Cleaning robot

Abstract

The utility model relates to the field of robots, in particular to a cleaning robot. The cleaning robot comprises a shell, a garbage collecting device and a water opening and closing piece. A first water inlet and a water outlet are formed in the shell, and the first water inlet is formed in the top of the shell; the garbage collecting device is arranged in the shell and is provided with a second water inlet, so that water flow carries garbage to flow into the garbage collecting device from the second water inlet; the water gap opening and closing piece is movably arranged in the shell, closes the first water inlet when being at the first position, and opens the first water inlet when being at the second position; the liquid pumping assembly is arranged in the shell and used for pumping water from the first water inlet and the second water inlet and spraying water through the water outlet when the water opening and closing piece is located at the second position, or pumping water from the second water inlet and spraying water through the water outlet when the water opening and closing piece is located at the first position. When the cleaning robot cleans the underwater side wall, it is guaranteed that the cleaning robot is completely attached to the side wall, and the cleaning effect is guaranteed.

Description

Technical Field

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

[0002] After long-term use, various dirt and garbage will float on the surface of pools and swimming pools, and various dirt and garbage will also settle on the bottom of the pool, which will cause serious pollution to the water quality of the pool or affect the appearance. Therefore, cleaning robots are needed to clean underwater. When existing cleaning robots are cleaning walls underwater or climbing walls underwater, the water inlet is easily blocked or the water intake is insufficient, resulting in insufficient recoil force generated by the cleaning robot's water spray, which in turn leads to insufficient adhesion between the bottom of the cleaning robot and the wall. The cleaning robot cannot adhere to the wall, which in turn causes the cleaning robot to be unable to move forward under friction, affecting the cleaning effect or the wall climbing movement of the cleaning robot. Utility Model Content

[0003] The main purpose of the present application is to propose a cleaning robot to solve the technical problem that the existing cleaning robots have poor cleaning effects due to incomplete adhesion when performing underwater wall cleaning.

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

[0005] A shell body, wherein a first water inlet and a water outlet are provided on the shell body, and the first water inlet is located at the top of the shell body;

[0006] A garbage collection device is disposed in the housing, and has a second water inlet and a filter screen, so that water flow carrying garbage flows into the garbage collection device from the second water inlet;

[0007] a water inlet opening and closing member, movably disposed inside the shell, the water inlet opening and closing member having a first position and a second position, wherein the water inlet opening and closing member closes the first water inlet in the first position and opens the first water inlet in the second position; and

[0008] A liquid pumping assembly is disposed in the shell and is used to pump water from the first water inlet and the second water inlet and spray water through the water outlet when the water outlet opening and closing member is in the second position, or to pump water from the second water inlet and spray water through the water outlet when the water outlet opening and closing member is in the first position.

[0009] In an optional embodiment, the water inlet opening and closing member is in the second position when the cleaning robot is in a wall-climbing state; and / or, the water inlet opening and closing member is in the first position when the cleaning robot is in an upright state; and / or, the water inlet opening and closing member is in the second position when the cleaning robot is in a flipping state.

[0010] In an optional embodiment, the water inlet opening and closing member swings between the first position and the second position according to the posture of the cleaning robot at least under the action of its own gravity.

[0011] In an optional embodiment, the cleaning robot further includes a posture detector and a driving component, wherein the posture detector is used to detect the posture of the cleaning robot, the driving component is electrically connected to the posture detector, the driving component is connected to the water outlet opening and closing component, and the driving component is used to drive the water outlet opening and closing component to be in the first position or the second position according to the posture of the cleaning robot detected by the posture detector.

[0012] In an optional embodiment, the shell includes an inclined portion, the first water inlet is arranged on the inclined portion, and the water inlet opening and closing member is inclined along the inclined portion when located at the first position.

[0013] In an optional embodiment, the direction of the outer inclined surface of the inclined portion is opposite to the forward direction of the cleaning robot.

[0014] In an optional embodiment, the shell further includes a first horizontal portion and a second horizontal portion, the first horizontal portion, the inclined portion and the second horizontal portion are connected in sequence along the forward direction of the cleaning robot, a rotating seat is provided on the first horizontal portion, the rotating seat has a rotating hole, and the rotating axis of the water inlet opening and closing member is passed through the rotating hole.

[0015] In an optional embodiment, the water inlet opening and closing member includes a first swing arm, a rotating shaft, a second swing arm and a shielding portion connected in sequence, the rotating shaft is rotatably connected to the top of the shell, the shielding portion shields the first water inlet when the water inlet opening and closing member is in the first position, and the shielding portion is separated from the first water inlet when the water inlet opening and closing member is in the second position.

[0016] In an optional implementation, the length of the first swing arm is greater than the length of the second swing arm.

[0017] In an optional embodiment, the water inlet opening and closing member further includes a counterweight portion, the counterweight portion is located on a side of the rotating shaft away from the second swing arm, and the counterweight portion is connected to the first swing arm.

