive motor C1 is controlled to rotate in a second direction to drive the two water outlets 42 to rotate 20° toward the second state direction, so that the water spray direction of the water outlets 42 is maximally perpendicular to the direction of movement of the cleaning device. The first direction and the second direction can be the same or opposite.

[0186] Similar to the above-mentioned rotational connection embodiment, since the worm C221 and the worm wheel C222 rotate in one direction, when the drive motor C1 stops rotating, it can lock the water outlet 42, so that the water outlet 42 remains in a stable state; in addition, this embodiment also achieves the effect of a single drive motor C1 driving the two water outlets 42 to rotate synchronously, so that the two water outlets 42 can rotate between the first state and the second state.

[0187] In some embodiments, not only can the two water outlets 42 be adjusted synchronously, but the water spraying directions of the two water outlets 42 can also be adjusted asynchronously. In conjunction with Figure 27, there are two water outlets 42, including a first water outlet and a second water outlet. The adjustment mechanism 43 includes: a drive motor C1 and a transmission assembly C2, and there are two of each. The first and second water outlets are each driven by a drive motor C1 and a transmission assembly. Specifically, the two drive motors C1 include a first drive motor and a second drive motor, and the two transmission assemblies C2 include a first transmission assembly and a second transmission assembly. The first water outlet is driven by the first drive motor and the first transmission assembly, and the second water outlet is driven by the second drive motor and the second transmission assembly. Here, the two water outlets are independently driven by the two drive motors to rotate, so that the two water outlets can achieve the effect of asynchronous rotation.

[0188] The movable connection between the water spray port 42 and the outlet of the fluid pumping device 41 includes a rotating connection or a rotating sleeve connection. For details, please refer to the above embodiments and will not be repeated here.

[0189] As shown in Figure 27, each water outlet 42 has an inlet and an outlet that are connected, and the axes of the two outlets are at an angle or approximately perpendicular. The fluid pumping device 41 has two outlets, and the inlets of the first and second water outlets are respectively rotatably connected to the two outlets of the fluid pumping device 41; each transmission assembly C2 includes two gears, namely a first gear and a second gear, the first gear is fixedly connected to a water outlet 42, and the second gear is connected to a drive motor, and the first gear and the second gear are engaged to enable the drive motor to drive the corresponding water outlet 42 to rotate. Preferably, the first gear and the second gear are cross-axis gears or staggered axis gears. For example, each transmission assembly C2 includes a first bevel gear C231 and a second bevel gear C232, the second bevel gear C232 is axially fixedly connected to the water outlet 42, the first bevel gear C231 is connected to a drive motor shaft, and the first bevel gear C231 and the second bevel gear C232 are engaged. Specifically, the first bevel gear C231 is connected to the output shaft of the drive motor C1. When the drive motor C1 rotates, the first bevel gear C231 rotates synchronously. The rotation of the first bevel gear C231 drives the second bevel gear C232 to rotate. Since the water outlet 42 is axially fixedly connected to the second bevel gear C232, the water outlet 42 will rotate synchronously with the second bevel gear C232, thereby achieving the effect of a single drive motor C1 driving a water outlet 42 to rotate independently through a transmission assembly. In addition, in this embodiment, the steering angle of each water outlet 42 can be between 0° and ±90°, that is, the two water outlets 42 can independently rotate to a first state and a second state. In addition, the two water outlets 42 can also rotate to a position outside the first state and the second state, for example, to a position between the first state and the second state, or to a position outside the first state and the second state.

[0190] In one embodiment, if the device is moving on the bottom or wall of a pool, the two drive motors C1 are controlled to rotate in a first direction to drive the two water outlets 42 to a first state, so that the water spray direction of the water outlets 42 is approximately perpendicular to or more perpendicular to the direction of movement of the cleaning device. If the device is moving on the water surface, the two drive motors C1 are controlled to rotate in a second direction to drive the two water outlets 42 to a second state, so that the water spray direction of the water outlets 42 is approximately parallel to or more parallel to the direction of movement of the cleaning device. The first and second directions can be the same or opposite. If the device tilts on the water surface, the drive motor C1 on the side that is relatively sinking can be controlled to drive the corresponding water outlet 42 to the second state, while the drive motor C1 on the side that is relatively floating can be controlled to drive the corresponding other water outlet 42 to the first state, thereby adjusting the center of gravity of the device and attempting to restore the device to balance. Alternatively, the posture of the device can be adjusted by adjusting the water flow rate of the two water outlets 42. In addition, the direction and water output of the two water outlets 42 can be adjusted to control the machine to turn, turn around, and other movements.

