Anti-blocking structure for underwater cleaning robot and control method thereof

Abstract

The present application relates to a kind of anti-blocking structure for underwater cleaning robot and its control method, core structure is: multiple garbage collection bags are movably arranged in garbage collection cavity and are arranged and folded along the traction direction of traction mechanism;The bag mouth of adjacent two garbage collection bags is connected to each other front and rear single side in series, so that the bag mouth of adjacent two garbage collection bags can be mutually dragged open;The front side of the bag mouth of garbage collection bag close to front side is drivenly connected to traction mechanism, so that the bag mouth of garbage collection bag close to front side can be dragged open by traction mechanism;By the process that each garbage collection bag is sequentially passed through conical table by traction mechanism, the bag mouth of each garbage collection bag is sequentially sleeved on conical table and is connected to suction passage, to use the water flow entering suction passage to sequentially open the inside of each garbage collection bag.The present application solves the problem that underwater cleaning robot is interrupted in cleaning due to single net bag being blocked by flocculation, ensures that robot works stably for a long time.

Description

Technical Field

[0001] This invention relates to the field of pool cleaning equipment technology, and in particular to an anti-clogging structure and control method for an underwater cleaning robot. Background Technology

[0002] Underwater cleaning robots, especially those used in swimming pools and landscape ponds, have become important tools for maintaining water cleanliness. For example, Chinese utility model patent CN218324137U discloses a pool robot and its cleaning device. Its core working principle is as follows: a built-in water pump generates suction to draw water and debris (such as fallen leaves, sand, and hair) from the bottom of the robot into a collection chamber. A filter device, typically a mesh bag or filter cartridge with fine mesh openings, is installed inside the collection chamber. Water flows through the mesh and is discharged from the robot, while debris larger than the mesh is trapped and collected in the mesh bag, thus achieving water purification and debris collection.

[0003] However, in practical applications, the single-mesh bag filtration structure commonly used in existing technologies has an inherent flaw that is difficult to overcome. Besides common particulate or flaky debris, water bodies also contain a large amount of flocculent matter, such as shed human hair, clothing fibers, and tiny algal aggregates. After being sucked in, these flocculent materials do not accumulate inside the mesh bag like ordinary garbage; instead, they easily adhere to the inner surface of the bag and quickly intertwine to form a dense film, thus extensively covering and clogging the mesh openings.

[0004] Once the mesh becomes clogged, the water flow is cut off, causing the pressure difference between the inside and outside of the collection chamber to be disrupted. This results in a sharp drop or even complete loss of the robot's suction power. At this point, even if the actual amount of debris in the mesh bag is far from its maximum capacity, the robot has lost its ability to continue sucking up debris, and its cleaning work is forced to stop. To restore its function, the user must remove the robot from the water, stop it, disassemble it, manually clean the clogged mesh bag, and then reinstall it and put it back into the water. This process is not only cumbersome but also significantly reduces the efficiency of the cleaning work, greatly diminishing the robot's automation and intelligence levels. This problem is particularly pronounced in aquatic environments with a high concentration of flocculent material, and has become a key technical bottleneck restricting the performance improvement of underwater cleaning robots. Summary of the Invention

[0005] To address the problems existing in the prior art as much as possible, this invention provides an anti-clogging structure and control method for underwater cleaning robots. It aims to solve the problem of cleaning interruption caused by a single net bag being blocked by fibrous material in existing underwater cleaning robots, thereby extending the effective continuous working time of the robot and ensuring that the robot can work continuously and stably for a long time.

[0006] The present invention provides an anti-clogging structure for an underwater cleaning robot. The anti-clogging structure is used to be installed in the garbage collection chamber of the underwater cleaning robot. It includes a garbage collection bag with water filtration function and a suction port connected to the garbage collection chamber and opened at the bottom of the underwater cleaning robot.

[0007] In addition, the waste collection chamber also includes:

[0008] A conical platform with a suction channel inside that connects to the suction port;

[0009] A traction mechanism, which, along with the garbage collection bag, is distributed on the front and rear sides of the conical platform;

[0010] The number of the garbage collection bags is several, and each garbage collection bag is movably arranged in the garbage collection chamber and folded along the traction direction of the traction mechanism;

[0011] The openings of two adjacent garbage collection bags are connected in series on one side at the front and back, so that the openings of the two adjacent garbage collection bags can be pulled open by each other; the front side of the opening of the garbage collection bag closer to the front is connected to the traction mechanism, so that the opening of the garbage collection bag closer to the front can be pulled open by the traction mechanism.

[0012] As the traction mechanism drives each of the garbage collection bags through the conical platform in sequence, the opening of each garbage collection bag is successively fitted onto the conical platform and connected to the suction channel, so that the water flow entering the suction channel successively opens the interior of each garbage collection bag.