[0018] The cleaning robot provided in the embodiment of the present application has a first water inlet at the top of the shell, and a second water inlet on the garbage collection device. When cleaning the bottom wall underwater, under the action of the liquid extraction component, the water flow carries the garbage from the second water inlet into the garbage collection device and filters the water and garbage through the filter screen, that is, the garbage will remain in the inner cavity of the garbage collection device, and the water will flow to the water inlet of the liquid extraction component through the filter screen, and finally spray it out from the water outlet at the top of the shell and generate a vertical downward recoil force, so that the cleaning robot can fit the bottom wall of the area to be cleaned under the action of the recoil force and its own gravity. When cleaning the side wall underwater, the gravity to which the cleaning robot is subjected will make it tend to fall downward, and it cannot produce the effect of making it fit with the side wall. For this reason, it is necessary to ensure that the recoil force generated by the water outlet spraying is large enough, so that the cleaning robot can fit the side wall of the area to be cleaned and move up and down. In this way, it is necessary to ensure the water intake of the cleaning robot. Therefore, when cleaning the side wall underwater, the first water inlet set on the top will automatically open.

[0019] It should be noted that the first water inlet proposed in the embodiment of the present application is set at the top, which can prevent the first water inlet from being blocked by garbage during cleaning, thereby reducing the risk of the first water inlet being blocked, thereby effectively ensuring the cleaning effect of the cleaning robot during underwater side wall cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0021] Figure 1 is a three-dimensional diagram of a cleaning robot provided by an embodiment of the present application in an upright state;

[0022] Figure 2 is a partial exploded view of a cleaning robot provided in an embodiment of the present application in an upright state;

[0023] Figure 3 is a cross-sectional view of a cleaning robot provided by an embodiment of the present application in an upright state along the Y-axis direction;

[0024] Figure 4 yes Figure 3 A partial enlarged schematic diagram within the middle dotted circle;

[0025] Figure 5 is a cross-sectional view along the Y-axis direction of a cleaning robot provided by an embodiment of the present application in a tilted state in which the front end is higher than the rear end;

[0026] Figure 6 is a cross-sectional view along the Y-axis direction of a cleaning robot provided by an embodiment of the present application in a vertical state;

[0027] Figure 7 is a cross-sectional view along the Y-axis direction of a cleaning robot provided by an embodiment of the present application in a flipped and inverted state;

[0028] Figure 8 It is a linkage block diagram of an electrically driven water inlet opening and closing member in a cleaning robot provided in an embodiment of the present application;

[0029] Fig. 9 This is a partial exploded view of a cleaning robot provided in an embodiment of the present application in a flipped and inverted state.

[0030] Fig.10 It is a structural schematic diagram of a front shell of a cleaning robot provided in an embodiment of the present application;

[0031] Fig.11 It is a partial exploded schematic diagram of a front shell of a cleaning robot provided in an embodiment of the present application.

[0032] Description of Figure Numbers:

[0033] Cleaning robot 100; shell 10; chassis 12; top cover 11; peripheral side wall 13; accommodating space 10a; first water inlet 11a; water inlet opening and closing member 20; inclined portion 111; inner inclined surface 111a; outer inclined surface 111b; first horizontal portion 112; second horizontal portion 113; rotating seat 114; rotating hole 114a; rotating shaft 21; first swing arm 22; second swing arm 23; shielding portion 24; counterweight portion 25; liquid extraction component 30; filter frame 12a; water outlet 11b; trash basket roller brush 60; rotating paddle 70; electric component 40; concave frame 121; convex frame 122; trash collecting device 50; second water inlet 50a; posture detector 81; driving member 82. DETAILED DESCRIPTION

[0034] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0035] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0036] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0037] See also Figure 1 and Figure 2 , the cleaning robot 100 includes a shell 10 .

[0038] See also Figure 3 The housing 10 of the cleaning robot 100 includes a chassis 12 and a top cover 11 . The top cover 11 is the top of the housing 10 .

[0039] See also Figure 3 The chassis 12 and the top cover 11 are arranged up and down along the height direction Z of the cleaning robot 100. When the cleaning robot 100 is in an upright state, the height of the top cover 11 is higher than the height of the chassis 12. That is, the top cover 11 is above the chassis 12.

[0040] For further information, see Figure 3 The housing 10 of the cleaning robot 100 further includes a peripheral side wall 13 surrounding the base 12. The peripheral side wall 13, the base 12 and the top cover 11 surround and form a receiving space 10a.

[0041] See also Figure 3 The top cover 11 covers the bottom plate 12. Specifically, the edge of the top cover 11 covers the edge of the peripheral side wall 13.

[0042] See also Figure 1-Figure 3 The top cover 11 is provided with a first water inlet 11a. The first water inlet 11a is connected to the receiving space 10a. Generally, when the cleaning robot 100 works underwater, garbage is generally deposited at the bottom of the pool. Compared with the water inlet at the bottom of the robot, the first water inlet 11a is less likely to be blocked, thereby reducing the risk of blockage and the problem of insufficient water inlet is less likely to occur.

[0043] Optionally, the first water inlet 11a may be a through hole and / or a plurality of small holes. In the present application, the first water inlet 11a is a plurality of small holes, which can achieve the connection between the receiving space 10a and the outside while preventing external garbage from entering the receiving space 10a through the first water inlet 11a and affecting the operation of the cleaning robot 100.

[0044] See also Figure 2 and Figure 3 The housing 10 is also provided with a water outlet 11 b. Specifically, the water outlet 11 b is provided on the top cover 11.

[0045] See also Figure 3 The cleaning robot 100 further includes a garbage collecting device 50. The garbage collecting device 50 is disposed in the housing 10. Specifically, a side of the chassis 12 facing away from the top cover 11 forms an installation position for installing the garbage collecting device 50.