[0191] It can be seen that this embodiment uses two drive motors C1 to independently drive the two water nozzles 42 to rotate, so as to achieve the effect of asynchronous rotation of the two water nozzles 42. In addition to being able to independently turn to the first state and the second state to adapt to cleaning at different positions by utilizing the asynchronous rotation of the two water nozzles 42, the center of gravity of the equipment can also be adjusted through the asynchronous rotation of the two water nozzles 42, thereby assisting the equipment in posture adjustment in some scenarios.

[0192] In some embodiments, not only can the two water outlets 42 be adjusted synchronously, but the water spraying directions of the two water outlets 42 can also be adjusted asynchronously. As shown in Figures 28 and 29, there are two water outlets 42, including a first water outlet and a second water outlet. The adjustment mechanism 43 includes: a drive motor C1 and a transmission assembly. The number of drive motors C1 is one, and the transmission assembly includes a fourth transmission group C24. The fourth transmission group includes a worm C241, a first gear group C242, a second gear group C243 and a clutch assembly C244. The worm C241 is connected to the shaft of the drive motor C1, and the first gear group C242 is connected to the clutch assembly C244. The first water outlet is axially linked and fixedly connected, the second gear set C243 is axially linked and fixedly connected to the second water outlet, and the clutch assembly C244 is transmission-disposed between the worm C241 and the first and second gear sets C243. When the clutch assembly C244 is engaged with the first gear set C242, the drive motor C1 drives the first water outlet to rotate independently through the clutch assembly C244 and the first gear set C242. When the clutch assembly C244 is engaged with the second gear set C243, the drive motor C1 drives the second water outlet to rotate independently through the clutch assembly C244 and the second gear set C243. In this embodiment, not only can the two water outlets 42 be rotated asynchronously, but also can be rotated synchronously. That is, when the clutch assembly C244 is simultaneously engaged with the first and second gear sets C242, the drive motor C1 drives the first and second water outlets to rotate synchronously through the clutch assembly C244 and the first and second gear sets C243. It can be seen that in the embodiment of the present disclosure, the output end of the driving motor is respectively connected to the first gear set and the second gear set through the clutch assembly, and the driving motor can drive the first gear set and the second gear set selectively or simultaneously.

[0193] The connection between the two water spray ports 42 and the outlet of the fluid pumping device 41 includes the aforementioned rotary connection and rotary sleeve connection, which will not be described in detail here.

[0194] 28 and 29 , the first gear set C242 includes a first worm gear C2421, a first connecting rod C2422 and a first connecting pipe C243, one end of the first connecting rod C2422 is connected to the first worm gear C2421, and the other end is connected to one end of the first connecting pipe C243, and the other end of the first connecting pipe C243 is connected to the first water outlet; similarly, the second gear set C243 includes a second worm gear C2431, a second connecting rod C2432 and a second connecting pipe C2433, one end of the second connecting rod C2432 is connected to the second worm gear C2431, and the other end is connected to one end of the second connecting pipe C2433, and the other end of the second connecting pipe C2433 is connected to the second water outlet.

[0195] As shown in Figure 30, the clutch assembly C244 includes a first gear C2441, a second gear C2442, an electromagnet C2443 and an elastic member C2444. There are two first gears C2441, and the second gear C2442 is arranged between the two first gears C2441. The first gear C2441 is a hollow structure and has an opening at one axial end. The first gear C2441 is provided with a first bevel tooth at the other axial end, and an iron-absorbing plate C2445 is provided on the inner side of the first gear C2441 near the bevel tooth. A first helical tooth is provided on the outer periphery of the first gear C2441. There are two electromagnets C2443 and they are fixedly arranged at intervals at positions on the equipment corresponding to the axial direction of the first gear C2441. The first bevel teeth of the two first gears C2441 are arranged facing each other and are respectively sleeved on an electromagnetic On the iron C2443, an elastic member C2444 is provided between the electromagnet C2443 and the magnet. This elastic member C2444 is in a compressed state. The first helical teeth of the two first gears C2441 respectively mesh with the two worm gears. The second gear C2442 is provided with second bevel teeth at both axial ends and on the outer periphery. The second bevel teeth engage with the first bevel teeth in a clutched manner and mesh with the second bevel teeth. The second bevel teeth mesh with the worm C241, which is connected to the shaft of the drive motor C1. When the electromagnet C2443 attracts the magnet plate C2445, the first bevel teeth on the first gear C2441 separate from the second bevel teeth on the second gear C2442. When the electromagnet C2443 releases the magnet plate C2445, the first bevel teeth on the first gear C2441 separate and mesh with the second bevel teeth on the second gear C2442. The elastic member C2444 is preferably a spring.

