Cleaning robot

Abstract

The utility model is suitable for the field of robots, and discloses a cleaning robot. The cleaning robot comprises a main body, a buoyancy device, a driving device and a collecting device. A cleaning face is formed at the bottom of the body. The buoyancy device is arranged on the main body and used for enabling the cleaning robot to float on the water surface when the water surface is cleaned. The driving device is used for driving the cleaning robot to advance on the water surface or underwater. The collecting device is arranged on the main body, at least part of the collecting device is located on the cleaning face, and the collecting device is used for collecting water surface or underwater garbage. Wherein during underwater cleaning, the cleaning robot is directly arranged in water, the cleaning surface faces the underwater surface to be cleaned, and during water surface cleaning, the cleaning robot is inversely arranged in water, and the cleaning surface faces the water surface to be cleaned. According to the cleaning robot, the size of the cleaning robot can be reduced as much as possible, the structure of the cleaning robot is simplified, the cleaning robot can conduct cleaning more flexibly, and underwater and water surface cleaning is more facilitated.

Description

Technical Field

[0001] This application relates to the field of robots, and particularly to a cleaning robot. Background Art

[0002] With the rapid development of the times, more and more occasions use robots for automated cleaning to improve work efficiency and save labor. For example, a robot can be used to clean a pool to keep it clean and hygienic. When the robot cleans the garbage underwater and on the water surface, it generally needs to collect the garbage through different cleaning positions, which will result in a larger volume and more complex structure of the cleaning robot. Summary of the Utility Model

[0003] The purpose of this application is to provide a cleaning robot, which aims to solve the technical problems of the large volume and complex structure of the cleaning robot for cleaning the pool.

[0004] To achieve the above purpose, this application provides a cleaning robot, including:

[0005] A main body, on the bottom of which a cleaning surface is formed;

[0006] A buoyancy device, arranged on the main body, and used to make the cleaning robot float on the water surface during water surface cleaning;

[0007] A driving device, used to drive the cleaning robot to travel on the water surface or underwater;

[0008] A collection device, arranged on the main body and at least partially located at the cleaning surface, and used to collect garbage on the water surface or underwater;

[0009] Wherein, during underwater cleaning, the cleaning robot is placed upright in the water and the cleaning surface faces the underwater surface to be cleaned, and during water surface cleaning, the cleaning robot is placed upside down in the water and the cleaning surface faces the water surface to be cleaned.

[0010] In the cleaning robot of this application, the cleaning robot has a central plane, the central plane is perpendicular to the first direction and is located at the center of the cleaning robot along the first direction, and the center of gravity and the center of buoyancy of the cleaning robot are both located on the central plane;

[0011] Wherein, the first direction is the horizontal direction perpendicular to the traveling direction of the cleaning robot.

[0012] In the cleaning robot of this application, when in a balanced state during water surface cleaning, the center of gravity of the cleaning robot is located below the center of buoyancy.

[0013] In the cleaning robot of this application, there are two buoyancy devices, and the two buoyancy devices are arranged on both sides of the main body along the first direction, and the cleaning surface is located between the two buoyancy devices.

[0014] In the cleaning robot of the present application, the two buoyancy devices are symmetrical with respect to the central plane, and the parts of the main body located on both sides of the central plane are symmetrical with respect to the central plane.

[0015] In the cleaning robot of the present application, both of the two buoyancy devices protrude from the cleaning surface. When cleaning on the water surface, the buoyancy device is partially located above the water surface, and the main body is submerged below the water surface.

[0016] In the cleaning robot of the present application, when cleaning the water surface, the center of gravity of the cleaning robot is close to the rear side in the moving direction of the cleaning robot, so that the cleaning surface is inclined.

[0017] In the cleaning robot of the present application, the buoyancy device is provided with a float chamber and a water inlet and an air inlet connected to the float chamber. When cleaning underwater, the float chamber receives water through the water inlet and discharges gas through the air inlet. The gravity of the cleaning robot is greater than the buoyancy. When cleaning on the water surface, the float chamber discharges water through the water inlet and receives gas through the air inlet. The gravity of the cleaning robot is equal to the buoyancy.

[0018] In the cleaning robot of the present application, the cleaning robot also includes a rotating part, which is rotatably arranged at the bottom of the main body. The driving device is transmission-connected to the rotating part to drive the rotating part to rotate along the moving direction of the main body. When cleaning the water surface, the rotating part is located at the water surface.

