Motion structure and swimming pool robot

Abstract

The utility model provides a motion structure and a swimming pool robot, and belongs to the technical field of cleaning equipment. The motion structure is installed on a body of the swimming pool robot, the motion structure comprises a driving mechanism, a walking mechanism and a climbing-over mechanism, and the driving mechanism is installed on the body; the walking mechanism is located at the bottom of the body, and the driving mechanism is in transmission connection with the walking mechanism. The climbing mechanism is located at the bottom or / and the side portion of the body and used for the swimming pool robot to climb walls or cross obstacles. The driving mechanism is installed on the body of the swimming pool robot, the walking mechanism is located at the bottom of the body, the driving mechanism is in transmission connection with the walking mechanism, the driving mechanism drives the walking mechanism, and the walking mechanism drives the body to walk, so that the swimming pool robot can walk at the bottom or on the wall of a swimming pool, the swimming pool can be better cleaned, adaptability is higher, and practicability is high. And the cleaning efficiency of the swimming pool robot is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning equipment, and in particular relates to a motion structure and a swimming pool robot. Background Art

[0002] The pool robot is a cleaning robot developed for the cleaning needs of swimming pools. It can repeatedly clean the bottom and walls of the swimming pool and filter the water in the swimming pool. During the working process, the pool robot drives the motion structure through the driving mechanism, so that the pool robot moves on the surface of the swimming pool, and then cleans the pollutants on the surface of the swimming pool by rolling the roller brush on the surface of the swimming pool.

[0003] When a pool robot is cleaning a pool, there are obstacles such as lampshades at the bottom of the pool, and the pool robot needs to climb the pool wall for cleaning. For the cleaning of the above places, the motion structure of the existing pool robot has many problems to be solved.

[0004] The utility model patent with publication number CN116201404A discloses a swimming pool cleaning robot with a steering structure, wherein four running wheels are provided at the bottom of the body, and the running wheels are detachably connected to the body. The motion structure travels via the four running wheels, and it is difficult to cross steps or obstacles at the bottom of the pool. The running wheels are easily stuck on obstacles, and the running wheels are unstable when climbing walls, making it difficult to clean the pool wall. The utility model patent with publication number CN118148424A discloses a wall-climbing swimming pool cleaning robot, wherein walking components are provided on both sides of the body, and the walking components include a walking motor and a first output end connected to the walking motor, and the first output end is connected to a walking track, and the motion structure climbs the wall via the walking track, and the walking track can climb the wall well, but it is not as flexible as the running wheels when cleaning the bottom of the pool, and the cleaning efficiency is low. Utility Model Content

[0005] In view of this, in order to solve the problems in the prior art, the utility model proposes a motion structure. The technical problem to be solved by the utility model is: how to enable the swimming pool robot to cross obstacles or climb walls to ensure the cleaning efficiency of the swimming pool robot.

[0006] The utility model solves the above problems through the following technical means:

[0007] A motion structure is installed on the body of a swimming pool robot, and the motion structure includes:

[0008] A driving mechanism, wherein the driving mechanism is mounted on the body;

[0009] A walking mechanism, the walking mechanism is located at the bottom of the body, and the driving mechanism is transmission-connected with the walking mechanism;

[0010] A climbing mechanism is located at the bottom and / or the side of the body, and is used for the swimming pool robot to climb walls or cross obstacles.

[0011] In this motion structure, the driving mechanism is installed on the body of the swimming pool robot, and the walking mechanism is located at the bottom of the body. The driving mechanism is connected to the walking mechanism by transmission. The driving mechanism drives the walking mechanism, and the walking mechanism drives the body to walk, so that it can walk on the bottom or wall of the swimming pool, can better clean the swimming pool, has stronger adaptability, and ensures the cleaning efficiency of the swimming pool robot.

[0012] In the above-mentioned motion structure, the climbing mechanism is located at least on one side of the bottom or in the middle of the bottom side. The bottom of the body fits the bottom or wall of the swimming pool, and the climbing mechanism located at the bottom of the body can well cross obstacles and better fit the swimming pool wall for climbing.

[0013] In the above-mentioned motion structure, the climbing mechanism includes a crawler track arranged on the side of the bottom of the body, and the driving mechanism is connected to the crawler track. Crawler tracks are arranged on both sides of the bottom of the body, and the driving mechanism drives the walking mechanism and the crawler track at the same time, so that the crawler track and the walking mechanism move synchronously.

