Swimming pool cleaning robot

Abstract

The invention provides a swimming pool cleaning robot, and relates to the field of cleaning robots, the swimming pool cleaning robot is characterized in that an inner cavity is arranged in a shell, the inner cavity is communicated with a water inlet and a water outlet, and a filter unit is arranged in the inner cavity; a power device and a snorkeling device are further arranged in the shell, the power device and the snorkeling device are both connected with the main control module, the snorkeling device comprises at least one floating bin, and an inner cavity of the floating bin is communicated with a water passing opening and an air passing opening; the water passing opening of each floating bin communicates with a water inlet and outlet power device, and the water inlet and outlet power devices are connected with the main control module. Compared with the prior art, according to the swimming pool cleaning robot, the robot floats on the water surface and sinks into water through the snorkeling device, impurities in a swimming pool are filtered through the upper filtering unit and the lower filtering unit, and the requirements of a user for water surface cleaning and underwater cleaning of the swimming pool are met; and in combination with the power device, the maneuvering functions of advancing, retreating, turning and steering can be achieved, and convenience is brought to users.

Description

Technical Field

[0001] The invention relates to the field of cleaning robots, in particular to a swimming pool cleaning robot. Background Art

[0002] As people's material living standards improve, in pursuit of a higher quality of life, swimming pools have become a place for people to relax and have fun. Whether it is a private swimming pool or a public swimming pool, the cleanliness of the pool water is the primary concern of people. Usually, in order to keep it clean, the swimming pool water needs to be replaced regularly, and the swimming pool also needs to be cleaned regularly. The traditional cleaning method is generally manual cleaning, which is not only time-consuming and labor-intensive, but also causes a waste of water resources.

[0003] In recent years, in order to save water resources and reduce manpower, automatic swimming pool cleaning machines have been introduced, which automatically clean the swimming pool without draining the water.

[0004] The current mainstream pool cleaning robots are divided into surface cleaning robots and underwater cleaning robots. Surface cleaning robots can only clean floating objects on the water surface, while underwater cleaning robots can only clean the bottom and side walls of the pool. Users have both surface cleaning and underwater cleaning needs for pools, and usually need two robots to meet different usage scenarios, which takes up a lot of space and brings inconvenience to users. Summary of the invention

[0005] In view of the above problems, the present invention provides a swimming pool cleaning robot that can float on the water surface and sink into the water, which can meet the user's needs for swimming pool surface cleaning and underwater cleaning, and bring convenience to the user.

[0006] The technical solution adopted by the present invention is: A swimming pool cleaning robot comprises a shell, an inner cavity is provided in the shell, the inner cavity is connected with a water inlet and a water outlet, a filter unit is provided in the inner cavity; a power device for realizing surface or underwater movement and a snorkeling device for controlling snorkeling to realize surface cleaning and underwater cleaning are also provided in the shell, the power device and the snorkeling device are both connected to a main control module, the snorkeling device comprises at least one floating chamber for realizing the floating or diving of the robot by adjusting the ratio of water and air in the inner cavity, the inner cavity of the floating chamber is connected with a water inlet for water inlet and outlet and an air vent for communicating with air on the water surface, the opening of the ventilation pipe connected with the air vent is above the water surface, and the water inlet is below the water surface when the swimming pool robot floats or dives; the water inlet of each floating chamber is connected with an inlet and outlet water power device for controlling the on-off of the water path, and the inlet and outlet water power device is connected to the main control module.

[0007] Preferably, the vents of each floating bin are connected together through a ventilation pipe, the ventilation pipe is connected to a float floating on the water surface, the float is provided with an air hole connected to the ventilation pipe, a hollow connecting pipe is provided under the float, the hollow connecting pipe connects the air hole and the vent of the floating bin.

[0008] Preferably, the water inlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling the on-off of the water inlet waterway and a drainage power driver for controlling the on-off of the water outlet waterway, the water inlet pipeline in the water pipe is connected to the water inlet power driver, and the drainage pipeline in the water pipe is connected to the drainage power driver.

[0009] Preferably, the water outlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling water inlet and a drainage power driver for controlling water outlet, and the water pipe is connected in series with the water inlet power driver and the drainage power driver.

[0010] Preferably, the water inlet and outlet water power device is placed in a sealed chamber, and a battery is also provided in the sealed chamber; a photovoltaic panel connected to the main control module is provided on the top of the shell; the water inlet includes an upper water inlet and a lower water inlet connected to the inner cavity, the lower water inlet is arranged at the bottom of the shell, the lower water inlet is equipped with a non-return cover plate, the upper water inlet is arranged on one side of the shell, and the upper water inlet is equipped with a front door cover plate; the water outlet is below the upper water inlet, and the water outlet includes a front water outlet and a rear water outlet relatively arranged on both sides of the shell.

[0011] More preferably, the filter unit is a filter frame, and a non-return cover plate for covering the lower water inlet is installed at the bottom of the filter frame; the upper water inlet is connected to a water inlet channel, and a front door cover plate is installed at the channel opening of the water inlet channel, and the front door cover plate is connected to the float chamber through a connecting rod; a roller sweep corresponding to the water inlet channel of the upper water inlet is also installed in the filter frame, and the roller sweep is connected to a driver, and the driver is connected to the main control module.

[0012] Preferably, the inner cavity is provided with at least one power device for discharging the water flow entering the inner cavity from the water outlet to generate power, the power device includes a driving motor connected to the main control module, the front and rear ends of the driving motor are extended with main driving shafts that rotate synchronously, each main driving shaft indirectly drives the driven shaft, and a clutch device is provided between the main driving shaft and the driven shaft for driving the driven shaft and the main driving shaft to rotate according to the rotation direction of the main driving shaft, and a rotating propeller for pushing water is installed on the driven shaft; the rotating propeller at the front end is located in the corresponding front water outlet, and the rotating propeller at the rear end is located in the corresponding rear water outlet.

