Cleaning robot

Abstract

The invention provides a cleaning robot. The cleaning robot comprises a robot body and a buoyancy device, the buoyancy device comprises two buoyancy parts which are oppositely arranged in a spaced mode, the two buoyancy parts are installed on the two sides of the robot body, each buoyancy part is provided with a water inlet, a floating cavity and an air outlet, and the water inlet and the air outlet are both communicated with the floating cavity; when the cleaning robot is used for cleaning the water surface, the cleaning robot further comprises a water surface garbage basket, the water surface garbage basket at the water inlet is shielded, and the floating cavity provides buoyancy so that the cleaning robot can float on the water surface. When the cleaning robot is used for underwater cleaning, the cleaning robot comprises an underwater garbage basket, the water inlet is not covered, and water enters the floating cavity through the water inlet so that the cleaning robot can sink to the water bottom.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a cleaning robot. Background Technology

[0002] With technological advancements, cleaning robots capable of removing debris have emerged. Typically, cleaning robots are designed for land-based operations. Currently, after prolonged use, pools and other water features accumulate various types of dirt and debris floating on their surfaces, causing serious water pollution and affecting aesthetics, thus necessitating surface cleaning. In related technologies, cleaning robots utilize buoyancy devices to keep their main body afloat during water surface cleaning. However, in these technologies, water can easily enter the buoyancy device's float chamber through the inlet, affecting the robot's usability. Summary of the Invention

[0003] In a first aspect, one embodiment of this application provides a cleaning robot, which includes a main body and a buoyancy device. The buoyancy device includes two buoyancy components that are opposite to each other and spaced apart. The two buoyancy components are installed on both sides of the main body. Each buoyancy component has a water inlet, a floating cavity, and an air outlet. The water inlet and the air outlet are both connected to the floating cavity.

[0004] When the cleaning robot is used for water surface cleaning, the cleaning robot also includes a water surface trash can, the water inlet is covered by the water surface trash can, and the floating cavity provides buoyancy so that the cleaning robot floats on the water surface;

[0005] When the cleaning robot is used for underwater cleaning, the cleaning robot also includes an underwater trash can, and the water inlet is not covered. Water enters the floating cavity through the water inlet to make the cleaning robot sink to the bottom of the water.

[0006] The cleaning robot proposed in this application covers the water inlet of the buoyancy component using a surface cleaning basket installed on the main body. This prevents water from entering the buoyancy cavity from the cleaning area during surface cleaning, ensuring the buoyancy component provides the preset buoyancy for the robot and guaranteeing its normal operation. For underwater cleaning, an underwater cleaning basket can be installed on the main body. With the basket installed, the buoyancy inlet is open. When the robot is placed in water, water flows from the cleaning area into the buoyancy cavity, while air is expelled through the vent, filling the cavity with water and allowing the robot to sink smoothly to the bottom.

[0007] Since this application directly uses the surface trash can to cover the water inlet of the buoyancy component, there is no need to set up a separate structural component on the buoyancy component for opening or closing the water inlet. Moreover, after the surface trash can is installed on the main body of the machine, the water inlet of the buoyancy component is covered. After the surface trash can is replaced with an underwater trash can, the water inlet of the buoyancy component is opened. No other operation is required from the user. The structure is simple and easy to use. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementations of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 A perspective view of a cleaning robot provided in one embodiment of this application;

[0010] Figure 2 for Figure 1 An exploded view of part of the structure of the cleaning robot shown;

[0011] Figure 3 for Figure 2 A three-dimensional schematic diagram of a buoyancy component in the cleaning robot shown in the figure, viewed from one perspective;

[0012] Figure 4 for Figure 3 The diagram shown is a three-dimensional representation of the cleaning robot from another perspective.

[0013] Figure 5 for Figure 4 A cross-sectional schematic diagram of the cleaning robot shown;

[0014] Figure 6 for Figure 1 A schematic diagram showing another perspective of the cleaning robot;

[0015] Figure 7 for Figure 6 A top view of the cleaning robot shown;

[0016] Figure 8 for Figure 6 An exploded view of part of the structure of the cleaning robot shown;

[0017] Figure 9 Provided as an implementation method Figure 1 A schematic diagram of a cleaning robot from another perspective;

[0018] Figure 10 for Figure 9A top view of the cleaning robot shown;

[0019] Figure 11 for Figure 9 An exploded view of part of the structure of the cleaning robot shown;

[0020] Figure 12 for Figure 3 A detailed schematic diagram of the buoyancy components shown;

[0021] Figure 13 for Figure 4 A detailed schematic diagram of the buoyancy components shown;

[0022] Figure 14 A detailed diagram illustrating the buoyancy components in section 5;

[0023] Figure 15 for Figure 1 A schematic diagram of part of the main body structure of the cleaning robot shown;

[0024] Figure 16 for Figure 15 A schematic diagram of the fuselage from another perspective;

[0025] Figure 17 for Figure 12 A schematic diagram illustrating another dimension of the buoyancy component shown;

[0026] Figure 18 for Figure 1 The illustration shows another dimension of the cleaning robot.

[0027] Figure 19 A schematic diagram of a cleaning robot provided for another embodiment of this application;

[0028] Figure 20 for Figure 19 A schematic diagram of the buoyancy component in the cleaning robot shown;

[0029] Figure 21 for Figure 20 A schematic diagram of the buoyancy component shown from another perspective;

[0030] Figure 22 for Figure 21 A cross-sectional view of the buoyancy component.

[0031] Key component designations:

[0032] Cleaning robot 1, buoyancy device 10, main body 30, surface trash can 40, underwater trash can 50, roller brush 60, front beam structure 70, drive propeller 80.

[0033] Buoyancy component 100, buoyancy cavity 100a, first buoyancy part 110, second buoyancy part 120, third buoyancy part 130;

[0034] Bottom wall 111, first perimeter side wall 112, first sub-side wall 1121, second sub-side wall 1122, third sub-side wall 1123;

[0035] First float chamber 110a, water inlet 110b, first sub-buoyancy section 110c, second sub-buoyancy section 110d;

[0036] Second floating cavity 120a, second peripheral side wall 121, first top wall 122, first sub-fixing part 123, second sub-fixing part 124, first sub-end 120b, body sub-part 120c, second sub-end 120d;

[0037] Third floating cavity 130a, air outlet 130b, second top wall 131;

[0038] The accommodating cavity 30a, the mounting bracket 310, the mounting part 311, the through hole 3111, and the moving wheel 320;

[0039] Frame body 410, shielding part 420;

[0040] First direction D1, second direction D2, third direction D3. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0042] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0043] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] This application provides a buoyancy device 10 for a cleaning robot 1 and a cleaning robot 1 according to one embodiment. The buoyancy device 10 and the cleaning robot 1 provided in this application embodiment will now be described in detail.