[0019] In the cleaning robot of the present application, the rotating member includes at least a first rotating member and a second rotating member, and the first rotating member and the second rotating member are respectively located at the front side and the rear side of the collecting device in the moving direction of the cleaning robot.

[0020] The cleaning robot provided by the present application, when cleaning underwater, is placed upright in the water, with the cleaning surface facing the underwater surface to be cleaned, and is driven by a driving device to move underwater, and the collecting device can collect garbage under the water; when cleaning on the surface of the water, the cleaning robot is placed upside down in the water, with the cleaning surface facing the surface to be cleaned, and is driven by a driving device to move on the surface of the water, and the collecting device can collect garbage on the surface of the water. When cleaning underwater or on the surface of the water, the cleaning robot collects garbage through the collecting device on its cleaning surface, and the positions for cleaning underwater and on the surface of the water are both located in the same place. Compared with other cleaning robots, the size of the cleaning robot can be reduced as much as possible, and the structure of the cleaning robot can be simplified, so that the cleaning robot can clean more flexibly, which is more conducive to cleaning underwater and on the surface of the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the structures shown in these drawings.

[0022] Figure 1 It is one of the schematic diagrams of the state of the cleaning robot provided by the embodiment of the present application during water surface cleaning;

[0023] Figure 2 It is another schematic diagram of the state of the cleaning robot provided by the embodiment of the present application during water surface cleaning;

[0024] Figure 3 It is the schematic structural diagram of the cleaning robot provided by the embodiment of the present application during water surface cleaning;

[0025] Figure 4 It is the cross-sectional view of the cleaning robot provided by the embodiment of the present application during water surface cleaning;

[0026] Figure 5 It is the schematic structural diagram of the cleaning robot provided by the embodiment of the present application during underwater cleaning;

[0027] Figure 6 It is the cross-sectional view of the cleaning robot provided by the embodiment of the present application during underwater cleaning;

[0028] Figure 7 It is the schematic structural diagram of the chassis of the cleaning robot provided by the embodiment of the present application;

[0029] Figure 8 It is the schematic structural diagram of the transmission mechanism of the cleaning robot provided by the embodiment of the present application;

[0030] Figure 9 It is the schematic structural diagram of the second transmission part of the cleaning robot provided by the embodiment of the present application;

[0031] Figure 10 It is one of the position schematic diagrams of the first rotating part of the cleaning robot provided by the embodiment of the present application;

[0032] Figure 11 It is another position schematic diagram of the first rotating part of the cleaning robot provided by the embodiment of the present application.

[0033] Explanation of the reference numerals in the drawings:

[0034] a: The first direction;

[0035] b: The front-back direction;

[0036] 100: Cleaning robot;

[0037] 10: Main body; 101: Cleaning surface; 102: Semi-circular part; 10a: Water guide groove; 11: Top shell; 12: Chassis; 121: Mounting part; 123: Protruding part;

[0038] 20: Collection device;

[0039] 21: First collection basket; 21a: First sewage suction port; 21b: First filter port; 21c: Second filter port;

[0040] 22: Second collection basket; 22a: Second sewage suction port; 22b: Third filter port;

[0041] 30: Driving device;

[0042] 40: First rotating part; 41: First rotating shaft; 42: Cleaning brush;

[0043] 50: Second rotating part; 51: Second rotating shaft; 52: Blade;

[0044] 60: Crawler belt;

[0045] 70: Transmission mechanism; 71: Front annular gear; 72: Rear annular gear; 73: First rotating gear; 74: Second rotating gear; 75: Intermediate transmission part; 76: Driving gear;

[0046] 80: Suction mechanism;

[0047] 90: Buoyancy device. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0049] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0050] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element present at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intermediate element.

[0051] In addition, in this application, the descriptions involving "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] The cleaning robot can perform underwater cleaning or surface cleaning of the pool as needed to keep the entire pool clean and hygienic. When performing underwater cleaning or surface cleaning, existing cleaning robots are generally placed upright in the water and can achieve underwater cleaning and surface cleaning respectively through two cleaning positions. For example, one cleaning position is located at the lower part of the cleaning robot for underwater cleaning, and the other cleaning position is located at the upper part of the cleaning robot for surface cleaning. It can be imagined that in order for a cleaning robot constructed in this way to be able to configure different cleaning positions, the volume of the cleaning robot will increase, and the overall structure will also be relatively complex. For example, such a cleaning robot will at least increase its height due to the configuration of different cleaning positions. The cleaning robot is also difficult to move flexibly during cleaning, which is not conducive to cleaning.