[0014] In the above-mentioned motion structure, the walking mechanism includes at least one set of first rollers or / and one set of second rollers, the driving mechanism is in transmission connection with the first rollers, and the second rollers are in transmission connection with the first rollers. A set of first rollers or a set of first rollers and a set of second rollers are used, and the crawler track is located between the first rollers and the second rollers, so that walking, crossing obstacles and climbing walls are more stable and easier.

[0015] In the above-mentioned motion structure, the driving mechanism includes a driving motor and a transmission assembly, and the walking mechanism and the climbing mechanism are both connected to the driving motor through the transmission assembly. The driving mechanism specifically includes a driving motor and a transmission assembly, and the driving motor drives the walking mechanism and the climbing mechanism at the same time, and only one driving motor is needed, which can save costs and energy.

[0016] In the above-mentioned motion structure, the transmission assembly includes a first gear, a second gear and a third gear, the first gear, the second gear and the third gear are all rotatably connected to the body, the output end of the drive motor is transmission-connected to the first gear, the second gear is meshed with the first gear, the third gear is meshed with the second gear, one end of the third gear is provided with a first connecting shaft, and the first roller is sleeved on the first connecting shaft. Through the rigid transmission between the first gear, the second gear and the third gear, the power transmission is more reliable, and the swimming pool robot moves more stably under water.

[0017] In the above-mentioned motion structure, the transmission assembly also includes a fourth gear, the fourth gear is rotatably connected to the body, and the inner teeth of the crawler are meshed with the third gear and the fourth gear. The driving motor drives the first gear to rotate, the first gear drives the second gear, the second gear drives the third gear to rotate, and the third gear drives the crawler to rotate at the same time. When the first roller rotates, the crawler also rotates. The first roller enables the swimming pool robot to walk, and the crawler can easily cross obstacles when encountering them, and when climbing walls, it is easier to fit the swimming pool wall to achieve wall climbing.

[0018] In the above-mentioned motion structure, a second connecting shaft is provided at one end of the fourth gear, and the second roller is sleeved on the second connecting shaft. The crawler is between the first roller and the second roller, and through the third gear and the fourth gear, the crawler can cross obstacles and climb walls while the swimming pool robot walks.

[0019] In the above-mentioned motion structure, the transmission assembly further includes a first tension wheel and a second tension wheel, both of which are transmission-connected to the body, and the inner teeth of the track are meshed with the first tension wheel and the second tension wheel. Under the action of the first tension wheel and the second tension wheel, the posture of the cleaning robot is adjusted to cross obstacles, and the first tension wheel and the second tension wheel are used to make the entire cleaning robot easily cross obstacles.

[0020] In the above-mentioned motion structure, the centers of the first tension wheel and the second tension wheel are located on the same horizontal line. The first roller, the second roller and the bottom of the crawler are on the same horizontal line, and the swimming pool robot walks normally.

[0021] In the above-mentioned motion structure, the centers of the third gear, the fourth gear, the first tension wheel and the second tension wheel are in an inverted trapezoid. The first tension wheel and the second tension wheel adjust their postures to raise the body of the swimming pool robot, and the crawler protrudes relative to the first roller and the second roller, that is, the bottom of the crawler is lower than the bottom of the first roller and the second roller, so that obstacles can be easily crossed by crawling on the crawler.

[0022] In the above-mentioned motion structure, the climbing mechanism includes climbing wheels arranged on the side of the bottom of the body. The climbing wheels replace the tracks, and the climbing wheels are arranged on the side of the bottom of the body, or the climbing wheels are arranged on both sides of the bottom of the body, and the obstacles at the bottom of the swimming pool and the climbing walls are climbed by the climbing wheels.

[0023] In the above-mentioned motion structure, the climbing mechanism includes a crawler provided in the middle of the bottom side of the body. The crawler is provided in the middle of the bottom side of the body, and obstacles can be crossed and walls can be climbed by the crawler in the middle of the bottom side of the body.

[0024] In the above-mentioned movement structure, the climbing mechanism includes climbing wheels arranged on the side edges of the bottom of the body and / or in the middle of the bottom surface. The climbing wheels replace the crawler tracks. The climbing wheels are arranged on the side edges of the bottom of the body, or on both sides of the bottom of the body, or in the middle of the bottom surface, and the climbing wheels are used to cross obstacles at the bottom of the swimming pool and climb the pool wall.

[0025] In the above-mentioned movement structure, the crawler track includes crawler track strips. A plurality of walking teeth are arranged on the outer side surface of the crawler track strips, and a plurality of inner teeth are arranged on the inner side surface of the crawler track strips. The walking teeth can provide greater grip for the pool robot, making the pool robot walk more steadily and more easily cross obstacles. The walking teeth can fit the pool wall better, which is more conducive to the pool robot climbing the pool wall. The inner teeth can better mesh with the third gear, the fourth gear, the first tensioning wheel and the second tensioning wheel, so that the crawler track and the second roller have better transmission effect.

