Cleaning robot

Abstract

The invention is suitable for the field of robots, and discloses a cleaning robot. The cleaning robot comprises a main body, a water guiding groove, a driving mechanism and a collecting mechanism. The water guiding groove is communicated in the advancing direction of the main body in a front-back mode, the water guiding groove is formed in the main body and provided with a bottom face, and the bottom face is located below the water surface. The driving mechanism is installed on the main body and used for driving the main body to advance. The collecting mechanism is installed on the main body, and at least part of the collecting mechanism is located in the water guiding groove so as to collect garbage carried by water flow in the water guiding groove. According to the cleaning robot, it can be ensured that garbage carried in water flow can be rapidly collected through the water guide groove, and therefore the cleaning efficiency of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a cleaning robot. Background Art

[0002] With the rapid development of the world, robots are increasingly being used for automated cleaning to improve efficiency and reduce manpower. For example, robots can be used to clean pools to maintain a clean and hygienic environment. However, when using existing robots to clean pools, the water's erratic flow can also cause debris to move freely, resulting in low cleaning efficiency and a tendency for waste to be missed or leaked again. Summary of the Invention

[0003] The purpose of this application is to provide a cleaning robot, which aims to solve the technical problem of low cleaning efficiency of the cleaning robot when cleaning a pool.

[0004] To achieve the above objectives, the present application provides a cleaning robot, comprising:

[0005] main body;

[0006] a water guide trough, which is continuous in the front and back direction of the main body, is provided on the main body and has a bottom surface, and the bottom surface is located below the water surface;

[0007] A driving mechanism, mounted on the main body, for driving the main body to move forward;

[0008] A collecting mechanism is installed on the main body, and at least a part of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel.

[0009] In the cleaning robot of the present application, the main body includes a chassis and a top shell. Two mounting parts protruding relative to the chassis are provided on the side of the chassis away from the top shell. The two mounting parts are distributed at intervals and extend along the moving direction of the main body. The chassis and the two mounting parts enclose to form the water guide groove.

[0010] In the cleaning robot of the present application, in the surface cleaning mode, the cleaning robot is placed upside down on the water surface, and in the underwater cleaning mode, the cleaning robot is placed underwater, and in both cleaning modes, the sewage suction port of the collection mechanism is located at the bottom of the main body.

[0011] The cleaning robot of this application also includes:

[0012] A first rotating member is provided at the front end of the main body and is located in the water guide groove, and is at least used to move the garbage;

[0013] The second rotating member is arranged at the rear end of the main body and located in the water guide groove, and is at least used for moving the water flow.

[0014] In the cleaning robot of the present application, the first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the rotation directions of the first rotating member and the second rotating member are the same.

[0015] In the cleaning robot of the present application, the cleaning robot further includes a transmission mechanism provided on the main body, and the transmission mechanism is respectively connected to the first rotating member and the second rotating member for driving the first rotating member and the second rotating member to rotate in the same direction.

[0016] In the cleaning robot of the present application, the rotation speeds of the first rotating member and the second rotating member are the same, or the rotation speeds of the first rotating member and the second rotating member are different.

[0017] In the cleaning robot of the present application, the first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in the installation space defined by the bottom of the main body.

[0018] In the cleaning robot of the present application, the first rotating member includes:

[0019] a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body;

[0020] The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and collecting garbage during water surface cleaning.

[0021] In the cleaning robot of the present application, the second rotating member includes:

[0022] a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism;

[0023] A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

[0024] In the cleaning robot of the present application, the blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

[0025] In the cleaning robot of the present application, an inlet is formed between the first rotating member and the water guide groove, and a protrusion for shrinking the inlet is provided directly below the first rotating member, and the protrusion is installed on the bottom surface of the water guide groove.

[0026] The cleaning robot of this application also includes:

[0027] The buoyancy device is arranged on the left and right sides of the main body and is used to make the cleaning robot at least partially float on the water surface when cleaning the water surface.

[0028] In the cleaning robot of the present application, the center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot.

[0029] In the cleaning robot of the present application, the cleaning robot has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the center line of the cleaning robot along the front-to-back direction of the main body, and the center of buoyancy is located between the first rotating member and the center line, and the center of gravity is located between the second rotating member and the center line.

[0030] In the cleaning robot of the present application, the cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy.

[0031] In the cleaning robot provided by the present application, the bottom surface of the water guide trough is always located below the water surface during the cleaning robot's movement in the pool. The water flow can flow relative to the cleaning robot and along the water guide trough. The garbage in the water flow flows with the water flow and can be collected by the collection mechanism when passing through the collection mechanism in the water guide trough. In the present application, the water guide trough can limit the flow direction of the water flow relative to the cleaning robot, preventing the water flow from flowing arbitrarily, and allowing the water flow to flow in a concentrated manner into the water guide trough. The garbage carried by the water flow will also flow in a concentrated manner into the water guide trough, ensuring that the garbage carried by the water flow can be quickly collected, thereby improving the cleaning efficiency of the cleaning robot. In addition, because the collection mechanism is located in the water guide trough, the water flow flowing into the water guide trough will inevitably pass through the collection mechanism, which can prevent the water flow from bypassing the collection mechanism, thereby reducing the possibility of garbage being missed. The water guide trough can limit the flow direction of the water flow, preventing the water flow from fluctuating arbitrarily and preventing the garbage from leaking out again. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0033] Figure 1 This is a schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application when cleaning a water surface;

[0034] Figure 2 is a cross-sectional view of the cleaning robot provided by an embodiment of the present application when cleaning a water surface;

[0035] Figure 3 This is a schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application during underwater cleaning;

[0036] Figure 4 is a cross-sectional view of the cleaning robot provided by an embodiment of the present application during underwater cleaning;

[0037] Figure 5 This is a schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application without a collection mechanism installed;

[0038] Figure 6 Schematic diagram of the chassis of the cleaning robot provided in an embodiment of the present application;

[0039] Figure 7 This is a schematic structural diagram of the transmission mechanism of the cleaning robot provided in an embodiment of the present application;

[0040] Figure 8 2 is a schematic structural diagram of a second transmission member of a cleaning robot provided in an embodiment of the present application;

[0041] Figure 9 This is a schematic diagram of the cleaning robot provided by an embodiment of the present application when cleaning a water surface;

[0042] Figure 10 Schematic diagram of the position of the first rotating part of the cleaning robot provided by an embodiment of the present application;

[0043] Figure 11 This is the second schematic diagram of the position of the first rotating part of the cleaning robot provided in an embodiment of the present application.