[0013] More preferably, the clutch device includes a first sleeve and a second sleeve that cooperate with each other, the first sleeve is provided with a first transmission tooth, the second sleeve is provided with a second transmission tooth that cooperates with the first transmission tooth, the first sleeve rotates synchronously with the main drive shaft through the inner cylinder, and the second sleeve rotates synchronously with the driven shaft; the direction of the second transmission tooth in the second sleeve on the front driven shaft is opposite to the direction of the second transmission tooth in the second sleeve on the rear driven shaft; the end of the main drive shaft is arranged opposite to the end of the driven shaft; the inner cylinder rotates synchronously with the main drive shaft, the first sleeve is sleeved on the inner cylinder, the inner cylinder is provided with at least one external protrusion for driving the first sleeve to rotate, the external protrusion is provided with a push block for driving the outer cylinder to move linearly, the inner wall of the first sleeve is provided with an inner protrusion that cooperates with the external protrusion and a placement groove for inserting the push block, the placement groove is matched with an insert, and the bottom protrusion of the insert and the bottom of the placement groove form a spiral limiting groove that cooperates with the push block.

[0014] More preferably, a water outlet bin is provided in both the front water outlet and the rear water outlet, a water outlet channel corresponding to the rotating propeller is formed in the water outlet bin, the water outlet channel is surrounded by the outer edge of the rotating propeller, the driving shaft or the driven shaft in the power device passes through the water outlet bin, the water inlet end of the water outlet channel is connected with the inner cavity through a connecting port, and a one-way valve is also provided in the water outlet bin.

[0015] More preferably, the driving motor is placed in a protection chamber, and the protection chamber is provided with a through hole for the main driving shaft or the driven shaft to pass through.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a swimming pool cleaning robot, which uses a snorkeling device to make the robot float on the water surface and sink into the water, and uses an upper filter unit and a lower filter unit to filter impurities in the swimming pool, thereby meeting the user's needs for swimming pool surface cleaning and underwater cleaning; and combined with a power device, it can realize the maneuvering functions of moving forward, backward, turning and steering, bringing convenience to the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a swimming pool cleaning robot provided by the present invention Figure 1 .

[0018] Figure 2 A schematic diagram of a swimming pool cleaning robot provided by the present invention Figure 2 .

[0019] Figure 3 An exploded view of a swimming pool cleaning robot provided by the present invention.

[0020] Figure 4 An internal schematic diagram of a swimming pool cleaning robot provided by the present invention Figure 1 .

[0021] Figure 5An internal schematic diagram of a swimming pool cleaning robot provided by the present invention Figure 2 .

[0022] Figure 6 An internal schematic diagram of a swimming pool cleaning robot provided by the present invention Figure 3 .

[0023] Figure 7 This is a schematic diagram of a first embodiment of a snorkeling device in a swimming pool cleaning robot provided by the present invention.

[0024] Figure 8 A second embodiment of a snorkeling device in a swimming pool cleaning robot provided by the present invention is shown in FIG. Figure 1 .

[0025] Fig. 9 A second embodiment of a snorkeling device in a swimming pool cleaning robot provided by the present invention is shown in FIG. Figure 2 .

[0026] Fig.10 This is a third implementation manner of a snorkeling device in a swimming pool cleaning robot provided by the present invention.

[0027] Fig.11 This is a schematic diagram of a power device in a swimming pool cleaning robot provided by the present invention.

[0028] Fig.12 An exploded diagram of a power device in a swimming pool cleaning robot provided by the present invention.

[0029] Fig.13 This is a cross-sectional view of a power device in a swimming pool cleaning robot provided by the present invention.

[0030] Fig.14 This is a schematic diagram of a first sleeve and an inner sleeve in a power device of a swimming pool cleaning robot provided by the present invention.

[0031] Fig.15 A cross-sectional view of a swimming pool cleaning robot provided by the present invention in which a power device is installed in a water outlet compartment and a protection compartment.

[0032] Fig.16 A block diagram of a swimming pool cleaning robot provided by the present invention. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail with reference to the accompanying drawings.

[0034] Figures 1 to 16 , which is a preferred embodiment of a swimming pool cleaning robot provided by the present invention. Figures 1 to 16As shown, the swimming pool cleaning robot includes a shell 10, an inner cavity 11 is provided in the shell, the inner cavity 11 is connected with a water inlet 12 and a water outlet 13, and a filter unit 14 is provided in the inner cavity 11; the shell 10 is also provided with a power device 20 for realizing surface or underwater movement and a snorkeling device 30 for controlling snorkeling to realize surface cleaning and underwater cleaning, the power device 20 and the snorkeling device 30 are both connected to a main control module 40, and the snorkeling device 30 includes at least one floating chamber 31 for adjusting the ratio of water and air in the inner cavity to realize the floating or diving of the robot, the inner cavity of the floating chamber 31 is connected with a water inlet 311 for water inlet and outlet and an air vent 312 for communicating with the air on the water surface, and The opening of the ventilation pipe connected to the vent 312 is above the water surface, and the water port 311 is below the water surface when the robot floats or dives; the water port 311 of each floating chamber 31 is connected to an inlet and outlet water power device 32 for controlling the water passage, and the inlet and outlet water power device 32 is connected to the main control module 40, so that the power device 20 provides power for the movement of the entire robot, and controls the draft of the entire robot by controlling the inlet and outlet water of the floating chamber 31 in the snorkeling device 30. The filter unit 14 in the inner cavity 11 can filter the liquid entering from the water inlet 12 when floating on the water surface or sinking underwater, and the filtered liquid is discharged from the water outlet 13 to meet the user's needs for swimming pool surface cleaning and underwater cleaning.