[0026] In the above-mentioned movement structure, clamping blocks are arranged on the end faces of the first tensioning wheel and the second tensioning wheel. The clamping blocks effectively limit the crawler track to prevent the crawler track from falling out, so that the inner teeth of the crawler track mesh with the first tensioning wheel and the second tensioning wheel.

[0027] Another object of the present utility model is to provide a pool robot:

[0028] A pool robot includes a body and the above-mentioned movement structure. A sewage suction port is arranged at the bottom of the body, and a water outlet is arranged on the side or upper part of the body. A bin for storing garbage is arranged between the sewage suction port and the water outlet. This pool robot can easily cross the lamp cover or other obstacles at the bottom of the swimming pool, and can better climb the pool wall, can better clean the swimming pool, and has stronger adaptability. During cleaning, garbage enters from the sewage suction port, flows into the filtering mechanism, the filtered garbage enters the bin, and the filtered water flows out from the water outlet to complete the cleaning of the swimming pool.

[0029] In the above-mentioned pool robot, a rolling brush mechanism is arranged at the front part of the body. The rolling brush mechanism is used for cleaning the swimming pool and for the pool robot to climb between the bottom surface of the swimming pool and the pool wall. The rolling brush rotates to clean the dirt in the swimming pool and realize the cleaning function. The rotating rolling brush climbs up the pool wall by means of the rolling brush blades on it, and finally realizes the transition of the pool robot from the bottom of the swimming pool to the pool wall.

[0030] Compared with the prior art, the advantages of the present utility model are as follows:

[0031] The driving mechanism of the motion structure is installed on the body of the swimming pool robot, and the walking mechanism is located at the bottom of the body. The driving mechanism is connected to the walking mechanism through transmission. The driving mechanism drives the walking mechanism, and the walking mechanism drives the body to walk, so that it can walk on the bottom or wall of the swimming pool, can better clean the swimming pool, has stronger adaptability, and ensures the cleaning efficiency of the swimming pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of the swimming pool robot;

[0033] Figure 2 This is a partial exploded view of the pool robot;

[0034] Figure 3 yes Figure 2 Enlarged view of part A in the middle;

[0035] Figure 4 yes Figure 2 Enlarged view of middle part B;

[0036] Figure 5 It is a cross-section of the pool robot;

[0037] Figure 6 This is a schematic diagram of the structure of the swimming pool robot from another perspective;

[0038] Figure 7 This is a schematic diagram of the third gear, the fourth gear, the first tension wheel and the second tension wheel when they are moving normally and crossing obstacles;

[0039] Figure 8 This is a schematic diagram of the pool robot climbing up the pool wall from the bottom of the pool.

[0040] In the figure, 100, main body; 110, sewage suction port; 130, warehouse body; 140, roller brush mechanism; 141, roller brush; 142, fifth gear; 143, sixth gear; 200, driving mechanism; 210, driving motor; 220, transmission assembly; 221, first gear; 222, second gear; 223, third gear; 224, first connecting shaft; 225, fourth gear; 226, second connecting shaft; 227, first tensioning wheel; 228, second tensioning wheel; 300, walking mechanism; 310, first roller; 320, second roller; 400, climbing mechanism; 410, crawler track; 411, crawler track strip; 412, walking teeth; 413, inner teeth; 414, block. DETAILED DESCRIPTION

[0041] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0042] A swimming pool robot is a cleaning robot developed for the cleaning needs of swimming pools. It can repeatedly clean the bottom and walls of the swimming pool and filter the water in the swimming pool. During operation, the swimming pool robot drives the motion structure through the driving mechanism 200, so that the swimming pool robot moves on the surface of the swimming pool, and then cleans the pollutants on the surface of the swimming pool by rolling the roller brush 141 on the surface of the swimming pool. When the swimming pool robot is cleaning the swimming pool, there are obstacles such as steps in the swimming pool and lampshades at the bottom of the swimming pool, and the swimming pool robot needs to climb the swimming pool wall for cleaning. For the cleaning of the above-mentioned places, there are many problems to be solved in the motion structure of the existing swimming pool robot. In view of this, the utility model provides a motion structure and a swimming pool robot, so that the swimming pool robot can cross the lampshade or other obstacles at the bottom of the swimming pool, and after climbing the wall, it can fit well with the swimming pool wall, thereby improving the cleaning efficiency of the swimming pool robot.

