Mechanical reversing structure of pool cleaner and pool cleaner

Abstract

The application provides a mechanical reversing structure of a pool cleaner and the pool cleaner. The mechanical reversing structure comprises a rotating member, at least one stop device and at least one swinging member. The rotating member forms a water inlet, a middle flow channel and a rotating water outlet which are sequentially communicated to allow water flow. The rotating member is rotatably installed on a cleaner body around a rotating axis. The stop device rotates relative to the cleaner body. The swinging member swings around a swinging axis. When the pool cleaner moves, the stop device abuts against the swinging member, and the rotating water outlet is positioned to a first advancing direction. When the pool cleaner is blocked, the stop device is separated from the swinging member, and the rotating water outlet rotates to a second advancing direction. The embodiment of the application has the advantages of stable abutting state and separation state, avoiding excessive energy consumption when the swinging member rotates relative to the cleaner body, and facilitating movement along a desired path.

Description

[0001] This invention claims priority to Chinese patent application number "2022109224197", which was filed on August 2, 2022. Technical Field

[0002] This invention belongs to the field of swimming pool cleaning technology, and in particular relates to a mechanical reversing structure for a swimming pool cleaning machine and the swimming pool cleaning machine itself. Background Technology

[0003] When cleaning a pool, a pool cleaning machine needs to change direction when encountering a wall or obstacle. Existing automatic pool cleaning machines use the following methods for reversing:

[0004] 1. Fixed turnaround time

[0005] It controls the turnaround time (the time it takes to walk from one side of the pool wall to the opposite side) through electrical means (written into the control program of the pool cleaner's controller) or mechanical means (such as the invention patent with authorization announcement number "CN102828625B"). Once the time is set, it is fixed. The problems include at least the following: the fixed turnaround time necessarily requires the walking speed and direction to be constant. Once the walking speed and direction are affected by obstacles or turbulence (such as water inlets, outlets, or swimmers), it will inevitably be affected, resulting in premature turnaround, delayed turnaround, or even being blocked by the pool wall and unable to turn around. It cannot identify whether it has touched the wall or encountered an obstacle and return or turn. When the cleaner touches the wall or encounters other obstacles, it must wait until the set time period ends before it can reverse, resulting in a significant loss of efficiency.

[0006] 2. Use sensors to detect pool walls / obstacles.

[0007] In an attempt to address the problems associated with the fixed turnaround time, some existing technologies employ electronic components for wall contact detection. However, these technologies rely on the sensitivity of electronic components, have high requirements for the working environment, and suffer from low detection reliability. Furthermore, the transmission and processing of sensor signals require extensive computation, placing high demands on the controller performance of the pool cleaning machine, resulting in high power consumption, significant susceptibility to the underwater environment, complex structure, and high cost.

[0008] 3. The contact / disengagement of the swing member and the stop member after being blocked by (pool wall / obstacle) and resetting.

[0009] To address the problems associated with the aforementioned sensors, a prior art discloses a mechanical wall-touching reversing mechanism. This mechanism does not employ any sensors for reversing control. Driven by a rotating component, the resistance plate intermittently abuts and disengages from the stop assembly. It moves when abutting and reverses direction when disengaging. To ensure buoyancy, the resistance plate has a large volume, especially at the end furthest from its swing axis. This large resistance plate rotates with the rotating component. When the swing angle is too large, it easily disengages from the stop assembly. Furthermore, the large resistance increases energy consumption, especially when using batteries, reducing range. Additionally, the large volume of the swing plate generates significant torque from the water's reaction force, severely affecting the rotational connection between the rotating component and the cleaning machine housing. This torque also increases the uncertainty of the travel direction, hindering path planning. Summary of the Invention

[0010] To address the problems inherent in three reversing methods—fixed turnaround time, sensor detection of the pool wall, and the contact / disengagement of the swing member and stop member after being blocked by (pool wall / obstacle)—the first aspect of this invention provides a mechanical reversing structure for a pool cleaning machine, comprising:

[0011] A rotating component forms a water inlet, a central flow channel, and a rotating outlet connected in sequence to allow water to flow through. The rotating component is rotatably mounted on the main body of the cleaning machine around a rotation axis.

[0012] At least one stop device, which rotates relative to the main body of the cleaning machine;

[0013] At least one swinging component is oscillatingly mounted on the main body of the cleaning machine about a swinging axis; wherein,

[0014] When the pool cleaning machine moves, the stop device abuts against the swing member, and the rotating water outlet is positioned in the first propulsion direction;

[0015] When the pool cleaning machine is obstructed, the stop device disengages from the swing member, and the rotating water outlet rotates in the second propulsion direction.

[0016] Furthermore, the pool cleaning machine was obstructed.

[0017] The rotating component rotates to a position where another stopping device abuts against the swing component; or...

[0018] The rotating component rotates until the stop device abuts against another swing component.

[0019] Furthermore, when the movement of the pool cleaning machine is obstructed, the stopping device can overcome the resistance of the swinging component under the action of the rotational force of the rotating component.

[0020] Furthermore, the stop device is fixed to the rotating member, or formed on the rotating member.

[0021] Furthermore, in the underwater static state, the oscillating member is configured to be able to reset so that the oscillating member remains vertical.

[0022] Furthermore, the swinging member is reset by buoyancy.

[0023] Furthermore, the swinging component is reset by a counterweight fixed below the swing axis.

[0024] Furthermore, the oscillating element has an end with a density less than that of water; and / or,

[0025] The swinging component has a hollow end.

[0026] Furthermore, an elastic reset component is installed between the swinging component and the main body of the pool cleaning machine.

[0027] Furthermore, when the pool cleaning machine is obstructed, the rotating component drives the stopping device to rotate, thereby pushing the swinging component to swing at an angle toward the obstructed side. The swinging component then disengages from the stopping device, so that:

[0028] As the rotating component rotates, another stop device abuts against the swing component; or,

[0029] As the rotating component rotates, the stop device abuts against another swinging component;

[0030] The rotating water outlet points in the second propulsion direction.

[0031] Furthermore, the swinging member can be blocked by the stop device;

[0032] The rotational torque of the rotating component is greater than the reset torque of the oscillating component, so that the rotating component can overcome the obstruction of the oscillating component, thereby causing the portion of the oscillating component located above the oscillation axis to oscillate towards the obstructed side.