[0044] Description of Figure Numbers:

[0045] 100: Cleaning robot;

[0046] 10: Main body; 102: Semicircular portion; 10a: Water channel; 11: Top shell; 12: Bottom plate; 121: Mounting member; 123: Protruding member;

[0047] 20: Collection agency;

[0048] 21: First collection basket; 21a: First sewage suction port; 21b: First filter port; 21c: Second filter port;

[0049] 22: Second collection basket; 22a: Second sewage suction port; 22b: Third filter port;

[0050] 30: driving mechanism;

[0051] 40: first rotating member; 41: first rotating shaft; 42: cleaning brush;

[0052] 50: second rotating member; 51: second rotating shaft; 52: blade;

[0053] 60: crawler tracks;

[0054] 70: Transmission mechanism; 71: Front annular gear; 72: Rear annular gear; 73: First rotating gear; 74: Second rotating gear; 75: Intermediate transmission member; 76: Driving gear;

[0055] 80: Suction mechanism;

[0056] 90: Buoyancy device. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0058] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship and movement status between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0059] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0060] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] The cleaning robot can collect garbage in the pool through the garbage collection port to keep the pool clean and hygienic. Different from cleaning on the ground, the garbage in the pool will flow freely under the influence of the water flow. In particular, when the cleaning robot moves in the water, it will also disturb the water flow, causing the garbage to flow freely. Therefore, the cleaning robot will not be able to collect garbage in a concentrated manner, making it difficult to collect garbage and the cleaning efficiency is low. When collecting garbage through the garbage collection port, the water flow can easily bypass the garbage collection port, and the garbage carried in the water flow will also bypass the garbage collection port, thus missing the garbage. Moreover, even after the garbage enters the garbage collection port, the fluctuation of the water flow will cause the garbage that has entered the garbage collection port to leak out again, making secondary leakage prone.

[0062] To this end, an embodiment of the present application provides a cleaning robot that can ensure that garbage carried in the water flow can be quickly collected through a water guide trough, thereby improving the cleaning efficiency of the cleaning robot.

[0063] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0064] like Figures 1 to 4 As shown, an embodiment of the present application provides a cleaning robot 100 , which includes a main body 10 , a water guide trough 10 a , a driving mechanism 30 and a collecting mechanism 20 .

[0065] The water channel 10a extends forward and backward along the direction of travel of the main body 10. The water channel 10a is disposed on the main body 10 and has a bottom surface located below the water surface. A drive mechanism 30 is mounted on the main body 10 to drive the main body 10. A collection mechanism 20 is mounted on the main body 10 and is at least partially located within the water channel 10a to collect trash carried by the water flow within the water channel 10a.

[0066] It should be noted that when the main body 10 is moving, the water flow will flow in the opposite direction of the moving direction of the cleaning robot 100. Since the water guide groove 10a is connected from front to back along the moving direction of the main body 10, the water flow will flow along the water guide groove 10a. The water guide groove 10a will also limit the flow direction of the water flow to prevent the water from flowing randomly.

[0067] It should be noted that the driving mechanism 30 can drive the main body 10 to move, for example, the main body 10 can be driven to move underwater, or the main body 10 can be driven to move on the water surface. Through the movement of the main body 10, garbage on the route of the cleaning robot 100 can be collected to achieve automated cleaning.

[0068] It should be noted that the collection mechanism 20 can collect garbage by the natural flow of water. Of course, it can also accelerate garbage collection by negative pressure suction without limitation.

[0069] It should be noted that the cleaning robot 100 of the present application can clean both underwater and on the water surface, and whether it is cleaning the water surface or underwater, since the bottom surface of the water channel 10a is located below the water surface, the water flow can be limited by the water channel 10a to facilitate garbage collection.

[0070] In the cleaning robot 100 provided in the embodiment of the present application, the bottom surface of the water channel 10a is always below the water surface during the cleaning robot 100's movement in the pool. Water can flow relative to the cleaning robot 100 and along the water channel 10a. Trash in the water follows the flow and can be collected by the collection mechanism 20 within the water channel 10a. In the present application, the water channel 10a can limit the direction of the water flow relative to the cleaning robot 100, preventing the water from flowing arbitrarily and allowing the water flow to flow in a concentrated manner toward the water channel 10a. Trash carried in the water flow also flows in a concentrated manner toward the water channel 10a, ensuring that the trash carried in the water flow can be quickly collected, thereby improving the cleaning efficiency of the cleaning robot 100. Furthermore, because the collection mechanism 20 is located within the water channel 10a, the water flowing into the water channel 10a will inevitably pass through the collection mechanism 20, preventing the water flow from bypassing the collection mechanism 20, thereby reducing the possibility of trash being missed. The water guide trough 10a can limit the flow direction of the water flow, avoid the water flow from fluctuating randomly, and prevent the garbage from leaking out again.

[0071] like Figure 1 and Figure 6As shown, in the embodiment of the present application, the main body 10 includes a chassis 12 and a top shell 11. The side of the chassis 12 away from the top shell 11 is provided with two mounting members 121 protruding relative to the chassis 12. The two mounting members 121 are spaced apart and extend along the direction of travel of the main body 10. The chassis 12 and the two mounting members 121 enclose and form a water guide trough 10a. The chassis 12 is constructed to form the bottom surface of the water guide trough 10a, and the two mounting members 121 are constructed to form the two side walls of the water guide trough 10a. It can be understood from the description that the water guide trough 10a provided in this embodiment is formed by the main body 10. In this way, the space of the main body 10 can be fully utilized, making the cleaning robot 100 more streamlined as a whole. Furthermore, because the water channel 10a is located on the side of the chassis 12 away from the top housing 11, that is, the water channel 10a is open toward the bottom side of the main body 10, the cleaning robot 100 can keep the water channel 10a in close contact with the pool wall when cleaning underwater, and the collection mechanism 20 can also stably clean the garbage on the pool wall. In other embodiments, the water channel 10a can also be formed by the top housing 11 and the chassis 12, with the water channel 10a being a channel open at the front and back, and the collection mechanism 20 collecting garbage carried by the water flow in the water channel 10a.