[0043] like Figure 1-6 As shown, the motion structure is installed on the body 100 of the swimming pool robot, and the motion structure includes: a driving mechanism 200, a walking mechanism 300 and a climbing mechanism 400, wherein the driving mechanism 200 is installed on the body 100; the walking mechanism 300 is located at the bottom of the body 100, and the driving mechanism 200 is transmission-connected with the walking mechanism 300; the climbing mechanism 400 is located at the bottom and / or the side of the body 100, and the climbing mechanism 400 is used for the swimming pool robot to climb walls or cross obstacles.

[0044] The working principle is as follows: the driving mechanism 200 is installed on the body 100 of the swimming pool robot, the walking mechanism 300 is located at the bottom of the body 100, the driving mechanism 200 is connected to the walking mechanism 300 by transmission, the driving mechanism 200 drives the walking mechanism 300, and the walking mechanism 300 drives the body 100 to walk, so that it can walk on the bottom of the swimming pool or the wall of the swimming pool, and the swimming pool is cleaned in combination with the roller brush mechanism 140 of the swimming pool robot. When encountering the lamp cover or other obstacles at the bottom of the swimming pool, the climbing mechanism 400 is combined with the walking mechanism 300 to achieve crossing the lamp cover or other obstacles, or when the swimming pool robot is climbing the swimming pool wall, the climbing mechanism 400 fits the swimming pool wall to achieve better climbing of the swimming pool wall. The utility model can easily cross the lamp cover or other obstacles at the bottom of the swimming pool through the walking mechanism 300 and the climbing mechanism 400, and better climb the swimming pool wall, so as to better clean the swimming pool, have stronger adaptability, and ensure the cleaning efficiency of the swimming pool robot.

[0045] It should be noted that the climbing mechanism 400 can be connected to the driving mechanism 200 by transmission, or the climbing mechanism 400 can be powered by other means, such as by a separate motor to power the climbing mechanism 400, and the separate motor independently controls the climbing mechanism 400. When the climbing mechanism 400 needs to work, the motor is started, and when the climbing mechanism 400 is not needed, it is turned off. In this embodiment, the climbing mechanism 400 is connected to the driving mechanism 200 by transmission, and the walking mechanism 300 and the climbing mechanism 400 are driven by the driving mechanism 200 at the same time, so that the swimming pool robot can walk, climb walls and cross obstacles. For example, this embodiment uses a single driving motor 210 to drive the climbing mechanism 400 and the driving mechanism 200, which can save costs and energy, and the driving of a driving motor 210 is simple and convenient, without the need to control multiple motors.

[0046] Further, the climbing mechanism 400 is located at least one side of the bottom of the body 100 or the middle of the bottom side. In this structure, the climbing mechanism 400 can be located at the bottom of the swimming pool robot, and the bottom of the body 100 fits the bottom of the swimming pool or the swimming pool wall. The climbing mechanism 400 is located at the bottom of the body 100, which can well cross obstacles and better fit the swimming pool wall for climbing. Optionally, the climbing mechanism 400 can be located on one side of the bottom of the body 100; or, the climbing mechanism 400 can be located on both sides of the bottom of the body 100; or, the climbing mechanism 400 can be located in the middle of the bottom side of the body 100; the position of the climbing mechanism 400 can be selected according to actual conditions. As a preferred embodiment, the climbing mechanism 400 is located on both sides of the bottom of the body 100, so that it can better cross obstacles or climb walls with the walking mechanism 300. Of course, the climbing mechanism 400 can also be located on the side of the body 100.

[0047] Furthermore, the climbing mechanism 400 includes a crawler 410 disposed on the side of the bottom of the body 100, and the driving mechanism 200 is in transmission connection with the crawler 410. In this structure, the climbing mechanism 400 includes the crawler 410, and the crawler 410 can adaptively adjust the height of the swimming pool robot from the ground according to the shape of the obstacle when crossing the obstacle at the bottom of the swimming pool, and cooperate with the walking mechanism 300 to achieve crossing the obstacle, and when climbing the swimming pool wall, the crawler 410 can fit the swimming pool wall well, and cooperate with the walking mechanism 300 to better climb the wall. In this embodiment, crawlers 410 are disposed on both sides of the bottom of the body 100, and the walking mechanism 300 and the crawler 410 are simultaneously driven by the driving mechanism 200, so that the crawler 410 and the walking mechanism 300 move synchronously.