[0045] Please see Figure 1 and Figure 2 , Figure 1 A perspective view of a cleaning robot provided in one embodiment of this application; Figure 2 for Figure 1 The diagram shows an exploded view of a portion of the structure of the cleaning robot. This application provides a cleaning robot 1. The cleaning robot 1 is capable of surface cleaning and underwater cleaning. In other words, the cleaning robot 1 has two cleaning modes: a surface cleaning mode and an underwater cleaning mode.

[0046] The cleaning robot 1 includes a buoyancy device 10 and a main body 30. The buoyancy device 10 includes two buoyancy members 100 arranged opposite each other and spaced apart. The two buoyancy members 100 are mounted on both sides of the main body 30. For example, in one embodiment, the two buoyancy members 100 are spaced apart and installed on opposite sides of the main body 30 of the cleaning robot 1. In other words, the two buoyancy members 100 spaced apart form a receiving space for accommodating the main body 30 of the cleaning robot 1. The main body 30 is connected to the buoyancy device 10. When the cleaning robot 1 performs surface cleaning, the buoyancy device 10 can be used to float the main body 30 on the water surface. When the cleaning robot 1 performs underwater cleaning, water can enter the buoyancy device 10, causing the main body 30 to sink to the bottom. The structure of the buoyancy device 10 will be described in detail later.

[0047] The main body 30 is the main body of the cleaning robot 1 that performs the garbage cleaning function. When the cleaning robot 1 is cleaning the water surface, the main body 30 can be used to clean garbage on the surface of pools, ponds, etc. When the cleaning robot 1 is cleaning underwater, the main body 30 can be used to clean garbage at the bottom of pools, ponds, etc.

[0048] The buoyancy device 10 in the cleaning robot 1 provided in the embodiments of this application will now be described in detail. The cleaning robot 1 may include the buoyancy device 10 provided in any of the embodiments described below.

[0049] Please see Figure 3 , Figure 4 and Figure 5 , Figure 3 for Figure 2 A three-dimensional schematic diagram of a buoyancy component in the cleaning robot shown in the figure, viewed from one perspective; Figure 4 for Figure 3 The diagram shown is a three-dimensional representation of the cleaning robot from another perspective. Figure 5 for Figure 4 The diagram shows a cross-sectional view of the cleaning robot. The buoyancy component 100 has a water inlet 110b, a float cavity 100a, and an air outlet 130b. The float cavity 100a is connected to the water inlet 110b, and the air outlet 130b is connected to the float cavity 100a.

[0050] Please see Figure 6 , Figure 7 and Figure 8 , Figure 6 for Figure 1 A schematic diagram showing another perspective of the cleaning robot; Figure 7 for Figure 6 A top view of the cleaning robot shown; Figure 8 for Figure 6 An exploded view of part of the structure of the cleaning robot shown. Figures 6 to 8 The posture of the cleaning robot 1 shown is a schematic diagram of the posture of the cleaning robot 1 when it is used for water surface cleaning. This posture is called the cleaning robot 1 inverted (or reversed). In other words, when the cleaning robot 1 is used for water surface cleaning, the cleaning robot 1 is placed upside down on the water surface. When the cleaning robot 1 is used for water surface cleaning, the water inlet 110b is blocked, and the cleaning robot 1 floats on the water surface.

[0051] In this embodiment, when the cleaning robot 1 is used for water surface cleaning, the cleaning robot 1 also includes a water surface trash can 40. The water inlet 110b is covered by the water surface trash can 40, and the float cavity 100a provides buoyancy to make the cleaning robot 1 float on the water surface. It can be understood that in other embodiments, when the cleaning robot 1 is used for water surface cleaning, the water inlet 110b may also be covered by other components, such as a shielding member, as long as the water inlet 110b is covered so that water cannot enter the float cavity 100a through the water inlet 110b.

[0052] Understandably, when the cleaning robot 1 is used for water surface cleaning, the air outlet 130b can also be covered, for example, by using a cover to cover the air outlet 130b. This is sufficient as long as water cannot enter the float cavity 100a through the air outlet 130b and the water inlet 110b when the cleaning robot 1 is used for water surface cleaning.

[0053] Please refer to the following: Figure 1 , Figure 9 , Figure 10 and Figure 11 , Figure 9 Provided as an implementation method Figure 1 A schematic diagram of a cleaning robot from another perspective; Figure 10 for Figure 9 A top view of the cleaning robot shown;

[0054] Figure 11 for Figure 9 The diagram shows an exploded view of a portion of the structure of the cleaning robot. When the cleaning robot 1 is used for underwater cleaning, its posture is as follows... Figure 1 As shown, this posture is called the cleaning robot 1 upright (or front-facing). In other words, when the cleaning robot 1 is used for underwater cleaning, it is placed upright in the water. In summary, when the cleaning robot 1 is used for underwater cleaning, it is placed upright in the water; when the cleaning robot 1 is used for surface cleaning, it is placed upside down on the water surface. The cleaning robot 1 provided in this application can perform underwater cleaning and surface cleaning using two postures (upright and upside down), adapting to the needs of both underwater and surface cleaning and reducing user purchase costs. In addition, cleaning robots in related technologies that are compatible with both underwater and surface cleaning generally have an underwater cleaning mechanism at the bottom and a surface cleaning structure at the top, resulting in a larger size in the height direction and requiring two cleaning structures, making the structure more complex. The cleaning robot 1 provided in this application utilizes the two postures (upright and upside down) to perform underwater cleaning and surface cleaning respectively, eliminating the need for two cleaning structures, resulting in a simpler structure and smaller height. Furthermore, when the surface trash can 40 and the underwater trash can 50 of the cleaning robot 1 provided in this application embodiment share the same space (i.e., the accommodating cavity 30a described), the height of the cleaning robot 1 is smaller and the structure is simpler.

[0055] To make it easier to see Figure 1 The structure in the image allows us to view the cleaning robot 1 from a different perspective, thus obtaining... Figure 9 and Figure 10When the cleaning robot 1 is used for underwater cleaning, the cleaning robot 1 also includes an underwater trash can 50, and the water inlet 110b is not covered. Water enters the float cavity 100a through the water inlet 110b to make the cleaning robot 1 sink to the bottom of the water.