[0013] Specifically, in the present invention, a conical platform and a traction mechanism are added to the garbage collection chamber of the underwater cleaning robot. A suction channel is opened inside the conical platform, which connects to the suction port at the bottom of the robot, forming the main path for water and garbage to enter the collection chamber from the outside. The traction mechanism and the garbage collection bags are spatially located on the front and rear sides of the conical platform, respectively, with the traction mechanism providing the driving force for the displacement of the garbage collection bags. Furthermore, the number of garbage collection bags is several, rather than a single bag, to prepare for subsequent replacement and switching functions. In the initial state, these garbage collection bags are arranged and folded along the preset traction direction of the traction mechanism, pre-stacked compactly. Secondly, to achieve effective linkage between the bags, the openings of adjacent garbage collection bags are connected in series on one side at the front and rear. This connection method ensures that when one bag is pulled forward, it can drive the front side of the opening of the next bag to move synchronously through this connection point, forming a "relay" traction effect, which is key to achieving automatic sequential switching of bags. Simultaneously, the garbage collection bag located at the very front of the entire bag array has its front opening connected to the traction mechanism, allowing the power generated by the traction mechanism to be effectively applied to the bag array. Throughout the workflow, the coordination between these structures is as follows: after the traction mechanism is activated, it first pulls the foremost garbage collection bag. As the bag moves, it passes through and reaches the working position of the conical platform. During this process, the opening of the garbage collection bag fits onto the outer periphery of the conical platform. The inclined surface of the outer wall of the conical platform guides the bag opening as it approaches, and as the bag moves forward, it gradually opens the opening, reducing the resistance during the fitting process. This allows the garbage collection bag to smoothly complete the fitting action, ensuring seamless connection between the inside of the garbage collection bag and the suction channel of the conical platform. At this point, the robot's internal water pump operates, and water flows upward through the suction port and suction channel, entering and impacting the inside of the garbage collection bag. This water flow not only transports the garbage but also fully expands the folded garbage collection bag from the inside, achieving an effective working volume. When switching is required, the traction mechanism continues to apply force, pulling the currently used bag away from the conical platform, and then pulling the next bag to the working position through the series structure, repeating the above process of connecting and opening with water flow, thereby realizing the successive use of garbage collection bags.

[0014] Preferably, each of the garbage collection bags has an integrally formed connecting piece on both the front and rear sides of its opening; two connecting pieces arranged one in front of the other between two adjacent garbage collection bags are fixedly connected in series by a connecting rope; the traction mechanism includes a traction rope; the connecting piece on the front side of the opening of the garbage collection bag closest to the front is connected to the traction rope. Specifically, in this scheme, each garbage collection bag has a dedicated connecting piece on both the front and rear sides of its opening, and adjacent garbage collection bags are fixedly connected in series by a connecting rope, while the connecting piece on the front side of the opening of the garbage collection bag is connected to the traction rope of the traction mechanism. With the above structure, firstly, the setting of the connecting piece provides a reliable stress point and connection point for structural strength, avoiding the tearing or deformation problems that may be caused by directly applying tension to the bag body. Secondly, by using the connecting rope to connect the connecting pieces of adjacent bags, a force transmission path can be constructed. When the previous bag is pulled by the traction rope, the tension can be effectively transmitted to the next bag through the connecting rope, ensuring that multiple bags can be pulled and moved sequentially and reliably. Therefore, this technical solution enables the orderly transfer of traction force among multiple garbage collection bags, providing a reliable mechanical basis for the automatic and sequential switching function of the entire structure.

[0015] Preferably, the number of connecting pieces is multiple and symmetrically distributed on the left and right sides of the opening of each garbage collection bag; the connecting pieces distributed on the left and right sides and arranged front and back are respectively fixedly connected to the connecting ropes; the number of traction ropes is two, each traction rope is symmetrically distributed on the left and right sides of the conical platform and respectively connected to two connecting pieces symmetrically distributed on the left and right sides of the opening of the garbage collection bag. Specifically, in this scheme, the connecting pieces and traction ropes are symmetrically arranged on the left and right sides of the opening of the garbage collection bag and the conical platform, and multiple connecting pieces are symmetrically distributed on the left and right sides of the bag opening. The connecting ropes are also connected in series on the left and right sides respectively. At the same time, the two traction ropes are symmetrically connected to the connecting pieces on the left and right sides of the frontmost garbage collection bag. Since the garbage collection bag is a flexible structure, when subjected to single-point or asymmetrical tension, its opening is prone to twisting and deflection, making it impossible to accurately fit onto the conical platform. This scheme, by applying symmetrical traction force on the left and right sides, makes the resultant force acting on the front side of the garbage collection bag opening stably point straight forward, effectively suppressing the twisting and lateral displacement of the bag body during the traction process. Therefore, this symmetrical layout ensures that the garbage collection bag maintains a stable posture during the process of being pulled open and moved forward, and can move more smoothly and steadily along the predetermined path and align with the conical platform, thereby improving the success rate and reliability of bag switching and positioning.

[0016] Preferably, the traction mechanism further includes a connecting hook, a winding reel, and a traction motor; one end of the traction rope is fixedly connected to the connecting hook, and the other end is wound around the winding reel; wherein, the connecting hook is detachably hooked to a snap-fit ​​hole formed on the connecting piece; a driven gear is coaxially arranged on one side of the winding reel, the driven gear meshes with a gearbox, and the power output end of the traction motor is drively connected to the gearbox. Specifically, in this scheme, the traction mechanism includes a traction motor that provides power, a gearbox and a driven gear for transmitting and converting power, a winding reel for converting rotational motion into linear traction, and a connecting hook for connecting the traction rope and the connecting piece. Power is output from the traction motor, transmitted through the gearbox to the driven gear, driving the coaxial winding reel to rotate, thereby winding the traction rope and pulling the garbage collection bag through the connecting hook. It is understood that the traction motor, as a power source, combined with the transmission of the gearbox and driven gear, can convert the high-speed rotation of the motor into a stable low-speed, high-torque output, providing the traction rope with sufficient tension to overcome magnetic positioning force and frictional resistance. The winding reel is a mature and reliable winding mechanism that can stably convert rotational motion into linear motion of the traction rope. The detachable connection between the connecting hook and the snap-fit ​​hole on the connecting plate facilitates user replacement or installation of the entire set of garbage collection bags.