[0053] Therefore, the embodiments of this application provide a cleaning robot that can minimize the volume of the cleaning robot as much as possible and streamline the structure of the cleaning robot, enabling the cleaning robot to clean more flexibly and being more conducive to underwater and surface cleaning.

[0054] The following will describe in detail some embodiments of this application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0055] As Figure 1 、 Figure 3 and Figure 4 shown, a cleaning robot 100 provided by an embodiment of this application includes a main body 10, a buoyancy device 90, a driving device, and a collection device 20.

[0056] A cleaning surface 101 is formed at the bottom of the main body 10. A buoyancy device 90 is provided on the main body 10 and is used to make the cleaning robot 100 float on the water surface during water surface cleaning. A driving device is used to drive the cleaning robot 100 to travel on the water surface or underwater. A collecting device 20 is provided on the main body 10 and at least partially located at the cleaning surface 101, and is used to collect garbage on the water surface or underwater. Among them, during underwater cleaning, the cleaning robot 100 is placed upright in the water and the cleaning surface 101 faces the underwater surface to be cleaned. During water surface cleaning, the cleaning robot 100 is placed upside down in the water and the cleaning surface 101 faces the water surface to be cleaned.

[0057] It should be noted that the buoyancy device 90 can change the overall density of the cleaning robot 100 according to the cleaning requirements of the cleaning robot 100, so that the cleaning robot 100 can float on the water surface during water surface cleaning and can immerse underwater during underwater cleaning.

[0058] It should be noted that by driving the cleaning robot 100 to travel on the water surface or underwater, the driving device can collect the garbage on the traveling route of the cleaning robot 100, so as to realize automatic cleaning.

[0059] It should be noted that the collecting device 20 can collect garbage. It can collect garbage through the natural flow of water. Of course, it can also accelerate garbage collection through negative pressure suction, without limitation.

[0060] It should be noted that when the cleaning robot 100 is cleaning underwater and on the water surface, its cleaning position is located at the cleaning surface 101. Therefore, different cleaning requirements can be realized only by flipping. Compared with the existing cleaning robot 100, the overall machine of the cleaning robot 100 can be thinned to a certain extent.

[0061] In the cleaning robot 100 of the embodiment of the present application, during underwater cleaning, the cleaning robot 100 is placed upright in the water, the cleaning surface 101 faces the underwater surface to be cleaned, and the driving device drives the cleaning robot 100 to travel underwater, and the collecting device 20 can collect the underwater garbage. During water surface cleaning, the cleaning robot 100 is placed upside down in the water, the cleaning surface 101 faces the water surface to be cleaned, and the driving device drives the cleaning robot 100 to travel on the water surface, and the collecting device 20 can collect the water surface garbage. When the cleaning robot 100 is cleaning underwater or on the water surface, the garbage is collected by the collecting device 20 on its cleaning surface 101, and the cleaning positions underwater and on the water surface are both at the same place. Compared with other cleaning robots 100, the volume of the cleaning robot 100 can be reduced as much as possible, and the structure of the cleaning robot 100 can be streamlined, so that the cleaning robot 100 can clean more flexibly and is more conducive to underwater and water surface cleaning.

[0062] In addition, for existing upright surface cleaning robots, most of the body is above the water surface during surface cleaning, so a relatively large buoyancy is required. Therefore, the buoyancy device is also relatively large. In this application, when the cleaning robot 100 is inverted in the water for surface cleaning, most of the main body 10 will be immersed in the water. Since the part immersed in the water itself can also provide a certain buoyancy for the cleaning robot 100, the buoyancy provided by the buoyancy device 90 can be reduced. That is to say, the size of the buoyancy device 90 can be reduced, thereby reducing the cost of the buoyancy device 90 and further reducing the manufacturing cost of the cleaning robot 100. Moreover, the volume of the cleaning robot 100 can be further reduced, which is beneficial to underwater and surface cleaning.