[0056] In this embodiment, different trash cans are used when the cleaning robot 1 performs surface cleaning and underwater cleaning. When the cleaning robot 1 performs underwater cleaning, it uses an underwater trash can 50. When the cleaning robot 1 is used for underwater cleaning, the underwater trash can 50 is installed on the main body 30, and the underwater trash can 50 does not cover the water inlet 110b when the cleaning robot 1 is used for underwater cleaning.

[0057] When the cleaning robot 1 is used for underwater cleaning, the water inlet 110b is not covered, so water can enter the float cavity 100a through the water inlet 110b to fill the float cavity 100a. In addition, when water enters the float cavity 100a, the air originally filled in the float cavity 100a can be discharged through the air outlet 130b, causing the cleaning robot 1 to sink to the bottom of the water.

[0058] After the cleaning robot 1 has performed underwater cleaning, it is lifted out of the water and placed upright (see...). Figure 1 When the buoyancy member 100 is placed on the ground in its buoyancy position, the water inside the buoyancy member 100 is discharged from the inlet 110b under the action of gravity.

[0059] In summary, the cleaning robot 1 proposed in this application covers the water inlet 110b of the buoyancy component 100 by using the water surface trash basket 40 installed on the main body 30 when cleaning the water surface. This ensures that water in the area to be cleaned cannot enter the float cavity 100a of the buoyancy component 100 from the water inlet 110b during the water surface cleaning process. This ensures that the buoyancy component 100 provides the cleaning robot 1 with the preset buoyancy, thereby ensuring the normal use of the cleaning robot 1. When performing underwater cleaning, the underwater trash can 50 can be replaced and installed on the main body 30. After the underwater trash can 50 is installed, the water inlet 110b of the buoyancy component 100 is in the open state. When the cleaning robot 1 is placed in the water, the water in the area to be cleaned will flow from the water inlet 110b into the float cavity 100a of the buoyancy component 100. At the same time, the air in the float cavity 100a will be discharged through the air outlet 130b, so that the float cavity 100a is filled with water, thereby ensuring that the cleaning robot 1 can sink smoothly to the bottom of the water.

[0060] Since the embodiment of this application directly uses the surface trash basket 40 to cover the water inlet 110b of the buoyancy component 100, there is no need to separately set up a structural component on the buoyancy component 100 for opening or closing the water inlet 110b. Moreover, after the surface trash basket 40 is installed on the main body 30, the water inlet 110b of the buoyancy component 100 is covered. After the surface trash basket 40 is replaced with an underwater trash basket 50, the water inlet 110b of the buoyancy component 100 is opened. No other operation is required from the user. The structure is simple and easy to use.

[0061] Please see Figure 12 , Figure 13 and Figure 14 , Figure 12 for Figure 3 A detailed schematic diagram of the buoyancy components shown; Figure 13 for Figure 4 A detailed schematic diagram of the buoyancy components shown; Figure 14 This is a detailed schematic diagram of the buoyancy component 100 in section 5. The buoyancy component 100 includes a first buoyancy section 110, a second buoyancy section 120, and a third buoyancy section 130. The first buoyancy section 110 has a first float cavity 110a and a water inlet 110b, with the water inlet 110b connected to the first float cavity 110a. The second buoyancy section 120 is arranged along a first direction D1 with the first buoyancy section 110, and the second buoyancy section 120 has a second float cavity 120a, which is connected to the first float cavity 110a. The second buoyancy section 120 and the third buoyancy section 130 are arranged along a second direction D2, and the third buoyancy section 130 has a third float cavity 130a and an air outlet 130b, with the third float cavity 130a connected to the second float cavity 120a and the air outlet 130b connected to the third float cavity 130a.

[0062] As can be seen from the foregoing, the buoyancy component 100 has a float cavity 100a. When the buoyancy component 100 includes the first buoyancy part 110, the second buoyancy part 120 and the third buoyancy part 130, the float cavity 100a includes the first float cavity 110a, the second float cavity 120a and the third float cavity 130a.

[0063] As described above, the two buoyancy components 100 of the buoyancy device 10 are spaced apart to form a receiving space, which is used to receive the main body 30 of the cleaning robot 1. The second buoyancy component 120 and the first buoyancy component 110 are arranged along the first direction D1. Therefore, the first direction D1 is the direction from the inside to the outside of the receiving space. When the cleaning robot 1 is placed on the water surface or underwater, the first direction D1 can be horizontal or approximately horizontal. The arrangement of the second buoyancy component 120 and the first buoyancy component 110 along the first direction D1 allows the buoyancy component 100 to have greater buoyancy in the direction perpendicular to the first direction D1 (vertically upward in this case) when the cleaning robot 1 is used for surface cleaning; and when the cleaning robot 1 is used for underwater cleaning, it can hold more water, allowing the cleaning robot 1 to sink to the bottom more quickly. In addition, the second buoyancy part 120 and the first buoyancy part 110 are arranged along the first direction D1, which can make the cleaning robot 1 more stable when placed on the water surface or underwater, and less likely to tip over.

[0064] The second buoyancy part 120 and the third buoyancy part 130 are arranged along the second direction D2. When the cleaning robot 1 is placed on or underwater, the second direction D2 can be vertically upward or approximately vertically upward. The arrangement of the second buoyancy part 120 and the third buoyancy part 130 along the second direction D2 allows the buoyancy member 100 to have greater buoyancy in the second direction D2. Furthermore, the second buoyancy part 120 and the first buoyancy part 110 are arranged along the first direction D1, and the second buoyancy part 120 and the third buoyancy part 130 are arranged along the second direction D2. Therefore, the buoyancy member 100 can utilize the space in the second direction D2, making its size more compact in the first direction D1.

[0065] Furthermore, the second buoyancy section 120 extends in a third direction, D3.

[0066] In this embodiment, since the water inlet 110b is connected to the first float cavity 110a, the second buoyancy part 120 has a second float cavity 120a, the third buoyancy part 130 has a third float cavity 130a, the second float cavity 120a is connected to the first float cavity 110a, the third float cavity 130a is connected to the second float cavity 120a, and the air outlet 130b is connected to the third float cavity 130a, therefore, the water inlet 110b, the first float cavity 110a, the second float cavity 120a, the third float cavity 130a, and the air outlet 130b are all connected. When the cleaning robot 1 is used for water surface cleaning, the buoyancy component 100 can provide greater buoyancy to the main body 30 of the cleaning robot 1, enabling the cleaning robot 1 to perform garbage cleaning operations better on the water surface.