[0046] The garbage collecting device 50 has a second water inlet 50 a and a filter (not shown) to allow water to carry garbage into the garbage collecting device 50 from the second water inlet 50 a .

[0047] See also Figure 2 The chassis 12 further comprises a filter frame 12a. The filter frame 12a is communicated with the receiving space 10a.

[0048] The water flowing into the garbage collecting device 50 enters the receiving space 10 a through the filter screen and the filter frame 12 a , and the garbage is filtered by the filter screen in the garbage collecting device 50 .

[0049] See also Figure 3 and Figure 4 The cleaning robot 100 further includes a water inlet opening and closing member 20. The water inlet opening and closing member 20 is movably disposed inside the housing 10. Specifically, the water inlet opening and closing member 20 is disposed between the top cover 11 and the bottom plate 12. Optionally, the water inlet opening and closing member 20 is disposed on the top cover 11.

[0050] See also Figure 3 and Figure 5 The water inlet opening and closing member 20 has a first position and a second position. When in the first position, the water inlet opening and closing member 20 closes the first water inlet 11a, and when in the second position, the water inlet opening and closing member 20 opens the first water inlet 11a.

[0051] When performing underwater cleaning (including underwater cleaning), the second water inlet 50a is the main water inlet, and water and garbage enter the cleaning robot 100 from the second water inlet 50a. Specifically, during underwater cleaning, the first water inlet 11a can be in a closed state, and the cleaning robot 100 can fit the bottom surface of the underwater body by its own gravity. In addition, the cleaning robot 100 can also fit itself to the bottom surface of the underwater body by the recoil force generated by the water spray port (water outlet) of the liquid pumping component 30.

[0052] When climbing a wall, if the water inlet of the second water inlet 50a is insufficient, the water inlet opening and closing part 20 will automatically open the first water inlet 11a, or the second water inlet 50a will be opened as long as the wall is climbed, and then the garbage will still enter from the second water inlet 50a. The first water inlet 11a supplies water to the cleaning robot 100, and the recoil force generated by the water outlet (water outlet) of the liquid pumping component 30 makes itself fit with the bottom surface of the water.

[0053] In other words, the position of the water inlet opening and closing member 20 can be changed relative to the top cover 11. Optionally, the water inlet opening and closing member 20 is movably connected to the top cover 11. Optionally, the water inlet opening and closing member 20 can change its position as the posture of the cleaning robot 100 changes (upright, tilted, vertical, inverted), etc., so that the water inlet opening and closing member 20 has a blocking state of blocking the first water inlet 11a and an open state of not blocking the first water inlet 11a. In other words, the water inlet opening and closing member 20 can be opened without manual or electric drive. Optionally again, the water inlet opening and closing member 20 can also work by manual opening and closing or electric opening and closing.

[0054] See also Figure 2 The cleaning robot 100 further includes a liquid pumping assembly 30. The liquid pumping assembly 30 is disposed in the housing 10. Specifically, the liquid pumping assembly 30 is disposed on the chassis 12, and the liquid pumping assembly 30 is located in the receiving space 10a.

[0055] The water inlet of the liquid pumping component 30 is connected to the receiving space 10a. In other words, the liquid pumping component 30 can pump water in the receiving space 10a and discharge the water from the water outlet 11b to the outside of the cleaning robot 100. Specifically, when the liquid pumping component 30 is working, the water in the receiving space 10a is sucked away and discharged through the water outlet 11b. In this process, the recoil force generated by the water spraying from the water outlet 11b makes the bottom of the cleaning robot 100 close to the support surface, and there is sufficient supporting force between the bottom of the cleaning robot 100 and the support surface, so that the cleaning robot 100 can move forward under the movement of the motor-driven walking wheels and tracks.

[0056] The second water inlet 50a is the garbage inlet and also the main water inlet. Water flows to the liquid extraction component 30 through the filter screen and the filter frame 12a. When there is relatively much garbage, the filter screen in the garbage collection device 50 is blocked, resulting in insufficient liquid extraction from the second water inlet 50a by the liquid extraction component 30.

[0057] When the cleaning robot 100 is running underwater, the filter screen in the garbage collection device 50 is easily blocked or insufficient water is taken in, resulting in insufficient adhesion between the bottom of the cleaning robot 100 and the support surface, which in turn causes the cleaning robot 100 to be unable to move forward under the friction force. For example, when the cleaning robot 100 is climbing a wall from the bottom of the water, the adhesion between the bottom of the cleaning robot 100 and the support surface is insufficient, causing the cleaning robot 100 to be unable to climb the wall smoothly.

[0058] In this embodiment, the liquid pumping component 30 is used to pump water from the first water inlet 11a and the second water inlet 50a and spray water through the water outlet 11b when the water outlet opening and closing member 20 is in the second position, or to pump water from the second water inlet 50a and spray water through the water outlet 11b when the water outlet opening and closing member 20 is in the first position.

[0059] For details, please refer to Figure 5 When the water inlet opening and closing member 20 is in the second position, the first water inlet 11a is in an open state, and the first water inlet 11a and the second water inlet 50a together provide a water inlet path for the liquid pumping component 30, that is, the liquid pumping component 30 pumps water from the first water inlet 11a and the second water inlet 50a and sprays water through the water outlet 11b, thereby forming a recoil force on the side of the water outlet 11b to press down the cleaning robot 100, so that the bottom of the cleaning robot 100 fits against the side wall, which is beneficial for walking on the bottom of water, cleaning walls, walking on walls, etc.