[0033] Furthermore, the pool cleaning machine is obstructed, and the rotating component rotates to a position where another stop device abuts against the swing component;

[0034] The stop device consists of two devices symmetrically distributed on opposite sides of the rotation axis. Both stop devices are fixed to the rotating component, or the two stop devices are integrally formed.

[0035] Furthermore, the swinging component is a single unit, and the angle between the swinging axis and the first propulsion direction, and the angle between the swinging axis and the second propulsion direction, are both close to 90°.

[0036] Furthermore, the swing member extends radially along the swing axis to form a swing portion and extends along the swing axis to form a stop assembly. The swing portion is located above the swing axis, and the stop assembly is located on the side facing the stop device. The stop assembly is capable of abutting against the stop device.

[0037] Furthermore, the two stopping devices include a first stopping member and a second stopping member arranged vertically, and the first stopping member and the second stopping member maintain a disengagement gap in the direction of the rotation axis to allow the stopping devices to pass through.

[0038] The abutting component has an abutting part one that can abut against the stop member one and an abutting part two that can abut against the stop member two;

[0039] When the pool cleaning machine moves, the first abutment abuts against the first stop;

[0040] The second abutting part abuts against the second stopper.

[0041] Furthermore, the abutting part faces the opposite direction of the rotation direction of the rotating member, and the side of the stop member facing the rotation direction of the rotating member forms an upper stop surface that abuts against the abutting part.

[0042] Furthermore, the second abutment faces the opposite direction of the rotation direction of the rotating member, and the side of the second stop member facing the rotation direction of the rotating member forms a lower stop surface that abuts against the lower abutment plane.

[0043] Furthermore, the first abutment, the upper stop surface, the second abutment, and the lower stop surface are all planar.

[0044] Furthermore, during reset, the angle between the first abutment and the plane where the traveling wheel is located is equal to the angle between the second abutment and the plane where the traveling wheel is located.

[0045] Furthermore, the free end of the swinging part is a flat structure extending along a surface perpendicular to the walking direction.

[0046] Furthermore, it also includes an upper housing, which is located outside the rotating member and forms a flow guiding chamber. The upper housing forms a water outlet that communicates with the flow guiding chamber. Each of the rotating water outlets is provided with a water outlet in each propulsion direction. The line connecting the swing axis and any of the water outlets does not coincide.

[0047] Furthermore, the water outlet has three or more outlets, and the wheels of the pool cleaning machine are swivel wheels.

[0048] Furthermore, there are two water outlets, which are symmetrically arranged on both sides of the rotation axis.

[0049] Furthermore, the outlet extends in a direction perpendicular to the axis of rotation.

[0050] Furthermore, the swing axis is parallel or approximately parallel to the axis of the walking wheels of the pool cleaning machine.

[0051] Furthermore, the upper housing has a mounting hole, through which the rotating member passes and is fixed to the stop device.

[0052] Furthermore, a bearing is installed in the mounting hole, and the rotating component and / or the stopping device are rotatably mounted to the upper housing via the bearing.

[0053] Furthermore, it also includes a power unit to generate the water flow.

[0054] Furthermore, the impeller is a centrifugal impeller, which is installed inside the flow channel, and the axis of the impeller is coaxial with the direction of the inlet of the flow channel.

[0055] Furthermore, the flow channel has a volute structure.

[0056] A second aspect of the present invention provides a swimming pool cleaning machine, comprising:

[0057] Any of the aforementioned mechanical reversing structures;

[0058] The main body inlet, the main body flow channel, and the main body outlet are connected in sequence, and the main body outlet is connected to the inlet;

[0059] The power unit generates a water flow that sequentially flows along the main body inlet, the main body flow channel, the main body outlet, the inlet, the water channel, and the rotating outlet;

[0060] A filter structure is installed between the main flow channel and the water inlet to block and store impurities in the water.

[0061] Furthermore, the obstruction refers to the pool cleaning machine coming to a standstill or its speed decreasing to near zero.

[0062] The beneficial effects of this invention include:

[0063] When the pool cleaner moves, the oscillating component is subjected to water resistance and the rotational force of the rotating component. The stop device comes into contact with the oscillating component, and the stop device and the rotating component stop rotating around the rotation axis. The rotating water outlet formed on the rotating component is fixed in the first propulsion direction. Under the reaction force of the water flowing out of the rotating water outlet, the pool cleaner moves in the first direction.

[0064] When the pool cleaner is obstructed, the water resistance on the swinging component decreases to less than the rotational force, thus the stop device disengages from the swinging component. Under this unequal force, the stop device disengages from the swinging component and rotates under the rotational force. When the stop device rotates to the point where the rotating outlet points to the second propulsion direction, the stop device is repositioned. Driven by the reaction force of the water flowing out of the rotating outlet, the pool cleaner moves in the second direction, thus realizing the reversing movement of the pool cleaner.

[0065] The reversing logic is as follows: when the pool cleaner is obstructed, its speed decreases, and the water resistance on the swinging component decreases until the water resistance on the swinging component is less than the rotational force of the rotating component. The contact state (force balance) is broken, and the stop device disengages from the swinging component. The contact / disengagement is triggered entirely by the obstruction condition. Only when the speed drops to the above condition after being obstructed (the water resistance on the swinging component is less than the rotational force of the rotating component) will the contact be released, thus achieving reliable reversing.

[0066] Based on the aforementioned reversing logic, the oscillating component only oscillates relative to the main body of the cleaning machine, without rotating. This ensures reliable contact between the oscillating component and the stop device, preventing them from disengaging during contact. It also avoids excessive water resistance when the oscillating component rotates relative to the main body, thus minimizing energy consumption due to this resistance (especially when using batteries, which reduces battery life). Furthermore, it prevents excessive torque from the water's reaction force from affecting the rotational connection with the main body. Simultaneously, it avoids the unpredictable impact of excessive torque on the eccentricity of the cleaning machine's direction of travel, which varies with its rotational position. The eccentric arrangement of the oscillating component of this invention, which only oscillates relative to the main body of the pool cleaner without rotating, allows for control over its eccentric effect on the pool cleaner (the position of the circumferential oscillation axis is fixed, and the eccentric effect always points towards this axis; if the eccentric effect is to be offset or partially offset, a counterweight can be added at a fixed position on the other side of the eccentricity to balance or partially balance the eccentric effect; obviously, the oscillating component's ability to rotate relative to the main body of the pool cleaner makes compensation impractical due to the uncertain direction of its eccentric effect). Its influence on the direction of travel of the pool cleaner is relatively fixed, which is beneficial for traveling along the desired (planned) path.

