Swimming pool robot capable of crossing obstacles

Abstract

According to the robot capable of crossing the obstacles, the auxiliary moving device is additionally arranged between the front wheel assembly and the rear wheel assembly to keep the motion state of the wheel sets, and therefore the swimming pool robot can effectively cross the obstacles when encountering various obstacles in a swimming pool. Specifically, the auxiliary moving device is connected with the wheel set and used for being matched with the motion state of the wheel set to adjust the posture of the swimming pool robot, and meanwhile the auxiliary moving device is driven by power of the wheel set. The gravity center of the swimming pool robot is adjusted by conveniently and effectively utilizing the driving force between the wheel sets through the friction pushing surface in the auxiliary moving device relative to the movement between the wheel sets, so that the wheel sets of the swimming pool robot can be adjusted and are always kept in contact with the surface of a swimming pool; the motion state and power of the swimming pool robot wheel sets relative to the bottom of a swimming pool are kept, so that the whole swimming pool robot can maintain the advancing gait, and therefore the swimming pool robot can smoothly pass through obstacles.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and more particularly to an obstacle-crossing swimming pool robot. Background Art

[0002] A pool robot is an automated device used to clean the bottom, walls and water surface of a swimming pool. It is usually powered by a battery or power supply and uses a series of sensors and mechanical devices to clean dirt in the pool, such as mud, leaves, algae, etc. Although pool robots are designed to be more and more intelligent and efficient, they may still face some challenges and problems during their work. For example, the swimming pool may have various unconventional complex structures, such as corners and edges of the pool that require special designs such as steps, guardrails or decorations, or there may be some items in the pool, such as floating toys, plants, etc. The pool robot may be blocked by these obstacles when cleaning the bottom of the pool and cannot cross them, resulting in the pool robot's marching rhythm being blocked and unable to clean thoroughly. Therefore, it is necessary to design a pool robot that can easily cross obstacles, and by improving the robot's flexibility and adaptability when dealing with obstacles, solve many problems that may be encountered in complex structures, poolside obstacles, steps, etc., to ensure a more efficient and comprehensive cleaning effect. Summary of the invention

[0003] The present invention aims to overcome at least one of the above-mentioned deficiencies of the prior art and provide a swimming pool robot that can cross obstacles.

[0004] One object of the present invention is to provide an obstacle-crossing swimming pool robot, comprising: a base, and a shell and a moving component arranged on the base; the moving component comprises: a wheel group, and a driving motor for driving the wheel group; the wheel group comprises: a front wheel group and a rear wheel group, and an auxiliary moving device arranged between the front wheel group and the rear wheel group; the auxiliary moving device is connected to the wheel group; the auxiliary moving device is provided with a friction pushing surface, and the friction pushing surface is movably arranged above the lower supporting surface of the wheel group, so that when the wheel group abuts against the surface of the swimming pool, a gap is left between the friction pushing surface and the surface of the swimming pool.

[0005] In the technical scheme, an auxiliary moving device is added between the front wheel assembly and the rear wheel assembly to maintain the motion state of the wheel group so that the wheel group can effectively cross various obstacles in the swimming pool. Specifically, the auxiliary moving device is connected to the wheel group and is used to adjust the posture of the swimming pool robot in accordance with the motion state of the wheel group, thereby achieving obstacle crossing during use and improving the performance and adaptability of the swimming pool robot. At the same time, the auxiliary moving device is driven by the power of the wheel group, which is simple in design and convenient for the transformation and update of the existing four-wheel design. Specifically, when the swimming pool robot encounters an obstacle at the bottom and the wheel group is raised and cannot contact the bottom of the swimming pool and loses the motion state, the driving power can be converted into the power for adjusting the overall posture of the swimming pool robot through the auxiliary moving device. Specifically, the driving force between the wheel groups is conveniently and effectively used to adjust the center of gravity of the swimming pool robot through the friction push surface in the auxiliary moving device compared to the activity between the wheel groups, so that the wheel group of the swimming pool robot can be adjusted and always kept in contact with the surface of the swimming pool, and the motion state and power of the wheel group of the swimming pool robot compared to the bottom of the swimming pool are maintained, so that the swimming pool robot as a whole can maintain the forward posture, thereby smoothly passing the obstacle. Furthermore, by movably providing a friction pushing surface suspended above the lower supporting surface on the auxiliary moving device, the movement between the wheel groups is converted into the power for regulating the activity of the swimming pool robot as a whole, and at the same time, the friction between the auxiliary moving device and the obstacles that may be in contact is increased, thereby further improving the power and stability of the wheel group operation, and at the same time improving the stability and safety of the swimming pool robot when crossing obstacles; further, by setting the installation height of the auxiliary moving device to be higher than the lower supporting surface, the interference generated by the auxiliary moving device during normal movement is eliminated; at the same time, the four-wheel protruding bottom design makes the moving structure simple, the wheel group and the auxiliary moving device are not easy to affect each other, and during normal movement, the contact area between the bottom of the swimming pool robot and the bottom of the pool is reduced, the friction is reduced, the maneuverability and moving speed of the swimming pool robot in the pool are improved, and it is easy to clean after cleaning is completed.