[0060] For details, please refer to Figure 3 When the water inlet opening and closing member 20 is in the first position, the first water inlet 11a is in a closed state, and the second water inlet 50a can provide a water inlet path for the pumping assembly 30 alone. At this time, the pumping assembly 30 can no longer pump water from the first water inlet 11a, but pumps water from the second water inlet 50a and sprays water through the water outlet 11b ( Figure 3 The dotted curve with an arrow in the figure is a schematic diagram of the water flow path), thereby forming a recoil force that presses down the cleaning robot 100 on the side where the water outlet 11b is located, so that the bottom of the cleaning robot 100 fits against the side wall, which is conducive to walking on the bottom of the water, cleaning the wall, walking on the wall, etc.

[0061] In an example of a practical application scenario, for example, when the cleaning robot 100 climbs a wall from the bottom of the water, the front end of the cleaning robot 100 is higher than the rear end of the cleaning robot 100 (the cleaning robot 100 is in an inclined state or a vertical state), the water inlet opening and closing member 20 is in the second position, and the first water inlet 11a is opened. Even if the filter screen (or the second water inlet 50a) in the garbage collection device 50 is blocked or the filter frame 12a (or the second water inlet 50a) does not have enough water, external water can still enter the receiving space 10a through the first water inlet 11a, and then enter the liquid extraction assembly 30, maintaining the adhesion between the bottom and the side wall of the cleaning robot 100, so that the cleaning robot 100 can climb the wall smoothly or clean the wall.

[0062] Optional, see Figure 2 and Figure 3, the water outlet 11b and the first water inlet 11a are sequentially arranged along the forward direction of the cleaning robot 100. In other words, the first water inlet 11a is located at a relatively rear side, so that when the cleaning robot 100 is partially exposed to the water surface, the first water inlet 11a can still take in water, and then the external water enters the liquid pumping assembly 30, so as to maintain the adhesion between the bottom of the cleaning robot 100 and the supporting surface, so that the cleaning robot 100 can climb the wall smoothly.

[0063] The cleaning robot 100 provided in the embodiment of the present application reduces the risk of the first water inlet 11a being blocked by arranging a first water inlet 11a on the top of the shell 10; the water inlet opening and closing member 20 is located at the top of the shell 10 and is movably arranged inside the shell 10, and the water inlet opening and closing member 20 closes the first water inlet 11a when it is in the first position, and opens the first water inlet 11a when it is in the second position; the pumping component 30 is used to pump water from the first water inlet 11a and the second water inlet 50a when the water inlet opening and closing member 20 is in the second position and Water is sprayed from the water outlet 11b, or water is pumped from the second water inlet 50a and sprayed through the water outlet 11b when the water outlet opening and closing member 20 is in the first position. When the cleaning robot 100 is performing underwater wall cleaning or climbing a wall underwater, even if the filter screen in the garbage collection device 50 is blocked or insufficient water is taken in, the pumping component 30 can pump water from the first water inlet 11a and spray water through the water outlet 11b to generate a recoil force, thereby maintaining the fit between the bottom of the cleaning robot 100 and the supporting surface, thereby improving the underwater wall cleaning effect or the underwater wall climbing effect of the cleaning robot 100.

[0064] Optionally, the position of the water inlet opening and closing member 20 may change with the posture of the cleaning robot 100. Specifically, the water inlet opening and closing member 20 moves between the first position and the second position with the posture of the cleaning robot 100 at least under the action of its own gravity.

[0065] The water inlet opening and closing member 20 is in the second position when the cleaning robot 100 is in the wall-climbing state; and / or, the water inlet opening and closing member 20 is in the first position when the cleaning robot 100 is in the upright state; and / or, the water inlet opening and closing member 20 is in the second position when the cleaning robot 100 is in the flipping state.

[0066] For details, please refer to Figure 3, the cleaning robot 100 being in an upright state means that the angle between the vertical center axis of the cleaning robot 100 and the horizontal plane is from 0° to a preset angle, and the preset angle is the critical angle at which the water inlet opening and closing member 20 opens the first water inlet 11a after the cleaning robot 100 has a certain backward tilt. The preset angle is relatively small, and the preset angle may be less than 10°, for example, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°. The water inlet opening and closing member 20 of the cleaning robot 100 is in the first position within the preset backward tilt angle, and the first water inlet 11a is in a closed state, indicating that the water inlet opening and closing member 20 has a certain initial torque, which prevents the shielding part from opening the water hole under the action of the suction force of the liquid pumping assembly 30 during underwater cleaning, and reduces the problem of instability during underwater bumps.

[0067] For details, please refer to Figure 5 and Figure 6 The cleaning robot 100 is in the wall climbing state when the angle between the vertical center axis of the cleaning robot 100 and the horizontal plane is greater than the preset angle and less than or equal to 90°. At this time, the cleaning robot 100 leans back at a greater angle than the preset angle and the water inlet opening and closing member 20 opens the first water inlet 11a, and the water inlet opening and closing member 20 is in the second position. Figure 5 , Figure 6 The dashed curve with arrow in the figure is a schematic diagram of the water flow path.

[0068] For details, please refer to Figure 7 The cleaning robot 100 is in a flipped state, which means that the rearward tilt angle of the cleaning robot 100 is greater than 90° and less than or equal to 270°. At this time, the water inlet opening and closing member 20 opens the first water inlet 11a, and the water inlet opening and closing member 20 is in the second position. Figure 7 The dashed curve with arrow in the figure is a schematic diagram of the water flow path.