[0048] like Figure 1 and 2As shown, the traveling mechanism 300 includes at least one set of first rollers 310 or / and one set of second rollers 320. The driving mechanism 200 is in transmission connection with the first rollers 310, and the second rollers 320 are in transmission connection with the first rollers 310. In this structure, the traveling mechanism 300 cooperates with the climbing mechanism 400 to walk and cross obstacles or climb walls. The traveling mechanism 300 may include one set of first rollers 310, that is, two first rollers 310, and the two first rollers 310 are respectively located on both sides of the bottom of the body 100; alternatively, the traveling mechanism 300 includes one set of first rollers 310 and one set of second rollers 320, that is, two first rollers 310 and two second rollers 320, which are respectively located on both sides of the bottom of the body 100. At this time, the climbing mechanism 400 is located between the first rollers 310 and the second rollers 320. The present utility model can adopt one set of first rollers 310 or one set of first rollers 310 and one set of second rollers 320 according to the actual situation. In this embodiment, one set of first rollers 310 or one set of first rollers 310 and one set of second rollers 320 is adopted, and the crawler 410 is located between the first rollers 310 and the second rollers 320. In this way, it is more stable and easier when walking, crossing obstacles and climbing walls.

[0049] As Figure 2 shown, the driving mechanism 200 includes a driving motor 210 and a transmission component 220. Both the traveling mechanism 300 and the climbing mechanism 400 are in transmission connection with the driving motor 210 through the transmission component 220. In this mechanism, the driving mechanism 200 serves as a power source to provide power for the cleaning robot to walk and climb. The driving mechanism 200 specifically includes a driving motor 210 and a transmission component 220. The driving motor 210 drives the traveling mechanism 300 and the climbing mechanism 400 simultaneously, and it can be achieved by one driving motor 210, which can save costs and energy. In other embodiments, the traveling mechanism 300 and the climbing mechanism 400 can be driven by different power sources. The transmission component 220 transmits the power of the power source, enabling the driving motor 210 to drive the traveling mechanism 300 to walk and the climbing mechanism 400 to cross obstacles and climb walls. As an embodiment, the driving motor 210 is a dual-head motor.

[0050] As Figure 2-5As shown, the transmission assembly 220 includes a first gear 221, a second gear 222, and a third gear 223. The first gear 221, the second gear 222, and the third gear 223 are all rotatably connected to the body 100. The output end of the drive motor 210 is in transmission connection with the first gear 221. The second gear 222 meshes with the first gear 221, and the third gear 223 meshes with the second gear 222. One end of the third gear 223 is provided with a first connecting shaft 224, and the first roller 310 is sleeved on the first connecting shaft 224. In this structure, the first gear 221, the second gear 222, and the third gear 223 are rotatably connected to the body 100. The output end of the drive motor 210 is in transmission connection with the first gear 221, that is, the output end of the drive motor 210 is connected to the first gear 221. The second gear 222 meshes with the first gear 221, and the third gear 223 meshes with the second gear 222. During operation, when the drive motor 210 is started, the motor drives the first gear 221 to rotate. The first gear 221 drives the second gear 222 to rotate, enabling the second gear 222 to drive the third gear 223 to rotate. Since one end of the third gear 223 is provided with a first connecting shaft 224 and the first roller 310 is sleeved on the first connecting shaft 224, that is, the first roller 310 rotates following the third gear 223, ultimately realizing the walking of the pool robot driven by the first roller 310. Through the rigid transmission among the first gear 221, the second gear 222, and the third gear 223, the power transmission is more reliable, and the pool robot moves more stably at the bottom of the pool.

[0051] As Figure 2-5 shown, the transmission assembly 220 further includes a fourth gear 225. The fourth gear 225 is rotatably connected to the body 100. The inner teeth 413 of the track 410 mesh with both the third gear 223 and the fourth gear 225. In this structure, the fourth gear 225 is rotatably connected to the body 100. The centers of the third gear 223 and the fourth gear 225 are located on the same straight line. Since the drive motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, and the second gear 222 drives the third gear 223 to rotate. The inner teeth 413 of the track 410 mesh with both the third gear 223 and the fourth gear 225, that is, it realizes the third gear 223 driving the track 410 to rotate simultaneously. At this time, while the first roller 310 is rotating, the track 410 is also rotating. The first roller 310 enables the pool robot to walk, and the track 410 can easily cross obstacles and is more likely to fit the pool wall when climbing the wall, realizing wall climbing.