[0072] Of course, in other embodiments, the cleaning robot 100 further includes a water guide member, which is mounted on the bottom of the main body 10 and has a water guide groove 10a. In this embodiment, the water guide member is an accessory that can be installed as needed. Installing the water guide member can facilitate garbage collection, and not installing the water guide member can also make the cleaning robot 100 more portable.

[0073] like Figures 1 to 4 As shown, in the embodiment of the present application, in the water surface cleaning mode, the cleaning robot 100 is placed upside down on the water surface, and in the underwater cleaning mode, the cleaning robot 100 is placed underwater, and in both cleaning modes, the sewage suction port of the collection mechanism 20 is located at the bottom of the main body 10. The sewage suction port of the collection mechanism 20 can be used to allow water to enter, so that garbage carried by the water flow can enter the collection mechanism 20 through the sewage suction port. In this embodiment, whether it is underwater cleaning or water surface cleaning, garbage can be collected through the sewage suction port of the collection mechanism 20. Compared with other cleaning robots 100 that need to be equipped with multiple collection mechanisms 20, the cleaning robot 100 of the present application, the collection mechanism 20 can occupy less space, thereby greatly reducing the overall volume of the cleaning robot 100, so as to facilitate the flexible movement of the cleaning robot 100 and facilitate cleaning.

[0074] like Figure 1 、 Figure 2 as well as Figure 9As shown, in the embodiment of the present application, the cleaning robot 100 is placed upside down on the water surface. When performing water surface cleaning, the bottom surface of the water guide trough 10a is located below the water surface and faces upward. The side walls on both sides of the water guide trough 10a are at least partially exposed above the water surface. The water flow at the water surface will flow along the water guide trough 10a, and the garbage on the water surface can flow along the water guide trough 10a with the water flow and flow into the collection mechanism 20 through the sewage suction port. The cleaning robot 100 is placed upright underwater. When performing underwater cleaning, the bottom surface of the water guide trough 10a is also located below the water surface and faces downward. The water flow underwater will flow along the water guide trough 10a. The garbage underwater can flow along the water guide trough 10a with the water flow and flow into the collection mechanism 20 through the sewage suction port.

[0075] Illustratively, the cleaning robot 100 is placed upside down on the water surface to perform water surface cleaning, with the chassis 12 located below the water surface and the two mounting members 121 at least partially exposed above the water surface.

[0076] like Figure 5 As shown, in the embodiment of the present application, the sidewalls on both sides of the water channel 10a are perpendicular to the bottom surface. For example, the opposing sides of the two mounting members 121 are perpendicular to the side of the chassis 12 facing away from the top shell 11. This structure facilitates mold formation of the water channel 10a and facilitates manufacturing. Of course, in other embodiments, the sidewalls on both sides of the water channel 10a may also form acute or obtuse angles with the bottom surface.

[0077] like Figure 5 As shown, in the embodiment of the present application, the sidewalls on both sides of the water channel 10a are planar and parallel. For example, the opposing sides of the two mounting members 121 are planar and parallel. This prevents the sidewalls from interfering with the flow of water within the water channel 10a, ensuring unimpeded flow within the water channel 10a, allowing waste carried by the water flow to be quickly collected by the collection mechanism 20.

[0078] like Figures 1 to 5As shown, in the embodiment of the present application, the cleaning robot 100 further includes a first rotating member 40 and a second rotating member 50. The first rotating member 40 is provided at the front end of the main body 10 and is located in the water guide groove 10a, and is at least used to move the garbage. The second rotating member 50 is provided at the rear end of the main body 10 and is located in the water guide groove 10a, and is at least used to move the water flow. It should be noted that the front end and rear end of the main body 10 mentioned here are relative to the direction of travel of the main body 10. The front end of the main body 10 is the front end of the direction of travel of the main body 10, and the rear end of the main body 10 is the rear end of the direction of travel of the main body 10. The first rotating member 40 is located at the front end of the main body 10. Compared with the collection mechanism 20, it can first contact the water flow. The first rotating member 40 can quickly move the garbage carried by the water flow to the sewage suction port of the collection mechanism 20 by moving the garbage, thereby improving the cleaning efficiency, or wiping the pool wall to improve the cleaning effect. For example, during underwater cleaning, the first rotating member 40 can contact the pool wall to wipe it or remove debris carried by the water flow. The second rotating member 50 can accelerate the flow of water along the water channel 10a by moving the water flow, thereby improving cleaning efficiency. It can also drive the cleaning robot 100 to move. For example, it can drive the cleaning robot 100 to move on the water surface to achieve water surface cleaning.

[0079] like Figures 1 to 5 As shown, in some embodiments, the first rotating member 40 can also be used to manipulate the water flow. For example, during surface cleaning or underwater cleaning, the first rotating member 40 can be at least partially submerged below the water surface to manipulate the water flow. This can also accelerate the flow of water. Furthermore, / or, the second rotating member 50 can also be used to clean the pool walls. For example, during underwater cleaning, the second rotating member 50 can contact the pool walls, thereby further cleaning the pool walls in conjunction with the first rotating member 40, improving the cleaning effect.

[0080] like Figures 1 to 5As shown, in the embodiment of the present application, the first rotating member 40 rotates around the first rotating axis, and the second rotating member 50 rotates around the second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the direction of travel of the cleaning robot 100, and the first rotating member 40 and the second rotating member 50 have the same rotation direction. When the water flows along the water channel 10a, the first rotating member 40 and the second rotating member 50 will both rotate along the flow direction of the water flow, so that the first rotating member 40 can at least follow the flow to move the garbage to the collection mechanism 20, and the second rotating member 50 can at least follow the flow to speed up the flow rate of the water flow in the water channel 10a. The first rotating member 40 and the second rotating member 50 have the same rotation direction, which can ensure that when the cleaning robot 100 is moving, both can rotate along the direction of rotation along the flow of the water flow, avoiding movement resistance caused by their different rotation directions. It should be noted that the first rotating member 40 and the second rotating member 50 of the present application can rotate in the same direction clockwise or counterclockwise, depending on the specific usage of the cleaning robot 100.

[0081] In the embodiment of the present application, the first rotating member 40, the second rotating member 50 and the bottom surface of the water guide groove 10a are all spaced apart so that the water flow can at least flow along the water guide groove 10a through the space, thereby avoiding the obstruction of the first rotating member 40 or the second rotating member 50 and affecting the flow rate of the water flow, which is beneficial for the collection mechanism 20 to collect garbage carried in the water flow.