[0069] Optional, see Figure 3 , Figures 5 to 7 The water inlet opening and closing member 20 swings relative to the top cover 11 as the posture of the cleaning robot 100 changes.

[0070] In an optional embodiment, the water inlet opening and closing member 20 is a swinging member. The rotating shaft 21 of the water inlet opening and closing member 20 is movably inserted into the rotating hole 114a of the rotating seat 114 on the inner side of the top cover 11, and the rotating seat 114 does not restrict the rotation of the rotating shaft 21 of the water inlet opening and closing member 20. Therefore, the water inlet opening and closing member 20 swings to a blocking state or an open state (i.e., moves to a first position or a second position) relative to the top cover 11 at least under the action of its own gravity as the posture of the cleaning robot 100 changes. The water inlet opening and closing member 20 provided in this embodiment does not require additional device electrical control or manual control. By designing the position and installation orientation of the water inlet opening and closing member 20, it can swing in a manner that is beneficial to the posture scene in different posture scenes to achieve water discharge or water inlet.

[0071] See also Figure 1 , Figure 3 and Figure 4 When the cleaning robot 100 is in an upright state, the water inlet opening and closing member 20 has a counterclockwise rotation torque at least under the action of its own gravity, so that the water inlet opening and closing member 20 is in the shielding state. The cleaning robot 100 in an upright state also means that the top cover 11 is higher than the bottom plate 12.

[0072] See also Figure 1 and Figure 5 When the cleaning robot 100 is in an inclined state (leaning back) with the front end higher than the rear end, the water inlet opening and closing member 20 has a clockwise rotation torque under the action of its own gravity, so that the water inlet opening and closing member 20 rotates to the open state. The front end of the cleaning robot 100 is an end on the forward direction +Y of the cleaning robot 100, and the rear end of the cleaning robot 100 is an end of the cleaning robot 100 opposite to the forward direction +Y. The front end of the cleaning robot 100 is provided with a trash basket roller brush 60. The rear end of the cleaning robot 100 is provided with a rotating paddle 70.

[0073] See also Figure 6 When the cleaning robot 100 is in a vertical position with the front end higher than the rear end (the backward angle is 90°), the water inlet opening and closing member 20 has a clockwise rotation torque under the action of its own gravity, so that the water inlet opening and closing member 20 rotates to the open state.

[0074] See also Figure 7 When the cleaning robot 100 is in an inverted state, the water inlet opening and closing member 20 has a clockwise rotation torque under the action of its own gravity, so that the water inlet opening and closing member 20 rotates to the open state.

[0075] Optional, see Figure 8, the cleaning robot 100 also includes a posture detector 81 and a driving member 82. The posture detector 81 is used to detect the posture of the cleaning robot 100. The driving member 82 is electrically connected to the posture detector 81. The driving member 82 is connected to the water inlet opening and closing member 20. The driving member 82 is used to drive the water inlet opening and closing member 20 to the first position or the second position according to the posture of the cleaning robot 100 detected by the posture detector 81. The posture detector 81 includes a sensor such as a gyroscope for detecting the posture of the cleaning robot 100. The driving member 82 includes but is not limited to a motor and a transmission member connected between the motor and the water inlet opening and closing member 20. The posture of the robot is detected by a gyroscope, and the first water inlet 11a is electrically controlled to be opened or closed according to the detection result.

[0076] When the cleaning robot 100 is climbing the wall to clean underwater, an underwater garbage collection device 50 is installed at the garbage basket installation position of the chassis 12. During the wall climbing process, the water inlet opening and closing member 20 opens the first water inlet 11a under the action of gravity to increase the water intake of the liquid pumping assembly 30 to prevent the filter frame 12a and / or the underwater garbage collection device 50 from being blocked by garbage, resulting in insufficient water pumping by the liquid pumping assembly 30, making the cleaning robot 100 unstable against the pool wall. When the cleaning robot 100 is finished working, the cleaning robot 100 can be placed upright or upside down. At this time, the water inlet opening and closing member 20 will open the first water inlet 11a, and the water inside the cleaning robot 100 can be discharged from the first water inlet 11a. That is, by arranging the water inlet opening and closing member 20 on the top cover 11, the two-in-one water intake and drainage of the cleaning robot 100 can be achieved. In addition, when the cleaning robot 100 performs water surface cleaning, the cleaning robot 100 is inverted and the first water inlet 11a is opened, which can speed up the water intake speed and help the cleaning robot 100 perform water surface cleaning.

[0077] Optional, see Figure 1 and Figure 3 The top cover 11 includes an inclined portion 111. The inclined portion 111 is inclined relative to the vertical central axis (height direction Z) of the bottom plate 12. The first water inlet 11a is provided at the inclined portion 111. Optionally, the first water inlet 11a is a plurality of water holes. The inclined portion 111 is provided with a plurality of water holes.

[0078] See also Figure 3 and Figure 4, when the water inlet opening and closing member 20 is in the first position (i.e., in the shielding state), it is tilted along the inclined portion 111. Among them, the shielding portion of the water inlet opening and closing member 20 is arranged in contact with the inclined portion 111 to shield the first water inlet 11a on the inclined portion 111. Optionally, the water inlet opening and closing member 20 may extend in a straight line or substantially in a straight line, and another part of the water inlet opening and closing member 20 is also tilted along the direction in which the inclined portion 111 extends, that is, in the shielding state, the water inlet opening and closing member 20 as a whole is tilted along the direction in which the inclined portion 111 is tilted.