[0067] It avoids the inability to flexibly change direction due to the presence of obstacles based on a fixed turnaround time, and also avoids the failure risk caused by errors in sensors, electronic control components, and control programs. It also avoids the instability and easy detachment of the swinging part when it rotates relative to the main body of the cleaning machine, as well as the high energy consumption and path movement. Attached Figure Description

[0068] Figure 1 A first-view perspective three-dimensional structural diagram of an embodiment of a pool cleaning machine;

[0069] Figure 2 for Figure 1 A two-dimensional structural diagram from a second perspective, showing the main water inlet;

[0070] Figure 3 for Figure 1 Top view;

[0071] Figure 4 for Figure 3 Sectional view of mid-section AA;

[0072] Figure 5 The image shows the pool cleaning machine stationary on the cleaning surface, with the rotating parts not yet rotating. The swinging parts are in the reset state, and the stop device disengages from the swinging parts, allowing the rotating parts to rotate freely.

[0073] Figure 6 for Figure 5 Top view;

[0074] Figure 7 for Figure 6 Sectional view of mid-section AA;

[0075] Figure 8 This shows the moment when the rotating member rotates to the point where the pre-oscillation begins (the pre-oscillation is the action of the first stop), wherein the oscillating member is in the reset state;

[0076] Figure 9 for Figure 8 Top view;

[0077] Figure 10 for Figure 9 Sectional view of mid-section AA;

[0078] Figure 11 This shows the rotation of the rotating member to the end of the pre-oscillation (the pre-oscillation acts as a stop), wherein the oscillating member (in the direction of rotation of the rotating member) pre-oscillates by an angle to the end;

[0079] Figure 12 for Figure 11 Top view;

[0080] Figure 13 for Figure 12 Sectional view of mid-section AA;

[0081] Figure 14 When the rotating part rotates to the point where the stop part 2 comes into contact with the swinging part, the swinging part starts from... Figure 11The pre-swing angle of the state is reset to a smaller angle;

[0082] Figure 15 for Figure 14 Top view;

[0083] Figure 16 for Figure 15 Sectional view of mid-section AA;

[0084] Figure 17 The rotating component and the rotating stop component 2 abut against the swing component, and the rotating water outlet is positioned in the first propulsion direction. The pool cleaner (generally) travels in the opposite direction of the first propulsion direction.

[0085] Figure 18 for Figure 17 Top view;

[0086] Figure 19 for Figure 18 Sectional view of mid-section AA;

[0087] Figure 20 The swimming pool cleaner is obstructed on one side, and the swinging part returns to the reset state by a certain angle (not fully reset). The second stop disengages from the swinging part, and the swinging part swings pre-oscillates by an angle under the action of the rotational force of the second stop.

[0088] Figure 21 for Figure 20 Top view;

[0089] Figure 22 for Figure 21 Sectional view of mid-section AA;

[0090] Figure 23 This shows that the second stopper is completely disengaged from the swinging member, and the pre-swing of the swinging member caused by the second stopper ends;

[0091] Figure 24 for Figure 23 Top view;

[0092] Figure 25 for Figure 24 Sectional view of mid-section AA;

[0093] Figure 26 This shows that the stop initially abuts against the swinging member;

[0094] Figure 27 for Figure 26 Top view;

[0095] Figure 28 for Figure 27 Sectional view of mid-section AA;

[0096] Figure 29The stop is shown as abutting against the swinging member, the rotating water outlet is fixed in a second propulsion direction, and the pool cleaner (generally) travels in the opposite direction of the second propulsion direction;

[0097] Figure 30 for Figure 29 Top view;

[0098] Figure 31 for Figure 30 Sectional view of mid-section AA;

[0099] Figure 32 A first-view perspective perspective schematic diagram of the structure of an embodiment of a pool cleaning machine is shown;

[0100] Figure 33 One embodiment is shown in which a stop member will act on the swing member to induce a pre-swing;

[0101] Figure 34 A schematic diagram illustrating the internal water flow principle of an embodiment of a mechanical reversing structure;

[0102] Figure 35 In one embodiment, the stop member two transitions from the abutting state to the pre-swinging state;

[0103] Figure 36 In one embodiment, the stopper two acts on the abutment part two during the pre-swinging process of the swinging member;

[0104] Figure 37 This is a schematic diagram of the structure of one embodiment when the stop member 2 is disengaged from the abutment part 2;

[0105] Figure 38 This is a cross-sectional structural diagram of the stop member 1 in contact with the abutment part 1 according to Embodiment 2 of the present invention;

[0106] Figure 39 This is a schematic diagram of the structure of the stop member 1 and the abutment part 1 when they are disengaged in Embodiment 2 of the present invention;

[0107] Figure 40 This is a schematic diagram of the structure of the stop member 1 in contact with the abutment part 1 according to Embodiment 2 of the present invention;

[0108] Figure 41 This is a schematic diagram of the structure of the stop member 1 sliding past the abutment part 1 when it is disengaged from the abutment part 1 according to Embodiment 2 of the present invention.

[0109] In the picture:

[0110] 01. Rotating component; 011. Inlet; 012. Flow channel; 013. Rotating outlet;

[0111] 02. Stopping device; 021. Stopping component one; 0211. Upper stopping surface; 022. Stopping component two; 0221. Lower stopping surface;

[0112] 03. Swinging component; 031. Swinging part; 0311. End; 032. Abutting assembly; 0321. Abutting part one; 0322. Abutting part two;

[0113] 041. First propulsion direction; 042. Second propulsion direction; 043. Rotation axis; 044. Swing axis; 045. Swing direction; 046. Rotation direction;

[0114] 05. Obstructions;

[0115] 06. Upper shell; 061. Flow guide chamber; 062. Water outlet;

[0116] 07. Rotating components; 071. Bearings;

[0117] 08. Power components; 081. Motor; 082. Impeller;

[0118] 090. Main body of the pool cleaning machine; 091. Main body water inlet; 092. Main body flow channel; 093. Main body water outlet; 094. Filter structure; 095. Wheels. Detailed Implementation

[0119] The first aspect of this invention provides a mechanical reversing structure for a swimming pool cleaning machine, see below. Figures 1 to 4 and Figures 32 to 41 It includes a rotating component 01, at least one stop device 02, and at least one swinging component 03. Driven by the water flow, the rotating component 01 and the stop device 02 rotate around the rotation axis, and the swinging component 03 swings according to the walking state of the pool cleaner (specifically, the end of the swinging component 03 away from the swing axis 044 swings backward in the walking direction). The walking state is logically caused by whether it is obstructed by (obstruction 05). Therefore, it is reliable to "detect" the movement state of the main body of the cleaner by the swinging action of the swinging component 03.