[0017] Preferably, each of the garbage collection bags has a downwardly extending driven piece integrally formed on the rear side of its opening, and an iron plate is provided on the driven piece; the outer wall of the conical platform is covered with magnetic blocks corresponding to the iron plate; wherein, the rear side of the opening of the garbage collection bag driven by the traction mechanism and passing through the conical platform is held in position by the iron plate on the magnetic block through magnetic attraction, and the front side of its opening is pulled forward by the traction rope or an adjacent garbage collection bag to open the opening of the garbage collection bag that reaches the conical platform. Specifically, this solution adds a magnetic positioning mechanism composed of a driven piece, an iron plate and a magnetic block. In this solution, the rear side of the opening of each garbage collection bag has a downwardly extending driven piece integrally formed, and an iron plate is provided on it; correspondingly, the outer wall of the conical platform is covered with magnetic blocks. When a garbage collection bag is pulled to the working position, the iron plate on its rear side will attract and fix with the magnetic block of the conical platform. This structure achieves a clever "rear anchoring, front opening" method for opening the bag. When a new garbage bag is pulled to the vicinity of the conical platform, the iron plate on the rear side of its opening is automatically attracted and positioned on the magnetic block due to magnetic force, thus precisely fixing the rear half of the bag opening in the preset working position. At this time, the pulling force continued by the traction mechanism (or the pulling force transmitted from the previous bag) acts on the front side of the bag opening, effectively pulling the front side of the bag opening open with the fixed rear side as the fulcrum, allowing the entire bag opening to fit onto the conical platform. Simultaneously, this magnetic attraction has the characteristic of being overcome by stronger traction forces; when switching is required, the traction motor only needs to provide a sufficiently large pulling force to achieve forced disengagement. Therefore, this magnetic positioning mechanism not only achieves rapid and accurate positioning of each bag in the working position but also simplifies the mechanical action of opening the bag opening.

[0018] Preferably, the garbage collection bag consists of an interlocking mesh bag and a connecting cover. The mesh bag is used to collect garbage and has multiple filter holes on its surface. The connecting cover is formed at the opening of the garbage collection bag and its surface is a closed surface. The outer surface of the conical platform has several surrounding suction ports. The garbage collection bag is fitted onto the conical platform through the connecting cover and adsorbs the inner surface of the connecting cover through the multiple suction ports. Specifically, this design divides the garbage collection bag into an upper mesh bag and a lower connecting cover, wherein the connecting cover is a non-porous, closed surface. Simultaneously, several surrounding suction ports are provided on the outer surface of the conical platform for adsorbing the inner surface of the connecting cover. This structural design achieves functional zoning and multiple fixation. The mesh bag is specifically used for filtering water and containing garbage, while the non-porous connecting cover is specifically used to form a sealed interface with the conical platform. When the water pump operates, the suction port generates suction (the principle of which will be explained later). Because the surface of the sleeve is sealed and waterproof, this suction acts directly on the inner wall of the sleeve, firmly adhering it to the surface of the conical platform. This fluid adsorption force, combined with the aforementioned magnetic positioning force, creates a dual fixing effect of "magnetic attraction + fluid adsorption." Therefore, this solution enhances the connection stability of the garbage collection bag in the working position, effectively resists the strong impact of the internal water flow, prevents the bag from shifting or falling off during operation, and ensures the continuity and reliability of garbage collection.

[0019] Preferably, the sidewall of the conical platform has multiple circumferentially distributed branch channels. The inner port of each branch channel is a confluence hole connecting to the suction channel, and the outer port of each branch channel is the suction port. The inner cavity of the suction channel gradually narrows from bottom to top. The suction channel is inclined, with its inner confluence hole tilted upwards to approach the narrowing point at the upper end of the suction channel, and its outer suction port tilted downwards away from the water pump inside the underwater cleaning robot. Specifically, in this design, the sidewall of the conical platform has branch channels connecting the suction channel and the suction port. The key features are: firstly, the inner cavity of the suction channel gradually narrows from bottom to top; secondly, the branch channels are inclined, with their inner confluence holes close to the narrowing point at the upper end of the suction channel, while the outer suction port is positioned relatively lower and away from the water pump. It can be understood that, according to Bernoulli's principle in fluid mechanics, the pressure is lower where the fluid velocity is higher. Because the suction channel narrows at its upper end, the water flow velocity increases significantly at this point, creating a stable low-pressure zone. The inner confluence orifice of the branch channel is located within this low-pressure zone. Its outer suction port, however, is situated in a relatively still, high-pressure water area. The inclined design and the layout away from the water pump further increase the spatial distance between the two ends and reduce pressure interference, thereby maximizing the pressure difference between the confluence orifice and the suction port. This significant pressure difference drives the water flow within the branch channel towards the suction channel, thus creating a stable inward suction force at the suction port. Therefore, this solution cleverly utilizes the water flow generated by the robot itself during operation through the design of the channel geometry and spatial layout, creating a stable active suction force without additional energy consumption. This further ensures that the garbage collection bag fitted onto the conical platform surface is more stable and less prone to excessive displacement due to water flow disturbances.