[0067] Furthermore, since the inlet 110b is connected to the first float cavity 110a, the second buoyancy part 120 has a second float cavity 120a, the third buoyancy part 130 has a third float cavity 130a, the second float cavity 120a is connected to the first float cavity 110a, the third float cavity 130a is connected to the second float cavity 120a, and the outlet 130b is connected to the third float cavity 130a, therefore, the inlet 110b, the first float cavity 110a, the second float cavity 120a, the third float cavity 130a, and the outlet 130b are all connected. All air inlets 130b are connected. When the cleaning robot 1 is used for underwater cleaning, water can enter the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a through the water inlet 110b. The first float cavity 110a, the second float cavity 120a, and the third float cavity 130a can hold a large amount of water, allowing the cleaning robot 1 to sink to the bottom of the water quickly. When the cleaning robot 1 is underwater, it can also be relatively stable, enabling the cleaning robot 1 to perform garbage cleaning operations well underwater.

[0068] Please continue reading. Figures 12 to 14 In one embodiment, the water inlet 110b is disposed on one end face of the buoyancy member 100 near the bottom of the main body 30, and the air outlet 130b is disposed on the other end face of the buoyancy member 100 near the top of the main body 30, with the water inlet 110b and the air outlet 130b being disposed opposite to each other.

[0069] In this embodiment, the water inlet 110b is located on one end face of the buoyancy member 100 near the bottom of the main body 30, and the air outlet 130b is located on the other end face of the buoyancy member 100 near the top of the main body 30. The water inlet 110b and the air outlet 130b are positioned opposite each other, resulting in a higher position for the air outlet 130b. When the cleaning robot 1 is used for underwater cleaning, a larger amount of water enters the float cavity 100a through the water inlet 110b, allowing the cleaning robot 1 to sink to the bottom more quickly, shortening the time it takes to descend from the surface to the bottom, and improving the robot's work efficiency. Furthermore, after the cleaning robot 1 sinks to the bottom, the large amount of water entering the float cavity 100a through the water inlet 110b helps maintain the robot's stable position and posture, enabling it to perform underwater cleaning more effectively.

[0070] Specifically, in this embodiment, the air outlet 130b is disposed on the end face of the third buoyancy part 130 that is away from the second buoyancy part 120, and the air outlet 130b is disposed opposite to the water inlet 110b.

[0071] In this embodiment, the air outlet 130b is located on the end face of the third buoyancy part 130 opposite to the second buoyancy part 120, thus making the air outlet 130b higher. When the cleaning robot 1 is used for underwater cleaning, more water enters the float cavity 100a (here, the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a) through the water inlet 110b, allowing the cleaning robot 1 to sink to the bottom more quickly, shortening the time it takes for the cleaning robot 1 to sink from the surface to the bottom, and improving the working efficiency of the cleaning robot. Furthermore, after the cleaning robot 1 sinks to the bottom, the large amount of water entering the float cavity 100a (here, the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a) through the water inlet 110b helps the cleaning robot 1 maintain a stable position and posture on the bottom, enabling it to perform underwater cleaning more effectively.

[0072] Please continue reading. Figures 12 to 14The first buoyancy part 110 includes a bottom wall 111 and a first peripheral side wall 112. The bottom wall 111 has the water inlet 110b, and the first peripheral side wall 112 is bent and connected to the bottom wall 111. The second float cavity 120a communicates with the first float cavity 110a through the first peripheral side wall 112. The second buoyancy part 120 has a second peripheral side wall 121 and a first top wall 122. The second peripheral side wall 121 is connected to the first peripheral side wall 112, and the first top wall 122 is bent and connected to the second peripheral side wall 121. The third float cavity 130a communicates with the second float cavity 120a through the first top wall 122. The third buoyancy part 130 has a second top wall 131, which is opposite to the first top wall 122, and the second top wall 131 has the air outlet 130b.

[0073] exist Figure 12 In this design, the bottom wall 111 of the first buoyancy part 110 is the wall at the bottom of the buoyancy member 100. Understandably, the position of the bottom wall 111 of the first buoyancy part 110 varies depending on the orientation of the buoyancy member 100. When the cleaning robot 1 using the buoyancy member 100 is used for underwater cleaning, the bottom wall 111 is the lowest wall of the first buoyancy part 110. The bottom wall 111 has the water inlet 110b; in other words, the water inlet 110b is located at the bottom of the first buoyancy part 110. When the cleaning robot 1 using the buoyancy member 100 is used for underwater cleaning, when the buoyancy member 100 contacts the water surface, water can quickly enter the float cavity 100a (here, the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a) through the water inlet 110b, allowing the cleaning robot 1 to quickly sink from the water surface to the bottom.

[0074] exist Figure 12In this configuration, the top wall of the third buoyancy section 130 is the top wall of the buoyancy member 100. Understandably, the position of the top wall of the third buoyancy section 130 varies depending on the orientation of the buoyancy member 100. When the cleaning robot 1 used with the buoyancy member 100 is used for underwater cleaning, the top wall is the top wall of the third buoyancy section 130. The second top wall 131 has the air outlet 130b, which is located at the top of the buoyancy member 100. When the cleaning robot 1 used with the buoyancy member 100 is used for underwater cleaning, it can quickly expel the gas inside the float cavity 100a to the outside of the float cavity 100a. Furthermore, when the cleaning robot 1 used with the buoyancy component 100 is used for underwater cleaning, the position of the air outlet 130b allows the float cavity 100a (here, the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a) of the buoyancy component 100 to hold a large amount of water, enabling the cleaning robot 1 to maintain a stable state and posture on the bottom of the water, and thus enabling the cleaning robot 1 to perform underwater cleaning effectively.

[0075] Further, please refer to Figure 12 and Figure 13 The first peripheral sidewall 112 has a first sub-sidewall 1121, a second sub-sidewall 1122, and a third sub-sidewall 1123. The first sub-sidewall 1121, the second sub-sidewall 1122, and the third sub-sidewall 1123 are bent and connected to the bottom wall 111. The second sub-sidewall 1122 and the third sub-sidewall 1123 are bent and connected to the first sub-sidewall 1121, and the second sub-sidewall 1122 and the third sub-sidewall 1123 are arranged opposite to each other. The second buoyancy part 120 has a first sub-end portion 120b, a body sub-part 120c, and a second sub-end portion 120d connected in sequence. The first sub-end portion 120b protrudes from the second sub-sidewall 1122. The body sub-part 120c is connected to the side of the first buoyancy part 110 opposite to the first sub-sidewall 1121. The second sub-end 120d protrudes from the third sub-sidewall 1123, and the second floating cavity 120a is located at the first sub-end 120b, the body sub-part 120c and the second sub-end 120d.