[0006] Furthermore, in order to balance the gravity of the auxiliary mobile device and the swimming pool robot as a whole, and at the same time enhance the stability and accuracy of the movement posture adjustment of the swimming pool robot when crossing obstacles, the auxiliary mobile device is arranged symmetrically on both sides of the base, thereby improving the balance ability and stability of the swimming pool robot, and the auxiliary mobile device can be driven by the wheel groups on both sides respectively, thereby improving the adaptability and precise adjustment ability of the auxiliary mobile device.

[0007] Further, the front wheel assembly includes: a pair of front rotating wheels, and a first rotating shaft connected to the two front rotating wheels; The rear wheel assembly comprises: a pair of rear rotating wheels, and a second rotating shaft connected to the two rear rotating wheels; The driving motor is connected to the first rotating shaft and / or the second rotating shaft; The lower edge of the housing avoids the front rotating wheel and the rear rotating wheel; The auxiliary moving device is connected to the first rotating shaft and / or the second rotating shaft.

[0008] In the present technical solution, the front rotating wheels and the rear rotating wheels are connected by rotating shafts respectively, and can be driven by driving motors separately or simultaneously, so that the swimming pool robot can obtain a stable motion state through the wheel group. At the same time, the auxiliary moving device is connected to the rotating shaft, so that the auxiliary moving device can obtain driving torque through the rotating shaft and maintain the same frequency operation as the wheel group used for moving. The structure is simple and can effectively achieve coordination and adjustment according to the motion state between the wheel groups.

[0009] Furthermore, in order to improve the motion stability of the swimming pool robot, the front rotating wheel and the rear rotating wheel are configured to include a wheel hub and a tire, and the tire forms the lower support surface when abutting against the surface of the swimming pool, thereby achieving stable contact between the swimming pool robot and the surface of the swimming pool and preventing slipping. Preferably, since the swimming pool robot works in a humid underwater environment, the front drive mode can improve the maneuverability and motion stability of the swimming pool robot in a small or complex swimming pool space, while reducing the possibility of rear wheel slippage, ensuring a more stable cleaning effect. Therefore, in the present technical solution, by configuring the diameter of the front rotating wheel to be larger than that of the rear rotating wheel, and locating the drive motor at the front end of the base, the drive motor is arranged with the front transmission wheel, so that the drive motor is connected to the first rotating shaft to realize the front rotating wheel drive.

[0010] Furthermore, the auxiliary moving device includes: an auxiliary moving device, which is laterally arranged between the front rotating wheel and the rear rotating wheel; a transmission assembly, which is connected to the first rotating shaft and / or the second rotating shaft and is used to drive the auxiliary moving device to reciprocate.

[0011] In the technical solution, the auxiliary moving device includes: an auxiliary moving device and a transmission assembly, the transmission assembly is connected to the rotating shaft between the driving rotating wheels, and is used to match the motion state of the driving wheel; further, the motion state of the driving wheel is transmitted to the non-driving wheel or obstacle through the auxiliary moving device arranged laterally between the front rotating wheel and the rear rotating wheel, so that the driving motor drives the front and rear rotating wheels at the same time to form a four-wheel drive mode, thereby enhancing the traction of the wheel set and improving the maneuverability and adaptability of the swimming pool robot. At the same time, by utilizing the reciprocating motion of the transmission assembly so that the driving wheel cannot directly contact the surface of the swimming pool due to an obstacle, the auxiliary moving device is used to prompt the swimming pool robot to move, correct the motion state, and make the rotating wheel contact the bottom of the swimming pool again, thereby ensuring the overall motion state of the swimming pool robot.

[0012] Further, the transmission assembly includes: a plurality of first gears, which are arranged on the first rotating shaft and / or the second rotating shaft and have the same rotation speed as the front rotating wheel and / or the rear rotating wheel; a carrier, which is arranged between the first gear and the base; a second gear set, which is arranged on one side of the carrier and is rotationally connected to the carrier; the auxiliary moving device is rotationally connected to the second gear; and the first gear drives the auxiliary moving device through the second gear set.