[0082] like Figure 5 and Figure 7 As shown, in the embodiment of the present application, the cleaning robot 100 further includes a transmission mechanism 70 provided on the main body 10. The transmission mechanism 70 is respectively connected to the first rotating member 40 and the second rotating member 50 to drive the first rotating member 40 and the second rotating member 50 to rotate in the same direction. When the transmission mechanism 70 is in operation, it can simultaneously drive the first rotating member 40 and the second rotating member 50 to rotate. The two must rotate in the same direction at the same time, or stop at the same time, to ensure that the first rotating member 40 and the second rotating member 50 can both rotate in the same direction along the flow of water. This can avoid the situation where the first rotating member 40 and the second rotating member 50 rotate in opposite directions, or the situation where one of the first rotating member 40 and the second rotating member 50 rotates while the other stops.

[0083] like Figure 6 and Figure 7 As shown, in the embodiment of the present application, the transmission mechanism 70 can be provided on either side of the main body 10 , or the transmission mechanism 70 can be provided on both sides of the main body 10 .

[0084] like Figure 5 and Figure 7As shown, in the embodiment of the present application, the transmission mechanism 70 includes a front annular gear 71, a rear annular gear 72, an intermediate transmission member 75, a first rotating gear 73, and a second rotating gear 74. The front annular gear 71 and the first rotating gear 73 are located at the front end of the main body 10, and the rear annular gear 72 and the second rotating gear 74 are located at the rear end of the main body 10. The inner side of the front annular gear 71 is engaged with the first rotating gear 73, and the first rotating gear 73 is connected to the first rotating member 40. The inner side of the rear annular gear 72 is engaged with the second rotating gear 74, and the second rotating gear 74 is connected to the second rotating member 50. The front annular gear 71 and the rear annular gear 72 are connected to each other through the intermediate transmission member 75. The transmission of the intermediate transmission member 75 causes the front annular gear 71 and the rear annular gear 72 to rotate in the same direction, and then the first rotating member 40 and the second rotating member 50 can be rotated in the same direction through the transmission mechanism 70. Exemplarily, the intermediate transmission member 75 is a transmission belt that surrounds and engages with the front annular gear 71 and the rear annular gear 72. In other examples, the intermediate transmission member 75 may also be an even number of gears that are sequentially meshed with the outer sides of the front annular teeth 71 and the outer sides of the rear annular teeth 72 .

[0085] In some embodiments, the first rotating member 40 and the second rotating member 50 rotate at the same speed. It should be noted that during underwater cleaning, the rotational speed of the rotating member is positively correlated with the resistance of the cleaning robot 100 during underwater travel. During surface cleaning, a faster rotating member rotation is more likely to cause water swirl, which is detrimental to surface cleaning. In this embodiment, the diameters of the first rotating member 40 and the second rotating member 50 can be set to be different, so that one has a higher linear velocity to facilitate the removal of trash, while the other's rotational speed does not increase due to excessive speed, causing water swirl or increasing resistance. For example, the diameter of the first rotating member 40 is larger than that of the second rotating member 50. When the two rotate at the same speed, the first rotating member 40 can have a higher linear velocity, allowing for faster removal of trash and improving cleaning efficiency. The second rotating member 50 does not increase the travel resistance of the cleaning robot 100 when moving water during underwater cleaning, and is less likely to cause water swirl when moving water during surface cleaning. In this way, setting the rotation speed of the first rotating member 40 and the second rotating member 50 to be the same can facilitate the setting of the transmission coefficient of each transmission member in the transmission mechanism 70. The use requirements can be met by simply adjusting the diameter of the first rotating member 40 and the second rotating member 50, which is beneficial for the cleaning robot 100 to clean underwater and on the water surface.

[0086] In addition, in this embodiment, the transmission ratio between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission ratio between the first rotating gear 73 and the front annular gear 71 is set to be the same as the transmission ratio between the second rotating gear 74 and the rear annular gear 72. In this way, the first rotating member 40 and the second rotating member 50 can achieve the same rotational speed. For example, the front annular gear 71 and the rear annular gear 72 have the same number of teeth on the inner and outer sides, and the first rotating gear 73 and the second rotating gear 74 have the same number of teeth.

[0087] In other embodiments, the rotation speeds of the first rotating member 40 and the second rotating member 50 are different. In this embodiment, by setting the rotation speeds of the first rotating member 40 and the second rotating member 50 to be different, one of them has a higher rotation speed, which is convenient for moving garbage, and the rotation speed of the other will not be too fast, causing water rolling or increasing resistance. For example, the rotation speed of the first rotating member 40 can be set to be greater than that of the second rotating member 50. The first rotating member 40 has a higher rotation speed so that it can quickly move garbage and improve the cleaning effect. The rotation speed of the second rotating member 50 is lower, and when the water flow is moved during underwater cleaning, it will not increase the travel resistance of the cleaning robot 100, and when the water flow is moved during surface cleaning, it will not easily cause water rolling. In this way, setting the rotation speeds of the first rotating member 40 and the second rotating member 50 to be different can facilitate the cleaning of the cleaning robot 100 underwater and on the surface of the water.

[0088] In addition, in this embodiment, the transmission ratio between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission coefficient between the first rotating gear 73 and the front annular gear 71 is smaller than the transmission coefficient between the second rotating gear 74 and the rear annular gear 72. In this way, the rotation speed of the first rotating member 40 can be greater than that of the second rotating member 50. For example, the number of teeth on the inner and outer sides of the front annular gear 71 and the rear annular gear 72 is the same, and the number of teeth on the first rotating gear 73 is smaller than that on the second rotating gear 74.

[0089] like Figure 2 and Figure 4As shown, in the embodiment of the present application, the first rotating member 40 at least partially protrudes from the bottom of the main body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 50 is located in the installation space defined by the bottom of the main body 10. During underwater cleaning, the first rotating member 40 can wipe the surface of the area to be cleaned by rotating to improve the cleaning effect, and the second rotating member 50 is located in the installation space defined by the bottom of the main body 10. The second rotating member 50 will not contact the surface of the area to be cleaned, and therefore will not hinder the movement of the cleaning robot 100, which is conducive to the cleaning robot 100 moving and cleaning underwater. Exemplarily, the first rotating member 40 is partially located within the water guide groove 10a and partially located outside the water guide groove 10a, and the second rotating member 50 is entirely located within the water guide groove 10a. In this embodiment, during underwater cleaning, when the first rotating member 40 rotates, the first rotating member 40 moves away from the rotation tangent of one end of the bottom surface of the water guide groove 10a in the opposite direction of the moving direction of the main body 10, and the first rotating member 40 moves toward the rotation tangent of one end of the bottom surface of the water guide groove 10a in the direction of the moving direction of the main body 10. In this way, the first rotating member 40 can move the wiped or moved garbage toward the collection mechanism 20, which is beneficial for the collection mechanism 20 to collect garbage.