[0076] In this embodiment, the first sub-end portion 120b of the second buoyancy portion 120 protrudes from the second sub-sidewall 1122, and the second sub-end portion 120d protrudes from the third sub-sidewall 1123. Therefore, the second buoyancy portion 120 has a large size in the arrangement direction of the first sub-end portion 120b, the main body portion 120c, and the second sub-end portion 120d. The second float cavity 120a is located between the first sub-end portion 120b, the main body portion 120c, and the second sub-end portion 120d; therefore, the volume of the second float cavity 120a is large, enabling it to provide greater buoyancy.

[0077] Furthermore, the second buoyancy part 120 has a first sub-fixing part 123 and a second sub-fixing part 124. The first sub-fixing part 123 is connected to the first sub-end 120b, and the second sub-fixing part 124 is connected to the second sub-end 120d. The first sub-fixing part 123 is used to fix to the body body 30 of the cleaning robot 1, and the second sub-fixing part 124 is used to fix to the body body 30 of the cleaning robot 1.

[0078] In this embodiment, the first sub-fixing part 123 is a protruding post. It is understood that in other embodiments, the first sub-fixing part 123 may also be a snap-fit ​​or a slot. As long as the first sub-fixing part 123 can be fixed to the main body 30 of the cleaning robot 1, it is acceptable. In addition, the first sub-fixing part 123 being a protruding post can also strengthen the first sub-end 120b.

[0079] In this embodiment, the second sub-fixing part 124 is a protruding post. It is understood that in other embodiments, the second sub-fixing part 124 may also be a snap-fit ​​or a slot. As long as the second sub-fixing part 124 can be fixed to the main body 30 of the cleaning robot 1, it is acceptable. In addition, the second sub-fixing part 124 being a protruding post can also strengthen the second sub-end 120d.

[0080] Please see Figure 8 and Figure 11 The main body 30 is configured with a receiving cavity 30a for accommodating the surface trash can 40 or the underwater trash can 50. When the cleaning robot 1 is used for surface cleaning, the surface trash can 40 is installed in the receiving cavity 30a; when the cleaning robot 1 is used for underwater cleaning, the underwater trash can 50 is installed in the receiving cavity 30a.

[0081] In this embodiment, the surface trash can 40 and the underwater trash can 50 of the cleaning robot 1 are both installed in the same accommodating cavity 30a. Therefore, the accommodating cavity 30a of the surface trash can 40 and the underwater trash can 50 is reused, so that the main body 30 does not need to be provided with too many accommodating cavities 30a, thereby making the main body 30 more compact.

[0082] Further, please refer to Figure 2 The main body 30 of the cleaning robot 1 includes multiple moving wheels 320. In this embodiment, the main body 30 with four moving wheels 320 is illustrated as an example. Two moving wheels 320 are located on one side of the main body 30 and are spaced apart; the other two moving wheels 320 are located on the other side of the main body 30 and are also spaced apart. In one embodiment, at least a portion of the buoyancy member 100 is installed between two moving wheels 320, allowing the buoyancy member 100 to utilize the space between the two moving wheels 320, making the cleaning robot 1 more compact overall. That is, the cleaning robot 1, in which the buoyancy member 100 is applied, is small and not bulky. This allows the cleaning robot 1 to work well even in relatively confined environments.

[0083] In this embodiment, the first buoyancy part 110 is at least partially disposed between the two moving wheels 320 corresponding to the body body 30 of the cleaning robot 1.

[0084] Specifically, please refer to the following: Figure 1 , Figure 15 and Figure 16 , Figure 15 for Figure 1 A schematic diagram of part of the main body structure of the cleaning robot shown; Figure 16 for Figure 15 The diagram shows another perspective view of the main body of the robot. A through hole 3111 is formed on each of the two side walls of the main body 30. The through hole 3111 is located between the two moving wheels 320 of the cleaning robot 1. The buoyancy component 100 includes a first buoyancy part 110. The first buoyancy part 110 has a first float cavity 110a and passes through the through hole 3111 and is exposed in the receiving cavity 30a. The water inlet 110b is located on the bottom side of the first buoyancy part 110 and communicates with the first float cavity 110a.

[0085] In this embodiment, the through hole 3111 is located between the two moving wheels 320 of the cleaning robot 1. The first buoyancy part 110 passes through the through hole 3111 and is exposed in the receiving cavity 30a, making the cleaning robot 1 more compact overall. That is, the cleaning robot 1 to which the buoyancy component 100 is applied is small and not bulky, so that the cleaning robot 1 can work well in a relatively confined environment. The water inlet 110b is located on the bottom side of the first buoyancy part 110 and communicates with the first floating cavity 110a. The above-mentioned position of the water inlet 110b allows it to be well covered by the water surface garbage bin 40.

[0086] Specifically, in this embodiment, the main body 30 includes a mounting frame 310 and a plurality of movable wheels 320. The mounting frame 310 includes a plurality of mounting portions 311. The mounting portions 311 are used to mount the movable wheels 320. In this embodiment, one mounting portion 311 is used to mount one movable wheel 320, and different mounting portions 311 correspond to different movable wheels 320. At least a portion of the first buoyancy portion 110 is used to be disposed between two spaced-apart mounting portions 311 of the movable wheels 320 of the main body 30 of the cleaning robot 1.

[0087] Please see Figure 17 , Figure 17 for Figure 12 The diagram shows another dimension of the buoyancy component. In this embodiment, the first buoyancy part 110 includes a first sub-buoyancy part 110c and a second sub-buoyancy part 110d connected together. The second sub-buoyancy part 110d is connected to the first sub-buoyancy part 110c and the second buoyancy part 110. The end face of the second sub-buoyancy part 110d facing away from the water inlet 110b is further away from the water inlet 110b than the end face of the first sub-buoyancy part 110c facing away from the water inlet 110b. In other words, the height of the first sub-buoyancy part 110c is smaller, and the height of the second sub-buoyancy part 110d is larger. That is, the height of the second sub-buoyancy part 110d is greater than the height of the first sub-buoyancy part 110c. This allows the first sub-buoyancy part 110c to be conveniently positioned between the mounting portions 311 of the two spaced-apart moving wheels 320 of the main body 30 of the cleaning robot 1, while also allowing the first float cavity 110a to have a larger capacity.