[0063] As Figure 1 shown, in the embodiment of this application, the cleaning robot 100 has a central plane, which is perpendicular to the first direction a and is located at the center of the cleaning robot 100 along the first direction a. The center of gravity and the center of buoyancy of the cleaning robot 100 are both located on the central plane. Among them, the first direction a is the horizontal direction perpendicular to the traveling direction of the cleaning robot 100. The center of the cleaning robot 100 in the first direction a can be understood as the central position at both ends of the cleaning robot 100 in the first direction a, and the distances from the central plane to both ends of the cleaning robot 100 along the first direction a are the same. In this embodiment, when the cleaning robot 100 is upright or inverted, the center of gravity and the center of buoyancy of the cleaning robot 100 are both located on the central plane, which can enable the cleaning robot 100 to maintain balance along the first direction a when it is upright or inverted, and it is not easy to cause the cleaning robot 100 to flip due to the movement of the cleaning robot 100 or the disturbance of the water flow, so that the cleaning robot 100 can stably perform underwater or surface cleaning. Especially when performing surface cleaning, the cleaning robot 100 is in a floating state. Through the above settings, the cleaning robot 100 can be prevented from tipping over.

[0064] As Figure 1As shown, in the embodiment of the present application, when the surface cleaning is in a balanced state, the center of gravity of the cleaning robot 100 is located below the center of buoyancy. It should be noted that this state is the position of the center of gravity and the center of buoyancy when the cleaning robot 100 is inverted and floating on the water surface and is in a balanced state. When the cleaning robot 100 moves or the water flow disturbs it, causing the cleaning robot 100 to tilt or lift, the center of gravity of the cleaning robot 100 remains unchanged, and the center of buoyancy shifts. However, since the center of buoyancy is located above the center of gravity in the balanced state, even if the cleaning robot 100 tilts or lifts to a large extent, the center of buoyancy shifts in the direction of the tilt of the cleaning robot 100, and the upward torque of the buoyancy will cause the cleaning robot 100 to gradually return to the balanced state. Therefore, through the above settings, the cleaning robot 100 can be further prevented from capsizing, ensuring that the cleaning robot 100 can stably perform surface cleaning. Moreover, compared with other cleaning robots 100, even if the lateral size of the cleaning robot 100 is reduced, it is not easy to cause the cleaning robot 100 to capsize. Therefore, the cleaning robot 100 provided in the present application can reduce the lateral size to a certain extent, which is beneficial to the mobile cleaning of the cleaning robot 100. Of course, in other embodiments, when performing surface cleaning, the center of gravity can also be at the same height as the center of buoyancy. And in this embodiment, when the cleaning robot 100 is placed upright in the water, the center of gravity is located at a position closer to the upper part of the cleaning robot 100. In this way, when the cleaning robot 100 is inverted in the water for surface cleaning, the center of gravity is located at a position closer to the lower part of the cleaning robot 100, which is equivalent to lowering the center of gravity of the cleaning robot 100. Therefore, it is more difficult to cause the cleaning robot 100 to capsize.

[0065] In the embodiment of the present application, the position of the center of gravity can be adjusted by adjusting the overall gravity distribution of the cleaning robot 100, and the position of the center of buoyancy can be adjusted by adjusting the overall volume structure of the cleaning robot 100 to meet the above embodiments.

[0066] As Figure 1 shown, in the embodiment of the present application, there are two buoyancy devices 90, and the two buoyancy devices 90 are arranged on both sides of the main body 10 along the first direction a, and the cleaning surface 101 is located between the two buoyancy devices 90. Through the two provided buoyancy devices 90, it is convenient to adjust the overall center of gravity and the center of buoyancy of the cleaning robot 100 to the center plane. When performing surface cleaning, the two buoyancy devices 90 can provide the main buoyancy for the cleaning robot 100, making the cleaning robot 100 less likely to tip over to both sides. Of course, in other embodiments, there are two buoyancy devices 90, and the two buoyancy devices 90 can also be arranged on both sides of the main body 10 along the traveling direction of the cleaning robot 100. Or, there can be only one buoyancy device 90, and the buoyancy device 90 is arranged at the bottom of the main body 10.

[0067] As Figure 1As shown, in the embodiments of the present application, two buoyancy devices 90 are symmetric about the central plane, and the portions of the main body 10 on both sides of the central plane are symmetric about the central plane. The portions of the cleaning robot 100 on both sides of the central plane are symmetric about the central plane, so as to adjust the center of gravity and the center of buoyancy of the entire cleaning robot 100 to the central plane. Moreover, the two sides of the cleaning robot 100 are balanced along the first direction a, which can also enable the cleaning robot 100 to move stably for cleaning underwater and on the water surface. Exemplarily, the shapes of the two buoyancy devices 90 are symmetric about the central plane, the contour of the outer housing of the main body 10 is symmetric about the central plane, the driving device and the collecting device 20 provided on the main body 10 are symmetric about the central plane, and other structures provided in the main body 10 are also symmetric about the central plane.