[0013] In the present technical solution, a plurality of gear sets are arranged in the transmission assembly to realize reliable transmission between the driving motor and the rotating wheel, the rotating shaft and the auxiliary movable device. Specifically, after the driving motor is connected to the rotating shaft, the first gear on the first rotating shaft and / or the second rotating shaft is driven to rotate at the same speed as the front rotating wheel and / or the rear rotating wheel; a carrier is arranged between the first gear and the base, which is used to carry and rotate and fix the second gear set, the auxiliary movable device is rotationally connected to the second gear, and the first gear is transmitted through the second gear set and drives the auxiliary movable device to realize reciprocating motion.

[0014] Furthermore, the auxiliary moving device includes: a horizontal abutment rod and a plurality of connecting arms; the number of the connecting arms matches the second gear; one end of the connecting arm is rotationally connected to the second gear, and the other end is fixedly connected to the connecting arm. In the present technical solution, the auxiliary moving device includes: a horizontal abutment rod and a plurality of connecting arms, the horizontal abutment rod is parallel to the horizontal support surface and suspended between the front and rear rotating wheels, and the horizontal abutment rod is connected to the second gear through the connecting arm, one section of the connecting arm is rotationally connected to the second gear, and the other end is fixedly connected to the horizontal abutment rod. Specifically, the connecting arm is connected to the side of the second gear away from the gear shaft, so that the horizontal abutment rod is driven by the rotation of the second gear and realizes reciprocating motion. Due to the fast moving speed and precise distance of the gear, the reciprocating effect of the auxiliary moving device is good, so that the balance of the swimming pool robot when it is stuck can be quickly broken, so that the rotating wheel can re-contact the surface of the swimming pool, and the moving state of the swimming pool robot can be restored more quickly.

[0015] Preferably, in one embodiment of the present invention, the transmission assembly at least includes a pair of first gears and a second gear set respectively arranged on the first rotating shaft and the second rotating shaft; the second gear set includes a pair of connecting gears and a pair of driving gears; the two connecting gears are respectively matched with the two first gears; the two driving gears are respectively matched with the two connecting gears and are rotatably connected to a connecting arm on the side. Through such a setting, a first gear can be fixedly set at one end of each rotating shaft, the first gear is meshed and connected with a connecting gear and further connected to a driving gear; the second gear set includes a pair of connecting gears and a pair of driving gears, the first rotating shaft and the second rotating shaft are respectively connected with a first gear, and by making a connecting gear connected to the first gear and then meshed and connected to a driving gear, each driving gear is rotatably connected to a connecting arm, and the two connecting arms on the same side are connected to both sides of a friction push rod, and the reciprocating motion of the auxiliary moving device is transmitted through the meshing transmission between multiple gears, which further improves the accuracy and stability of transmission adjustment.

[0016] Preferably, in order to further improve the rigidity of the auxiliary moving device and improve the effect of driving force transmission between the wheel sets, an auxiliary gear is also provided between the two driving gears, and the auxiliary gear is connected to the middle part of the horizontal abutment rod through a connecting arm, thereby enhancing the middle supporting force of the horizontal abutment rod and avoiding deformation of the horizontal abutment rod, thereby improving the stability of its reciprocating motion while increasing the service life of the auxiliary moving device.

[0017] Furthermore, the horizontal abutment rod and the connecting arm are an integral sheet structure; the horizontal abutment rod is provided with an anti-slip layer; the lower edge of the carrier is located between the lower supporting surface and the lower surface of the base; the lower bottom surface of the horizontal abutment rod forms the friction pushing surface, at least when the friction pushing surface is in the lowest position, it is located below the carrier; an anti-collision structure is provided on the lower surface of the carrier.

[0018] In the technical solution, by setting the horizontal abutment rod and the connecting arm to be a sheet structure, it is convenient to effectively install in the limited position between the wheel groups, and at the same time, sufficient space is provided for the pool robot to set other cleaning components on the bottom plane; further, an anti-skid layer is set on the horizontal abutment rod, so that the auxiliary mobile device can use the obstacle in contact with it to borrow force when it encounters obstacles, thereby further improving the movement stability of the auxiliary mobile device. Preferably, the lower edge of the carrier is set between the lower support surface and the lower surface of the base, and the lower bottom surface of the horizontal abutment rod forms a friction push surface, and at least the friction push surface is located below the carrier when it is in the lowest position. Through the position restrictions of the carrier, the base and the friction push surface, it is ensured that the auxiliary mobile device can effectively realize the adjustment movement of the pool robot when it is lifted by an obstacle, and effectively protect the auxiliary mobile device from external impact, thereby improving the service life of the auxiliary mobile device; further preferably, in order to better protect the auxiliary mobile device, an anti-collision structure is also provided on the lower surface of the carrier.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. By adding an auxiliary moving device between the front wheel assembly and the rear wheel assembly to maintain the motion state of the wheel assembly, the wheel assembly can effectively cross various obstacles in the swimming pool. Specifically, the auxiliary moving device is connected to the wheel assembly and is used to adjust the posture of the swimming pool robot in accordance with the motion state of the wheel assembly. By setting a friction push surface above the lower support surface, the movement between the wheel assembly is converted into the power to adjust the activity of the swimming pool robot as a whole, thereby achieving obstacle crossing during use, improving the performance and adaptability of the swimming pool robot, and at the same time increasing the friction between the auxiliary moving device and the obstacles that may be in contact, thereby improving the stability and safety of the swimming pool robot when crossing obstacles. Furthermore, the auxiliary moving device is driven by the power of the wheel assembly, has a simple design, and is convenient for the transformation and updating of the existing four-wheel design.