[0088] Furthermore, in the extending direction of the second buoyancy part 120 (marked as third direction D3 in the figure), one end of the second sub-buoyancy part 110d protrudes beyond the first sub-buoyancy part 110c; in the opposite direction to the extending direction of the second buoyancy part 120, the other end of the second sub-buoyancy part 110d also protrudes beyond the first sub-buoyancy part 110c. Furthermore, the end face of the second sub-buoyancy part 110d protruding beyond the first sub-buoyancy part 110c is an arc surface; the other end of the second sub-buoyancy part 110d protruding beyond the first sub-buoyancy part 110c is also an arc surface, so that the second sub-buoyancy part 110d can be held between the two spaced-apart movable wheel 320 mounting portions 311 of the fuselage body 30.

[0089] Specifically, please refer to Figure 15 and Figure 16 The main body 30 includes a mounting frame 310 and a moving wheel 320. The mounting frame 310 has two mounting portions 311 located on the same side wall. The mounting portions 311 are used to mount the moving wheel 320. The two mounting portions 311 are spaced apart in the traveling direction of the cleaning robot 1 and form through holes 3111. A portion of the buoyancy member 100 is installed in the through holes 3111.

[0090] Understandably, the mounting bracket 310 has two mounting portions 311 located on the same side wall, and two mounting portions 311 located on the other side. One of the two buoyancy members 100 is disposed on one side of the mounting bracket 310, and the other of the two buoyancy members 100 is disposed on the other side of the mounting bracket 310. A portion of one of the two buoyancy members 100 is located within the through hole 3111, and a portion of the other of the two buoyancy members 100 is located within the through hole 3111.

[0091] Specifically, in this embodiment, at least a portion of the first buoyancy part 110 is installed within the through hole 3111.

[0092] In this embodiment, the first buoyancy component 110 is disposed between the two moving wheels 320 corresponding to the body body 30 of the cleaning robot 1, making the cleaning robot 1 more compact overall. That is, the cleaning robot 1, to which the buoyancy component 100 is applied, is small and not bulky. This allows the cleaning robot 1 to work well even in relatively confined environments.

[0093] Furthermore, please refer to the following: Figure 1 , Figure 15 and Figure 16Furthermore, the buoyancy component 100 also includes a second buoyancy section 120. The second buoyancy section 120 extends along the travel direction of the cleaning robot 1 and is located outside the two moving wheels 320. The second buoyancy section 120 has a second floating cavity 120a that communicates with the first floating cavity 110a.

[0094] The second buoyancy part 120 is provided on the outer side of the two moving wheels 320 of the main body 30 of the cleaning robot 1. On the one hand, the second buoyancy part 120 can generate a large buoyancy. On the other hand, the second buoyancy part 120 can also protect the moving wheels 320 of the main body 30 of the cleaning robot 1 from the outside, reducing or even avoiding the probability that the moving wheels 320 of the main body 30 of the cleaning robot 1 will be entangled in the garbage in the water and unable to move normally.

[0095] Furthermore, the buoyancy component 100 also includes a third buoyancy section 130. The third buoyancy section 130 extends along the travel direction of the vertical cleaning robot 1 to near the main body 30. The third buoyancy section 130 is located above the two moving wheels 320 and has a third floating cavity 130a communicating with the second floating cavity 120a, with the air outlet 130b disposed on the third floating cavity 130a. When the cleaning robot 1 is used for underwater cleaning, the third buoyancy section 130 is positioned above the two moving wheels 320 of the main body 30 of the cleaning robot 1.

[0096] The third buoyancy part 130 has a third floating cavity 130a communicating with the second floating cavity 120a, thus enabling the buoyancy member 100 to have greater buoyancy. When the cleaning robot 1 is used for underwater cleaning, the third buoyancy part 130 is disposed above the two moving wheels 320 of the main body 30 of the cleaning robot 1. On the one hand, the placement of the third buoyancy part 130 can increase the overall buoyancy of the buoyancy member 100; on the other hand, the third buoyancy part 130 can also be positioned from the top ( Figure 1 (From a perspective) Protect the two moving wheels 320 of the main body 30 of the cleaning robot 1, reduce or even avoid the probability that the moving wheels 320 of the main body 30 of the cleaning robot 1 will be entangled in the garbage in the water and unable to move normally.

[0097] Please see Figure 18 , Figure 18 for Figure 1 The diagram illustrates another dimension of the cleaning robot. The main body 30 has a first centerline L1 perpendicular to the robot's direction of travel D0. The two buoyancy members 100 are symmetrical about the first centerline L1. Each buoyancy member 100 has a second centerline L2 parallel to the first centerline L1, and is symmetrical about the second centerline L2.

[0098] Specifically, in this embodiment, the main body 30 has a first centerline L1 perpendicular to the traveling direction D0 of the cleaning robot 1. Two buoyancy members 100 are symmetrically arranged about the first centerline L1. Therefore, the two buoyancy members 100 can provide a relatively balanced buoyancy to the main body 30, making the cleaning robot 1 more stable during movement. Furthermore, for each individual buoyancy member 100, the buoyancy member 100 is symmetrical about a second centerline L2. Therefore, the two sides of the buoyancy member 100 symmetrical about the second centerline L2 can also provide a relatively balanced buoyancy. In summary, the main body 30 has a first centerline L1 perpendicular to the traveling direction D0 of the cleaning robot 1. The two buoyancy members 100 are symmetrical about the first centerline L1. The buoyancy component 100 has a second centerline L2 parallel to the first centerline L1. The buoyancy component 100 is symmetrical about the second centerline L2, so that when the cleaning robot 1 used by the buoyancy device 10 performs water surface operations, the buoyancy component 100 of the buoyancy device 10 can provide a more balanced buoyancy for the cleaning robot 1, so that the cleaning robot 1 can be relatively stable on the water surface.