[0079] On the one hand, when the water inlet opening and closing member 20 is a rotating structure, the water inlet opening and closing member 20 is tilted in the blocking state to form a rotational torque, which makes the water inlet opening and closing member 20 close to the inclined portion 111, reducing the additional rotational torque required to maintain the blocking state, thereby reducing the gravity block that needs to be set up later, or there is no need to set a gravity block, or the length of the subsequent rotating swing arm can be reduced. On the other hand, compared with the embodiment in which the water inlet opening and closing member 20 is vertically set, in this embodiment, the water inlet opening and closing member 20 is tilted in the blocking state to form a rotational torque, which makes the water inlet opening and closing member 20 close to the inclined portion 111, which can increase the torque threshold when the first water inlet 11a is opened, and reduce the risk of the first water inlet 11a opening arbitrarily or the water inlet opening and closing member 20 shaking arbitrarily due to slight bumps. On the other hand, the water inlet opening and closing member 20 is tilted when in the blocking state, which can also reduce the size occupied by the water inlet opening and closing member 20 in the height direction Z of the cleaning robot 100, thereby reducing the distance between the top cover 11 and the chassis 12, thereby reducing the height dimension of the cleaning robot 100.

[0080] In other embodiments, the water inlet opening and closing member 20 may extend in a bending shape. For example, the water inlet opening and closing member 20 may be in an inward bending shape or an outward bending shape.

[0081] Optional, see Figure 3 and Figure 4 , the inclined portion 111 has an inner inclined surface 111a and an outer inclined surface 111b that are arranged opposite to each other, the inner inclined surface 111a faces the receiving space 10a, and the outer inclined surface 111b faces the outside. The direction of the outer inclined surface 111b is opposite to the forward direction of the cleaning robot 100. For example, the outer inclined surface 111b of the inclined portion 111 faces the rear of the cleaning robot 100. Such a design, on the one hand, can prevent the water resistance of the cleaning robot 100 from directly acting on the shielding part of the water inlet opening and closing member 20 through the first water inlet 11a during the forward movement, causing the first water inlet 11a to be unable to be closed. In addition, if the outer inclined surface 111b faces the forward direction, it is easy to cause garbage in the water to block the first water inlet 11a. By facing the outer inclined surface 111b of the inclined portion 111 to the rear of the cleaning robot 100, the risk of garbage in the water blocking the first water inlet 11a can be reduced.

[0082] Optional, see Figure 3 and Figure 4 The top cover 11 further includes a first horizontal portion 112 and a second horizontal portion 113. The first horizontal portion 112, the inclined portion 111 and the second horizontal portion 113 are sequentially connected along the forward direction of the cleaning robot 100. The height of the first horizontal portion 112 is lower than the height of the second horizontal portion 113, so that the outer inclined surface 111b of the inclined portion 111 disposed between the first horizontal portion 112 and the second horizontal portion 113 faces the rear of the cleaning robot 100.

[0083] Optionally, the water outlet 11 b is disposed on the second horizontal portion 113 , that is, the liquid pumping assembly 30 is installed between the second horizontal portion 113 and the bottom plate 12 .

[0084] See also Figure 3 and Figure 4 , a rotating seat 114 is provided on the first horizontal portion 112. The rotating seat 114 has a rotating hole 114a. The rotating shaft 21 of the water inlet opening and closing member 20 is passed through the rotating hole 114a, so that the water inlet opening and closing member 20 can rotate around the rotating seat 114 in a certain space, thereby blocking the first water inlet 11a or separating from the first water inlet 11a. Specifically, the axial direction of the rotating hole 114a in the rotating seat 114 is the width direction X of the cleaning robot 100.

[0085] In other embodiments, the rotating seat 114 may also be disposed on the second horizontal portion 113. Compared to the case where the rotating seat 114 is disposed on the first horizontal portion 112, since the height of the second horizontal portion 113 is relatively high, the water inlet opening and closing member 20 rotatably connects to the second horizontal portion 113 and can utilize the higher space formed by the second horizontal portion 113 and the chassis 12. In addition, the size of the first horizontal portion 112 may be further reduced, or even the first horizontal portion 112 may not be required, thereby shortening the size of the cleaning robot 100 in the length direction Y.

[0086] The structure of the water inlet opening and closing member 20 is described below by way of example in conjunction with the accompanying drawings. Of course, the structure of the water inlet opening and closing member 20 includes but is not limited to the following embodiments.

[0087] Optional, see Figure 3 , Figure 4 , Figures 9 to 11 The water inlet opening and closing member 20 includes a first swing arm 22, a rotating shaft 21, a second swing arm 23 and a shielding portion 24 which are connected in sequence. The rotating shaft 21 is rotatably connected to the top cover 11. Optionally, the rotating shaft 21 is inserted into a rotating seat 114 on the top cover 11. The rotating shaft 21 can flexibly rotate in the rotating seat 114.