[0196] The two water outlets 42 rotate according to the following principle: the drive motor C1 rotates, driving the worm gear C241, which in turn drives the first gear C2441. When the electromagnet C2443 releases the magnetic plate C2445, the first gear C2441 engages with the second gear C2442. The rotation of the first gear C2441 drives the second gear C2442, which in turn drives the worm gear. Since the connecting rod is fixedly connected to the worm gear, the connecting rod rotates with the worm gear. At the same time, the other end of the connecting rod is connected to the water outlet 42 via a connecting pipe, so the connecting pipe rotates with the connecting rod, thereby driving the water outlet 42 to rotate, achieving the effect of a single drive motor C1 independently driving each water outlet 42. In this embodiment, the steering angle of the water outlet 42 can be freely controlled, including but not limited to 0° and ±90°, as well as any angle between 0-±90°.

[0197] This embodiment controls the transmission components corresponding to at least one or two water outlets 42 to be connected to the drive motor C1 through the clutch component C244, so that a single drive motor C1 can independently control the rotation of any water outlet 42, or drive the two water outlets 42 to rotate synchronously, so that the appropriate rotation mode of the water outlet 42 can be selected according to the actual scenario, thereby increasing the diversity and flexibility of the rotation drive of the water outlet 42.

[0198] See Figure 31. In some embodiments, there are four water spray outlets 42, which are respectively connected to the outlet fluid of the fluid pumping device 41. The four water spray outlets 42 are divided into two groups, and each group of water spray outlets 42 consists of two water spray outlets. A valve 424 is provided in each water spray outlet 42. The water spraying direction of one group of water spray outlets 42 is roughly perpendicular to the movement direction of the cleaning equipment, and the water spraying direction of the other group of water spray outlets 42 is roughly parallel to the movement direction of the cleaning equipment. The valve 424 of each group of water spray outlets 42 is connected to the drive motor through a transmission component to realize that the valve 424 of each group of water spray outlets 42 is driven by at least one drive motor, so that the two groups of water spray outlets 42 can be opened selectively.

[0199] In some embodiments, the two water outlets 42 can be adjusted synchronously, see Figure 31, the adjustment mechanism 43 includes a drive motor C1 and a transmission assembly C2, the number of the drive motor C1 is one, the transmission assembly C2 includes a fifth transmission assembly C25, the fifth transmission assembly C25 includes: a worm C251, a worm wheel C252 and a connecting rod C253, the number of the worm C251 is one, and it is connected to the shaft of the drive motor C1, the number of the worm wheel C252 and the number of the connecting rod C253 are two, and the two connecting rods C253 are respectively connected to the two worm wheels C252, and the two ends of each connecting rod C253 are connected to the two valves 424 of a group of water outlets 42, and the two worm wheels C252 are meshed with each other, and the worm C251 is meshed with one of the worm wheels C252. In this way, when the driving motor C1 rotates, it drives the worm C251 to rotate synchronously. The rotation of the worm C251 drives one of the worm wheels C252 to rotate. Since the two worm wheels C252 are engaged, the other worm wheel C252 also rotates, thereby driving the connecting rod C253 axially connected to the worm wheel C252 to rotate synchronously, and then driving the valves 424 of the two groups of water outlets 42 to rotate synchronously, so that the valves 424 of one group of water outlets 42 are closed, while the valves 424 of the other group of water outlets 42 are opened.

[0200] The embodiment of the present disclosure respectively sets a group of water outlets 42 at the positions of the first state and the second state, and uses the adjustment mechanism 43 to drive the valve 424 of the water outlet 42 to selectively open the two groups of water outlets 42 to meet the operation requirements of the equipment in different states. Compared with the above-mentioned water outlet 42 change method, the structure of this embodiment is simpler.