[0052] As Figure 2-5As shown, the second connecting shaft 226 is provided at one end of the fourth gear 225, and the second roller 320 is sleeved on the second connecting shaft 226. In this structure, the second connecting shaft 226 is provided at one end of the fourth gear 225, and the second roller 320 is sleeved on the second connecting shaft 226. The driving motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, and the second gear 222 drives the third gear 223 to rotate. The inner teeth 413 of the crawler 410 are meshed with the third gear 223 and the fourth gear 225. The third gear 223 drives the crawler 410 to rotate, and the crawler 410 drives the fourth gear 225 to rotate, and the second roller 320 is sleeved on the second connecting shaft 226 to realize the rotation of the second roller 320. In this embodiment, the crawler 410 is between the first roller 310 and the second roller 320, and through the third gear 223 and the fourth gear 225, the crawler 410 can go over obstacles and climb walls while the swimming pool robot is walking.

[0053] like Figure 2-5 As shown, the transmission assembly 220 also includes a first tension wheel 227 and a second tension wheel 228, both of which are transmission-connected to the main body 100, and the inner teeth 413 of the track 410 are meshed with the first tension wheel 227 and the second tension wheel 228. In this structure, the first tension wheel 227 and the second tension wheel 228 are both connected to the body 100 by transmission, the inner teeth 413 of the crawler 410 are meshed with the first tension wheel 227 and the second tension wheel 228, the driving motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, the second gear 222 drives the third gear 223 to rotate, and the crawler 410 drives the fourth gear 225 to rotate. Under the tensioning action of the first tension wheel 227 and the second tension wheel 228, the crawler 410 rotates around the third gear 223, the fourth gear 225, the first tension wheel 227 and the second tension wheel 228, so that when the cleaning robot encounters an obstacle, under the action of the first tension wheel 227 and the second tension wheel 228, the posture of the cleaning robot is adjusted, and then the obstacle is crossed. Through the first tension wheel 227 and the second tension wheel 228, the entire cleaning robot can easily cross the obstacle.

[0054] like Figure 2-5As shown, the centers of the first tensioning wheel 227 and the second tensioning wheel 228 are on the same horizontal line. In this structure, the centers of the first tensioning wheel 227 and the second tensioning wheel 228 are on the same horizontal line and are below the centers of the third gear 223 and the fourth gear 225; at this time, the centers of the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228 form an inverted trapezoid. When the pool robot walks on the bottom of the pool, the centers of the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228 are at the corners of the inverted trapezoid, and the crawler belt 410 is in a taut state. At this time, the bottoms of the first roller 310, the second roller 320 and the crawler belt 410 are on the same horizontal line, and the pool robot walks normally. When climbing the wall, the centers of the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228 are at the corners of the inverted trapezoid, and the crawler belt 410 is in a taut state, as Figure 7 shown in a of [reference number]. At this time, the bottoms of the first roller 310, the second roller 320 and the crawler belt 410 are on the same horizontal line. At this time, the crawler belt 410 closely adheres to the pool wall, enabling the pool robot to climb the wall better. When encountering an obstacle, the first tensioning wheel 227 and the second tensioning wheel 228 adjust their postures to raise the body 100 of the pool robot, as Figure 7 shown in b of [reference number]. At this time, the crawler belt 410 protrudes relative to the first roller 310 and the second roller 320, that is, the bottom of the crawler belt 410 is lower than the bottoms of the first roller 310 and the second roller 320, and the crawler belt 410 can easily cross the obstacle. As a preferred embodiment, when encountering an obstacle, the crawler belt 410 protrudes about 3 cm relative to the first roller 310 and the second roller 320, that is, the body 100 of the pool robot is raised by 3 cm, enabling the pool robot to easily cross the obstacle.

[0055] As Figure 2-5 shown, the crawler belt 410 includes crawler belt strips 411. A plurality of running teeth 412 are provided on the outer side surface of the crawler belt strips 411, and a plurality of internal teeth 413 are provided on the inner side surface of the crawler belt strips 411. In this structure, a plurality of running teeth 412 are provided on the outer side surface of the crawler belt strips 411, and the plurality of running teeth 412 are uniformly arranged along the outer circumference of the crawler belt strips 411. When the pool robot walks, the running teeth 412 can provide greater grip for the pool robot, making the pool robot walk more steadily and more easily cross obstacles; when climbing the wall, the running teeth 412 can better adhere to the pool wall, which is more conducive to the pool robot climbing the wall. A plurality of internal teeth 413 are provided on the inner side surface of the crawler belt strips 411, and the plurality of internal teeth 413 are uniformly arranged along the inner circumference of the crawler belt strips 411. The internal teeth 413 mesh better with the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228, enabling better transmission effect between the crawler belt 410 and the second roller 320.