[0120] When the pool cleaner moves, the swinging component 03 swings backward due to water resistance to a position where it abuts against the stop device 02, which has rotated to that position (the stop device 02 abuts against the swinging component 03 due to the combined action of the rotational force of the rotating component 01 and the water resistance on the swinging component 03). The corresponding rotating outlet 013 is positioned in the first propulsion direction 041, and the pool cleaner moves in the opposite direction of the first propulsion direction 041. If obstructed, water flows in from the inlet of the rotating component 01, passes through the central flow channel 012, and flows out from the rotating outlet 013. During the flow of water along this path, the rotating component 01 is driven to rotate around the rotation axis 043, thereby causing the stop device 02 to also rotate around the rotation axis 043. The power to drive the rotation of the rotating component 01 is water flow, allowing the use of purified water discharged from the pool cleaner's outlet. This makes it convenient to apply to pool cleaners, and after application, no additional power source for driving the rotating component 01 is required, greatly simplifying the structure and reducing costs.

[0121] The swinging component 03 can only swing around the swing axis 044 (which can be the axis of the swing shaft fixed to the main body of the cleaning machine) relative to the main body of the cleaning machine, and cannot rotate. This ensures that the swinging component 03 and the stop device 02 can reliably abut against each other, preventing them from disengaging during contact. It also prevents excessive water resistance when the swinging component 03 rotates relative to the main body of the cleaning machine, thus avoiding excessive energy consumption due to this resistance (especially when using batteries as the power source, which would reduce the battery life to some extent). Furthermore, it prevents excessive torque from the reaction force of the water from affecting the rotational connection with the main body of the cleaning machine. Simultaneously, it also prevents the eccentric effect of excessive torque from changing with its rotational position, thus avoiding its impact on the direction of travel of the pool cleaning machine. The uncertainty inherent in the design makes it difficult to follow the desired path. The swinging component 03 of this invention only swings relative to the pool cleaner body 090 without rotating. Its eccentric arrangement allows for control of the eccentric effect on the pool cleaner (the position of the circumferential swing axis 044 is fixed, and the eccentric effect always points towards this axis. To offset or partially offset this eccentric effect, a counterweight can be added at a fixed position on the other side of the eccentricity to balance or partially balance it. Obviously, the swinging component 03's ability to rotate relative to the pool cleaner body 090 makes compensation impractical due to the uncertain direction of its eccentric effect). Its influence on the swimming direction of the pool cleaner is relatively fixed, facilitating travel along the desired path.

[0122] Without considering the obstruction effect of the oscillating component 03, the rotating component 01 can continuously rotate around the rotation axis 043 under the action of water flow. In particular, since the water flow of the rotating component 01 is in the water flow path of the pool cleaner, it can be directly driven by the power of the pool cleaner, which simplifies the structure and increases the operating efficiency.

[0123] Additionally, the swing direction of the swinging component is 045° as follows: Figure 1 As indicated by the arrow, the rotation direction of the rotating component is 046. Figure 1 As shown.

[0124] Based on this, the swing member 03 is configured to intermittently contact and disengage from the stop device 02 according to the relative speed of the water. When contacting, the rotating outlet 013 is positioned in the first propulsion direction 041, and the pool cleaner moves in the opposite direction of the first propulsion direction 041. When the pool cleaner is obstructed, the stop device 02 disengages from the swing member 03, and the rotating outlet 013 rotates in the second propulsion direction 042 and is eventually positioned in the second propulsion direction 042. Thus, under the reaction force of the water flow from the rotating outlet 013 that has rotated to this position, the pool cleaner moves in the opposite direction of the second propulsion direction 042.

[0125] One way to cause the rotation of the rotating component 01 is as follows: the rotating component 01 has a water inlet 011, a middle flow channel 012 and a rotating water outlet 013 connected in sequence inside, so that water can flow through. The rotating component 01 is rotatably installed on the main body of the cleaning machine around the rotation axis 043. During the process of water flowing along the water inlet 011 → flow channel 012 → rotating water outlet 013, the rotating component 01 is driven to rotate through hydraulic coupling. The structure is simple and makes full use of the water flow effect of the pool cleaning machine.

[0126] When the pool cleaning machine is obstructed, the rotating outlet 013 can be positioned in the second propulsion direction 042 in two ways: the rotating part 01 rotates to the position where another stop device 02 abuts against the swinging part 03, as illustrated in the embodiment of the present invention; or the rotating part 01 rotates to the position where the stop device 02 abuts against the other swinging part 03.

[0127] Furthermore, when the movement of the pool cleaning machine is obstructed, the stop device 02 can overcome the resistance of the swinging member 03 under the rotational force of the rotating member 01. This allows the stop device 02 to disengage from the swinging member 03, and then the rotating member 01 can rotate under the continuous rotational force, so as to achieve the aforementioned position where the rotating member 01 rotates to the position where the other stop device 02 is against the swinging member 03; or, the rotating member 01 rotates to the position where the stop device 02 is against the other swinging member 03, thereby causing the rotating outlet 013 to rotate from the first propulsion direction 041 and be positioned in the second propulsion direction 042, completing the change of propulsion direction.

[0128] It should also be noted that the stop device 02 and the rotating part 01 can be independent parts, and the two can be fixed together by a connector, or the stop device 02 and the rotating part 01 can be integrally formed as part of the rotating part 01.

[0129] It should also be noted that, in the underwater static state, the swing member 03 is configured to be able to reset, so that the swing member 03 remains vertical. This configuration ensures that the swing member 03 is always subjected to a reset force that propels it towards a vertical position. Under the action of this reset force and the rotational force of the stop device 02, the stop device 02 remains stable and does not disengage when it is against the swing member 03, and remains firmly pressed when it does disengage.