[0088] Taking the position where the rotating seat 114 is arranged at the first horizontal portion 112 and close to the inclined portion 111 as an example, in the shielding state (when the water inlet opening and closing member 20 is in the first position), the first swing arm 22 and the second swing arm 23 are respectively located on both sides of the rotating shaft 21, and the first swing arm 22 is located below the rotating shaft 21, and the second swing arm 23 is located above the rotating shaft 21. The shielding portion 24 is attached to the inclined portion 111 and shields the first water inlet 11a. There is a movable gap between the end of the first swing arm 22 away from the rotating shaft 21 and the first horizontal portion 112, so that the water inlet opening and closing member 20 can move clockwise around the rotating shaft 21.

[0089] In an optional embodiment, the angle between the first swing arm 22 and the vertical center axis of the rotating shaft 21 is smaller than the angle between the shielding portion 24 and the vertical center axis of the rotating shaft 21. In this way, the first swing arm 22 has a tendency to move downward, thereby forming a rotational torque in a counterclockwise direction (with the direction shown in the figure as a reference), so that the shielding portion 24 is close to the inclined portion 111 to block the first water inlet 11a on the inclined portion 111, and also increase the torque threshold when the first water inlet 11a is opened, thereby reducing the risk of the first water inlet 11a opening at will or the water inlet opening and closing member 20 shaking at will due to slight bumps, and also preventing the shielding portion 24 from opening the first water inlet 11a due to the suction force of the water pump during underwater cleaning.

[0090] In another optional embodiment, the weight of the first swing arm 22 is greater than the sum of the weights of the second swing arm 23 and the shielding portion 24. In this way, the first swing arm 22 has a tendency to move downward, thereby forming a rotational torque in a counterclockwise direction (with the direction shown in the figure as a reference), so that the shielding portion 24 is tightly attached to the inclined portion 111 to shield the first water inlet 11a on the inclined portion 111, and also increase the torque threshold when the first water inlet 11a is opened, thereby reducing the risk of the first water inlet 11a opening at will or the water inlet opening and closing member 20 shaking at will due to slight bumps, and also preventing the shielding portion 24 from opening the first water inlet 11a due to the suction force of the water pump during underwater cleaning.

[0091] Taking the position where the rotating seat 114 is arranged on the first horizontal part 112 and close to the inclined part 111 as an example, when the posture of the cleaning robot 100 changes, the water inlet opening and closing member 20 rotates clockwise as the posture of the cleaning robot 100 changes, until the side of the first swing arm 22 away from the rotating shaft 21 abuts against the first horizontal part 112, and at the same time, the shielding part 24 is separated from the first water inlet 11a in the open state (when the water inlet opening and closing member 20 is in the second position), and the first water inlet 11a is in an open state.

[0092] Optionally, the length of the first swing arm 22 is greater than the length of the second swing arm 23. In this way, the torque of the first swing arm 22 can be increased, so that the water inlet opening and closing member 20 is closely attached to the inclined portion 111, the torque threshold when the first water inlet 11a is opened is increased, and the risk of the first water inlet 11a opening randomly or the water inlet opening and closing member 20 shaking randomly due to slight bumps is reduced, and the shielding portion 24 is prevented from opening the first water inlet 11a under the action of the suction force of the water pump during underwater cleaning.

[0093] Optional, see Figure 3 , Figure 4 , Figures 9 to 11 The water inlet opening and closing member 20 further includes a counterweight 25. The counterweight 25 is located on the side of the rotating shaft 21 away from the second swing arm 23. The counterweight 25 is connected to the first swing arm 22. The counterweight 25 is used to increase the rotational torque on the first swing arm 22 side. The weight of the counterweight 25 can be increased to ensure a certain rotational torque in the shielding state, and the length of the first swing arm 22 can be shortened to reduce the space occupied by the water inlet opening and closing member 20.

[0094] The counterweight portion 25 may be disposed on a side of the first swing arm 22 away from the rotating shaft 21 to maximize the rotational torque. Optionally, the housing of the counterweight portion 25 may be interconnected with the first swing arm 22 as a whole. The cavity in the housing of the counterweight portion 25 accommodates the counterweight block to form the counterweight portion 25. The shielding portion 24 is separated from the first water inlet 11a in the open state, the first water inlet 11a is in the open state, and the counterweight portion 25 abuts against the first horizontal portion 112.

[0095] Taking the position where the rotating seat 114 is arranged at the second horizontal portion 113 and close to the inclined portion 111 as an example, the water inlet opening and closing member 20 may be in an inverted V shape. In other words, the first swing arm 22 and the second swing arm 23 are roughly in an inverted V shape. In the shielding state, the shielding portion 24 of the water inlet opening and closing member 20 is attached to the inclined portion 111 and shields the first water inlet 11a, and the first swing arm 22 and the shielding portion 24 are respectively located on both sides of the vertical central axis of the rotating shaft 21. There is a movable gap between the end of the first swing arm 22 away from the rotating shaft 21 and the second horizontal portion 113, so that the water inlet opening and closing member 20 can move counterclockwise around the rotating shaft 21.

[0096] In an optional embodiment, the angle between the first swing arm 22 and the vertical center axis of the rotating shaft 21 is greater than the angle between the shielding portion 24 and the vertical center axis of the rotating shaft 21. The first swing arm 22 has a tendency to move downward, thereby forming a rotational torque rotating in a clockwise direction. The rotational torque makes the shielding portion 24 close to the inclined portion 111 to block the first water inlet 11a on the inclined portion 111, and also increases the torque threshold when the first water inlet 11a is opened, thereby reducing the risk of the first water inlet 11a opening at will or the water inlet opening and closing member 20 shaking at will due to slight bumps, and also preventing the shielding portion 24 from opening the first water inlet 11a due to the suction force of the water pump during underwater cleaning.