[0090] like Figure 10 As shown, in the embodiment of the present application, the first rotating member 40 also at least partially protrudes from the front end of the main body 10. During underwater cleaning, when the cleaning robot 100 moves from the bottom wall of the pool to the side wall, the first rotating member 40 protruding from the front end and the bottom can wipe the bottom wall and the side wall of the pool at the same time, so as to fully wipe the bottom wall and the side wall of the pool. Figure 10 The A1 area in the figure is a blind spot where the first rotating member 40 protrudes from the front end of the main body 10 when cleaning the bottom wall and side walls of the pool in this embodiment. Figure 11 Area A2 in the figure represents a blind spot when cleaning the bottom and side walls of the pool, where the first rotating member 40 does not protrude beyond the front end of the main body 10. This shows that this embodiment can reduce blind spots and improve the cleaning effect of the pool. Furthermore, when cleaning the water surface and the cleaning robot 100 reaches the side wall of the pool, the first rotating member 40 can also first contact the side wall of the pool. This can, on the one hand, wipe and clean the side wall of the pool to a certain extent, and on the other hand, ensure that the cleaning robot 100 can completely clean the water surface. This means that the problem of the water surface between the first rotating member 40 and the side wall not being cleaned due to the main body 10 contacting the side wall before the first rotating member 40 occurs will not occur. Furthermore, this can prevent the main body 10 from directly colliding with the side wall of the pool, thus providing a certain degree of protection for the main body 10.

[0091] like Figure 10As shown, in the embodiment of the present application, the front end of the cleaning robot 100 located on the side wall of the water guide trough 10a has a semicircular portion 102. By way of example, the radius of the semicircular portion 102 corresponds to the semicircle enclosed by the crawler 60 provided on the outer surface of the front annular gear 71. The center of the circle of the projection of the first rotating member 40 on the semicircular portion 102 is O1, and the center of the semicircular portion is O2. O1 is located at the front side and bottom side of the cleaning robot 100 facing O2. When cleaning on an underwater horizontal surface, the angle between the line connecting O1 and O2 and the horizontal plane is 40-50°, and by way of example, it is 45°. In this way, the amount of contact between the first rotating member 40 and the side wall can be made consistent with the amount of contact between the first rotating member 40 and the bottom wall, minimizing the cleaning blind spot. Moreover, when the cleaning robot 100 moves toward the side wall, that is, when it contacts the side wall, tilts toward the side wall, and moves against the side wall, the first rotating part 40 can wipe from the bottom wall to the side wall, and from the side wall from bottom to top, so as to fully clean the blind spots of the pool and improve the cleaning effect of the pool.

[0092] like Figure 9 As shown, in the embodiment of the present application, when cleaning the water surface, the distance between the bottom surface of the water channel 10a and the water surface is 2 cm to 10 cm. This allows the first rotating member 40 and the second rotating member 50 within the water channel 10a to be located partially above the water surface and partially below the water surface. Thus, when cleaning the water surface, the first rotating member 40 can move trash at the water surface for quick collection. The second rotating member 50, with its portion located above the water surface, can prevent water from rolling around, facilitating water flow along the water channel 10a. When cleaning the water surface, the first rotating member 40 rotates with the tangent of its rotation away from one end of the bottom surface of the water channel 10a oriented in the direction of travel of the main body 10, while the tangent of its rotation toward the end of the bottom surface of the water channel 10a oriented in the opposite direction of travel of the main body 10. This allows the first rotating member 40 to move trash toward the collection mechanism 20, facilitating collection by the collection mechanism 20.

[0093] like Figure 2 and Figure 4As shown, in an embodiment of the present application, the first rotating member 40 includes a first rotating shaft 41 and a cleaning brush 42. The two ends of the first rotating shaft 41 are rotatably mounted on both sides of the main body 10. The cleaning brush 42 is arranged on the first rotating shaft 41 and extends along the axial direction of the first rotating shaft 41, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to collect garbage during surface cleaning. When the cleaning robot 100 is moving for cleaning, the first rotating shaft 41 can rotate relative to the main body 10, and then drive the cleaning brush 42 to rotate around the axis of the first rotating shaft 41, so that the surface of the area to be cleaned can be wiped and garbage can be moved when cleaning underwater, and garbage can be moved when cleaning on the surface of the water to facilitate quick collection of garbage. In this embodiment, the cleaning brush 42 extends along the axial direction of the first rotating shaft 41, so that the cleaning brush 42 can cover a wider area, thereby increasing the wiping area and the area for moving garbage, which is beneficial to the cleaning of the cleaning robot 100. Exemplarily, the first rotating shaft 41 includes two sections, the end of each section is passed through the side wall of one side of the water guide groove 10a, and is connected to the first rotating tooth 73 of the transmission mechanism 70 in the mounting member 121. The transmission mechanism 70 in the two mounting members 121 can respectively drive the two ends of the first rotating shaft 41 to rotate. Since the first rotating shaft 41 is segmented, the rotation of the two sections does not affect each other, which can facilitate the stable rotation of the first rotating member 40.

[0094] like Figure 10 As shown, in some embodiments, the distance between the center of the first rotating member 40 and the end of the cleaning brush 42 is greater than the distance between the center of the first rotating member 40 and the intersection of the front vertical surface of the main body 10 and the bottom plane, that is, greater than Figure 10 As shown, the length of the line connecting O1 to K indicates that the radius of the first rotating shaft 41 is less than the distance from the center of the first rotating member 40 to the bottom or front end of the main body 10. It should be noted that the cleaning brush 42 is flexible and can deform and bend when it contacts the pool wall. This allows the cleaning robot 100 to reach the corners of the pool bottom and side walls during underwater cleaning, without the first rotating shaft 41 interfering with the robot's movement. This allows the cleaning robot 100 to fully clean blind spots in the pool, improving the pool's cleaning efficiency.