[0130] As one way to generate the aforementioned reset force, the swinging component 03 resets via buoyancy. That is, an extension arm with buoyancy greater than gravity is formed on one side of the swing axis 044. Buoyancy reset does not require the intervention of other parts, and the structure is simple and the reset is reliable.

[0131] As a method of resetting by its own buoyancy, the oscillating member 03 has an end 0311 with a density less than that of water; and / or, the oscillating member 03 has a hollow end 0311. Of course, other structures capable of resetting can also be used, which will not be listed one by one.

[0132] As another way to generate the aforementioned restoring force, the swing member 03 is reset by a counterweight fixed below the swing axis 044. That is, a counterweight is fixed below the swing axis 044, so that the center of gravity of the swing member 03 is located below the swing axis 044.

[0133] As another way to form the above-mentioned restoring force, an elastic restoring element such as a torsion spring is installed between the swinging element 03 and the main body 090 of the pool cleaning machine. When the elastic restoring element is in a free state (no force in the circumferential direction), the swinging element 03 is vertical. When it swings due to the rotational force of the stop device 02, the elastic element is compressed or stretched in the circumferential direction to form an elastic restoring force. When the stop device 02 is disengaged from the swinging element 03, the swinging element 03 is reset under the action of the elastic restoring force.

[0134] Furthermore, when the pool cleaner is obstructed, the rotating component 01 drives the stop device 02 to rotate, pushing the swing component 03 to pre-swing an angle toward the obstructed side (i.e., the side where the obstacle is located). This causes the swing component 03 to generate a displacement component in the vertical direction (perpendicular to the cleaning surface, i.e., perpendicular to the surface on which the pool cleaner travels; this cleaning surface can be the pool bottom, pool wall, obstacle, etc.). This creates a condition for the swing component 03 and the stop device 02 to interfere in advance (before contact) in the vertical direction. The swing component 03 then disengages from the stop device 02, so that:

[0135] As the rotating component 01 rotates, the other stop device 02 abuts against the swing component 03, preventing the other stop device 02 from failing to interfere and abutting when it rotates to the position of the swing component 03; or,

[0136] As the rotating part 01 rotates, the stop device 02 abuts against another swinging part 03, thus preventing the stop device 02 from not interfering and not abutting when it rotates to the position of the other swinging part 03.

[0137] Rotate the water outlet 013 to point in the second propulsion direction 042. This avoids the initial state ( Figure 5 , Figure 6 and Figure 7 In the state shown, the rotating part 01 continues to rotate freely, and the stop device 02 cannot interfere with or abut against the swinging part 03.

[0138] In the direction perpendicular to the clean surface, the swinging member 03 can be blocked by the stop device 02. Structurally, this allows the swinging member 03 to interfere with the rotation of the stop device 02 (rotating member 01) when it resets.

[0139] Furthermore, through structural design, the rotational torque of the rotating component 01 is ensured to be greater than the reset torque of the swing component 03. This ensures that after the stop device 02 is interfered with by the swing component 03, the rotating component 01 can overcome the obstruction of the swing component 03 (resistance of water, resistance as a reset force, frictional force on the swing, etc.) and push the part of the swing component 03 located above the swing axis 044 to swing towards the obstructed side. The stop device then disengages from the obstruction of the swing component. At the same time, the aforementioned pre-swing angle is formed to prepare for the next contact between the stop device 02 and the swing component 03.

[0140] When the pool cleaning machine is obstructed, if the rotating part 01 rotates to the position where another stop device 02 abuts against the swing part 03, there are two stop devices 02 and they are symmetrically distributed on two opposite sides of the rotation axis 043. Both stop devices 02 are fixed to the rotating part 01, or the two stop devices 02 are integrally formed.

[0141] When there are two stop devices 02 and one swing member 03, the angles between the swing axis 044 and the first propulsion direction 041, and between the swing axis 044 and the second propulsion direction 042, are both close to 90° (e.g., 90°±45°). As long as the swing axis 044 is not parallel to the first propulsion direction 041 and the second propulsion direction 042, the swinging action caused by the water resistance of the swing member 03 can be guaranteed.

[0142] One specific structure of the swing member 03 is as follows: the swing member 03 extends radially along the swing axis 044 to form a swing portion 031, and extends along the swing axis 044 to form a stop assembly 032. The swing portion 031 is located above the swing axis 044, and the stop assembly 032 is located on the side facing the stop device 02, and the stop assembly 032 can abut against the stop device 02. The swing portion 031 is a part subject to water flow resistance, and when the aforementioned restoring force is generated by its own buoyancy, the buoyancy of the swing portion 031 is greater than its own weight, so that it can return to its original position. The stop assembly 032 is a part that interacts with the stop device 02.

[0143] One specific structure of the two stop devices 02 is that it includes a stop member 1 021 and a stop member 2 022 arranged vertically. The stop member 1 021 and the stop member 2 022 maintain a separation gap in the direction of the rotation axis to allow the stop device 02 to pass through, so that the stop device 02 and the swing member 03 can pass freely when they are disengaged.

[0144] One specific structure of the abutment component 032 is that it has an abutment part 0321 that can abut against the stop member 021 and an abutment part 0322 that can abut against the stop member 022.

[0145] When the pool cleaning machine moves, the first abutment part 0321 abuts against the first stop part 021, and the second abutment part 0322 abuts against the second stop part 022. Through the abutment of the first stop part 021 against the first abutment part 0321 and the second stop part 022 against the second abutment part 0322, the rotating water outlet 013 is positioned in the first propulsion direction 041 and the second propulsion direction 042. The aforementioned pre-swing angle is achieved by the first stop part 021 pushing the first abutment part 0321 and the second stop part 022 pushing the second abutment part 0322.