[0035] According to the buoyancy formula, Fbuoyancy = ρliquid gVdisplaced, where ρliquid represents the density of the liquid, in kilograms / cubic meter; g represents a constant, g=9.8N / kg; Vdisplaced represents the volume of the displaced liquid, in cubic meters. The water inlet and outlet power device 32 controls the water in and out of the floating chamber 31. When Fbuoyancy is greater than gravity, the floating chamber 10 floats on the water surface, and when Fbuoyancy is less than gravity, the floating chamber 31 sinks into the water; when the snorkeling device is initially placed in the water, the buoyancy generated is greater than the overall gravity of the snorkeling device in the initial state, so that the floating chamber 10 floats on the water surface; when the snorkeling device is placed in the robot, due to the gravity of the robot, when the entire robot floats in the water, a preset draft position will be formed on the robot shell and the floating chamber, that is, a floating state waterline is formed on the floating chamber, and a corresponding waterline 1001 is provided on the shell.

[0036] To ensure that the floating chamber 31 is still in circulation with the air on the water surface when it is submerged in the water or floating on the water surface, the vents 312 on the floating chamber 31 are connected to a ventilation pipe, and the opening of the ventilation pipe is kept on the water surface. The ventilation pipes connected to the vents 312 of each floating chamber 31 can be independent of each other, and the opening of each ventilation pipe is on the water surface; the vents 312 of each floating chamber 31 can also be connected as a whole through a ventilation pipe to save space, and the opening of the ventilation pipe is on the water surface.

[0037] like Figure 1 and Figure 2As shown, the vents of each floating chamber 31 are connected as one through a vent pipe, the vent pipe is connected to a float 50 floating on the water surface, the float 50 is provided with an air hole 501 connected to the vent pipe, and a hollow connecting pipe 51 is provided below the float 50, the hollow connecting pipe 51 connects the air hole 501 and the vent 312 of the floating chamber 31. The float 50 is composed of a sealed shell, and has a specific gravity less than water, and can always float on the water surface.

[0038] In order to facilitate water injection at any time when the floating warehouse 31 is in the floating state, the water inlet 311 of the floating warehouse 31 is always below the water surface, that is, the water inlet 311 of the floating warehouse 31 is below the waterline of the floating warehouse in the floating state. Generally, the water inlet 311 of the floating warehouse 31 is set at the bottom of the floating warehouse; and for the convenience of connection, the water inlet 311 of the floating warehouse is connected to a water pipe.

[0039] When the entire snorkeling device 30 is placed in the robot, in order to ensure the normal operation of the water-in and water-out power device 32, the water-in and water-out power device 32 is generally placed in a sealed compartment 70, and a water pipe connected to the water-in and water-out power device 32 passes through the sealed compartment 70, and the opening of the water pipe is below the water surface, ensuring that water can be injected into the floating compartment 31 through the water-in and water-out power device 32. A battery 71 for powering the water-in and water-out power device 32 is also provided in the sealed compartment 70. A photovoltaic panel 18 is provided on the top of the housing 10, and the photovoltaic panel 18 can charge the battery 71 in the machine, which can save the user from the trouble of frequent charging.

[0040] like Figure 8 As shown in the figure, as a first preferred embodiment of the snorkeling device, in this embodiment, the water ports 311 of each floating chamber 31 are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device 32, and the water inlet and outlet power device 32 is used to control the water inlet and outlet of each floating chamber 31. The water inlet and outlet power device 20 can be a peristaltic pump or other pump body that can realize water inlet and outlet control.

[0041] Taking the water inlet and outlet power device 32 as a peristaltic pump as an example, the peristaltic pump is located in the sealed chamber 70, and the opening of the water pipe connected to the peristaltic pump passes through the sealed chamber 70 and is located below the buoyancy waterline of the floating chamber 31; the peristaltic pump rotates counterclockwise to fill water into the floating chamber 31; it rotates clockwise to discharge the water in the floating chamber 31. When the robot needs to dive underwater to work, the peristaltic pump rotates counterclockwise, and the water in the swimming pool is pressed into the floating chamber 31 through the work of the peristaltic pump. The air in the floating chamber 31 is discharged from the vent 312 through the air hole 501 on the float 50 due to the filling of water. When the floating chamber 31 is filled with water, the robot will sink to the bottom of the water due to the change in specific gravity; when the robot wants to float to the surface, the peristaltic pump rotates clockwise to discharge the water in the floating chamber 31, and the air is replenished into the floating chamber 31 through the air hole 501 and the vent 312 on the float. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water lifts the robot to the water surface and maintains it at the preset draft position.

[0042] like Figure 8 and Fig. 9 As shown, as a second preferred embodiment of the snorkeling device, in this embodiment, the difference between the second preferred embodiment and the first preferred embodiment is that the water inlet and outlet power device 32 includes a water inlet power driver 321 for controlling water inlet and a water discharge power driver 322 for controlling water discharge, the water inlet pipeline in the water pipeline is connected to the water inlet power driver 321, the water outlet pipeline in the water pipeline is connected to the water discharge power driver 322, the pipeline opening connected to the water inlet power driver 321 and the pipeline opening connected to the water discharge power driver 322 are both outside the sealing chamber 70, the water inlet in the floating chamber 31 is controlled by the water inlet power driver 321, and the water discharge in the floating chamber 31 is controlled by the water discharge power driver The robot is controlled by the power driver 322; when the robot needs to dive underwater to work, the water in the swimming pool is pressed into the floating chamber 31 through the water inlet power driver 31, and the air in the floating chamber 31 is discharged from the vent 312 through the air hole 501 on the float 50. After the floating chamber 31 is filled with water, the robot will sink to the bottom of the water due to the change in specific gravity; when the robot wants to float to the surface, the drainage power driver 322 is started to discharge the water in the floating chamber 31, and the air is replenished into the floating chamber 31 through the air hole 501 on the float and the vent 312. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water lifts the robot to the water surface and maintains it at the preset draft position.

[0043] The water ports 311 of the floating chambers 31 are connected to each other through a water pipe, and the water pipe is connected to a tee, one end of the tee forms a water inlet pipeline, the water inlet pipeline is connected to a water inlet power driver 321, and the other end of the tee forms a water outlet pipeline, and the water outlet pipeline is connected to a drainage power driver 322. Figure 8As shown in the first embodiment, the water inlet power driver 321 may be a solenoid valve, and the drainage power driver 322 may be a water pump having a non-return function and capable of draining water, such as a diaphragm pump; Fig. 9 As shown, as a second embodiment, the water inlet power driver 321 and the water discharge power driver 322 can both be water pumps with a non-return function, such as a diaphragm pump.