[0201] It is worth noting that there is at least one fluid pumping device 41. Referring to the above embodiment, the number of fluid pumping devices 41 can be determined based on the number of water outlets 42 and the desired rotational effect. On the one hand, when there are multiple water outlets 42, it is generally necessary to match the number of outlets of the fluid pumping devices 41 with a corresponding number. For example, when there is only one water outlet 42, there is also only one fluid pumping device 41. The water outlet 42 is connected to the outlet of one fluid pumping device 41. More specifically, one water outlet 42 is connected to the outlet of the water outlet pipe 413. For another example, when there are two water spray outlets 42, the number of fluid pumping devices 41 can be one. Specifically, the water outlet pipe 413 in the fluid pumping device 41 is designed as a flow channel divided into two to provide two outlets, each of which is connected to a water spray outlet 42; alternatively, the number of fluid pumping devices 41 can be two, and then the water outlet pipe 413 corresponding to each fluid pumping device 41 has one outlet, thereby providing two independent outlets, each of which is connected to a water spray outlet 42. Similarly, when there are four water spray outlets 42, there can be only one fluid pumping device 41. In this case, the water outlet pipe 413 in the fluid pumping device 41 can be designed as a one-to-four flow channel to provide four outlets, each outlet being connected to a water spray outlet 42; or the water outlet pipe 413 can be designed as a one-to-two flow channel to provide two outlets, each outlet being connected to two water spray outlets 42 at the same time; in addition, there can also be two fluid pumping devices 41. If the water outlet pipe 413 corresponding to each fluid pumping device 41 has one outlet, two independent outlets are provided, each outlet is connected to two water spray outlets 42; if the water outlet pipe 413 corresponding to each fluid pumping device 41 has two outlets, four independent outlets are provided, each outlet is connected to one water spray outlet 42.

[0202] In addition, when the device supports driving the two water nozzles 42 to rotate asynchronously, the number of fluid pumping devices 41 is preferably two, so that each water nozzle 42 corresponds to an independent fluid pumping device 41, thereby realizing independent control of the water flow rate and flow rate of each water nozzle 42. Then, in actual application scenarios, when the device needs to turn on the water surface, the two water nozzles 42 can be used to generate a water flow rate difference. For example, one water nozzle 42 sprays water, while the other water nozzle 42 does not spray water, so as to achieve the turning of the device on the water surface. Alternatively, when the device is at the bottom of the pool, the two water nozzles 42 can be used to generate a water flow rate difference to assist the device in turning, so that the device can reduce the turning radius. In addition, the posture of the device can also be adjusted by adjusting the angle and flow rate of the water nozzle 42. In addition, when the device has two water nozzles 42, a fluid pumping device 41 can also be used, which can effectively reduce the cost of the equipment. At the same time, when the device floats to the surface, since the walking mechanism 2 is not in contact with the ground and therefore cannot provide power for walking, the water nozzle 42 can be driven to spray water to provide power for the device to move. It is understood that in practice, the number of fluid pumping devices 41 can be selected according to product requirements and is not limited in this disclosure.

[0203] In some embodiments, referring to FIG24 , the cleaning device further comprises: a sealed chamber 8 , wherein at least a mounting position for the drive motor C1 and a mounting position for the fluid pumping device 41 are provided within the sealed chamber 8 . The drive motor C1 and the fluid pumping device 41 are disposed within the sealed chamber 8 , while the output shaft of the drive motor C1 and the blades of the fluid pumping device 41 are exposed outside the sealed chamber 8 to provide a waterproof effect and prevent the fluid pumping device 41 and the drive motor C1 from being damaged by water ingress. Of course, the sealed chamber 8 can also be used to house other electronic devices, which is not limited in the present embodiment.