[0020] Specifically, it also includes a collection chamber bottom plate; the collection chamber bottom plate is disposed at the bottom of the underwater cleaning robot and closes the garbage collection chamber upwards; the suction port is opened on the collection chamber bottom plate; the conical platform is fixedly disposed on the collection chamber bottom plate.

[0021] Specifically, it also includes a collection frame adapted to fit inside the waste collection chamber of the underwater cleaning robot; and the collection frame is used to load the various waste collection bags.

[0022] Optionally, a slide bar is provided on the inner top of the collection frame, the length direction of which is the same as the traction direction of the traction mechanism on the garbage collection bag; each garbage collection bag has a hook on its top; and each hook is slidably attached to the slide bar. In other words, this solution adds a slide bar parallel to the traction direction on the inner top of the collection frame, and provides a hook slidably attached to the slide bar on the top of each garbage collection bag. The addition of a "slide bar-hook" guide mechanism at the top also provides a motion trajectory constraint for the upper end of each bag. When the bag is pulled, its bottom connecting piece and top hook simultaneously advance along their respective paths (bottom plate surface and slide bar), forming a two-point constraint. Therefore, this structure effectively ensures that the garbage collection bag remains upright and correctly oriented throughout the traction and switching process, avoiding problems such as movement jamming, tipping, or entanglement that may occur due to the bag's own flexibility, thereby further enhancing the smoothness and reliability of the multi-bag automatic switching process.

[0023] Furthermore, this invention also discloses a control method for an anti-clogging structure for an underwater cleaning robot, comprising the following steps:

[0024] S1. The water flow rate in the waste collection chamber is continuously monitored by a water flow rate sensor during the current working state.

[0025] S2. When the water flow velocity sensor detects that the water flow velocity is lower than the preset blockage judgment threshold, a blockage alarm signal is sent to the control system inside the underwater cleaning robot.

[0026] S3. After receiving the blockage alarm signal, the control system controls the traction motor in the traction mechanism to start.

[0027] S4. The traction motor generates traction force through the traction rope to pull the garbage collection bag that is currently in operation, and drives the iron plate on its driven plate to disengage from the magnetic block on the conical platform; at the same time, the connecting rope between adjacent garbage collection bags drives the next garbage collection bag to move towards the conical platform.

[0028] S5. The iron plate on the driven plate of the next garbage collection bag is magnetically positioned with the magnetic block of the conical platform, and its open bag mouth is fitted onto the conical platform and connected to the suction channel. Then, the garbage collection bag is naturally opened by the water flow to complete the switching of garbage collection bags.

[0029] Specifically, this method uses a built-in water flow velocity sensor to acquire real-time water flow velocity data within the waste collection chamber. When the flow velocity detected by the sensor decreases due to the mesh bag being clogged with debris such as lint, and reaches a pre-set clogging threshold, the sensor sends a clogging alarm signal to the central control system of the underwater cleaning robot. Upon receiving this signal, the control system immediately responds by instructing the traction motor in the traction mechanism to start. After the motor starts, it generates and applies a traction force sufficient to overcome the magnetic positioning force through its transmission chain (including the gearbox, winding disc, and traction rope). This traction force acts on the waste collection bag currently in the working position. Under this pulling force, the iron plate on the driven plate at the rear of the waste collection bag will be forcibly separated from the magnetic block on the conical platform, causing the bag to detach from the working position. At the same time, since adjacent waste collection bags are interconnected by a connecting rope, the pulled bag will pull the next ready-to-use waste collection bag to the working area of ​​the conical platform. Once the new garbage collection bag is in place, its driven plate and iron plate are attracted and fixed by the magnetic block of the conical platform. Under the action of traction, the bag opening opens and fits onto the suction channel of the conical platform, completing the bag switching process. The subsequent water flow naturally expands the new garbage collection bag completely, putting it into normal working condition. This control method first establishes an objective monitoring standard highly correlated with the core performance of the equipment by using water flow velocity as a direct basis for clogging detection. Compared to indirect judgments based on time or estimated garbage volume, directly monitoring changes in water flow more accurately and timely reflects the true working status of the filtration system, ensuring that the switching action is triggered neither too early (avoiding waste of filter bags) nor too late (avoiding prolonged ineffective work by the robot). Secondly, this method seamlessly integrates sensors, the control system, and the traction motor, forming a fully automatic feedback control loop. Once clogging is detected, the entire bag switching process can be initiated and completed without any manual intervention. This greatly enhances the equipment's autonomous operation capability and significantly extends the continuous effective cleaning time after a single watering. Furthermore, the switching method that utilizes traction force to forcibly overcome magnetic attraction provides a physically clear and reliable threshold for the bag's release and replacement, ensuring the stability and repeatability of the switching action. The linked traction achieved through connecting ropes, along with the subsequent automatic positioning and opening using magnetic force and water flow, together constitute a highly efficient and low-energy-consumption self-operating process. Therefore, this control method significantly improves the cleaning efficiency, endurance, and overall practical value of underwater cleaning robots in complex underwater environments (especially waters rich in flocculent matter).