[0044] like Fig.10 As shown, as the third preferred embodiment of the snorkeling device, the difference between the third preferred embodiment and the second preferred embodiment is that the water inlets 311 of each floating chamber 31 are connected as a whole through a water pipe, and the water pipe is connected in series with the water inlet power driver 321 and the drainage power driver 322 as a whole, and the pipe opening connected to the drainage power driver 322 is outside the sealed chamber 70; the water inlet power driver 321 is a solenoid valve, and the drainage power driver 322 is a water pump, a centrifugal pump, an axial flow pump or other water pumps, and the drainage power driver 322 can allow water to flow through when not working.

[0045] For example, the water inlet power driver 321 is a solenoid valve, and the water discharge power driver 322 is a water pump; when the robot needs to dive underwater to work, the main control module 40 in the robot controls the solenoid valve to open, and the water in the swimming pool, under the action of atmospheric pressure, will flow into the floating chamber 31 from the water outlet of the water pump, through the water pump and the solenoid valve, and the air in the floating chamber 31 will be discharged from the vent 312 through the air hole 501 on the float 50. After the floating chamber 31 is filled with water, the robot will sink to the bottom of the water due to the change in specific gravity; when the robot wants to float to the surface, the main control module 40 in the robot controls the solenoid valve to open. The valve is opened and the water pump is turned on at the same time to drain water. At this time, the water in the floating chamber 31 will be discharged from the water outlet of the water pump under the action of the water pump; when the water pump drains water, a negative pressure is formed in the inner cavity of the floating chamber 31, and air is replenished into the floating chamber 31 through the air holes 501 and the air vent 312 on the float. Since the water in the floating chamber 31 is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water lifts the robot to the water surface and maintains it at the preset draft position; when the water in the floating chamber 31 is drained, the overall specific gravity of the machine returns to the floating state, at this time, the solenoid valve is closed, and then the water pump is closed, and the machine enters the surface working state.

[0046] The housing 10 is provided with an upper water level sensor 15 and a lower water level sensor 16. The upper water level sensor 15 is above the waterline 1001 on the housing, and the lower water level sensor 16 is below the waterline 1001 on the housing. Both the upper water level sensor 15 and the lower water level sensor 16 are connected to the main control module 40. When the water level sensor contacts water, there will be a sensing signal, and the main control module 40 will judge the diving or floating state of the machine according to the sensing signal. The lower water level sensor 16 is below the waterline 1001 and is used to detect whether the machine enters the water. The upper water level sensor 15 is arranged on the top of the shell, and the upper water level sensor 15 is above the waterline 1001 on the shell, and is used to detect the diving and floating status of the machine; when the upper water level sensor 15 and the lower water level sensor 16 both detect water, it means that the machine is submerged in the water; when only the lower water level sensor 16 below the waterline detects water, it means that the machine is floating on the water surface; when neither the upper water level sensor 15 nor the lower water level sensor 16 detects water, it means that the machine is not submerged in water.

[0047] The water inlet 12 includes an upper water inlet 121 and a lower water inlet 122 which are connected to the inner cavity. The lower water inlet 122 is arranged at the bottom of the shell, and the lower water inlet 122 is equipped with a non-return cover plate 1221. The upper water inlet 121 is arranged on one side of the shell 10, and the upper water inlet 121 is equipped with a front door cover plate 1211. In this way, under the action of the snorkeling device 30, when the entire robot sinks underwater, the power device 20 drives the entire robot to move, and the non-return cover plate 1221 opens under the action of water, and water enters from the lower water inlet 122 to enter. The inner cavity 11, the filtered impurities remain in the filter unit 14, and the filtered liquid can be discharged from the water outlet 13 to generate power to drive the robot to move; and under the action of the snorkeling device 30, when the entire robot floats on the water surface, the power device 20 drives the entire robot to move, and the front door cover 1211 is opened under the action of water, and impurities and liquid on the water surface enter from the upper water inlet 121, and the filtered impurities remain in the filter unit 14, and the filtered liquid can be discharged from the water outlet 13, thereby achieving the purpose of cleaning the water surface.

[0048] The water outlet 13 is located below the upper water inlet 121, and the water outlet 13 includes a front water outlet 131 and a rear water outlet 132 which are relatively arranged on both sides of the housing. Four running wheels 60 are installed on the housing 10, which are located on both sides of the bottom of the machine housing 10 to support the housing 10. The housing 10 has a certain ground clearance to ensure that water can flow from the lower water inlet 122 into the inner cavity 11.

[0049] The filter unit 14 is a filter frame, and a non-return cover plate 1221 for covering the lower water inlet 122 is installed at the bottom of the filter frame. A rolling sweep 141 corresponding to the upper water inlet 121 is also installed in the filter frame. The rolling sweep 141 is connected to a driver 142, and the driver is connected to the main control module 40. The impurities on the water surface can be pushed into the inner cavity through the rolling sweep 141, so that the water surface is clean. The upper water inlet 121 is connected to the water inlet channel, and a front door cover plate 1211 is installed at the channel opening of the water inlet channel. The front door cover plate 1211 is connected to the floating chamber 19 through a connecting rod 12111. Figure 5 As shown, under the action of the snorkeling device 30, when the entire robot sinks underwater, the power device 20 performs work and sucks in water and debris at the bottom of the pool. At this time, the bottom check cover 1221 is pushed open by the water, and because the front door cover 1211 is connected to the floating chamber 19, the floating chamber 19 lifts and closes the front door cover 1211 through the buoyancy of the water, thereby closing the upper water inlet 121. In this way, when in the snorkeling state, the check cover 1221 is opened and the front door cover 1211 is closed; Figure 6 As shown, under the action of the snorkeling device 30, when the entire robot floats on the water surface, the draft depth is adjusted by the counterweight, and the waterline 1001 is just about 1 cm below the center of the rolling sweep 141. At this time, the floating chamber 19 connected to the front door cover 1211 is located above the waterline. Therefore, the front door cover 1211 is in an open state under the action of gravity; when the power device 20 is started, water is discharged from the rear water outlet 132, pushing the robot to move forward on the water surface, water enters from the upper water inlet 121 in the front, and the rolling sweep 141 continues to roll towards the inner cavity 11, thereby achieving water surface cleaning. Since the workload on the water surface is small, the power device 20 only needs to turn on a very small power, resulting in no large negative pressure in the inner cavity 11. The two ends of the non-return cover 1221 have counterweights. The water pressure in the inner cavity 11 combined with the counterweight on the non-return cover 1211 presses the non-return cover 1211 on the lower water inlet 122, preventing or reducing water from entering from the lower water inlet 122 at the bottom, thus achieving, to the maximum extent, that when working on the water surface, water only enters the inner cavity for filtration from the upper water inlet 121 on the water surface.