[0146] Regarding the abutment part 0321 and the stop part 021, the abutment part 0321 faces the opposite direction of the rotation direction 046 of the rotating member 01, and the side of the stop part 021 facing the rotation direction 046 of the rotating member 01 forms an upper stop surface 0211 that abuts against the abutment part 0321. That is, the abutment part 0321 and the upper stop surface 0211 are face-to-face (the abutment part 0321 faces the opposite direction of the rotation direction of the rotating member 01, and the upper stop surface 0211 faces the rotation direction of the rotating member 01). If the rotation direction 046 of the rotating member 01 driven by the water flow is unidirectional, the abutment part 0321 and the upper stop surface 0211 are both formed on one side (in the circumferential direction of the rotating member 01), and it is not necessary to form the other side. If the rotation direction 046 of the rotating member 01 driven by the water flow is bidirectional, the abutment part 0321 and the upper stop surface 0211 are formed on both sides (in the circumferential direction of the rotating member 01). This can be used when the rotating member 01 can rotate bidirectionally. Of course, as can be seen from the figure, it is relatively easy to form the upper stop surface 0211 on both sides of the stop part 021. However, the lateral dimension of the abutment part 0321 is limited and it is not possible to directly form the abutment part 0321 on both sides. In this case, the lateral dimension (rotation direction 046 of the rotating member 01) of the abutment part 0321 should be appropriately increased. This improved structure is not shown in the figure.

[0147] Furthermore, the second abutment 0322 faces the opposite direction of the rotation direction 046 of the rotating member 01, and the second stop member 022 forms a lower stop surface 0221 on its side facing the rotation direction 046 of the rotating member 01, which abuts against the lower abutment plane. The first abutment 0321 and the lower stop surface 0221 can be single-sided or double-sided. Their structure and function are the same as those of the first abutment 0321 and the first stop member 021, and will not be described again.

[0148] Furthermore, the first abutment 0321, the upper stop surface 0211, the second abutment 0322, and the lower stop surface 0221 are all planar. In the abutting state, the first abutment 0321 coincides with the upper stop surface 0211, and the second abutment 0322 coincides with the lower stop surface 0221, thereby ensuring stable abutment. During pre-oscillation, the first stop 021 can slide along the inclined surface of the upper stop surface 0211, and the second stop 022 can slide along the inclined surface of the lower stop surface 0221, resulting in smooth pre-oscillation.

[0149] It should also be noted that during reset, the angle between the plane containing the first abutment part 0321 and the plane containing the traveling wheel 095 is equal to the angle between the second abutment part 0322 and the plane containing the traveling wheel 095. That is, the swinging part 031 is perpendicular to the cleaning surface, and the first abutment part 0321 and the second abutment part 0322 are symmetrical about the cleaning surface. This symmetrical structure ensures that the effect of the first stop member 021 from top to bottom on the swinging part 03 and the effect of the second stop member 022 from bottom to top on the swinging part 03 are the same, guaranteeing consistency in the abutment and pre-swing actions and smooth operation.

[0150] It should also be noted that the free end of the swinging part 031 is a flat structure extending along a surface perpendicular to the direction of travel. This flattened structure of the free end facilitates the deflection of the swinging part 03 due to water flow resistance. This allows the swinging part 03 to obtain greater water flow resistance, thereby maintaining the rotational force at the same level as the rotating part 01. This avoids excessive deviation that could cause it to fail in its contact, pre-swing, or disengagement actions due to slight external influences (such as bumps), ensuring reliable operation.

[0151] The embodiments of the present invention may further include an upper housing 06, which is located outside the rotating member 01 and forms a flow guiding chamber 061. The upper housing 06 forms a water outlet 062 that communicates with the flow guiding chamber 061. A water outlet 062 is provided for each propulsion direction pointed to by the rotating water outlet 013. The line connecting the swing axis 044 and any water outlet 062 does not coincide, so that the swing member 03 can swing due to the resistance of water when it is pushed along any propulsion direction.

[0152] The pool cleaner has three or more water outlets 062, and its wheels 095 are omnidirectional casters. Correspondingly, the rotating water outlet 013 can also be positioned in a third, ..., and Nth propulsion direction. The omnidirectional casters allow the pool cleaner to automatically adjust to a rolling state depending on the propulsion direction in which the rotating water outlet 013 is positioned, thus enabling the pool cleaner to move in at least three directions.

[0153] This embodiment shows two water outlets 062, symmetrically arranged on both sides of the rotation axis. These two water outlets 062 correspond to the first propulsion direction 041 and the second propulsion direction 042, respectively, so that the pool cleaning machine can move in both directions.

[0154] The water outlet 062 extends in a direction perpendicular to the axis of rotation. With this configuration, the reaction force of the water flowing from the outlet 062 passes through the axis of rotation, ensuring that the propulsion force of the pool cleaner does not deviate from the axis of rotation (the center of the pool cleaner), thus avoiding weakened propulsion and uncertain travel direction caused by eccentric propulsion. This guarantees propulsion efficiency.

[0155] It should also be noted that the swing axis 044 is parallel or approximately parallel to the axis of the walking wheel 095 of the pool cleaning machine (the axis between the swing axis 044 and the walking wheel 095 can maintain a relatively small angle, as long as the above-mentioned contact, pre-swing, and disengagement actions can be smoothly executed, such as an angle of 15°). Under this setting, with other conditions being constant (relative water speed, fixed structure of the free end of the swing part 031), the swing member 03 can swing accordingly with relatively small water flow resistance, that is, it has a higher sensitivity to changes in water flow resistance. This ensures the sensitivity of its actions (swinging of the swing part 031 after moving, resetting when encountering resistance due to reduced water resistance, and reversing swing after changing direction), ensuring reliable operation.

[0156] One installation method for the stop device 02 is as follows: the upper housing 06 has a mounting hole, through which the rotating component 01 passes and is fixed to the stop device 02. To reduce the rotational resistance and extend the lifespan of the rotating component 01, a bearing 071 is installed in the mounting hole, allowing the rotating component 01 and / or the stop device 02 to be rotatably mounted on the upper housing 06 via the bearing 071. Alternatively, for ease of installation and disassembly, the rotating component 01 extends upward through the mounting hole and is coaxially fixedly connected to the rotating component 07. Stop component one 021 and stop component two 022 are formed on opposite sides of the rotation axis of the rotating component 07, meaning the rotating component 07, stop component one 021, and stop component two 022 are integrally molded, for example, using injection molding.