[0030] The technical effects achieved by the anti-clogging structure and control method for an underwater cleaning robot of the present invention are as follows: First, by setting up several garbage collection bags in series and combining them with the drive of a traction mechanism, the automatic switching function of the garbage collection bags after clogging is realized. When a bag reduces the water flow due to collecting too much lint or other garbage, the system can actively activate a new bag, thereby avoiding the problem of the entire equipment stopping due to the failure of a single filter unit, significantly extending the robot's continuous effective working time and improving the continuity of cleaning work. Second, by using a conical platform that fits onto the opening of the garbage collection bag and utilizing the water flow through the suction channel to impact the inside of the bag, the technical problem of not being able to fully unfold the soft bag (especially the top of the bag) by mechanical traction alone is solved. This structure ensures that each activated garbage collection bag can be fully expanded, maximizing the utilization of its internal space and improving the garbage carrying capacity and filtration efficiency of each bag. In summary, the structural solution of the present invention, through the combination of multi-bag switching and water flow-assisted opening, fundamentally overcomes the bottleneck of single-point blockage leading to global failure in the prior art, and solves the problem of cleaning interruption caused by a single net bag being blocked by flocculent material in existing underwater cleaning robots, thereby extending the effective continuous working time of the robot and ensuring long-term continuous and stable operation of the robot. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is an overall assembly drawing of the present invention;

[0033] Figure 2 This is an overall assembly drawing of the present invention (the collection frame is hidden);

[0034] Figure 3 yes Figure 2 Top view;

[0035] Figure 4 This is a structural schematic diagram (front view) of the garbage collection bag according to the present invention;

[0036] Figure 5 This is a partial view of the present invention;

[0037] Figure 6 This is a partial assembly drawing of the present invention;

[0038] Figure 7This is a partial assembly drawing of the present invention;

[0039] Figure 8 yes Figure 2 Side view;

[0040] Figure 9 This is a schematic diagram of the working state of the present invention;

[0041] Figure 10 This is a bottom view of the bottom plate of the collection chamber according to the present invention;

[0042] Figure 11 This is an overall structural diagram of the truncated cone of the present invention;

[0043] Figure 12 yes Figure 11 Side view;

[0044] Figure 13 This is a cross-sectional view of the internal structure of the conical truncated pyramid of the present invention.

[0045] Figure label:

[0046] 1. Collection framework;

[0047] 2. Collection chamber bottom plate; 21. Suction port;

[0048] 3. Garbage collection bag; 31. Mesh bag; 32. Connecting cover; 33. Connecting piece; 34. Connecting rope; 35. Driven piece; 36. Iron sheet;

[0049] 4. Conical platform; 41. Suction channel; 42. Magnetic block; 43. Branch channel; 44. Convergence hole; 45. Adsorption hole;

[0050] 5. Towing rope;

[0051] 6. Connecting hook;

[0052] 7. Wrap the connector;

[0053] 8. Driven gear;

[0054] 9. Traction motor;

[0055] 10. Gearbox. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0057] like Figures 1 to 13As shown, this application provides an anti-clogging structure for an underwater cleaning robot, which is integrated into the waste collection of an existing underwater cleaning robot. Specifically, the structure is installed inside the waste collection chamber of the underwater cleaning robot, which is formed by an upwardly closed collection chamber bottom plate 2 located at the bottom of the robot, and is supported by a collection frame 1 fixed to the collection chamber bottom plate 2. A suction port 21 is provided on the collection chamber bottom plate 2 to connect the waste collection chamber with the water outside the robot. Under the action of a water pump, water and waste are sucked into the collection chamber through the suction port 21.

[0058] Combination Figure 1 , Figure 2 and Figure 9 As shown, the core of this embodiment lies in providing a solution that can automatically switch garbage collection bags 3 to solve the problem of robot shutdown caused by a single garbage collection bag 3 being blocked by lint. To this end, the garbage collection chamber is equipped with several garbage collection bags 3, a conical platform 4, and a traction mechanism. Optionally, the number of garbage collection bags 3 in this embodiment is set to three. The three garbage collection bags 3 initially move along the traction direction of the traction mechanism (e.g., ...). Figure 9 The garbage bags 3 are arranged and folded as shown in the "pulling direction". The traction mechanism and the garbage collection bags 3 are distributed on the front and rear sides of the conical platform 4. Through the operation of the traction mechanism, each garbage collection bag 3 can be moved sequentially to the working position of the conical platform 4.

[0059] Combination Figure 4 and Figure 5 As shown, to achieve orderly switching of garbage collection bags 3, adjacent garbage collection bags 3 are connected in series on one side through their bag openings. Specifically, each garbage collection bag 3 has a connecting piece 33 integrally formed on both the front and rear sides of its bag opening. Between two adjacent garbage collection bags 3, the connecting piece 33 on the rear side of the opening of the preceding garbage collection bag 3 and the connecting piece 33 on the front side of the opening of the following garbage collection bag 3 are fixedly connected by a connecting rope 34. At the same time, the connecting piece 33 on the front side of the opening of the garbage collection bag 3 at the foremost position is driven to the traction mechanism. Through this "relay" series structure, when the traction mechanism pulls the foremost garbage collection bag 3, the subsequent garbage collection bags 3 can be pulled and moved in sequence.