[0050] A cover shell 101 is mounted on the top of the housing 10 via a pivot, and the photovoltaic panel 18 can be arranged on the outer surface of the cover shell 101, so that the filter unit 14 can be easily taken out for cleaning.

[0051] The inner cavity 11 is provided with one or more power devices 20 for discharging the water entering the inner cavity from the water outlet 13 to generate power. Figures 11 to 15As shown, the power device 20 includes a driving motor 21 connected to the main control module 40, and the front and rear ends of the driving motor 21 are extended with a main driving shaft 22 that rotates synchronously, each main driving shaft 22 indirectly drives the driven shaft 23, and a clutch device 26 is provided between the main driving shaft 22 and the driven shaft 23 for driving the driven shaft and the main driving shaft to rotate according to the rotation direction of the main driving shaft, and a rotating propeller 24 for pushing water is installed on the driven shaft 23; the rotating propeller 24 at the front end is located in the corresponding front water outlet 131, and the rotating propeller 24 at the rear end is located in the corresponding rear water outlet 132; in this way, when the driving motor 21 rotates, the clutch device 26 drives the driven shaft 23 at the front end or the driven shaft 23 at the rear end to rotate according to the rotation direction of the main driving shaft 22, thereby determining whether the rotating propeller 24 at the front end rotates to do work or the rotating propeller 24 at the rear end rotates, and the water discharge generates reverse thrust to obtain forward or backward power. As an implementation manner, the driving motor 21 may be a brushed motor or a brushless motor; and the rotary propeller 24 is a propeller.

[0052] When the driving motor 21 drives the main driving shaft 22 to rotate clockwise, the clutch device 26 on the front main driving shaft 22 drives the driven shaft 23 to be combined with the front active driving shaft 22, the driven shaft 23 rotates synchronously with the front main driving shaft 22, and the rotating propeller 24 on the driven shaft 23 does work, while the clutch device 26 on the rear main driving shaft 22 drives the driven shaft 23 to separate from the rear active driving shaft 22, the driven shaft 23 does not rotate synchronously with the rear main driving shaft 22, and the rotating propeller 24 on the driven shaft 23 does not do work. When the driving motor 21 drives the main driving shaft 22 to rotate counterclockwise, the clutch device 26 on the front main driving shaft 22 drives the driven shaft 23 to separate from the front active driving shaft 22, the driven shaft 23 does not rotate synchronously with the front main driving shaft 22, and the rotating propeller 24 on the driven shaft 13 does not do work, while the clutch device 26 on the rear main driving shaft 22 drives the driven shaft 23 and the rear active driving shaft 22 to be integrated into one, the driven shaft 23 rotates synchronously with the rear main driving shaft 22, and the rotating propeller 24 on the driven shaft 23 does work.

[0053] like Figures 11 to 14The clutch device 26 includes a first sleeve 261 and a second sleeve 262 that cooperate with each other. The first sleeve 261 is provided with a first transmission tooth 2611, and the second sleeve 262 is provided with a second transmission tooth 2621 that cooperates with the first transmission tooth. The first sleeve 261 rotates synchronously with the main driving shaft 22 through the inner sleeve 263, and the second sleeve 262 rotates synchronously with the driven shaft 23; the direction of the second transmission tooth 2621 in the second sleeve 262 on the front driven shaft 23 is the same as that of the second transmission tooth 2621 in the second sleeve 262 on the rear driven shaft 23. The directions of the second transmission teeth 2621 in the upper second sleeve 262 are opposite; in this way, when the driving motor 21 drives the front main driving shaft 22 and the rear main driving shaft 22 to rotate clockwise or counterclockwise, the first transmission teeth 2611 on the first sleeve 261 and the corresponding second transmission teeth 2621 on the second sleeve 262 are matched or separated through the inner cylinder 263, and after disengagement, the first transmission teeth 2611 and the second transmission teeth 2621 on the second sleeve 262 have no contact, which can achieve the purpose of reducing noise and reducing energy consumption.

[0054] The end of the main driving shaft 22 is arranged opposite to the end of the driven shaft 23; the inner cylinder 263 rotates synchronously with the main driving shaft 22, the first sleeve 261 is sleeved on the inner cylinder 263, the inner cylinder 263 is provided with at least one outer protrusion 2631 for driving the first sleeve 261 to rotate and a push block 2632 for driving the first sleeve 261 to move linearly, the inner wall of the first sleeve 261 is provided with an inner protrusion 2612 that cooperates with the outer protrusion 2631 and a placement groove 2614 for inserting the push block, and the placement groove 261 4 is matched with an insert 264, and the bottom protrusion of the insert 264 and the bottom of the receiving groove 2614 form a spiral limiting groove 2613 matched with the push block 2632; during installation, the push block 2632 on the inner cylinder 263 is inserted into the first sleeve 261 through the receiving groove 2614, and then the insert 264 is placed in the receiving groove 2614 to prevent the inner cylinder 263 from falling off from the first sleeve 261, and the bottom protrusion of the insert 264 and the bottom of the receiving groove 2614 form a spiral limiting groove 2613 for the push block 2632 to rotate and slide. The side wall of the mounting groove 2614 is provided with an inclined side surface 26141, and the side surface of the insert 264 fits with the inclined side surface of the mounting groove 2614 to prevent the mounting groove 2614 from falling off. At the same time, since the insert 264 is fan-shaped, the arc length of the outer side is greater than the arc length of the inner side, thereby preventing the insert 264 from radial movement, thereby positioning the insert 264.