[0097] In another optional embodiment, the weight of the first swing arm 22 is greater than the sum of the weights of the second swing arm 23 and the shielding portion 24. In this way, the first swing arm 22 has a tendency to move downward, thereby forming a rotational torque rotating in a clockwise direction, so that the shielding portion 24 is tightly attached to the inclined portion 111 to shield the first water inlet 11a on the inclined portion 111, and also increase the torque threshold when the first water inlet 11a is opened, thereby reducing the risk of the first water inlet 11a opening at will or the water inlet opening and closing member 20 shaking at will due to slight bumps, and also preventing the shielding portion 24 from opening the first water inlet 11a due to the suction force of the water pump during underwater cleaning.

[0098] In this embodiment, a counterweight portion 25 may be further provided on a side of the first swing arm 22 away from the rotation axis 21 . For details, reference may be made to the embodiment in which the rotation seat 114 is provided on the first horizontal portion 112 and close to the inclined portion 111 .

[0099] For further information, see Figure 3 The cleaning robot 100 further includes an electric component 40, which includes a motor, a circuit board, etc. The electric component 40 is sealed and mounted on the chassis 12 and is located in the receiving space 10a.

[0100] See also Figure 3 , the chassis 12 is provided with a concave frame 121 and a convex frame 122. For example, there is an accommodation space between the water inlet opening and closing member 20 and the electric component 40, and the chassis 12 is provided with a convex frame 122 located in the accommodation space. To improve the compactness of the layout in the cleaning robot 100. A concave frame 121 is also formed next to the convex frame 122 on the chassis 12, and the concave frame 121 can be used to accommodate the counterweight part 25. Part of the garbage collection device 50 is arranged in the convex frame 122. The filter frame 12a can be arranged on a part of the wall surface of the chassis 12 surrounding the concave frame 121; and / or, it can be arranged on a part of the wall surface of the chassis 12 surrounding the convex frame 122.

[0101] The cleaning robot 100 further includes a walking device 80 , and the walking device 80 includes walking wheels, tracks, and the like.

[0102] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: include: A shell body, wherein a first water inlet and a water outlet are provided on the shell body, and the first water inlet is located at the top of the shell body; A garbage collection device is disposed in the housing, and has a second water inlet and a filter screen, so that water flow carrying garbage flows into the garbage collection device from the second water inlet; A water inlet opening and closing member is movably disposed inside the housing, and the water inlet opening and closing member has a first position and a second position. When the water inlet opening and closing member is in the first position, the water inlet opening and closing member closes the first water inlet, and when the water inlet opening and closing member is in the second position, the water inlet opening and closing member opens the first water inlet; and A liquid pumping assembly is disposed in the shell and is used to pump water from the first water inlet and the second water inlet and spray water through the water outlet when the water outlet opening and closing member is in the second position, or to pump water from the second water inlet and spray water through the water outlet when the water outlet opening and closing member is in the first position.

2. The cleaning robot according to claim 1, characterized in that: The water inlet opening and closing member is in the second position when the cleaning robot is in the wall-climbing state; and / or, the water inlet opening and closing member is in the first position when the cleaning robot is in the upright state; and / or, the water inlet opening and closing member is in the second position when the cleaning robot is in the flipping state.

3. The cleaning robot according to claim 1, characterized in that: The water inlet opening and closing member swings between the first position and the second position according to the posture of the cleaning robot at least under the action of its own gravity.

4. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a posture detector and a driving component, wherein the posture detector is used to detect the posture of the cleaning robot, the driving component is electrically connected to the posture detector, and the driving component is connected to the water outlet opening and closing component, and the driving component is used to drive the water outlet opening and closing component to be in the first position or the second position according to the posture of the cleaning robot detected by the posture detector.

5. The cleaning robot according to claim 1, characterized in that: The shell includes an inclined portion, the first water inlet is arranged on the inclined portion, and the water inlet opening and closing member is inclined along the inclined portion when located at the first position.

6. The cleaning robot according to claim 5, characterized in that: The outer inclined surface of the inclined portion is oriented in a direction opposite to a forward movement direction of the cleaning robot.

7. The cleaning robot according to claim 5, characterized in that: The shell also includes a first horizontal portion and a second horizontal portion, the first horizontal portion, the inclined portion and the second horizontal portion are connected in sequence along the forward direction of the cleaning robot, a rotating seat is provided on the first horizontal portion, the rotating seat has a rotating hole, and the rotating axis of the water inlet opening and closing member is passed through the rotating hole.

8. The cleaning robot according to any one of claims 1 to 7, characterized in that: The water inlet opening and closing member includes a first swing arm, a rotating shaft, a second swing arm and a shielding portion which are connected in sequence, the rotating shaft is rotatably connected to the top of the shell, the shielding portion shields the first water inlet when the water inlet opening and closing member is in the first position, and the shielding portion is separated from the first water inlet when the water inlet opening and closing member is in the second position.

9. The cleaning robot according to claim 8, characterized in that: The length of the first swing arm is greater than the length of the second swing arm.

10. The cleaning robot according to claim 8, characterized in that: The water inlet opening and closing member further includes a counterweight portion, which is located on a side of the rotating shaft away from the second swing arm, and the counterweight portion is connected to the first swing arm.

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