[0060] Furthermore, to ensure the smoothness of the traction process, multiple connecting pieces 33 are symmetrically distributed on the left and right sides of the opening of the garbage collection bag 3. Correspondingly, the connecting rope 34 and the traction mechanism also adopt a symmetrical layout. For example... Figure 3As shown, the traction mechanism includes two traction ropes 5 symmetrically distributed on the left and right sides of the conical platform 4. Each traction rope 5 is connected to the connecting pieces 33 on the left and right sides of the opening of the frontmost garbage collection bag 3. Similarly, the connecting pieces 33 arranged front and back on the left and right sides of adjacent garbage collection bags 3 are also connected by independent connecting ropes 34.

[0061] Combination Figure 2 , Figure 8 and Figure 9 As shown, the traction mechanism includes a traction motor 9, a gearbox 10, a driven gear 8, a winding disc 7, a traction rope 5, and a connecting hook 6. The traction motor 9 serves as the power source, with its power output end connected to the gearbox 10. The gearbox 10 transmits and distributes power; its output end meshes with the driven gears 8 symmetrically arranged on both sides to drive them to rotate synchronously. The winding disc 7 is coaxially fixed to the driven gears 8 and rotates synchronously with them. One end of the traction rope 5 is wound around the winding disc 7, and the other end is fixedly connected to the connecting hook 6. The connecting hook 6 is detachably hooked to the connecting piece 33 of the foremost garbage bag 3. When the traction motor 9 starts, power is transmitted to the winding disc 7 via the gearbox 10 and the driven gear 8. The winding disc 7 rotates to wind the traction rope 5, thereby applying a continuous and balanced pulling force to the garbage bag 3 through the connecting hook 6.

[0062] During the process of the traction mechanism pulling the garbage collection bag 3 to the working position, accurate positioning and unfolding schemes are required. For example... Figure 5 , Figure 6 and Figure 9 As shown, a conical platform 4 is fixedly mounted on the bottom plate 2 of the collection chamber, and a suction channel 41 is provided inside it. The bottom end of the suction channel 41 is connected to the suction port 21 on the bottom plate 2 of the collection chamber. When the garbage collection bag 3 is pulled to the conical platform 4, its bag opening needs to be fitted onto the conical platform 4 and aligned with the top opening of the suction channel 41. To achieve this, a downwardly extending driven piece 35 is integrally formed on the rear side of the bag opening of each garbage collection bag 3, and an iron piece 36 is provided on the driven piece 35. Correspondingly, a magnetic block 42 is laid on the outer wall of the conical platform 4. When a garbage collection bag 3 is pulled to the working position, its rear driven piece 35 will contact the surface of the bottom plate 2 of the collection chamber, and under the magnetic attraction of the magnetic block 42, the iron piece 36 will be attracted to it, thereby achieving precise positioning of the rear side of the garbage collection bag 3. At this point, the front of the bag opening moves forward under the continuous traction of the traction rope 5 or the connecting rope 34 of the previous garbage collection bag 3, and the bag opening is initially opened and fitted onto the conical platform 4. Subsequently, when the water pump starts, the water flow (such as...) Figure 9 As the water flows upward from the suction port 21 through the suction channel 41 into the garbage collection bag 3 (as shown in the "Water Flow Direction"), the impact force of the water flow will completely expand the entire bag, especially the mesh part at the top, thus ensuring that the internal volume of the garbage collection bag 3 is fully utilized.

[0063] To further enhance the stability of the connection between the garbage collection bag 3 and the conical platform 4 during operation, especially under water flow disturbance, this embodiment also designs an auxiliary fixing structure based on fluid mechanics principles. For example... Figure 4 , Figure 6 , Figure 11 and Figure 13 As shown, the structure of the garbage collection bag 3 can be divided into upper and lower parts. The upper part is a mesh bag 31 for collecting garbage and filtering water, with filter holes distributed on its surface. The lower part is a sleeve cover 32 for docking with the conical platform 4, with a non-porous closed surface. The aforementioned connecting piece 33 and driven piece 35 are both disposed on the sleeve cover 32. Several suction ports 45 are arranged around the outer surface of the conical platform 4. At the same time, multiple branch channels 43 are opened inside the side wall of the conical platform 4. The outer port of each branch channel 43 is the suction port 45, and the inner port is the confluence hole 44, which connects to the suction channel 41 inside the conical platform 4. The inner cavity of the suction channel 41 is designed as a cone that gradually narrows from bottom to top. According to Bernoulli's principle, when water flows through the suction channel 41, the flow velocity will increase significantly at the narrowing point at the top, resulting in a decrease in pressure in that area. Furthermore, to enhance this pressure difference effect, the branch channel 43 is designed with an inclined configuration. Its inner end, the confluence hole 44, is inclined upwards, closer to the low-pressure area at the upper end of the suction channel 41; while its outer end, the suction port 45, is inclined downwards, positioned further down. This design not only increases the pressure difference between the confluence hole 44 and the suction port 45 but also keeps the suction port 45 away from the water pump installed on the upper part of the robot, reducing pressure fluctuations caused by the water pump's operation. The significant and stable pressure difference causes the water flow inside the branch channel 43 to tend to flow from the suction port 45 to the confluence hole 44, thereby generating a stable external suction force at the suction port 45. When the sleeve 32 of the garbage collection bag 3 is fitted onto the conical platform 4, its non-porous inner surface adheres to the suction port 45 and is attracted by the suction force of the suction port 45. This fluid adsorption, combined with the aforementioned magnetic positioning, forms a double-fixing structure for the garbage collection bag 3, effectively preventing the garbage collection bag 3 from shifting or loosening during operation.