[0055] When in use, when the driving motor 21 drives the main driving shaft 22 to rotate clockwise, the inner cylinder 263 rotates synchronously with the front main driving shaft 22, the push block 2632 on the inner cylinder 263 cooperates with the spiral limiting groove 2613 to push the first sleeve 261 to move toward the second sleeve 262, the first transmission tooth 2611 cooperates with the second transmission tooth 2621, and during the rotation of the inner cylinder 263, the outer protrusion 2631 on the inner cylinder 263 cooperates with the inner protrusion 2612 of the first sleeve 261, the inner cylinder 263 continues to rotate, driving the first sleeve 261 to rotate synchronously, and the first transmission tooth 2611 on the first sleeve 261 1 is fitted with the second transmission tooth 2621 on the second sleeve 262, thereby driving the second sleeve 262 and the driven shaft 23 to rotate synchronously, and the rotary propeller 24 on the driven shaft 23 rotates synchronously to do work; at the same time, the inner cylinder 263 on the rear main driving shaft 22 rotates, and the push block 2632 on the inner cylinder 263 cooperates with the spiral limiting groove 2613 to drive the first sleeve 261 to move away from the second sleeve 262, the first transmission tooth 2611 is separated from the second transmission tooth 2621, and the outer protrusion 2631 on the inner cylinder 263 cooperates with the inner protrusion 2612 of the first sleeve 261, and the inner cylinder 263 drives the first sleeve 2 61 rotates synchronously, since the first transmission tooth 2611 is separated from the second transmission tooth 2621, the second sleeve 262 and the driven shaft 23 at the rear end do not rotate synchronously with the rear main driving shaft 22, and the rotating propeller 24 on the driven shaft 23 does not do work; similarly, when the driving motor 21 drives the main driving shaft 22 to rotate counterclockwise, under the action of the push block 2632 on the inner cylinder 263 and the spiral limiting groove 2613, the first sleeve 261 on the main driving shaft 22 at the front end moves away from the second sleeve 262, and when the inner cylinder 263 drives the first sleeve 261 to rotate synchronously, the second sleeve 262 and the driven shaft 23 at the front end do not rotate synchronously with the rear main driving shaft 22, and the rotating propeller 24 on the driven shaft 23 does not do work. The second sleeve 262 and the driven shaft 23 do not rotate synchronously with the front main drive shaft 22, and the rotating propeller 24 on the driven shaft 23 does not do work; while the first sleeve 261 on the main drive shaft 22 at the rear end moves toward the second sleeve 262 under the action of the push block 2632 on the inner cylinder 263 and the spiral limiting groove 2613, and the first transmission tooth 2611 cooperates with the second transmission tooth 2621. When the inner cylinder 263 drives the first sleeve 261 to rotate synchronously, it drives the second sleeve 262 and the driven shaft 23 at the rear end to rotate synchronously, and the rotating propeller 24 on the driven shaft 23 rotates synchronously and does work.

[0056] The inner cylinder 263 and the second sleeve 262 are both provided with inner flat surfaces, and the main driving shaft 22 and the driven shaft 23 are both provided with outer flat surfaces, so that the inner cylinder 263 and the main driving shaft 22 rotate synchronously, and the second sleeve 262 and the driven shaft 23 rotate synchronously.

[0057] The driving motor 21 is placed in a protective chamber 80, and a through hole 81 is provided on the protective chamber 80 for the main driving shaft or the driven shaft to pass through. Fig.15As shown, the main drive shaft 22 extending from both ends of the driving motor 21 is in the protection chamber 80, one end of the driven shaft 23 passes through the through hole 81 and is opposite to the end of the main drive shaft 22, and the side wall of the protection chamber 80 supports the driven shaft 23; the clutch device 26 is arranged in the protection chamber 80, and the rotary propeller 24 is outside the protection chamber 80. The driven shaft 23 and the through hole 81 are sealed by a sealing structure 28, specifically a sealing ring seal combined with an oil seal. A sealing seat 281 is sleeved on the driven shaft 23, one end of the sealing seat is equipped with a sealing ring 282 that fits the outer wall of the sealing chamber, and the other end of the sealing seat is equipped with an oil seal 283. A bearing 284 sleeved on the driven shaft 23 is provided in the sealing seat to ensure that during the rotation of the passive shaft 23, liquid is prevented from entering the protection chamber 80 through the through hole 81. The shape of the protection chamber 80 can be changed according to the needs of the robot design. According to the internal layout of the robot, the protection chamber 80 and the sealing chamber 70 can be independent of each other or can be set as one body.