[0157] The aforementioned water flow is generated by a power component 08, which includes a motor 081 and an impeller 082 connected in sequence. The impeller 082 is a centrifugal impeller and is installed inside the flow channel 012. The axis of the impeller 082 is coaxial with the direction of the inlet 011 of the flow channel 012. The motor 081 is connected to a power source (which can be a rechargeable battery installed on the main body of the cleaning machine or a power source outside the main body 090 of the pool cleaning machine) via a cable, driving the impeller 082 to rotate. The rotation of the impeller 082 causes water to flow along the direction of the rotating component 01, the inlet 011, the flow channel 012, and the rotating outlet 013. During the flow, the rotating component 01 outside the flow channel 012 is rotated due to the hydraulic coupling generated.

[0158] In addition, in order to make the rotating part 01 rotate easily during the water flow process, the rotating part 01 (flow channel 012) has a volute structure.

[0159] Finally, to clearly and completely illustrate the reversing process of one embodiment of the mechanical reversing structure, Figure 5 The image shows the pool cleaning machine stationary on the cleaning surface, with the rotating parts not yet rotating. The swinging parts are in the reset state, and the stop device disengages from the swinging parts, allowing the rotating parts to rotate freely. Figure 6 for Figure 5Top view; Figure 7 for Figure 6 Sectional view of the mid-section AA.

[0160] Figure 8 This shows the moment when the rotating member rotates to the point where the pre-oscillation begins (the pre-oscillation is the action of the first stop), wherein the oscillating member is in the reset state; Figure 9 for Figure 8 Top view; Figure 10 for Figure 9 Sectional view of the mid-section AA.

[0161] Figure 11 This shows the rotation of the rotating member to the end of the pre-oscillation (the pre-oscillation acts as a stop), wherein the oscillating member (in the direction of rotation of the rotating member) pre-oscillates by an angle to the end; Figure 12 for Figure 11 Top view; Figure 13 for Figure 12 Sectional view of the mid-section AA.

[0162] Figure 14 When the rotating part rotates to the point where the stop part 2 comes into contact with the swinging part, the swinging part starts from... Figure 11 The pre-swing angle of the state is reset to a smaller angle; Figure 15 for Figure 14 Top view; Figure 16 for Figure 15 Sectional view of the mid-section AA.

[0163] Figure 17 The rotating component and the rotating stop component 2 abut against the swing component, and the rotating water outlet is positioned in the first propulsion direction. The pool cleaner (generally) travels in the opposite direction of the first propulsion direction. Figure 18 for Figure 17 Top view; Figure 19 for Figure 18 Sectional view of the mid-section AA.

[0164] Figure 20 The swimming pool cleaner is obstructed on one side, and the swinging part returns to the reset state by a certain angle (not fully reset). The second stop disengages from the swinging part, and the swinging part swings pre-oscillates by an angle under the action of the rotational force of the second stop. Figure 21 for Figure 20 Top view; Figure 22 for Figure 21 Sectional view of the mid-section AA.

[0165] Figure 23 This shows that the second stopper is completely disengaged from the swinging member, and the pre-swing of the swinging member caused by the second stopper ends; Figure 24 for Figure 23 Top view; Figure 25 for Figure 24Sectional view of the mid-section AA.

[0166] Figure 26 This shows that the stop initially abuts against the swinging member; Figure 27 for Figure 26 Top view; Figure 28 for Figure 27 Sectional view of the mid-section AA.

[0167] Figure 29 The stop is shown as abutting against the swinging member, the rotating water outlet is fixed in a second propulsion direction, and the pool cleaner (generally) travels in the opposite direction of the second propulsion direction; Figure 30 for Figure 29 Top view; Figure 31 for Figure 30 Sectional view of the mid-section AA.

[0168] A second aspect of the present invention provides a swimming pool cleaning machine, which includes any of the above-mentioned mechanical reversing structures, a main body inlet 091, a main body flow channel 092, a main body outlet 093, a filter structure 094, and the above-mentioned power component 08 connected in sequence. That is, the power component 08 that causes the rotating member 01 to rotate is the power component 08 of the swimming pool cleaning machine.

[0169] The main outlet 093 is connected to the water inlet, and the power unit 08 generates a water flow that flows sequentially along the main inlet 091, the main flow channel 092, the main outlet 093, the inlet 011, the water channel 012, and the rotating outlet 013; the filter structure 094 is installed between the main flow channel 092 and the inlet 011 to block and store dirt in the water.

[0170] Finally, the aforementioned obstruction occurs when the pool cleaner comes to a standstill or its speed decreases to near zero. In other words, the pool cleaner employing the aforementioned mechanical cleaning structure is suitable not only for scenarios where it comes to a standstill after being blocked (when the propulsive force is less than the obstructing force exerted by the obstacle, such as when the obstacle is a pool wall, or when the obstacle is too large for the pool cleaner to push) and changes direction, but also for scenarios where its speed decreases to near zero after being blocked (when the propulsive force is greater than the initial resistance of the obstacle, the obstacle is pushed from a standstill, the pool cleaner decelerates, and the swing component 03 returns to its original position) and changes direction.

[0171] The second way to cause the rotation of rotating component 01 is through magnetic coupling. That is, a first magnetic component is installed on impeller 082, and a second magnetic component is installed on rotating component 01. Motor 081 drives impeller 082 to rotate, and through the magnetic interaction between the first and second magnetic components, impeller 082 can also drive rotating component 01 to rotate. Of course, the above-mentioned hydraulic coupling and magnetic coupling methods can also be used simultaneously.

[0172] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A mechanical reversing structure for a swimming pool cleaning machine, characterized in that, include: A rotating component forms a water inlet, a water channel in the middle, and a rotating water outlet connected in sequence to allow water to flow through. The rotating component is rotatably mounted on the main body of the cleaning machine around a rotation axis. Two stop devices, which rotate relative to the main body of the cleaning machine; At least one oscillating element is oscillatingly mounted on the main body of the cleaning machine about an oscillation axis, wherein the oscillating element only oscillates relative to the main body of the cleaning machine and does not rotate; wherein... When the pool cleaning machine moves, the stop device abuts against the swing member, and the rotating water outlet is positioned in the first propulsion direction; When the pool cleaning machine is obstructed, the stop device disengages from the swinging member, and the rotating water outlet rotates in the second propulsion direction. The swing member extends radially along the swing axis to form a swing portion and extends along the swing axis to form a stop assembly. The swing portion is located above the swing axis, and the stop assembly is located on the side facing the stop device. The stop assembly is capable of abutting against the stop device. The two stopping devices include a first stopping member and a second stopping member arranged vertically, with the first stopping member and the second stopping member maintaining a disengagement gap in the direction of the rotation axis to allow the stopping devices to pass through; the abutment assembly has an abutment portion one capable of abutting against the first stopping member and an abutment portion two capable of abutting against the second stopping member; when the pool cleaning machine moves, the abutment portion one abuts against the first stopping member; the abutment portion two abuts against the second stopping member.