[0095] like Figure 2 and Figure 4As shown, in the embodiment of the present application, the second rotating member 50 includes a second rotating shaft 51 and a plurality of paddles 52. The two ends of the second rotating shaft 51 are rotatably mounted on both sides of the main body 10 and are connected to the driving mechanism 30. The plurality of paddles 52 are evenly arranged along the outer circumference of the second rotating shaft 51, and are used to drive the cleaning robot 100 to move when the cleaning robot 100 is performing water surface cleaning. When cleaning the water surface, the driving mechanism 30 can drive the second rotating shaft 51 to rotate, thereby driving the plurality of paddles 52 to rotate, so as to drive the movement of the cleaning robot 100 by stirring the water flow. Exemplarily, the second rotating shaft 51 includes two sections, the end of each section is passed through the side wall of one side of the water guide groove 10a, and is connected to the second rotating tooth 74 of the transmission mechanism 70 in the mounting member 121. The driving mechanism 30 includes two motors and is connected to the transmission mechanism 70 in the two mounting members 121. The transmission mechanism 70 in the two mounting members 121 can respectively drive the two ends of the second rotating shaft 51 to rotate. Since the second rotating shaft 51 is segmented, the rotation of the two sections does not affect each other, which can facilitate the stable rotation of the second rotating member 50.

[0096] like Figure 2 、 Figure 4 as well as Figure 8 As shown, in this embodiment of the present application, the surface of the paddle 52 is tilted relative to the axial centerline of the second rotating shaft 51. This facilitates water flow, thereby stably propelling the cleaning robot 100 during surface cleaning. Specifically, in this embodiment, the surface of the paddle 52 is tilted toward the rotation direction of the second rotating shaft 51 during surface cleaning. During surface cleaning, the rotation tangent of the second rotating member 50 away from one end of the bottom surface of the water guide groove 10a is directed toward the direction of travel of the main body 10, and the rotation tangent of the first rotating member 40 toward one end of the bottom surface of the water guide groove 10a is directed in the opposite direction of the direction of travel of the main body 10. The blade surface of the paddle 52 can efficiently shift the water flow according to the above-mentioned inclined direction, so as to facilitate the movement of the cleaning robot 100 on the water surface; and during underwater cleaning, the rotation tangent of the first rotating member 40 away from one end of the bottom surface of the water guide groove 10a is directed in the opposite direction of the direction of travel of the main body 10, and the rotation tangent of the first rotating member 40 toward one end of the bottom surface of the water guide groove 10a is directed toward the direction of travel of the main body 10. The blade surface of the paddle 52 can reduce the resistance when shifting the water flow according to the above-mentioned inclined direction, which is conducive to the underwater movement of the cleaning robot 100. For example, the blade surface of the paddle 52 is perpendicular to the radial direction of the second rotating shaft 51.

[0097] like Figures 1 to 4As shown, in the embodiment of the present application, the driving mechanism 30 includes two driving motors, and the transmission mechanism 70 also includes driving teeth 76, which are engaged with the front ring teeth 71 or the rear ring teeth 72. The two driving motors are respectively connected to the driving teeth 76 of the transmission mechanism 70 on both sides, so as to drive the two transmission mechanisms 70 to operate through the two driving motors, thereby driving the first rotating member 40 or the second rotating member 50 to rotate. Exemplarily, the driving mechanism 30 is arranged in a space formed by the top shell 11 and the chassis 12. The two driving motors respectively drive the two sections of the second rotating member 50 to rotate. By controlling the different torques output by the two driving motors, the rotation speeds of the two sections of the second rotating member 50 can be different, thereby realizing the steering of the cleaning robot 100, so as to facilitate the mobile cleaning of the cleaning robot 100 on the water surface.

[0098] like Figures 1 to 4 As shown, in the embodiment of the present application, a track 60 is provided at the bottom of the main body 10. When cleaning and wiping the surface of the area to be cleaned underwater, the bottom of the main body 10 faces the surface of the area to be cleaned, and the cleaning robot 100 is driven to move forward by the rolling of the track 60. During the movement of the cleaning robot 100, the cleaning robot 100 can wipe the surface of the area to be cleaned through the first rotating member 40. For example, the track 60 is the transmission belt of the aforementioned transmission mechanism 70. In this way, the transmission mechanism 70 can be driven by two drive motors to operate, thereby realizing the rolling of the two tracks 60, and the operation of the first rotating member 40 and the second rotating member 50 can be driven at the same time to meet the different working mode requirements of the cleaning robot 100. By driving the two tracks 60 to roll respectively by two drive motors, the rolling speeds of the two tracks 60 can be different by controlling the different torques output by the two drive motors, thereby realizing the steering of the cleaning robot 100, so as to facilitate the mobile cleaning of the cleaning robot 100 underwater.

[0099] like Figure 2 and Figure 4 As shown, in the embodiment of the present application, an inlet is formed between the first rotating member 40 and the water channel 10a. A protrusion 123 is provided directly below the first rotating member 40 for narrowing the inlet. The protrusion 123 is mounted on the bottom surface of the water channel 10a. When water flows along the water channel 10a, it first enters the water channel 10a from the inlet. The protrusion 123 can narrow the inlet, thereby accelerating the flow rate of water along the water channel 10a, improving the efficiency of garbage collection, and facilitating the centralized flow of water into the collection mechanism 20. For example, the front end of the protrusion 123 gradually thickens along the direction of water flow to gradually narrow the inlet. In this way, the inlet gradually narrows after a large amount of water enters, allowing it to receive more water and the garbage it carries, thereby improving garbage collection efficiency.

[0100] like Figure 1 and Figure 2As shown, in the embodiment of the present application, the collection mechanism 20 includes a first collection basket 21 having a first sewage suction port 21a and a first filter port 21b. The first sewage suction port 21a faces the front end of the main body 10, and the first filter port 21b faces the rear end of the main body 10. As water flows along the water channel 10a, it enters the first collection basket 21 through the first sewage suction port 21a. The first collection basket 21 then collects the garbage carried by the water flow, and the water flows out of the first collection basket 21 through the first filter port 21b. Furthermore, the two sides of the first collection basket 21 are connected to the two sides of the water channel 10a. This ensures that the water flowing through the water channel 10a will inevitably pass through the first collection basket 21, preventing garbage from being missed.