[0058] like Figure 1 , Figure 2 as well as Fig.15 As shown, the front water outlet 131 and the rear water outlet 132 are both provided with a water outlet bin 17, and a water outlet channel 171 corresponding to the rotary propeller 24 is formed in the water outlet bin 17, and the water outlet channel surrounds the outer edge of the rotary propeller, and the driving shaft 22 or the driven shaft 23 in the power device 20 passes through the water outlet bin 17, and the water inlet end of the water outlet channel 171 is connected with the inner cavity 11 through the connecting port 172, and the water outlet end of the water outlet channel 171 is provided with a grid, so that each rotary propeller 24 in the front water outlet 131 and the rear water outlet 132 is in the corresponding water outlet channel 171, when the driving motor 21 drives the rotary propeller 24 at one end to rotate, the rotary propeller 24 at one end does work, and the drainage pressure will push open the corresponding one-way valve, and the rotary propeller 24 at the other end does not do work, and the water in the inner cavity 11 passes through the corresponding connecting port 172 and is discharged from the water outlet channel 171 at the corresponding end. A one-way valve 173 is also provided in the water outlet bin. When the rotary propeller 24 at one end rotates to perform work and drain water, the water pressure in the inner cavity 11 of the shell will be lower than the water pressure outside the shell, while the rotary propeller 24 at the other end does not perform work, and the water outside the shell will flow into the inner cavity 11 from the water outlet at the other end. When the water flows into the inner cavity 11 of the robot, it will push the one-way valve at the other end to close. The counterweight installed on the one-way valve will speed up the closing speed of the one-way valve at the other end. By setting two one-way valves, it is achieved that when the power group discharges water from the front water outlet 131, the rear one-way valve is closed, and when the water is discharged from the rear water outlet 132, the front one-way valve is closed.

[0059] Two power devices 20 can be installed in the inner cavity 11, and each power device 20 is arranged side by side to obtain greater power. Each power device 20 corresponds to a group of front water outlets 131 and rear water outlets 132; Figure 1and Figure 2 As shown, the housing 10 is provided with two groups of front water outlets 131 and rear water outlets 132. The driving motors 211 of the two power devices 10 are both placed in the corresponding protection compartment 80, and the driving motors 211 are both connected to the main control module 40; when the rotary propellers 24 at the front end of the two power devices 20 spray water forward at the same time, a reaction force is generated, thereby obtaining the power to move backward; when the rotary propellers 24 at the rear end of the two power devices 20 spray water backward at the same time, a reaction force is generated, thereby obtaining the power to move forward; and when the rotary propeller 24 at the rear end of the right power device 20 sprays water backward, the right side obtains the power to move forward, but due to the resistance of the water in front, the entire robot will deflect and move to the left. If the rotary propeller 24 at the front end of the left power mechanism sprays water forward at this time, the robot can obtain the maneuverability close to turning around in place; similarly, vice versa. Therefore, through the power combination of the two groups of power devices 20, the machine can realize maneuvering operations such as moving forward, backward, and turning.

[0060] like Figure 1 and Figure 2As shown, taking the robot as an example with two power devices 20 and a peristaltic pump as the water inlet and outlet power device 32, the whole process of the robot cleaning the water surface is as follows: (1) After the robot is turned on and put into the water, the main control module enters the underwater working mode by default, and the main control module controls the water inlet and outlet power device to work. The peristaltic pump rotates counterclockwise, and the water in the swimming pool flows in from the water inlet end of the water pipe. After the peristaltic pump works, the water is finally pressed into the floating chamber 31. The air in the floating chamber 31 is discharged from the water surface through the vent 312 along the vent pipe due to the filling of water. When the floating chamber 31 is filled with water, the robot will sink to the bottom of the water due to the change in specific gravity. At this time, the robot's forward, backward and turning maneuvers are realized by the combination of the two power devices 20. The drive motor 21 is started, and the drive motor 21 drives the rotary propeller 24 on one end to rotate. This rotary propeller 24 works and flows into the inner cavity 11 of the shell 10 from the lower water inlet 122 at the bottom of the shell. , after being filtered by the filter unit 14, it is discharged from the water outlet channel 171 corresponding to the rotary propeller 24 at the working end, thereby cleaning the bottom of the pool and underwater; (2) When the robot reaches the preset working time in the underwater working mode, indicating that the underwater work is completed, the main control module controls the robot to return to the surface working mode, and the peristaltic pump rotates clockwise to discharge the water in the floating chamber 31, and the air is replenished into the floating chamber 31 along the ventilation pipe. Since the water in the floating chamber is emptied, the specific gravity of the machine is less than that of water, and the buoyancy generated by the water lifts the robot to the water surface and maintains it at the preset draft position. At this time, the robot's forward, backward and turning maneuvers are realized by the combination of the two power devices 20; the driver 142 drives the roller sweep 141 to rotate, and the roller sweep 141 pushes the surface garbage into the inner cavity 11. After being filtered by the filter unit 14, the impurities remain in the filter unit 14, and the filtered liquid is discharged from the water outlet 13, thereby achieving the purpose of cleaning the water surface.

[0061] It is worth noting that when the robot is in underwater working mode, a preset working time will be set, generally 90 minutes or 120 minutes. When the robot has been working underwater for the preset working time, the main control module will control the machine to return to the surface working mode. At this time, if the robot has sufficient power, the robot can immediately enter the surface working mode after returning to the surface. If the power is insufficient, the robot will use the photovoltaic panel 18 on the top of the shell 10 on the water surface to charge the battery 71. After the charging reaches the preset level, the robot will enter the surface working mode again.

[0062] When the robot moves in the swimming pool, the main control module 40 will set the output power of the two drive motors 21 to be slightly different, so that the robot's motion trajectory in the swimming pool is arc-shaped. The robot's forward and backward motion switching is implemented as follows: a gyroscope sensor is provided on the main control board in the main control module 40, the main control module 40 starts the drive motor 21 to rotate forward, the rotary propeller 24 at the rear end does work, discharges water, and generates a reaction force to push the robot forward. When the robot moves forward and encounters an obstacle, the gyroscope sensor senses the change in acceleration and determines that the robot has encountered an obstacle; at this time, the main control module 40 starts the drive motor 21 to rotate in the reverse direction, the rotary propeller 24 at the front end does work, discharges water, and generates a reaction force to push the robot backward, until the robot encounters an obstacle again and switches direction again, and repeatedly switches directions in this way, so that the robot's motion trajectory covers the area of ​​the swimming pool as much as possible.