2. The mechanical reversing structure according to claim 1, characterized in that, Pool cleaning machine blocked The rotating component rotates to a position where another stopping device abuts against the swing component; or... The rotating component rotates until the stop device abuts against another swing component.

3. The mechanical reversing structure according to claim 1 or 2, characterized in that, When the movement of the pool cleaning machine is obstructed, the stopping device can overcome the resistance of the swinging component under the action of the rotational force of the rotating component.

4. The mechanical reversing structure according to claim 3, characterized in that, The stop device is fixed to the rotating member, or is formed in the rotating member.

5. The mechanical reversing structure according to claim 3, characterized in that, In the underwater static state, the oscillating member is configured to be able to reset so that the oscillating member remains vertical.

6. The mechanical reversing structure according to claim 5, characterized in that, The oscillating component is reset by buoyancy.

7. The mechanical reversing structure according to claim 5, characterized in that, The swinging component is reset by a counterweight fixed below the swing axis.

8. The mechanical reversing structure according to claim 6, characterized in that, The oscillating element has an end with a density less than that of water; and / or, The swinging component has a hollow end.

9. The mechanical reversing structure according to claim 5, characterized in that, An elastic reset component is installed between the swinging component and the main body of the pool cleaning machine.

10. The mechanical reversing structure according to claim 5, characterized in that, When the pool cleaning machine is obstructed, the rotating component drives the stopping device to rotate, thereby pushing the swinging component to swing at an angle toward the obstructed side. The swinging component then disengages from the stopping device, so that: As the rotating component rotates, another stop device abuts against the swing component; or, As the rotating component rotates, the stop device abuts against another swinging component; The rotating water outlet points in the second propulsion direction.

11. The mechanical reversing structure according to claim 10, characterized in that, The swinging component can be blocked by the stop device; The rotational torque of the rotating component is greater than the reset torque of the oscillating component, so that the rotating component can overcome the obstruction of the oscillating component, thereby causing the portion of the oscillating component located above the oscillation axis to oscillate towards the obstructed side.

12. The mechanical reversing structure according to claim 11, characterized in that, When the pool cleaning machine is obstructed, the rotating component rotates to a position where another stopping device abuts against the swing component; The stop device consists of two devices symmetrically distributed on opposite sides of the rotation axis. Both stop devices are fixed to the rotating component, or the two stop devices are integrally formed.

13. The mechanical reversing structure according to claim 12, characterized in that, The swinging component is a single unit, and the angle between the swinging axis and the first propulsion direction and the angle between the swinging axis and the second propulsion direction are both close to 90°.

14. The mechanical reversing structure according to claim 1, characterized in that, The abutting part faces the opposite direction of the rotation direction of the rotating member, and the side of the stop member facing the rotation direction of the rotating member forms an upper stop surface that abuts against the abutting part.

15. The mechanical reversing structure according to claim 14, characterized in that, The second abutment faces the opposite direction of the rotation of the rotating member, and the side of the second stop member facing the rotation direction of the rotating member forms a lower stop surface that abuts against the lower abutment plane of the second abutment.

16. The mechanical reversing structure according to claim 15, characterized in that, The first abutment, the upper stop surface, the second abutment, and the lower stop surface are all planar.

17. The mechanical reversing structure according to claim 16, characterized in that, When reset, the angle between the first abutment and the plane where the traveling wheel is located is equal to the angle between the second abutment and the plane where the traveling wheel is located.

18. The mechanical reversing structure according to claim 1, characterized in that, The free end of the swinging part is a flat structure extending along a surface perpendicular to the walking direction.

19. The mechanical reversing structure according to claim 10, characterized in that, It also includes an upper housing, which is located outside the rotating member and forms a flow guiding chamber. The upper housing forms a water outlet that communicates with the flow guiding chamber. Each of the propulsion directions pointed to by the rotating water outlet is provided with one water outlet. The line connecting the swing axis and any of the water outlets does not coincide.

20. The mechanical reversing structure according to claim 19, characterized in that, The water outlet has three or more outlets, and the pool cleaning machine has swivel wheels.

21. The mechanical reversing structure according to claim 19, characterized in that, There are two water outlets, which are symmetrically arranged on both sides of the rotation axis.

22. The mechanical reversing structure according to claim 21, characterized in that, The water outlet extends in a direction perpendicular to the axis of rotation.

23. The mechanical reversing structure according to claim 22, characterized in that, The swing axis is parallel or approximately parallel to the axis of the walking wheels of the pool cleaning machine.

24. The mechanical reversing structure according to claim 19, characterized in that, The upper housing has a mounting hole, and the rotating component passes through the mounting hole and is fixed to the stop device.

25. The mechanical reversing structure according to claim 24, characterized in that, A bearing is installed in the mounting hole, and the rotating component and / or the stopping device are rotatably mounted to the upper housing via the bearing.

26. The mechanical reversing structure according to claim 1, characterized in that, It also includes a power unit to generate the water flow.

27. The mechanical reversing structure according to claim 26, characterized in that, The power assembly includes a motor and an impeller connected in sequence. The impeller is a centrifugal impeller and is installed inside the water channel. The axis of the impeller is coaxial with the direction of the water inlet of the water channel.

28. The mechanical reversing structure according to claim 27, characterized in that, The waterway has a spiral shell structure.

29. A swimming pool cleaning machine, characterized in that, include: The mechanical reversing structure according to any one of claims 1 to 28; The main body inlet, the main body flow channel, and the main body outlet are connected in sequence, and the main body outlet is connected to the inlet; The power unit generates a water flow that sequentially flows along the main body inlet, the main body flow channel, the main body outlet, the inlet, the water channel, and the rotating outlet; A filter structure is installed between the main flow channel and the water inlet to block and store impurities in the water.

30. The swimming pool cleaning machine according to claim 29, characterized in that, The obstruction is defined as the pool cleaning machine coming to a standstill or its speed decreasing to near zero.

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