[0068] As Figure 1 and Figure 2 shown, in the embodiments of the present application, both of the two buoyancy devices 90 protrude from the cleaning surface 101. When cleaning on the water surface, a part of the buoyancy device 90 is above the water surface, and the main body 10 is immersed below the water surface. It should be noted that the main body 10 accounts for most of the weight of the cleaning robot 100. When cleaning on the water surface, the main body 10 is immersed below the water surface, which can lower the center of gravity of the entire cleaning robot 100. Therefore, the center of buoyancy can be located above the center of gravity in the foregoing embodiments, thereby avoiding the tipping of the cleaning robot 100.

[0069] As Figures 3 to 7 shown, in the embodiments of the present application, the main body 10 includes a chassis 12 and a top shell 11. On the side of the chassis 12 away from the top shell 11, there are two mounting members 121 protruding relative to the chassis 12. The two mounting members 121 are spaced apart and extend along the traveling direction of the main body 10. The two buoyancy devices 90 are respectively connected to the outer sides of the two mounting members 121. The bottom plate is configured to form the cleaning surface 101, and a water guide groove 10a is formed by enclosing between the bottom plate and the two mounting members 121. Through the water guide groove 10a, it can be ensured that the garbage carried in the water flow can be quickly collected, so as to improve the cleaning efficiency of the cleaning robot 100. The portion of the main body 10 on the side of the chassis 12 facing the top shell 11 accounts for most of the weight of the cleaning robot 100, so that the center of gravity of the cleaning robot 100 is lower when cleaning on the water surface.

[0070] As Figure 2As shown, in the embodiment of the present application, when cleaning the water surface, the center of gravity of the cleaning robot 100 is close to the rear side in the traveling direction of the cleaning robot 100, so that the cleaning surface 101 is inclined. Specifically, when the water surface cleaning is in a balanced state, the front end of the cleaning surface 101 faces upward and the rear end is inclined downward. By arranging the cleaning surface 101 in an inclined manner, it can be ensured that the cleaning surface 101 faces away from the traveling direction of the cleaning robot 100 during water surface cleaning, avoiding resistance to the movement of the cleaning robot 100 caused by the cleaning surface 101 and facilitating the mobile cleaning of the cleaning robot 100. Moreover, since the water surface and the front end of the cleaning surface 101 are narrowed, the water flow can be accelerated towards the collection device 20, and the collection device 20 collects the garbage carried in the water flow, thereby improving the cleaning efficiency of the cleaning robot 100.

[0071] In the embodiment of the present application, the heavier structures arranged in the main body 10 can be arranged at the rear side of the main body 10 to make the center of gravity of the entire cleaning robot 100 move backward. Exemplarily, the driving device can be arranged inside the rear side of the main body 10.

[0072] In addition, when the cleaning robot 100 is placed upside down and flat on the water surface, the center of gravity and the buoyancy center of the cleaning robot 100 are distributed on both sides of the center line of the cleaning robot 100 in the front-rear direction b of the main body 10. The buoyancy center is located between the front end of the cleaning robot 100 and the center line, and the center of gravity is located between the rear end of the cleaning robot 100 and the center line. It should be noted that this state is when the cleaning robot 100 is upside down and floating on the water surface, and the cleaning robot 100 is not yet in a balanced state. Since the center of gravity and the buoyancy center are not on the same vertical line, a corresponding torque will be generated, causing the front end of the cleaning robot 100 to tilt up by a preset angle and finally reach equilibrium. In this way, it can be avoided that the front end of the cleaning robot 100 tilts too high and the rear end is submerged too much, ensuring that the cleaning robot 100 can stably clean on the water surface.