[0204] In practice, since the driving motor generates heat when working for a long time in the sealed chamber 8, the heat generated will cause the air pressure in the sealed chamber 8 to increase, which will have a certain impact on the sealing components of the sealed chamber. In order to minimize the impact, at least one opening can be provided on at least one surface of the sealed chamber, and a sealed pressure relief valve can be sealed and installed at the opening. The sealed pressure relief valve can be made of flexible materials such as soft rubber and silicone. When the air pressure in the sealed chamber increases, the sealed pressure relief valve bulges away from the sealed chamber to offset the increase in air pressure; when the air pressure in the sealed chamber decreases due to motor cooling, the sealed pressure relief valve contracts toward the direction of the internal cavity of the sealed chamber to offset the decrease in air pressure. In some embodiments, a heat dissipation structure can also be provided for at least one driving motor in the sealed chamber. The heat dissipation structure is in contact with the driving motor to guide the heat to the sealed chamber wall or directly through the sealed chamber to the outside of the sealed chamber.

[0205] In order to increase the range of movement of the cleaning device in the water, in some embodiments, as shown in Figure 12, the cleaning device also includes a buoyancy adjustment mechanism 6, which can adjust the depth of the cleaning device in the swimming pool. Under the action of the buoyancy adjustment mechanism 6, the cleaning device can float to the surface for cleaning or dive to the bottom of the pool for cleaning.

[0206] For example, the cleaning device includes a first operating state, a second operating state, and a third operating state. When the device is at the bottom of the pool, the cleaning device is in the first operating state; when the device is at the pool wall, the cleaning device is in the second operating state; and when the device is at the water surface, the cleaning device is in the third state. Under the action of the buoyancy adjustment mechanism, the buoyancy adjustment mechanism can adjust the cleaning device to switch between the first operating state and the third operating state without passing through the second operating state. That is, the buoyancy adjustment mechanism can adjust the device to move directly from the pool bottom to the water surface, or from the water surface to the pool bottom, so that the device does not need to climb the pool wall from the bottom to the water surface, or climb down the pool wall from the water surface to the pool bottom, thereby improving the flexibility of the device in the water.

[0207] The specific implementation of the buoyancy adjustment mechanism is not unique. For example, reference may be made to the above-mentioned embodiments of the buoyancy adjustment mechanism, which will not be described in detail here.

[0208] In some embodiments, the second water inlet 12 is provided on a side of the cleaning device, for providing a water inlet for the cleaning device when cleaning on the water surface; a first door stop 511 is provided on the first water flow channel, and a second door stop is provided on the second water flow channel. When the cleaning device is in different operating states, the water flow channel that matches the current operating state of the device can be opened through the first door stop 511 and the second door stop. For example, when the device is in the first or second operating state, the device is cleaning the bottom or wall of the pool. At this time, the first door stop 511 is adjusted to open and the second door stop is adjusted to close, so that the device draws water through the first water inlet 11 corresponding to the first water flow channel; when the device is in the third operating state, the cleaning device is cleaning on the water surface. At this time, the first door stop 511 is adjusted to close and the second door stop is adjusted to open, so that the device draws water through the second water inlet 12 corresponding to the second water flow channel.

[0209] The first door stop 511 and the second door stop can be selectively opened in various ways. For example, the first and second door stops can be selectively opened by the same transmission mechanism; or the first door stop 511 can be controllably opened or closed, while the second door stop is passively opened and normally closed. The transmission mechanism includes, but is not limited to, a motor and a transmission assembly. For details, please refer to the aforementioned embodiment of selectively opening the flow channel and will not be further described here.

[0210] In cleaning equipment, the function of the filter mechanism 3 is to filter impurities, dirt, solid particles, and other waste from the water sucked into the machine to obtain clean water. In practice, the structure of the filter mechanism 3 varies, but a common problem is that the filtering performance decreases over time. The reason for this is that the sucked-in waste easily adheres to the filter screen, clogging the filter screen, resulting in a decrease in the suction force at the suction port, affecting the filtering performance of the equipment. To this end, the embodiment of the present disclosure provides a filter mechanism 3 including a filter cleaning device to overcome this technical problem.

[0211] For example, in some embodiments, in combination with Figure 32, the filtering mechanism 3 includes: an outer vortex space 31, an inner vortex space 32, a filter screen 33 and a filter screen cleaning device 34. The outer vortex space 31 is located upstream of the filter screen 33, and can make the incoming water flow perform a rotational motion in the outer vortex space 31 to separate part of the garbage from the fluid; the inner vortex space 32 is arranged on the inner side of the filter screen 33, and can make the water flow passing through the filter screen 33 generate a secondary rotational motion in the inner vortex space 32 to secondary separate the garbage and discharge the water flow; the filter screen cleaning device 34 is arranged around the filter screen 33, and is used to clean the garbage attached to the filter screen 33.