[0020] 2. By setting the installation height of the auxiliary mobile device higher than the lower supporting surface, the interference caused by the auxiliary mobile device during normal movement is eliminated; at the same time, the four-wheel protruding bottom design makes the moving structure simple, and the wheel group and the auxiliary mobile device are not easy to affect each other. In addition, during normal movement, the contact area between the bottom of the swimming pool robot and the bottom of the pool is reduced, the friction force is reduced, the maneuverability and moving speed of the swimming pool robot in the pool are improved, and it is easy to clean after cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is one of the structural schematic diagrams of an obstacle-crossing swimming pool robot of the present invention.

[0022] Figure 2 The structure of a swimming pool robot that can cross obstacles is shown in the figure. Figure 2 .

[0023] Figure 3 This is one of the structural schematic diagrams of the auxiliary movement device in the obstacle-crossing swimming pool robot of the present invention.

[0024] Figure 4 The second structural diagram of the auxiliary moving device in the obstacle-crossing swimming pool robot of the present invention Description of the drawings: base 100, housing 200, front rotating wheel 311, first rotating shaft 312, rear rotating wheel 313, second rotating shaft 314, horizontal abutment rod 410, connecting arm 420, friction pushing surface 430, first gear 510, second gear 520, connecting gear 521, driving gear 522, auxiliary gear 523, carrier 530. DETAILED DESCRIPTION

[0025] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0026] Example 1 like Figure 1-Figure 3 As shown, this embodiment provides a swimming pool robot for crossing obstacles, including: a base 100, and a housing 200 and a moving assembly arranged on the base 100; the moving assembly includes: a wheel group, and a driving motor for driving the wheel group; the wheel group includes: a front wheel group and a rear wheel group, and an auxiliary moving device arranged between the front wheel group and the rear wheel group; the auxiliary moving device is connected to the wheel group; the auxiliary moving device is provided with a friction pushing surface 430, and the friction pushing surface 430 is movably arranged above the lower supporting surface of the wheel group, so that when the wheel group abuts against the surface of the swimming pool, there is a gap between the friction pushing surface 430 and the surface of the swimming pool. By adding an auxiliary moving device between the front wheel group and the rear wheel group to maintain the motion state of the wheel group, the wheel group can effectively cross various obstacles in the swimming pool. Specifically, the auxiliary moving device is connected to the wheel group, and is used to adjust the posture of the swimming pool robot in accordance with the motion state of the wheel group, thereby achieving obstacle crossing in use and improving the use performance and adaptability of the swimming pool robot; at the same time, the auxiliary moving device is driven by the power of the wheel group, has a simple design, and is convenient for the transformation and updating of the existing four-wheel design. Furthermore, by movably providing a friction pushing surface 430 suspended above the lower supporting surface on the auxiliary moving device, the friction between the auxiliary moving device and obstacles that may be in contact is increased, thereby improving the stability and safety of the swimming pool robot when crossing obstacles; further, by setting the installation height of the auxiliary moving device to be higher than the lower supporting surface, the interference generated by the auxiliary moving device during normal movement is eliminated.

[0027] Furthermore, in order to balance the gravity of the auxiliary mobile device and the swimming pool robot as a whole, and at the same time enhance the stability and accuracy of the movement posture adjustment of the swimming pool robot when crossing obstacles, the auxiliary mobile device is arranged symmetrically on both sides of the base 100, thereby improving the balance ability and stability of the swimming pool robot, and the auxiliary mobile device can be driven by the wheel groups on both sides respectively, thereby improving the adaptability and precise adjustment ability of the auxiliary mobile device.