[0073] In the embodiment of the present application, a buoyancy chamber and a water inlet and an air inlet connected to the buoyancy chamber are provided in the buoyancy device 90. When cleaning underwater, the buoyancy chamber receives water through the water inlet and discharges gas through the air inlet. The gravity of the cleaning robot 100 is greater than the buoyancy. When cleaning on the surface of the water, the buoyancy chamber discharges water through the water inlet and receives gas through the air inlet. The gravity of the cleaning robot 100 is equal to the buoyancy. The buoyancy device 90 changes its density by receiving water or gas, and then adjusts the overall density of the cleaning robot 100 to achieve underwater cleaning or surface cleaning as needed. When cleaning underwater, water can be poured into the water inlet, the water enters the buoyancy chamber, and the air in the buoyancy chamber is squeezed out, and the squeezed air is discharged through the air inlet. When underwater, the water inlet is connected to the external water body, and the air pressure inside and outside the buoyancy chamber is consistent, so that the cleaning robot 100 can be kept immersed in water through the buoyancy device 90, so as to facilitate stable cleaning. When cleaning the water surface, the water in the float cavity can be discharged through the water outlet, and the external air enters the float cavity to provide buoyancy for the cleaning robot 100, so that the cleaning robot 100 can float on the water surface.

[0074] In the embodiment of the present application, the air inlet and the water inlet are respectively located on opposite sides of the buoyancy device 90, so that when the water inlet on one side takes in water, the air inlet on the other side exhausts air, or when the water inlet on one side discharges water, the air inlet on the other side takes air in. Exemplarily, the air inlet and the water inlet are respectively located on both sides of the buoyancy device 90 in the direction from the top to the bottom of the main body 10.

[0075] In the embodiment of the present application, during water surface cleaning, the water inlet is located above the water surface, which can prevent water from entering the buoyancy chamber during water surface cleaning and affecting the water surface cleaning of the cleaning robot 100.

[0076] like Figures 3 to 6 As shown, in the embodiment of the present application, the cleaning robot 100 further includes a rotating member, which is rotatably disposed at the bottom of the main body 10, and the driving device is transmission-connected to the rotating member to drive the rotating member to rotate along the travel direction of the main body 10. When cleaning the water surface, the rotating member is located at the water surface. The rotating member can be used to move the water flow or the garbage to facilitate the movement of the cleaning robot 100 on the water surface, or the garbage can be moved to speed up the garbage collection speed and improve the cleaning efficiency.

[0077] like Figures 3 to 6As shown, in the embodiment of the present application, the rotating member at least includes a first rotating member 40 and a second rotating member 50, and the first rotating member 40 and the second rotating member 50 are respectively located at the front side and the rear side of the collecting device 20 in the direction of travel of the cleaning robot 100. The first rotating member 40 is located at the front side of the main body 10. Compared with the collecting device 20, it can first contact the water flow. The first rotating member 40 can quickly move the garbage carried by the water flow to the suction port of the collecting device 20 by moving the garbage, thereby improving the cleaning efficiency, or wiping the pool wall to improve the cleaning effect. For example, when cleaning underwater, the first rotating member 40 can contact the pool wall to wipe the pool wall, or move the garbage carried in the water flow. The second rotating member 50 can speed up the flow rate of the water flow by moving the water flow to improve the cleaning efficiency, and can also drive the movement of the cleaning robot 100. For example, the cleaning robot 100 can be driven to move on the water surface to achieve water surface cleaning. Exemplarily, the first rotating member 40 and the second rotating member 50 are both located in the water guide groove 10a.

[0078] In some embodiments, the first rotating member 40 can also be used to move the water flow. For example, during surface cleaning or underwater cleaning, the first rotating member 40 is at least partially immersed below the water surface to move the water flow. In this way, the first rotating member 40 can also accelerate the flow of the water flow. And / or, the second rotating member 50 can also be used to wipe the pool wall. For example, during underwater cleaning, the second rotating member 50 can contact the pool wall so as to further clean the pool wall in combination with the first rotating member 40 to improve the cleaning effect.

[0079] like Figures 3 to 6 As shown, in the embodiment of the present application, the first rotating member 40 rotates around the first rotation axis, and the second rotating member 50 rotates around the second rotation axis. The first rotation axis and the second rotation axis are both perpendicular to the direction of travel of the cleaning robot 100, and the first rotating member 40 and the second rotating member 50 have the same rotation direction. When the water flows, the first rotating member 40 and the second rotating member 50 will both rotate along the flow direction of the water flow, so that the first rotating member 40 can at least move the garbage to the collection device 20, and the second rotating member 50 can at least move the water flow along the flow direction to speed up the flow rate of the water flow. The first rotating member 40 and the second rotating member 50 have the same rotation direction, which can ensure that when the cleaning robot 100 is moving, both can rotate along the direction of rotation along the flow of the water flow, avoiding the movement resistance caused by the different rotation directions of the two. It should be known that the first rotating member 40 and the second rotating member 50 of the present application can rotate in the same direction clockwise or counterclockwise, depending on the specific use of the cleaning robot 100.