[0056] As Figure 2-5 shown, clamping blocks 414 are provided on the end faces of the first tensioning wheel 227 and the second tensioning wheel 228. In this structure, clamping blocks 414 are provided on the end faces of the first tensioning wheel 227 and the second tensioning wheel 228. The inner teeth 413 of the crawler belt 410 are engaged with the first tensioning wheel 227 and the second tensioning wheel 228. When the pool robot moves, the clamping blocks 414 effectively limit the crawler belt 410 to prevent the crawler belt 410 from falling out, so that the inner teeth 413 of the crawler belt 410 are engaged with the first tensioning wheel 227 and the second tensioning wheel 228.

[0057] Embodiment 2:

[0058] The motion structure of this embodiment is basically the same as that of Embodiment 1. The difference lies in that the climbing mechanism 400 includes climbing wheels provided on the side edges of the bottom of the body 100. That is, the climbing wheels replace the crawler belt 410. The climbing wheels are provided on the side edges of the bottom of the body 100, or the climbing wheels are provided on both sides of the bottom of the body 100. The climbing wheels are used to cross the obstacles at the bottom of the pool and climb the pool wall.

[0059] Embodiment 3:

[0060] The motion structure of this embodiment is basically the same as that of Embodiment 1. The difference lies in that the climbing mechanism 400 includes a crawler belt 410 provided in the middle of the bottom side of the body 100. That is, the crawler belt 410 is provided in the middle of the bottom side of the body 100. The crawler belt 410 in the middle of the bottom side of the body 100 is used to cross the obstacles and climb the pool wall.

[0061] Embodiment 4:

[0062] The motion structure of this embodiment is basically the same as that of Embodiment 1. The difference lies in that the climbing mechanism 400 includes climbing wheels provided on the side edges and / or the middle of the bottom side of the body 100. That is, the climbing wheels replace the crawler belt 410. The climbing wheels are provided on the side edges of the bottom of the body 100, or the climbing wheels are provided on both sides of the bottom of the body 100, or the climbing wheels are provided in the middle of the bottom side. The climbing wheels are used to cross the obstacles at the bottom of the pool and climb the pool wall.

[0063] Embodiment 5:

[0064] As Figure 1 and 2 shown, this embodiment provides a pool robot, including a body 100 and the above-mentioned motion structure. Through the above-mentioned motion structure, it can easily cross the lamp cover or other obstacles at the bottom of the pool, and better climb the pool wall, and can better clean the pool, with stronger adaptability.

[0065] As Figure 1 and 2As shown, a sewage suction port 110 is provided at the bottom of the main body 100, and a water outlet is provided at the side or upper part of the main body 100. A bin 130 for storing garbage is provided between the sewage suction port 110 and the water outlet. Specifically, a filtering mechanism is also provided inside the main body 100. When the pool robot works, it walks and climbs through the traveling mechanism 300 and the climbing mechanism 400. Garbage enters from the sewage suction port 110, flows into the filtering mechanism, the filtered garbage enters the bin 130, and the filtered water flows out from the water outlet, completing the cleaning of the pool.

[0066] As Figure 1 and 2 shown, a rotary brush mechanism 140 is provided at the front of the main body 100. The rotary brush mechanism 140 is used for cleaning the pool and for the pool robot to climb between the bottom of the pool and the pool wall. Specifically, the rotary brush mechanism 140 includes a rotary brush 141 and a fifth gear 142. The rotary brush 141 is rotatably connected to the main body 100, the fifth gear 142 is rotatably connected to the main body 100, a sixth gear 143 is provided at the end of the rotary brush 141. The fifth gear 142 meshes with the traveling teeth 412 of the crawler belt 410, and the fifth gear 142 meshes with the sixth gear 143. When cleaning the pool, the crawler belt 410 drives the fifth gear 142 to rotate, the fifth gear 142 drives the sixth gear 143 to rotate, and then drives the rotary brush 141 to rotate. The rotary brush 141 cleans the dirt in the pool, realizing the cleaning function. In addition, when the pool robot climbs from the bottom of the pool to the pool wall, since the first roller 310 and the second roller 320 are relatively high, the pool robot cannot directly climb onto the pool wall. At this time, the rotary brush 141 first contacts the pool wall, and the rotating rotary brush 141 climbs onto the pool wall relying on the rotary brush blades on it, finally realizing the transition of the pool robot from the bottom of the pool to the pool wall. As Figure 8 shown in a of, the pool robot first slowly climbs at a certain angle through the rotary brush 141, and then the rotary brush 141 continues to climb to reach the angle shown in Figure 8 b of, and finally realizes that the pool robot completely climbs onto the pool wall.

[0067] The specific embodiments described herein are merely illustrative of the spirit of the present utility model. Those skilled in the art of the present utility model can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, but will not deviate from the spirit of the present utility model or exceed the scope defined by the appended claims.