[0064] To achieve orderly movement and guidance of the garbage collection bags, in this embodiment, a sliding rod (not shown in the figure) can be provided on the inner top of the collection frame 1, with the length direction of the sliding rod aligned with the traction direction. Correspondingly, each garbage collection bag 3 has a hook (not shown in the figure) on its top, and each hook is slidably attached to the sliding rod. Thus, when the traction mechanism is working, the garbage collection bag 3 can move smoothly back and forth under the guidance of the sliding rod, avoiding twisting or deviation of the bag during movement.

[0065] The present invention also provides a control method for an anti-clogging structure for an underwater cleaning robot, the workflow of which is as follows:

[0066] In the initial state, the first garbage collection bag 3, under the action of the traction mechanism, has its bag opening fitted onto the conical platform 4 and is fixed by both magnetic positioning and fluid adsorption. Under the action of water flow, it is fully opened, and the robot begins normal cleaning work.

[0067] Step S1: The water flow velocity sensor inside the robot continuously monitors the current water flow velocity in the waste collection chamber.

[0068] Step S2: When the working garbage collection bag 3 becomes clogged due to excessive garbage or lint, the water flow velocity through the garbage collection bag 3 will decrease significantly. When the water flow velocity sensor detects that the flow velocity is lower than the preset clogging threshold, it will send a clogging alarm signal to the robot's internal control system.

[0069] Step S3: After receiving the blockage alarm signal, the control system immediately controls the traction motor 9 in the traction mechanism to start.

[0070] Step S4: The traction motor 9 drives the winding plate 7 to wind the traction rope 5, generating a sufficiently large traction force. This traction force first acts on the currently working garbage collection bag 3, forcing the iron plate 36 on its driven plate 35 to disengage from the magnetic block 42 on the conical platform 4.

[0071] Step S5: As the first garbage collection bag 3 is pulled away from the working position, the next garbage collection bag 3, connected to it by the connecting rope 34, is pulled forward synchronously until the iron plate 36 on its driven plate 35 is magnetically attracted and positioned by the magnetic block 42 of the conical platform 4. Its opening initially opens under traction and fits onto the conical platform 4, and is then fully opened by the water flow generated by the water pump, thus automatically and seamlessly completing the switching of garbage collection bags. The robot can then continue cleaning work until all spare garbage collection bags 3 have been used.

[0072] In summary, this invention effectively solves the problem of underwater cleaning robot net bags being easily clogged by flocculent material and causing frequent shutdowns by combining multi-bag series switching, mechanical traction and magnetic positioning, and water flow-assisted opening and hydrodynamic enhancement fixation. It significantly extends the single effective working time and automation level of the equipment.

[0073] The embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Various modifications and variations can be made to the above embodiments by those skilled in the art without departing from the spirit and scope of the invention, and all such modifications and variations should fall within the protection scope of the invention.

Claims

1. An anti-clogging structure for an underwater cleaning robot, for installation in the garbage collection chamber of the underwater cleaning robot, comprising a garbage collection bag (3) and a suction port (21) connected to the garbage collection chamber and opened at the bottom of the underwater cleaning robot. Its features are, The waste collection chamber also includes: The cone-shaped platform (4) has a suction channel (41) inside that connects to the suction port (21). The traction mechanism and the garbage collection bag (3) are distributed on the front and rear sides of the conical platform (4); The number of the garbage collection bags (3) is several, and each garbage collection bag (3) is movably arranged in the garbage collection chamber and folded along the traction direction of the traction mechanism; The openings of two adjacent garbage collection bags (3) are connected in series on one side at the front and back, so that the openings of the two adjacent garbage collection bags (3) can be pulled open by each other; the front side of the opening of the garbage collection bag (3) closer to the front is connected to the traction mechanism, so that the opening of the garbage collection bag (3) closer to the front can be pulled open by the traction mechanism. As the traction mechanism drives each of the garbage collection bags (3) to pass through the conical platform (4) in sequence, the opening of each of the garbage collection bags (3) is successively fitted onto the conical platform (4) and connected to the suction channel (41) so that the water flow entering the suction channel (41) can successively open the interior of each of the garbage collection bags (3).

2. The anti-clogging structure for an underwater cleaning robot according to claim 1, characterized in that, Each of the aforementioned garbage collection bags (3) has a connecting piece (33) integrally formed on both the front and back sides of the bag opening; Two connecting pieces (33) arranged one in front of the other between two adjacent garbage collection bags (3) are fixedly connected by a connecting rope (34); The traction mechanism includes a traction rope (5); The garbage collection bag (3) near the front has a connecting piece (33) at the front of its opening connected to the traction rope (5).

3. The anti-clogging structure for an underwater cleaning robot according to claim 2, characterized in that, The number of connecting pieces (33) is multiple and they are symmetrically distributed on the left and right sides of the opening of each garbage collection bag (3); Each of the connecting pieces (33) distributed on the left and right sides and arranged in front and back is fixedly connected with the connecting rope (34). There are two traction ropes (5), each of which is symmetrically distributed on the left and right sides of the conical platform (4) and connected to two connecting pieces (33) symmetrically distributed on the left and right sides of the opening of the garbage collection bag (3).