[0212] The working principle of the rotary separation filter device is that the water flow sucked in from the water inlet first enters the outer vortex space 31. Due to the inertia of the water flow, the water flow rotates in the outer vortex space 31. Since the size of the garbage is often proportional to the mass, that is, the larger the size of the garbage particles, the greater the mass. The centrifugal force of garbage particles of different masses is different. Large particles of garbage will be thrown to the inner wall of the outer vortex space 31 by the centrifugal force, and then fall to the bottom of the outer vortex space 31 under the action of their own gravity, while other small particles of garbage will pass through the filter mesh 33 with the water flow into the inner vortex space 32 and perform a second rotation motion in the inner vortex space 32. Based on the same principle, the garbage in the water flow will be separated from the water flow due to centrifugal motion, and thus fall to the bottom of the inner vortex space 32. After two rotational separations, the water flow will flow out of the filter mechanism 3, thereby realizing the filtration of garbage in the water.

[0213] For another example, in some embodiments, referring to Figures 32 and 33 , the filter mechanism 3 includes an outer vortex space 31, a filter screen 33, and a filter screen cleaning device 34. The filter screen cleaning device 34 is disposed on the filter screen and is used to clean debris attached to the filter screen 33. Compared to the structure in Figure 32 , the structure of the filter mechanism 3 in this embodiment is simpler.

[0214] For another example, in some embodiments, the filter of the filter mechanism 3 can adopt a traditional form, for example, a filter screen is arranged on at least one surface of a filter box frame. After a long cleaning process, the filter screen will be blocked by magazines or floating objects in the water, resulting in poor water flow, thereby affecting the cleaning effect and process. Therefore, a filter screen cleaning device can be arranged in the filter box frame. The filter screen cleaning device can be, for example, a brush bar, which rotates under the action of a rotating motor to clean the inner surface of the filter screen; a movable track for the brush bar can also be arranged on the frame, and another drive motor can drive the brush bar to move along the track inside the filter box frame. For the case where the filter box has filter screens on multiple sides, the movement and rotation of the brush bar along the track can clean the inner surfaces of all side filters.

[0215] The specific implementation of the filter cleaning device 34 is not unique, including but not limited to the above-mentioned ones. The filter cleaning device can be, for example, a brush bar, which rotates under the action of a rotating motor to clean the inner surface of the filter.

[0216] In some embodiments, as shown in Figure 9, the filter cleaning device 34 includes an impeller 341 and a brush bar 342. The impeller 341 is arranged at a position where the inlet of the rotary separation filter device is connected to the outer vortex space, and is fixed and rotated along the axial direction of the filter screen 33. The brush bar 342 is arranged along the axial direction of the filter screen 33 and is tightly attached to the side wall of the filter screen 33. The brush bar 342 is fixedly connected to the impeller 341 or the impeller 341 can drive the brush bar 342 to rotate. When the water flow rotates in the outer vortex space, the impeller 341 is driven to rotate, so that the impeller 341 drives the brush bar 342 to rotate circumferentially along the side wall of the filter screen 33 to wipe off the garbage on the side wall.

[0217] The impeller 341 is located at the entrance of the rotary separation filter device, where it communicates with the outer vortex space. When water enters, it impacts the impeller 341, leveraging the inertia and rotational motion of the water flow to drive the impeller 341 to rotate. The rotation of the impeller 341 then drives the brush bar 342 to rotate circumferentially around the filter 33. Because the brush bar 342 clings to the sidewall, it can remove garbage particles attached to the filter 33, preventing clogging of the mesh of the filter 33. As can be seen, the filter cleaning device 34 provided in this embodiment is not only simple in structure, but also requires no energy to drive. Its rotation is driven by the power of the water flowing into the filter mechanism 3, thereby driving the brush bar to rotate and achieve self-cleaning of the filter 33, which is very energy-saving and environmentally friendly.

[0218] The brush strip 342 can be strip-shaped and can be at least one in number. The brush strip 342 can be arranged parallel to, inclined to, or circumferentially along the axis of the filter screen 33. For example, when there is only one brush strip 342, the brush strip 342 clings to the outer wall of the filter screen 33, parallel to or inclined to the axis of the filter screen 33. When there are multiple brush strips 342, the multiple brush strips 342 are spaced apart circumferentially of the filter screen 33 and cling to the outer wall, parallel to or inclined to the axis of the filter screen 33.