Claims

1. A motion structure is installed on the body (100) of a pool robot, characterized in that, The movement structure includes: A driving mechanism (200), which is installed on the main body (100); A traveling mechanism (300), which is located at the bottom of the main body (100), and the driving mechanism (200) is in transmission connection with the traveling mechanism (300); A climbing mechanism (400), which is located at the bottom and / or side of the main body (100), and the climbing mechanism (400) is used for the pool robot to climb the wall or cross obstacles.

2. The kinematic structure according to claim 1, wherein The climbing mechanism (400) is located on at least one side of the bottom of the main body (100) or in the middle of the bottom side surface.

3. A motion structure according to claim 2, characterized in that The climbing mechanism (400) includes a crawler belt (410) arranged on the side of the bottom of the main body (100), and the driving mechanism (200) is in transmission connection with the crawler belt (410).

4. The kinematic structure according to claim 3, characterized in that, The traveling mechanism (300) includes at least one group of first rollers (310) or / and one group of second rollers (320), the driving mechanism (200) is in transmission connection with the first rollers (310), and the second rollers (320) are in transmission connection with the first rollers (310).

5. A motion structure according to claim 4, characterized in that, The driving mechanism (200) includes a driving motor (210) and a transmission assembly (220), and both the traveling mechanism (300) and the climbing mechanism (400) are in transmission connection with the driving motor (210) through the transmission assembly (220).

6. A motion structure according to claim 5, characterized in that, The transmission assembly (220) includes a first gear (221), a second gear (222) and a third gear (223). The first gear (221), the second gear (222) and the third gear (223) are all rotatably connected to the main body (100). The output end of the driving motor (210) is in transmission connection with the first gear (221). The second gear (222) meshes with the first gear (221). The third gear (223) meshes with the second gear (222). One end of the third gear (223) is provided with a first connecting shaft (224), and the first roller (310) is sleeved on the first connecting shaft (224).

7. A motion structure according to claim 6, characterized in that, The transmission assembly (220) further includes a fourth gear (225), the fourth gear (225) is rotatably connected to the main body (100), and the internal teeth (413) of the crawler belt (410) mesh with both the third gear (223) and the fourth gear (225).

8. A motion structure according to claim 7, characterized in that, One end of the fourth gear (225) is provided with a second connecting shaft (226), and the second roller (320) is sleeved on the second connecting shaft (226).

9. A motion structure according to claim 8, characterized in that, The transmission assembly (220) further includes a first tensioning wheel (227) and a second tensioning wheel (228). The first tensioning wheel (227) and the second tensioning wheel (228) are both in transmission connection with the main body (100), and the internal teeth (413) of the crawler belt (410) mesh with both the first tensioning wheel (227) and the second tensioning wheel (228).

10. A motion structure according to claim 9, characterized in that, The centers of the first tensioning wheel (227) and the second tensioning wheel (228) are located on the same horizontal line.

11. A motion structure according to claim 10, characterized in that, The centers of the third gear (223), the fourth gear (225), the first tensioning wheel (227) and the second tensioning wheel (228) form an inverted trapezoid.

12. A motion structure according to claim 3, characterized in that, The crawler belt (410) includes a plurality of crawler belt strips. A plurality of running teeth (412) are provided on the outer side surface of the crawler belt strips, and a plurality of inner teeth (413) are provided on the inner side surface of the crawler belt strips.

13. A motion structure according to claim 9, characterized in that, Latch blocks (414) are provided on the end faces of the first tensioning wheel (227) and the second tensioning wheel (228).

14. A motion structure according to claim 2, characterized in that, The climbing mechanism (400) includes a climbing wheel provided on the bottom side of the body (100).

15. A motion structure according to claim 2, characterized in that, The climbing mechanism (400) includes a crawler belt (410) provided in the middle of the bottom side of the body (100).

16. A motion structure according to claim 2, characterized in that, The climbing mechanism (400) includes a climbing wheel provided on the bottom side or / and the middle of the bottom side of the body (100).

17. A pool robot, characterized in that, It includes a body (100) and a motion structure according to any one of claims 1-16. A sewage suction port (110) is provided at the bottom of the body (100), a water outlet is provided at the side or upper part of the body (100), and a bin body (130) for storing garbage is provided between the sewage suction port (110) and the water outlet.

18. A pool robot according to claim 17, wherein A rotary brush mechanism (140) is provided at the front of the body (100). The rotary brush mechanism (140) is used for cleaning the swimming pool and for the pool robot to climb between the bottom surface and the pool wall of the swimming pool.

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