[0099] Furthermore, when the cleaning robot 1, to which the buoyancy component 100 is applied, is used for underwater operations, the two buoyancy components 100 are symmetrically arranged about the first centerline L1. Therefore, when the float cavities 100a of the two buoyancy components 100 are filled with water, they can provide a more balanced gravity to the main body 30, making the cleaning robot 1 more stable during movement. Additionally, for a single buoyancy component 100, the buoyancy component 100 is symmetrical about the second centerline L2. Therefore, the two sides of the buoyancy component 100 symmetrical about the second centerline L2 can also provide a more balanced gravity. In summary, the main body 30 has a first centerline L1 perpendicular to the direction of travel D0 of the cleaning robot 1. The two buoyancy components 100 are symmetrical about the first centerline L1. The buoyancy component 100 has a second centerline L2 parallel to the first centerline L1. The buoyancy component 100 is symmetrical about the second centerline L2, which allows the buoyancy component 100 to provide a more balanced gravity for the cleaning robot 1 when the cleaning robot 1 is performing underwater operations, so that the cleaning robot 1 can be more stable underwater.

[0100] The buoyancy member 100 has a second centerline L2 parallel to the first centerline L1. The buoyancy member 100 is symmetrical about the second centerline L2. Specifically, in this embodiment, the first float cavity 110a, the second float cavity 120a and the third float cavity 130a of the buoyancy member 100 are symmetrical about the second centerline L2.

[0101] Therefore, when the cleaning robot 1, to which the buoyancy component 100 is applied, is used for surface operations, the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a can provide relatively balanced buoyancy, enabling the cleaning robot 1 to remain relatively stable on the water surface. When the cleaning robot 1, to which the buoyancy component 100 is applied, is used for underwater operations, after the first float cavity 110a, the second float cavity 120a, and the third float cavity 130a are filled with water, the buoyancy component 100 has relatively balanced gravity, enabling the cleaning robot 1 to remain relatively stable underwater.

[0102] This application also provides a cleaning robot 1. It includes a buoyancy device 10 and a main body 30. The buoyancy device 10 includes two buoyancy members 100 arranged opposite each other and spaced apart, which are installed on opposite sides of the main body 30 of the cleaning robot 1. When the cleaning robot 1 is used for surface cleaning, the water inlet 110b of the buoyancy member 100 is covered, and the cleaning robot 1 floats on the water surface. When the cleaning robot 1 is used for underwater cleaning, the water inlet 110b of the buoyancy member 100 is not covered, water enters the floatation cavity 100a through the water inlet 110b, and the cleaning robot 1 sinks to the bottom.

[0103] Further, please refer to Figure 6 The cleaning robot 1 also includes a surface trash can 40. When the cleaning robot 1 is used for surface cleaning, the surface trash can 40 is installed on the main body 30. The surface trash can 40 includes a frame body 410 and two shielding parts 420. One of the two shielding parts 420 is connected to one side of the frame body 410, and the other of the two shielding parts 420 is connected to the other side of the frame body 410. The two shielding parts 420 are used to respectively shield the water inlets 110b of the two buoyancy members 100 when the cleaning robot 1 is used for surface cleaning.

[0104] When the cleaning robot 1 cleans the water surface, it is placed upside down on the water surface. The water inlet 110b of the buoyancy component 100 is blocked by the cover of the water surface trash can 40, which prevents water from flowing into the float cavity 100a of the buoyancy component 100 from the water inlet 110b. Therefore, the cleaning robot 1 can float on the water surface.

[0105] The cleaning robot 1 provided in this application utilizes the water surface trash can 40, which includes a frame body 410 and two shielding parts 420. The two shielding parts 420 are respectively used to shield the water inlets 110b of the two buoyancy members 100. There is no need to set up a special shielding part 420 to shield the water inlets 110b of the buoyancy members 100. Therefore, the structure of the cleaning robot 1 is relatively simple.

[0106] Further, please refer to Figure 9 The cleaning robot 1 also includes an underwater trash can 50. When the cleaning robot 1 is used for underwater cleaning, the underwater trash can 50 is installed on the main body 30, and when the cleaning robot 1 is used for underwater cleaning, the underwater trash can 50 does not cover the water inlet 110b.

[0107] The cleaning robot 1 provided in this application utilizes the structural characteristics of the underwater trash can 50 so that when the cleaning robot 1 is used for underwater cleaning, the underwater trash can 50 does not cover the water inlet 110b, and water can enter the floating cavity 100a of the buoyancy member 100 through the water inlet 110b, enabling the cleaning robot 1 to enter the water and clean underwater trash.

[0108] When the cleaning robot 1 performs surface cleaning or underwater cleaning, it only needs to install the corresponding trash can.

[0109] Please refer to the following: Figure 1 , Figure 15 and Figure 16 , Figure 15 for Figure 1 A schematic diagram of part of the main body structure of the cleaning robot shown; Figure 16 for Figure 15 The diagram shows another perspective view of the main body 30. The main body 30 includes a mounting frame 310 and multiple casters 320. The mounting frame 310 includes multiple mounting portions 311. The mounting portions 311 are used to mount the casters 320. In this embodiment, one mounting portion 311 is used to mount one caster 320, and different mounting portions 311 correspond to different casters 320. The first buoyancy portion 110 is disposed between two spaced-apart mounting portions 311 of the main body 30 of the cleaning robot 1, wherein the mounting portions 311 are used to mount the casters 320.

[0110] The first buoyancy part 110 is disposed between two spaced mounting parts 311 on the main body 30 of the cleaning robot 1. On the one hand, it can make the main body 30 float on the water surface better; on the other hand, it can make full use of the space of the main body 30 of the cleaning robot 1, so that the structure of the cleaning robot 1 is more compact.

[0111] Please see Figure 19 , Figure 20 , Figure 21 and Figure 22 , Figure 19 A schematic diagram of a cleaning robot provided for another embodiment of this application; Figure 20 for Figure 19 A schematic diagram of the buoyancy component in the cleaning robot shown; Figure 21 for Figure 20 A schematic diagram of the buoyancy component shown from another perspective; Figure 22 for Figure 21 A cross-sectional view of the buoyancy component. In this embodiment, the buoyancy component 100 has a water inlet 110b, a float cavity 100a, and an air outlet 130b. The float cavity 100a communicates with the water inlet 110b, and the air outlet 130b communicates with the float cavity 100a. In this embodiment, the air outlet 130b is located on the side of the buoyancy component 100 away from the center of gravity of the cleaning robot 1.