[0219] The shape of the filter 33 includes, but is not limited to, cylindrical, conical, and prismatic shapes. In this embodiment, the shape of the filter 33 is preferably cylindrical. The filter 33 is provided with a plurality of meshes, the size of which can be set according to the specific application scenario and is not limited in this disclosure.

[0220] In conjunction with the above embodiment of the filter mechanism 3, the filter mechanism 3 is a self-cleaning filter mechanism 3 including a filter screen cleaning device. This filter screen cleaning device enables the filter mechanism 3 to have a self-cleaning function to prevent filter screen clogging. In practice, the filter screen cleaning device 34 can be actively driven by a motor, which is more convenient to control and more stable than a passive impeller drive.

[0221] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A cleaning device, comprising: A body, provided on the body with: A traveling mechanism, located at the bottom of the device and connected to the body, for driving the device to move at least on the surface to be cleaned during operation; A filtering mechanism, provided at a position on the body closer to the front along the movement direction of the device; A water spraying mechanism, provided at a position on the body closer to the rear along the movement direction of the device and fluidly connected to the outlet of the filtering mechanism. The water spraying mechanism at least includes a fluid pumping device for providing a suction force for the water flow to flow out from the water inlet to the water spraying mechanism; Characterized in that, the body is further provided with: A cleaning mechanism, at least including a first roller brush and a second roller brush. The first and second roller brushes are rotationally provided at the bottom of the body in parallel with the axes, and at least a first water inlet is opened on the bottom shell of the body corresponding to between the rotating shafts of the first and second roller brushes; the first and second roller brushes are respectively driven by the traveling mechanism to rotate towards each other; The water spraying mechanism at least includes a water spraying port, and the spraying direction of at least one water spraying port can be adjusted between a first direction and a second direction. The first direction is substantially perpendicular to the surface to be cleaned, and the second direction is substantially parallel to the surface to be cleaned; At least one second water inlet is provided on another surface of the body different from the surface where the first water inlet is located. The first water inlet is fluidly connected to the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is fluidly connected to the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

2. The cleaning device according to claim 1, characterized in that: The first roller brush and the second roller brush are driven by the same traveling wheel of the traveling mechanism; or the first roller brush is driven by the first traveling wheel of the traveling mechanism, and the first roller brush is driven by the second traveling wheel of the traveling mechanism.

3. The cleaning device according to claim 1, wherein: The water spraying port at least includes a first water spraying port and a second water spraying port, and the spraying directions of the first and second water spraying ports can be adjusted synchronously or asynchronously.

4. The cleaning device according to claim 1, characterized in that: The second water inlet is provided on a side surface of the cleaning device for providing a water flow inlet when the cleaning device is cleaning on the water surface; a first doorstop is provided on the first water flow channel, and a second doorstop is provided on the second water flow channel.

5. The cleaning device according to claim 4, wherein: The first and second doorstops can be selectively opened by the same transmission mechanism; or the first doorstop or the second doorstop is controllably opened or closed, the second doorstop or the first doorstop is passively opened, and the second doorstop or the first doorstop is normally closed.

6. The cleaning device according to claim 1, characterized in that: The filtering mechanism includes a filter screen cleaning device.

7. The cleaning device according to claim 1, wherein: A buoyancy adjustment mechanism is further provided on the cleaning device. The cleaning device can operate in a first state located at the bottom of the pool, or in a second state located on the pool wall, or in a third state located on the water surface. The buoyancy adjustment mechanism can adjust the cleaning device to switch between the first state and the third state without passing through the second state.