[0028] Further, the front wheel assembly includes: a pair of front rotating wheels 311, and a first rotating shaft 312 connected to the two front rotating wheels 311; the rear wheel assembly includes: a pair of rear rotating wheels 313, and a second rotating shaft 314 connected to the two rear rotating wheels 313; the driving motor is connected to the first rotating shaft 312 and / or the second rotating shaft 314; the lower edge of the housing 200 avoids the front rotating wheels 311 and the rear rotating wheels 313; the auxiliary moving device is connected to the first rotating shaft 312 and / or the second rotating shaft 314. By setting the front rotating wheels 311 and the rear rotating wheels 313 to be connected by rotating shafts respectively, and being driven by the driving motors separately or simultaneously, the swimming pool robot can obtain a stable motion state through the wheel set, and at the same time, the auxiliary moving device is connected to the rotating shaft, so that the auxiliary moving device can obtain driving torque through the rotating shaft and keep the same frequency operation with the wheel set used for traveling.

[0029] Furthermore, in order to improve the movement stability of the swimming pool robot, the front rotating wheel 311 and the rear rotating wheel 313 are configured to include a wheel hub and a tire, and the tire forms a lower support surface when it abuts against the surface of the swimming pool, thereby achieving stable contact between the swimming pool robot and the surface of the swimming pool and preventing it from slipping.

[0030] Furthermore, the auxiliary moving device includes: an auxiliary moving device, which is transversely arranged between the front rotating wheel 311 and the rear rotating wheel 313; a transmission assembly, which is connected to the first rotating shaft 312 and / or the second rotating shaft 314, and is used to drive the auxiliary moving device to reciprocate. Specifically, the transmission assembly is connected to the rotating shaft between the rotating wheels used for driving, and is used to match the motion state of the driving wheel; the motion state of the driving wheel is transmitted to the non-driving wheel through the auxiliary moving device which is transversely arranged between the front rotating wheel 311 and the rear rotating wheel 313, so that the driving motor drives the front and rear rotating wheels 313 at the same time to form a four-wheel drive mode, thereby enhancing the traction of the wheel set and improving the maneuverability and adaptability of the swimming pool robot. At the same time, by utilizing the reciprocating motion of the transmission assembly so that the driving wheel cannot directly contact the surface of the swimming pool due to an obstacle, the auxiliary moving device is used to prompt the swimming pool robot to move, correct the motion state, and make the rotating wheel contact the bottom of the swimming pool again, thereby ensuring the overall motion state of the swimming pool robot.

[0031] Furthermore, the transmission assembly includes: a plurality of first gears 510, the first gears 510 being arranged on the first rotating shaft 312 and / or the second rotating shaft 314 and having the same rotation speed as the front rotating wheel 311 and / or the rear rotating wheel 313; a carrier 530, being arranged between the first gears 510 and the base 100; a second gear 520 group, the second gear 520 group being arranged on one side of the carrier 530 and being rotationally connected to the carrier 530; an auxiliary moving device being rotationally connected to the second gear 520; and the first gear 510 drives the auxiliary moving device through the second gear 520 group.

[0032] Furthermore, the auxiliary moving device includes: a horizontal abutment rod 410 and a plurality of connecting arms 420 ; the number of the connecting arms 420 matches the second gear 520 ; one end of the connecting arm 420 is rotationally connected to the second gear 520 , and the other end is fixedly connected to the connecting arm 420 . In the present technical solution, the auxiliary moving device includes: a horizontal abutment rod 410 and a plurality of connecting arms 420. The horizontal abutment rod 410 is parallel to the horizontal supporting surface and suspended between the front and rear rotating wheels 313, and the horizontal abutment rod 410 is connected to the second gear 520 through the connecting arm 420. One end of the connecting arm 420 is rotationally connected to the second gear 520, and the other end is fixedly connected to the horizontal abutment rod 410. Specifically, the connecting arm 420 is connected to the side of the second gear 520 away from the gear shaft, so that the horizontal abutment rod 410 is driven by the rotation of the second gear 520 and realizes reciprocating motion. Due to the fast moving speed and precise distance of the gear, the reciprocating effect of the auxiliary moving device is good, so that the balance of the swimming pool robot when it is stuck can be quickly broken, so that the rotating wheels can re-contact the surface of the swimming pool, and the moving state of the swimming pool robot can be restored more quickly.

[0033] Furthermore, the horizontal abutment rod 410 and the connecting arm 420 are an integral sheet structure, which is convenient for effective installation in the limited space between the wheel groups, while providing sufficient space for the pool robot to set other cleaning components on the bottom plane; the horizontal abutment rod 410 is provided with an anti-slip layer, which is convenient for the auxiliary mobile device to use the obstacles in contact with it for leverage when adjusting its movement in the event of an obstacle, thereby further improving the movement stability of the auxiliary mobile device.