[0112] In this embodiment, the center of gravity of the cleaning robot 1 is close to the front end. The front end refers to the end where the roller brush 60 of the cleaning robot 1 is located. Because the center of gravity of the cleaning robot 1 is close to the front end, it tilts when it enters the water. Water enters through the inlet 110b at the bottom of the buoyancy member 100, and air exits through the outlet 130b. If the outlet 130b is located in the middle position during the slow descent of the cleaning robot 1, when the water submerges the outlet 130b in the middle, some air in the float cavity 100a cannot be expelled, resulting in air trapping. This air trapping can cause buoyancy in the float cavity 100a, potentially preventing the cleaning robot 1 from sinking properly. In the cleaning robot 1 provided in this embodiment, the outlet 130b is connected to the float cavity 100a. In this embodiment, the air outlet 130b is located on the side of the buoyancy member 100 away from the center of gravity of the cleaning robot 1. Therefore, the float cavity 100a will not be blocked before it is filled with water, allowing air to escape more smoothly. This enables the float cavity 100a to hold more water, preventing the cleaning robot 1 from sinking to the bottom for underwater operations.

[0113] Understandably, the position of the air outlet 130b of the cleaning robot 1 provided in this embodiment is different from the position of the air outlet 130b of the cleaning robot 1 provided in the previous embodiment. The other components can be referred to in the previous description of the cleaning robot 1, and will not be repeated here.

[0114] Further, please refer to Figure 8The main body 30 of the cleaning robot 1 also includes a roller brush 60 and a front beam structure 70. The roller brush 60 can roll to carry garbage into the garbage bin. The garbage bin includes one of a surface garbage bin 40 and an underwater garbage bin 50.

[0115] In this embodiment, the main body 30 of the cleaning robot 1 includes a mounting frame 310, and the roller brush 60 and the front beam structure 70 are both mounted on the mounting frame 310.

[0116] When the roller brush 60 rolls, it moves the water, potentially forming a water ring around the roller brush 60. Debris on the water surface or bottom may rotate with this water ring and fail to enter the trash can effectively. The front beam structure 70 is located between the trash can and the roller brush 60 to disrupt the water ring formed by the roller brush 60 during its rotation, thus facilitating the entry of debris swept by the roller brush 60 into the trash can.

[0117] Without the front beam structure 70, the radius of the water ring formed when the roller brush 60 rolls is a preset radius. In one embodiment, the front beam structure 70 and the roller brush 60 are spaced apart, with the gap between them being smaller than the preset radius, to disrupt the water ring and facilitate the entry of the garbage swept by the roller brush into the garbage bin. In another embodiment, the front beam structure 70 contacts the surface of the roller brush 60. On the one hand, this prevents the roller brush 60 from forming a water ring when it rotates due to the action of the front beam structure 70; on the other hand, it allows for a larger space on the side of the front beam structure 70 away from the roller brush 60, resulting in a larger garbage bin that can hold more garbage.

[0118] Furthermore, the main body 30 of the cleaning robot 1 also includes a drive propeller 80. The drive propeller 80 is disposed on the side of the front beam structure 70 opposite to the roller brush 60. In other words, the roller brush 60 and the drive propeller 80 are spaced apart along the front-rear direction of the main body 30. When the drive propeller 80 rotates, it drives the cleaning robot 1 to move. The drive propeller 80 includes multiple blades arranged circumferentially. Understandably, the drive propeller 80 is also mounted on the mounting frame 310.

[0119] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A cleaning robot, characterized in that, The cleaning robot includes a main body and a buoyancy device. The buoyancy device includes two buoyancy components that are opposite to each other and spaced apart. The two buoyancy components are installed on both sides of the main body. Each buoyancy component has a water inlet, a floating cavity, and an air outlet. The water inlet and the air outlet are both connected to the floating cavity. When the cleaning robot is used for water surface cleaning, the cleaning robot also includes a water surface trash can, the water inlet is covered by the water surface trash can, and the floating cavity provides buoyancy so that the cleaning robot floats on the water surface; When the cleaning robot is used for underwater cleaning, the cleaning robot also includes an underwater trash can, and the water inlet is not covered. Water enters the floating cavity through the water inlet to make the cleaning robot sink to the bottom of the water.

2. The cleaning robot as described in claim 1, characterized in that, The water surface trash can includes a frame body and two shielding parts. One of the two shielding parts is connected to one side of the frame body, and the other of the two shielding parts is connected to the other side of the frame body. The two shielding parts are used to block the water inlets of the two buoyancy components respectively when the cleaning robot cleans the water surface.

3. The cleaning robot according to claim 1, characterized in that, The water inlet is located on one end face of the buoyancy member near the bottom of the main body, and the air outlet is located on the other end face of the buoyancy member near the top of the main body, with the water inlet and the air outlet facing away from each other.

4. The cleaning robot according to claim 1 or 3, characterized in that, The air outlet is located on the side of the buoyancy component away from the center of gravity of the cleaning robot.

5. The cleaning robot according to claim 1, characterized in that, The main body of the robot has a cavity for accommodating the surface trash can or the underwater trash can. When the cleaning robot is used for surface cleaning, the surface trash can is installed in the cavity. When the cleaning robot is used for underwater cleaning, the underwater trash can is installed in the cavity.

6. The cleaning robot according to claim 1 or 5, characterized in that, When the cleaning robot is used for underwater cleaning, it is placed in the water; when it is used for surface cleaning, it is placed upside down on the water surface.

7. The cleaning robot according to claim 5, characterized in that, A through hole is constructed on each of the two side walls of the main body of the robot, and the through hole is located between the two moving wheels of the cleaning robot; The buoyancy component includes a first buoyancy part, which has a first float cavity and is inserted through the through hole and exposed in the receiving cavity. The water inlet is located on the bottom side of the first buoyancy part and communicates with the first float cavity.

8. The cleaning robot according to claim 7, characterized in that, The buoyancy component further includes a second buoyancy part, which extends along the travel direction of the cleaning robot and is located outside the two moving wheels. The second buoyancy part has a second floating cavity that communicates with the first floating cavity.

9. The cleaning robot according to claim 8, characterized in that, The buoyancy component also includes a third buoyancy part, which extends along the travel direction of the vertical cleaning robot to near the main body. The third buoyancy part is located above the two moving wheels and has a third floating cavity that communicates with the second floating cavity. The air outlet is provided on the third floating cavity.

10. The cleaning robot according to claim 1, characterized in that, The main body of the robot has a first centerline perpendicular to the direction of travel of the cleaning robot, the two buoyancy components are symmetrical about the first centerline, and the buoyancy components have a second centerline parallel to the first centerline, and the buoyancy components are symmetrical about the second centerline.

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