[0101] like Figure 1 、 Figure 2 as well as Figure 9 As shown, in some embodiments, the first collection basket 21 further includes a second filter opening 21c facing into the main body 10. A suction mechanism 80 is provided within the main body 10 and communicates with the second filter opening 21c. As water flows along the water channel 10a, it is drawn by the suction mechanism 80, allowing it to flow out of the first collection basket 21 through the second filter opening 21c. The suction mechanism 80 accelerates the flow of water, improving waste collection efficiency.

[0102] It should be noted that the first collection basket 21 is mainly used for collecting garbage when the cleaning robot 100 is cleaning the water surface. By setting the first collection basket 21, the water surface cleaning efficiency can be greatly accelerated. For example, when cleaning the water surface, the first sewage suction port 21a is located at the water surface.

[0103] like Figure 3 and Figure 4 As shown, in this embodiment of the present application, the collection mechanism 20 further includes a second collection basket 22 having a second sewage suction port 22a and a third filter port 22b. The second sewage suction port 22a faces the bottom of the main body 10, while the third filter port 22b faces the interior of the main body 10. The suction mechanism 80 is connected to the third filter port 22b. As water flows along the water channel 10a, it passes through the second sewage suction port 22a. Through suction by the suction mechanism 80, the second sewage suction port 22a draws the water into the second collection basket 22, which then collects any waste carried by the water. The water then flows out of the second collection basket 22 through the third filter port 22b. Furthermore, the two sides of the second collection basket 22 are connected to the two sides of the water channel 10a. This ensures that water flowing through the water channel 10a will pass through the second collection basket 22, preventing waste from being missed.

[0104] It should be noted that the second collecting basket 22 is mainly used for collecting garbage when the cleaning robot 100 is cleaning underwater, especially when cleaning the pool wall, and can suck out stains and garbage on the pool wall that are more difficult to clean.

[0105] It should be noted that the first collecting basket 21 and the second collecting basket 22 can be used selectively or simultaneously without limitation.

[0106] like Figure 1 and Figure 3 As shown, in an embodiment of the present application, the cleaning robot 100 further includes a buoyancy device 90. The buoyancy device 90 is provided on the left and right sides of the main body 10, and is used to enable the cleaning robot 100 to at least partially float on the water surface during water surface cleaning. It should be noted that the buoyancy device 90 can change the overall density of the cleaning robot 100 according to the cleaning needs of the cleaning robot 100, so that the cleaning robot 100 can float on the water surface when cleaning the water surface, and can be immersed in the water when cleaning underwater. In this way, the different working modes of the cleaning robot 100 can be freely switched according to the needs of the user, which is convenient to use. For example, the two buoyancy devices 90 are respectively connected to the outside of the two mounting parts 121.

[0107] It should be noted that existing upright surface cleaning robots, when performing surface cleaning, have most of their body located above the water, requiring relatively high buoyancy and, therefore, a relatively large buoyancy device. In contrast, in the present application, when the cleaning robot 100 is inverted in water and cleaning the surface, most of the main body 10 is submerged. Since this submerged portion itself provides a certain amount of buoyancy for the cleaning robot 100, the buoyancy provided by the buoyancy device 90 can be reduced. This means that the size of the buoyancy device 90 can be reduced, thereby reducing the cost of the buoyancy device 90 and further reducing the manufacturing cost of the cleaning robot 100. Furthermore, the size of the cleaning robot 100 can be further reduced, facilitating both underwater and surface cleaning.

[0108] In the embodiment of the present application, the buoyancy device 90 is provided with a buoyancy chamber, a water inlet, and an air inlet communicating with the buoyancy chamber. During underwater cleaning, the buoyancy chamber receives water through the water inlet and discharges air through the air inlet, resulting in the cleaning robot 100's gravity being greater than its buoyancy. During surface cleaning, the buoyancy chamber discharges water through the water inlet and receives air through the air inlet, resulting in the cleaning robot 100's gravity being equal to its buoyancy. The buoyancy device 90 changes its density by receiving water or air, thereby adjusting the overall density of the cleaning robot 100 to achieve underwater or surface cleaning as needed. During underwater cleaning, water can be poured into the water inlet, which enters the buoyancy chamber and displaces air from the chamber, which is then discharged through the air inlet. While underwater, the water inlet is connected to the external water, ensuring consistent air pressure inside and outside the buoyancy chamber. This allows the buoyancy device 90 to maintain the cleaning robot 100 submerged, facilitating stable cleaning. When cleaning the water surface, the water in the float cavity can be discharged through the water outlet, and the external air enters the float cavity to provide buoyancy for the cleaning robot 100, so that the cleaning robot 100 can float on the water surface.

[0109] In the embodiment of the present application, the air inlet and the water inlet are located on opposite sides of the buoyancy device 90, so that when the water inlet on one side is taking in water, the air inlet on the other side is exhausting air, or when the water inlet on one side is discharging water, the air inlet on the other side is taking in air. For example, the air inlet and the water inlet are located on opposite sides of the buoyancy device 90 along the direction from the top to the bottom of the main body 10.

[0110] In the embodiment of the present application, when cleaning the water surface, the water outlet is located above the water surface, which can prevent water from entering the float chamber during water surface cleaning and affecting the water surface cleaning of the cleaning robot 100.

[0111] like Figure 2 and Figure 4 As shown, in the embodiment of the present application, the center of gravity of the cleaning robot 100 is located in the rear area of ​​the main body 10, and the front end of the cleaning robot 100 is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot 100. Specifically, when cleaning the water surface, the front end of the cleaning robot 100 is facing upward and the rear end is tilted downward, so that the front end of the bottom surface of the water guide trough 10a is facing upward and the rear end is tilted downward. When cleaning the water surface, the bottom surface of the water guide trough 10a is away from the direction of travel of the cleaning robot 100, which can avoid the cleaning surface from generating resistance to the travel of the cleaning robot 100, and is conducive to the mobile cleaning of the cleaning robot 100. In addition, since the front end of the water surface and the cleaning surface are narrowed, the water flow to the collection mechanism 20 can be accelerated, and the collection mechanism 20 collects the garbage carried in the water flow, thereby improving the cleaning efficiency of the cleaning robot 100. Moreover, when cleaning the water surface, the first rotating member 40 can be raised so that the draft of the first rotating member 40 is shallower, which is conducive to moving the garbage on the water surface to the collection mechanism 20, while the draft of the second rotating member 50 is deeper, which is conducive to driving the cleaning robot 100 to move.