[0034] Preferably, the lower edge of the carrier 530 is arranged between the lower supporting surface and the lower surface of the base 100, and at the same time, the lower bottom surface of the horizontal abutment rod 410 forms a friction pushing surface 430, and at least when the friction pushing surface 430 is in the lowest position, it is located below the carrier 530. The position restrictions of the carrier 530, the base 100 and the friction pushing surface 430 ensure that the auxiliary moving device can effectively realize the adjustment movement of the swimming pool robot when it is raised by an obstacle, and effectively protect the auxiliary moving device from external impact, thereby increasing the service life of the auxiliary moving device; further preferably, in order to better protect the auxiliary moving device, an anti-collision structure is also provided on the lower surface of the carrier 530.

[0035] Example 2 like Figure 1-Figure 3 As shown, this embodiment also provides a swimming pool robot for crossing obstacles, including: a base 100, and a housing 200 and a moving assembly arranged on the base 100; the moving assembly includes: a wheel group, and a driving motor for driving the wheel group; the wheel group includes: a front wheel group and a rear wheel group, and an auxiliary moving device arranged between the front wheel group and the rear wheel group; the auxiliary moving device is connected to the wheel group; the auxiliary moving device is provided with a friction pushing surface 430, and the friction pushing surface 430 is movably arranged above the lower supporting surface of the wheel group, so that when the wheel group abuts against the surface of the swimming pool, there is a gap between the friction pushing surface 430 and the surface of the swimming pool. By adding an auxiliary moving device between the front wheel group and the rear wheel group to maintain the motion state of the wheel group, the wheel group can effectively cross various obstacles in the swimming pool. Specifically, the auxiliary moving device is connected to the wheel group, and is used to adjust the posture of the swimming pool robot in accordance with the motion state of the wheel group, thereby achieving obstacle crossing in use and improving the use performance and adaptability of the swimming pool robot; at the same time, the auxiliary moving device is driven by the power of the wheel group, has a simple design, and is convenient for the transformation and updating of the existing four-wheel design. Furthermore, by movably providing a friction pushing surface 430 suspended above the lower supporting surface on the auxiliary moving device, the friction between the auxiliary moving device and obstacles that may be in contact is increased, thereby improving the stability and safety of the swimming pool robot when crossing obstacles; further, by setting the installation height of the auxiliary moving device to be higher than the lower supporting surface, the interference generated by the auxiliary moving device during normal movement is eliminated.

[0036] Furthermore, in order to balance the gravity of the auxiliary mobile device and the swimming pool robot as a whole, and at the same time enhance the stability and accuracy of the movement posture adjustment of the swimming pool robot when crossing obstacles, the auxiliary mobile device is arranged symmetrically on both sides of the base 100, thereby improving the balance ability and stability of the swimming pool robot, and the auxiliary mobile device can be driven by the wheel groups on both sides respectively, thereby improving the adaptability and precise adjustment ability of the auxiliary mobile device.

[0037] Further, the front wheel assembly includes: a pair of front rotating wheels 311, and a first rotating shaft 312 connected to the two front rotating wheels 311; the rear wheel assembly includes: a pair of rear rotating wheels 313, and a second rotating shaft 314 connected to the two rear rotating wheels 313; the driving motor is connected to the first rotating shaft 312 and / or the second rotating shaft 314; the lower edge of the housing 200 avoids the front rotating wheels 311 and the rear rotating wheels 313; the auxiliary moving device is connected to the first rotating shaft 312 and / or the second rotating shaft 314. By setting the front rotating wheels 311 and the rear rotating wheels 313 to be connected by rotating shafts respectively, and being driven by the driving motors separately or simultaneously, the swimming pool robot can obtain a stable motion state through the wheel set, and at the same time, the auxiliary moving device is connected to the rotating shaft, so that the auxiliary moving device can obtain driving torque through the rotating shaft and keep the same frequency operation with the wheel set used for traveling.

[0038] Furthermore, in order to improve the movement stability of the swimming pool robot, the front rotating wheel 311 and the rear rotating wheel 313 are configured to include a wheel hub and a tire, and the tire forms a lower support surface when it abuts against the surface of the swimming pool, thereby achieving stable contact between the swimming pool robot and the surface of the swimming pool and preventing it from slipping.

[0039] Preferably, since the pool robot works in a wet underwater environment, the front drive mode can improve the maneuverability and motion stability of the pool robot in a narrow or complex pool space, while reducing the possibility of rear wheel slippage, ensuring a more stable cleaning effect. Therefore, in the present technical solution, by setting the diameter of the front rotating wheel 311 to be larger than the rear rotating wheel 313, and the drive motor is located at the front end of the base 100, the drive motor is arranged with the front transmission wheel, so that the drive motor is connected to the first rotating shaft 312, and the front rotating wheel 311 is driven.