[0063] In summary, the technical solution of the present invention can fully and effectively achieve the above-mentioned invention purpose, and the structure and functional principle of the present invention have been fully verified in the embodiments, and can achieve the expected effect and purpose. Without departing from the principle and essence of the present invention, various changes or modifications can be made to the embodiments of the invention. Therefore, the present invention includes all replacement contents within the scope mentioned in the scope of the patent application, and any equivalent changes made within the scope of the patent application of the present invention are within the scope of the patent application of this case.

Claims

1. A swimming pool cleaning robot, comprising a housing with an inner cavity, the inner cavity being connected with a water inlet and a water outlet, characterized in that: A filtering unit is provided in the inner cavity; a power device for achieving surface or underwater movement and a snorkeling device for controlling snorkeling to achieve surface cleaning and underwater cleaning are also provided in the shell, the power device and the snorkeling device are both connected to the main control module, the snorkeling device includes at least one floating chamber for achieving floating or diving by adjusting the ratio of water and air in the inner cavity, the inner cavity of the floating chamber is connected with a water inlet for water inlet and outlet and an air vent for communicating with the air on the water surface, the opening of the ventilation pipe connected with the air vent is above the water surface, and the water inlet is below the water surface when the swimming pool robot floats or dives; the water inlet of each floating chamber is connected with an inlet and outlet water power device for controlling the on-off of the water path, and the inlet and outlet water power device is connected to the main control module.

2. The swimming pool cleaning robot according to claim 1, characterized in that: The vents of each floating bin are connected together through a ventilation pipe, the ventilation pipe is connected to a float floating on the water surface, the float is provided with an air hole connected to the ventilation pipe, a hollow connecting pipe is provided under the float, the hollow connecting pipe connects the air hole and the vent of the floating bin.

3. The swimming pool cleaning robot according to claim 2, characterized in that: The water inlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling the on-off of the water inlet waterway and a drainage power driver for controlling the on-off of the water outlet waterway, the water inlet pipeline in the water pipe is connected to the water inlet power driver, and the drainage pipeline in the water pipe is connected to the drainage power driver.

4. The swimming pool cleaning robot according to claim 2, characterized in that: The water inlets of each floating chamber are connected as a whole through a water pipe, and the water pipe is connected to a water inlet and outlet power device; the water inlet and outlet power device includes a water inlet power driver for controlling water inlet and a drainage power driver for controlling water outlet, and the water pipe is connected in series with the water inlet power driver and the drainage power driver.

5. The swimming pool cleaning robot according to claim 1, characterized in that: The water inlet and outlet water power device is placed in a sealed chamber, and a battery is also provided in the sealed chamber; a photovoltaic panel connected to the main control module is provided on the top of the shell; the water inlet includes an upper water inlet and a lower water inlet connected to the inner cavity, the lower water inlet is arranged at the bottom of the shell, the lower water inlet is equipped with a non-return cover plate, the upper water inlet is arranged on one side of the shell, and the upper water inlet is equipped with a front door cover plate; the water outlet is below the upper water inlet, and the water outlet includes a front water outlet and a rear water outlet relatively arranged on both sides of the shell.

6. The swimming pool cleaning robot according to claim 5, characterized in that: The filter unit is a filter frame, and a non-return cover plate for covering the lower water inlet is installed at the bottom of the filter frame; the upper water inlet is connected to a water inlet channel, and a front door cover plate is installed at the channel opening of the water inlet channel, and the front door cover plate is connected to the float chamber through a connecting rod; a roller sweep corresponding to the water inlet channel of the upper water inlet is also installed in the filter frame, and the roller sweep is connected to a driver, and the driver is connected to the main control module.

7. The swimming pool cleaning robot according to claim 5, characterized in that: The inner cavity is provided with at least one power device for discharging the water flow entering the inner cavity from the lower water outlet to generate power, including a driving motor connected to the main control module, and the front and rear ends of the driving motor are extended with main driving shafts that rotate synchronously, each main driving shaft indirectly drives the driven shaft, and a clutch device is provided between the main driving shaft and the driven shaft for driving the driven shaft and the main driving shaft to rotate according to the rotation direction of the main driving shaft, and a rotating propeller for pushing water is installed on the driven shaft; the rotating propeller at the front end is located in the corresponding front water outlet, and the rotating propeller at the rear end is located in the corresponding rear water outlet.

8. The swimming pool cleaning robot according to claim 7, characterized in that: The clutch device comprises a first sleeve and a second sleeve which cooperate with each other, the first sleeve being provided with a first transmission tooth, the second sleeve being provided with a second transmission tooth which cooperates with the first transmission tooth, the first sleeve being rotated synchronously with the main drive shaft through the inner cylinder, and the second sleeve being rotated synchronously with the driven shaft; the direction of the second transmission tooth in the second sleeve on the front driven shaft is opposite to the direction of the second transmission tooth in the second sleeve on the rear driven shaft; the end of the main drive shaft is arranged opposite to the end of the driven shaft; the inner cylinder rotates synchronously with the main drive shaft, the first sleeve is sleeved on the inner cylinder, the inner cylinder is provided with at least one outer protrusion for driving the first sleeve to rotate, the outer protrusion is provided with a push block for driving the outer cylinder to move linearly, the inner wall of the first sleeve is provided with an inner protrusion which cooperates with the outer protrusion and a placement groove for inserting the push block, the placement groove is matched with an insert, and the bottom protrusion of the insert and the bottom of the placement groove form a spiral limiting groove which cooperates with the push block.

9. The swimming pool cleaning robot according to claim 7, characterized in that: A water outlet bin is provided in the front water outlet and the rear water outlet, and a water outlet channel corresponding to the rotating propeller is formed in the water outlet bin. The water outlet channel surrounds the outer edge of the rotating propeller, and the driving shaft or the driven shaft in the power device passes through the water outlet bin. The water inlet end of the water outlet channel is connected with the inner cavity through a connecting port, and a one-way valve is also provided in the water outlet bin.

10. The swimming pool cleaning robot according to claim 7, characterized in that: The driving motor is placed in a protection chamber, and a through hole is provided on the protection chamber for the main driving shaft or the driven shaft to pass through.

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