8. A cleaning device, comprising: A body, provided on the body with: A walking mechanism, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation, and includes a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, and a first crawler mounted on the first front wheel and the first rear wheel, and a second crawler mounted on the second front wheel and the second rear wheel; The filtering mechanism is arranged on the machine body at a front position along the moving direction of the equipment; A water spray mechanism is arranged on the body at a rear position along the movement direction of the device and is fluidly connected to the filtering mechanism. The water spray mechanism at least includes a fluid pumping device for providing a suction force for water to flow out of the water spray mechanism from the water inlet; It is characterized in that the machine body is also provided with: The cleaning mechanism comprises at least a first roller brush and a second roller brush, wherein the first and second roller brushes are axially parallel and rotatably arranged at the bottom of the machine body, and at least a first water inlet is provided on the corresponding bottom shell of the machine body between the first and second roller brush rotating shafts; the first and second roller brushes are driven to rotate towards each other by the first front wheel, or the first roller brush is driven to rotate by the first front wheel and the second roller brush is driven to rotate by the second front wheel; At least one second water inlet is arranged on the other side of the body which is different from the side where the first water inlet is located. The first water inlet is connected to the fluid of the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is connected to the fluid of the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

9. The cleaning device according to claim 8, wherein: When the first and second roller brushes are driven by the first front wheel to rotate toward each other, the first front wheel includes external teeth and internal teeth, the driving teeth of the first roller brush mesh with the external teeth, and the driving teeth of the second roller brush mesh with the internal teeth.

10. The cleaning device according to claim 8, characterized in that: When the first and second roller brushes are driven by the first front wheel to rotate toward each other, the first front wheel is provided with a central tooth, the driving teeth of the first roller brush are directly meshed with the central tooth, and the driving teeth of the second roller brush are meshed with the central tooth through a transition tooth.

11. The cleaning device according to claim 8, characterized in that: When the first roller brush is driven to rotate by the first front wheel and the second roller brush is driven to rotate by the second front wheel: the driving teeth of the first roller brush are meshed with the outer teeth of the first front wheel, and the driving teeth of the second roller brush are meshed with the inner teeth of the second front wheel; or the driving teeth of the first roller brush are meshed with the outer teeth or inner teeth of the first front wheel, and the driving teeth of the second roller brush are meshed with the outer teeth or inner teeth of the second front wheel through transition teeth; or the driving teeth of the first roller brush are meshed with the center teeth of the first front wheel, and the driving teeth of the second roller brush are meshed with the center teeth of the second front wheel through transition teeth.

12. The cleaning device according to claim 8, characterized in that: The first front wheel, the second front wheel, the first rear wheel, the second rear wheel, the first crawler track mounted on the first front wheel and the first rear wheel, and the second crawler track mounted on the second front wheel and the second rear wheel are directly or indirectly driven by a driving motor.

13. The cleaning device according to claim 8, wherein: The first front wheel, the first rear wheel and the first crawler track are driven directly or indirectly by the first drive motor; the second front wheel, the second rear wheel and the second crawler track are driven directly or indirectly by the second drive motor.

14. A cleaning device comprising: A machine body, wherein the machine body is provided with: A walking mechanism, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation; The filtering mechanism is arranged on the machine body at a front position along the moving direction of the equipment; A water spray mechanism is arranged on the body at a rear position along the moving direction of the device and is connected to the outlet fluid of the filtering mechanism. The water spray mechanism at least includes a fluid pumping device for providing a suction force for water to flow out of the water spray mechanism from the water inlet; It is characterized in that the machine body is also provided with: The body includes at least a first water inlet and a second water inlet, the first water inlet and the second water inlet are arranged on different surfaces, the first water inlet is connected to the fluid of the filtering mechanism through a first flow channel to form a first water flow channel; the second water inlet is connected to the fluid of the filtering mechanism through a second flow channel to form a second water flow channel; the first water flow channel and the second water flow channel are selectively opened during the cleaning process.

15. The cleaning device according to claim 14, wherein: The first water inlet is arranged at the bottom of the cleaning device, and the second water inlet is arranged at the side of the cleaning device.

16. The cleaning device according to claim 14, characterized in that: A first door stop is provided on the first water flow channel, and a second door stop is provided on the second water flow channel, the first door stop is in a normally closed state, and the second door stop can be opened and closed by a motor drive; When the pool bottom or pool wall is cleaned, the second door stop is closed, and the first door stop can be opened under the action of the fluid pumping device; When the water surface is cleaned, the second water inlet is at least partially located on the water surface, the second door stop is opened by the drive of the motor, and the first door stop is in a closed position.

17. The cleaning device according to claim 14, wherein: The cleaning device includes a buoyancy adjustment mechanism, which can adjust the depth position of the cleaning device in the swimming pool.

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