[0040] Furthermore, the auxiliary moving device includes: an auxiliary moving device, which is transversely arranged between the front rotating wheel 311 and the rear rotating wheel 313; a transmission assembly, which is connected to the first rotating shaft 312 and / or the second rotating shaft 314, and is used to drive the auxiliary moving device to reciprocate. Specifically, the transmission assembly is connected to the rotating shaft between the rotating wheels used for driving, and is used to match the motion state of the driving wheel; the motion state of the driving wheel is transmitted to the non-driving wheel through the auxiliary moving device which is transversely arranged between the front rotating wheel 311 and the rear rotating wheel 313, so that the driving motor drives the front and rear rotating wheels 313 at the same time to form a four-wheel drive mode, thereby enhancing the traction of the wheel set and improving the maneuverability and adaptability of the swimming pool robot. At the same time, by utilizing the reciprocating motion of the transmission assembly so that the driving wheel cannot directly contact the surface of the swimming pool due to an obstacle, the auxiliary moving device is used to prompt the swimming pool robot to move, correct the motion state, and make the rotating wheel contact the bottom of the swimming pool again, thereby ensuring the overall motion state of the swimming pool robot.

[0041] Furthermore, the auxiliary moving device includes: a horizontal abutment rod 410 and a plurality of connecting arms 420 ; the number of the connecting arms 420 matches the second gear 520 ; one end of the connecting arm 420 is rotationally connected to the second gear 520 , and the other end is fixedly connected to the connecting arm 420 . In the present technical solution, the auxiliary moving device includes: a horizontal abutment rod 410 and a plurality of connecting arms 420. The horizontal abutment rod 410 is parallel to the horizontal supporting surface and suspended between the front and rear rotating wheels 313, and the horizontal abutment rod 410 is connected to the second gear 520 through the connecting arm 420. One end of the connecting arm 420 is rotationally connected to the second gear 520, and the other end is fixedly connected to the horizontal abutment rod 410. Specifically, the connecting arm 420 is connected to the side of the second gear 520 away from the gear shaft, so that the horizontal abutment rod 410 is driven by the rotation of the second gear 520 and realizes reciprocating motion. Due to the fast moving speed and precise distance of the gear, the reciprocating effect of the auxiliary moving device is good, so that the balance of the swimming pool robot when it is stuck can be quickly broken, so that the rotating wheels can re-contact the surface of the swimming pool, and the moving state of the swimming pool robot can be restored more quickly.

[0042] The transmission assembly at least includes a pair of first gears 510 and a second gear 520 group respectively arranged on the first rotating shaft 312 and the second rotating shaft 314; the second gear 520 group includes a pair of connecting gears 521 and a pair of driving gears 522; the two connecting gears 521 are respectively matched with the two first gears 510; the two driving gears 522 are respectively matched with the two connecting gears 521 and are rotatably connected to a connecting arm 420 on the side. It also includes a carrier 530, which is arranged between the first gear 510 and the base 100, and the second gear 520 group is arranged on one side of the carrier 530 and is rotatably connected to the carrier 530; through such an arrangement, a first gear 510 can be fixedly set at one end of each rotating shaft, and the first gear 510 is meshed with a connecting gear 521 and further connected to a driving gear 522; the second gear 520 group includes a pair of connecting gears 521 and a pair of driving gears 522, the first rotating shaft 312 and the second rotating shaft 314 are respectively connected to a first gear 510, and a connecting gear 521 is connected to the first gear 510 and then meshed with a driving gear 522, so that each driving gear 522 is rotatably connected to a connecting arm 420, and the two connecting arms 420 on the same side are connected to both sides of a friction push rod, and the reciprocating motion of the auxiliary moving device is transmitted through the meshing transmission between multiple gears, which further improves the accuracy and stability of the transmission adjustment.

[0043] Furthermore, in order to further improve the rigidity of the auxiliary moving device and improve the effect of driving force transmission between the wheel groups, an auxiliary gear 523 is also provided between the two driving gears 522, and the auxiliary gear 523 is connected to the middle part of the horizontal abutment rod 410 through a connecting arm 420, thereby enhancing the middle supporting force of the horizontal abutment rod 410 and avoiding deformation of the horizontal abutment rod 410, thereby improving the service life of the auxiliary moving device and the stability of its reciprocating motion.

[0044] Furthermore, the horizontal abutment rod 410 and the connecting arm 420 are an integral sheet structure, which is convenient for effective installation in the limited space between the wheel groups, while providing sufficient space for the pool robot to set other cleaning components on the bottom plane; the horizontal abutment rod 410 is provided with an anti-slip layer, which is convenient for the auxiliary mobile device to use the obstacles in contact with it for leverage when adjusting its movement in the event of an obstacle, thereby further improving the movement stability of the auxiliary mobile device.