4. The anti-clogging structure for an underwater cleaning robot according to claim 2, characterized in that, The traction mechanism also includes a connecting hook (6), a winding plate (7), and a traction motor (9). One end of the traction rope (5) is fixedly connected to the connecting hook (6), and the other end is wound around the winding reel (7); The connecting hook (6) is detachably hooked to the fastening hole formed on the connecting piece (33); A driven gear (8) is coaxially arranged on one side of the winding plate (7). The driven gear (8) meshes with a gearbox (10). The power output end of the traction motor (9) is connected to the gearbox (10) for transmission.

5. The anti-clogging structure for an underwater cleaning robot according to claim 2, characterized in that, Each of the garbage collection bags (3) has a downwardly extending driven piece (35) integrally formed on the rear side of the bag opening, and an iron piece (36) is provided on the driven piece (35). The outer wall of the conical platform (4) is covered with magnetic blocks (42) corresponding to the iron sheet (36). Among them, the garbage collection bag (3) driven by the traction mechanism and passing through the conical platform (4) has its rear side of the bag opening fixed by the iron piece (36) on the magnetic block (42) and its front side of the bag opening is pulled forward by the traction rope (5) or the adjacent garbage collection bag (3) to open the bag opening of the garbage collection bag (3) that has reached the conical platform (4).

6. The anti-clogging structure for an underwater cleaning robot according to claim 5, characterized in that, The garbage collection bag (3) is divided into a mesh bag (31) and a sleeve cover (32) that are connected to each other. The mesh bag (31) is used to collect garbage and has multiple filter holes distributed on its surface. The sleeve cover (32) is formed at the opening of the garbage collection bag (3) and its surface is a closed surface. The outer surface of the conical platform (4) is provided with a number of suction ports (45) arranged in a ring. The garbage collection bag (3) is fitted onto the conical platform (4) through the sleeve cover (32) and adsorbs the inner side of the sleeve cover (32) through multiple adsorption ports (45).

7. The anti-clogging structure for an underwater cleaning robot according to claim 6, characterized in that, The sidewall of the conical platform (4) is provided with a plurality of branch channels (43) arranged around it. The inner port of the branch channel (43) is configured as a confluence hole (44) connected to the suction channel (41), and the outer port of the branch channel (43) is the adsorption port (45). The inner cavity of the suction channel (41) gradually narrows from bottom to top; The suction channel (41) is inclined and its inner end junction hole (44) is inclined upward to approach the space narrowing at the upper end of the suction channel (41), and its outer end suction port (45) is inclined downward away from the water pump inside the underwater cleaning robot.

8. The anti-clogging structure for an underwater cleaning robot according to claim 1, characterized in that, It also includes a collection chamber bottom plate (2); the collection chamber bottom plate (2) is located at the bottom of the underwater cleaning robot and closes the garbage collection chamber upwards; The suction port (21) is located on the bottom plate (2) of the collection chamber; The conical platform (4) is fixedly mounted on the bottom plate (2) of the collection chamber.

9. The anti-clogging structure for an underwater cleaning robot according to claim 1, characterized in that, It also includes a collection frame (1) adapted to fit into the waste collection chamber of the underwater cleaning robot; Each of the garbage collection bags (3) is loaded through the collection frame (1).

10. The anti-clogging structure for an underwater cleaning robot according to claim 9, characterized in that, A sliding rod is provided on the inner top of the collection frame (1), and the length direction of the sliding rod is the same as the traction direction of the traction mechanism on the garbage collection bag (3); Each of the aforementioned garbage collection bags (3) is provided with a hook at the top; Each of the hooks is slidably mounted on the slide rod.

11. A control method for an anti-clogging structure used in an underwater cleaning robot, characterized in that, This invention is applied to an underwater cleaning robot equipped with an anti-clogging structure, wherein the anti-clogging structure includes a garbage collection bag, a conical platform, and a traction mechanism. The conical platform has a suction channel inside that connects to the suction port at the bottom of the underwater cleaning robot. The openings of two adjacent garbage collection bags are connected in series by a connecting rope. Each garbage collection bag has a downwardly extending driven plate integrally formed on the rear side of its opening. The driven plate is provided with an iron plate. The outer wall of the conical platform is covered with magnetic blocks corresponding to the iron plate. The traction mechanism includes a traction motor and a traction rope, which is connected to the front side of the opening of the garbage collection bag closest to the front. The control method includes the following steps: S1. The water flow rate in the waste collection chamber is continuously monitored by a water flow rate sensor during the current working state. S2. When the water flow velocity sensor detects that the water flow velocity is lower than the preset blockage judgment threshold, a blockage alarm signal is sent to the control system inside the underwater cleaning robot. S3. After receiving the blockage alarm signal, the control system controls the traction motor in the traction mechanism to start. S4. The traction motor generates traction force through the traction rope to pull the garbage collection bag that is currently in operation, and drives the iron plate on the driven plate at the rear of the bag opening to disengage from the magnetic block on the outer wall of the cone platform; at the same time, the connecting rope between adjacent garbage collection bags drives the next garbage collection bag to move towards the cone platform. S5. After the next garbage collection bag moves to the conical platform, the iron plate on the driven plate behind its bag opening is magnetically attracted and positioned by the magnetic block on the outer wall of the conical platform. After its open bag opening is fitted onto the conical platform (4) and connected to the suction channel (41), the garbage collection bag is naturally opened by the water flow to complete the switching of the garbage collection bag.

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