[0112] like Figure 2 and Figure 4 As shown, in the embodiment of the present application, the heavier structure provided in the main body 10 can be arranged at the rear side of the main body 10, so that the center of gravity of the cleaning robot 100 is relatively far back. For example, the driving device can be arranged at the rear side of the main body 10.

[0113] In an embodiment of the present application, the cleaning robot 100 has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot 100 are distributed on both sides of the center line of the cleaning robot 100 along the front-to-back direction of the main body 10, and the center of buoyancy is located between the first rotating member 40 and the center line, and the center of gravity is located between the second rotating member 50 and the center line. It should be noted that in this state, the cleaning robot 100 is not yet in a balanced state when it is inverted and laid flat on the water surface. The center of gravity of the cleaning robot 100 is located behind the center of buoyancy. Since the center of gravity and the center of buoyancy are not on the same vertical line, torque will be generated, causing the front end of the cleaning robot 100 to tilt at a preset angle, and eventually reach balance. In this embodiment, in the first state, the center of buoyancy is positioned between the second rotating member 50 and the centerline, thereby preventing the front end of the cleaning robot 100 from tilting too high and ensuring that the first rotating member 40 has sufficient draft. The center of gravity is positioned between the second rotating member 50 and the centerline, thereby preventing the rear end of the cleaning robot 100 from being excessively submerged, allowing the second rotating member 50 to be at least partially above the water surface, thereby preventing water from rolling. Furthermore, this ensures that the water flows stably along the water channel 10a, thereby improving the efficiency of water surface cleaning.

[0114] like Figure 9As shown, in an embodiment of the present application, the cleaning robot 100 has a second state in which it is in equilibrium when cleaning a water surface. In this second state, the center of gravity and the center of buoyancy of the cleaning robot 100 are aligned vertically, and the center of gravity of the cleaning robot 100 is located below the center of buoyancy. It should be noted that this state is when the cleaning robot 100 is inverted and floating on the water surface, and the cleaning robot 100 is in a state of equilibrium. When the cleaning robot 100 moves or water flow disturbances cause the cleaning robot 100 to tilt or rise, the center of gravity of the cleaning robot 100 remains unchanged, while the center of buoyancy shifts. However, since the center of buoyancy is located above the center of gravity in the equilibrium state, even if the cleaning robot 100 tilts or rises significantly, the center of buoyancy will shift in the direction of the tilt or rise of the cleaning robot 100. The upward torque caused by the buoyancy will gradually cause the cleaning robot 100 to return to the second state. Therefore, the above-mentioned configuration can further prevent the cleaning robot 100 from tipping over, ensuring that the cleaning robot 100 can stably perform water surface cleaning. Moreover, compared to other cleaning robots 100, even if the lateral dimensions of the cleaning robot 100 are reduced, the cleaning robot 100 is less likely to overturn. Therefore, the cleaning robot 100 provided in the present application can reduce the lateral dimensions to a certain extent, which is beneficial for the mobile cleaning of the cleaning robot 100. Of course, in other embodiments, when the cleaning is in a balanced state on the water surface, the center of gravity and the center of buoyancy may also be at the same height.

[0115] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: main body; a water guide trough, which is continuous in the front and back direction of the main body, is provided on the main body and has a bottom surface, and the bottom surface is located below the water surface; A driving mechanism, mounted on the main body, for driving the main body to move forward; A collecting mechanism is installed on the main body, and at least a part of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel.

2. The cleaning robot according to claim 1, characterized in that: The main body includes a chassis and a top shell. Two mounting parts protruding relative to the chassis are provided on the side of the chassis away from the top shell. The two mounting parts are distributed at intervals and extend along the moving direction of the main body. The chassis and the two mounting parts enclose the water guide groove.

3. The cleaning robot according to claim 1, characterized in that: In the water surface cleaning mode, the cleaning robot is placed upside down on the water surface; in the underwater cleaning mode, the cleaning robot is placed underwater; and in both cleaning modes, the sewage suction port of the collection mechanism is located at the bottom of the main body.

4. The cleaning robot according to claim 1, characterized in that: Also includes: A first rotating member is provided at the front end of the main body and is located in the water guide groove, and is at least used to move the garbage; The second rotating member is arranged at the rear end of the main body and located in the water guide groove, and is at least used for moving the water flow.

5. The cleaning robot according to claim 4, characterized in that: The first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the first rotating member and the second rotating member have the same rotation direction.

6. The cleaning robot according to claim 5, characterized in that: The cleaning robot further includes a transmission mechanism disposed on the main body, wherein the transmission mechanism is respectively connected to the first rotating member and the second rotating member to drive the first rotating member and the second rotating member to rotate in the same direction.

7. The cleaning robot according to any one of claims 4 to 6, characterized in that: The first rotating member and the second rotating member have the same rotation speed, or the first rotating member and the second rotating member have different rotation speeds.

8. The cleaning robot according to claim 4, characterized in that: The first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in an installation space defined by the bottom of the main body.

9. The cleaning robot according to claim 8, characterized in that: The first rotating member comprises: a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body; The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and collecting garbage during water surface cleaning.

10. The cleaning robot according to claim 8, characterized in that: The second rotating member comprises: a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism; A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

11. The cleaning robot according to claim 10, characterized in that: The blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

12. The cleaning robot according to claim 4, characterized in that: An inlet is formed between the first rotating member and the water guide groove. A protruding member for reducing the size of the inlet is provided directly below the first rotating member. The protruding member is installed on the bottom surface of the water guide groove.

13. The cleaning robot according to claim 1, characterized in that: Also includes: The buoyancy device is arranged on the left and right sides of the main body and is used to make the cleaning robot at least partially float on the water surface when cleaning the water surface.

14. The cleaning robot according to claim 3, characterized in that: The center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the buoyancy center of the cleaning robot.

15. The cleaning robot according to claim 14, characterized in that: The cleaning robot has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the center line of the cleaning robot along the front-to-back direction of the main body, and the center of buoyancy is located between the first rotating member and the center line, and the center of gravity is located between the second rotating member and the center line.

16. The cleaning robot according to claim 14 or 15, characterized in that: The cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy.

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