[0045] Preferably, the lower edge of the carrier 530 is arranged between the lower supporting surface and the lower surface of the base 100, and at the same time, the lower bottom surface of the horizontal abutment rod 410 forms a friction pushing surface 430, and at least when the friction pushing surface 430 is in the lowest position, it is located below the carrier 530. The position restrictions of the carrier 530, the base 100 and the friction pushing surface 430 ensure that the auxiliary moving device can effectively realize the adjustment movement of the swimming pool robot when it is raised by an obstacle, and effectively protect the auxiliary moving device from external impact, thereby increasing the service life of the auxiliary moving device; further preferably, in order to better protect the auxiliary moving device, an anti-collision structure is also provided on the lower surface of the carrier 530.

[0046] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A swimming pool robot capable of crossing obstacles, comprising: A base, and a housing and a moving component disposed on the base; The mobile assembly includes: a wheel set and a driving motor driving the wheel set; the characteristics are: The wheel assembly comprises: a front wheel assembly and a rear wheel assembly, and an auxiliary moving device arranged between the front wheel assembly and the rear wheel assembly; The auxiliary moving device is connected to the wheel set; The auxiliary moving device is provided with a friction pushing surface, and the friction pushing surface is movably arranged above the lower supporting surface of the wheel set, so that when the wheel set abuts against the surface of the swimming pool, a gap is left between the friction pushing surface and the surface of the swimming pool.

2. The obstacle-crossing swimming pool robot according to claim 1, characterized in that: The auxiliary moving devices are symmetrically arranged on two sides of the base and are respectively driven by the wheel sets on the sides.

3. The swimming pool robot for overcoming obstacles according to any one of claims 1 to 2, characterized in that: The front wheel assembly comprises: a pair of front rotating wheels, and a first rotating shaft connected to the two front rotating wheels; The rear wheel assembly comprises: a pair of rear rotating wheels, and a second rotating shaft connected to the two rear rotating wheels; The driving motor is connected to the first rotating shaft and / or the second rotating shaft; The lower edge of the housing avoids the front rotating wheel and the rear rotating wheel; The auxiliary moving device is connected to the first rotating shaft and / or the second rotating shaft.

4. The obstacle-crossing swimming pool robot according to claim 3, characterized in that: The diameter of the front rotating wheel is larger than that of the rear rotating wheel; The driving motor is arranged at the front end of the base; The front rotating wheel and the rear rotating wheel both include: a wheel hub and a tire; The tire forms the lower support surface when it abuts the pool surface.

5. The obstacle-crossing swimming pool robot according to claim 3, characterized in that: The auxiliary mobility device comprises: An auxiliary moving device, disposed laterally between the front rotating wheel and the rear rotating wheel; The transmission assembly is connected to the first rotating shaft and / or the second rotating shaft, and is used to drive the auxiliary moving device to perform reciprocating motion.

6. The obstacle-crossing swimming pool robot according to claim 5, characterized in that: The transmission components include: A plurality of first gears, wherein the first gears are arranged on the first rotating shaft and / or the second rotating shaft and have the same rotation speed as the front rotating wheel and / or the rear rotating wheel; A carrier sheet, arranged between the first gear and the base; a second gear set, the second gear set being disposed on one side of the slide and being rotationally connected to the slide; The auxiliary moving device is rotationally connected to the second gear; The first gear drives the auxiliary moving device through the second gear set.

7. The obstacle-crossing swimming pool robot according to claim 5, characterized in that: The auxiliary mobility device comprises: A horizontal abutment rod and a plurality of connecting arms; The number of the connecting arms matches the second gear; One end of the connecting arm is rotationally connected to the second gear, and the other end is fixedly connected to the connecting arm.

8. The obstacle-crossing swimming pool robot according to claim 5, characterized in that: The transmission assembly comprises: a pair of first gears, respectively disposed on the first rotating shaft and the second rotating shaft; The second gear set includes: a pair of connecting gears and a pair of driving gears; The two connecting gears are matched with the two first gears respectively; The two driving gears are matched with the two connecting gears respectively and the side surfaces are rotatably connected with a connecting arm.

9. The swimming pool robot capable of overcoming obstacles according to claim 8, characterized in that: An auxiliary gear is also provided between the two driving gears; The auxiliary gear is connected to the middle part of the horizontal abutment rod through a connecting arm.

10. The swimming pool robot capable of overcoming obstacles according to claim 7, characterized in that: The horizontal abutment rod and the connecting arm are an integral sheet structure; The horizontal abutment rod is provided with an anti-slip layer; The lower edge of the slide is located between the lower support surface and the lower surface of the base; The lower bottom surface of the horizontal abutment rod forms the friction push surface, and at least the friction push surface is located below the slide when it is at the lowest position; An anti-collision structure is provided on the lower surface of the carrier.

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