[0080] In the embodiment of the present application, there are spaces between the first rotating member 40, the second rotating member 50 and the cleaning surface 101, so that water flow can at least flow through the spaces, avoiding affecting the flow rate of the water flow due to the blockage of the first rotating member 40 or the second rotating member 50, which is beneficial for the collecting device 20 to collect the garbage carried in the water flow.

[0081] As Figure 3 and Figure 8 shown, in the embodiment of the present application, the cleaning robot 100 further includes a transmission mechanism 70 provided on the main body 10. The transmission mechanism 70 is respectively in transmission connection with the first rotating member 40 and the second rotating member 50 to drive the first rotating member 40 and the second rotating member 50 to rotate in the same direction. When the transmission mechanism 70 operates, it can drive the first rotating member 40 and the second rotating member 50 to rotate simultaneously. The two must rotate in the same direction simultaneously or stop simultaneously, ensuring that both the first rotating member 40 and the second rotating member 50 can rotate in the same direction along the flow trend of the water flow. The situation where the first rotating member 40 and the second rotating member 50 rotate in opposite directions, or the situation where one of the first rotating member 40 and the second rotating member 50 rotates and the other stops can be avoided.

[0082] As Figure 7 and Figure 8 shown, in the embodiment of the present application, the transmission mechanism 70 can be provided on any one side of the two sides of the main body 10, or transmission mechanisms 70 are provided on both sides of the main body 10.

[0083] As Figure 3 and Figure 8 shown, in the embodiment of the present application, the transmission mechanism 70 includes a front annular gear 71, a rear annular gear 72, an intermediate transmission member 75, a first rotating gear 73 and a second rotating gear 74. The front annular gear 71 and the first rotating gear 73 are located at the front end of the main body 10, the rear annular gear 72 and the second rotating gear 74 are located at the rear end of the main body 10. The inner side of the front annular gear 71 meshes with the first rotating gear 73, the first rotating gear 73 is connected to the first rotating member 40, the inner side of the rear annular gear 72 meshes with the second rotating gear 74, the second rotating gear 74 is connected to the second rotating member 50, and the front annular gear 71 and the rear annular gear 72 are in transmission connection through the intermediate transmission member 75. Through the transmission of the intermediate transmission member 75, the front annular gear 71 and the rear annular gear 72 rotate in the same direction, and thus the first rotating member 40 and the second rotating member 50 can rotate in the same direction through the transmission mechanism 70. Exemplarily, the intermediate transmission member 75 is a transmission belt that surrounds and meshes with the front annular gear 71 and the rear annular gear 72. In some other examples, the intermediate transmission member 75 can also be an even number of gears that are sequentially meshed with the outer sides of the front annular gear 71 and the rear annular gear 72.

[0084] In some embodiments, the first rotating member 40 and the second rotating member 50 have the same rotation speed. It should be noted that when cleaning underwater, the rotation speed of the rotating member is positively correlated with the resistance of the cleaning robot 100 when traveling underwater. When cleaning on the surface of the water, the faster the rotation speed of the rotating member, the easier it is to cause water rolling, which is not conducive to surface cleaning. In this embodiment, the diameters of the first rotating member 40 and the second rotating member 50 can be set to be different, so that one of them has a larger linear speed, which is convenient for moving garbage, and the rotation speed of the other will not be too fast, causing water rolling or increasing resistance. Exemplarily, the diameter of the first rotating member 40 is larger than that of the second rotating member 50. When the two have the same rotation speed, the first rotating member 40 can have a larger linear speed so that the garbage can be quickly moved to improve the cleaning effect. When the second rotating member 50 moves the water flow during underwater cleaning, it will not increase the travel resistance of the cleaning robot 100, and when the water flow is moved during surface cleaning, it is not easy to cause water rolling. In this way, setting the rotation speeds of the first rotating member 40 and the second rotating member 50 to be the same can facilitate the setting of the transmission coefficients of each transmission member in the transmission mechanism 70. The use requirements can be met by simply adjusting the diameters of the first rotating member 40 and the second rotating member 50, which is beneficial for the cleaning robot 100 to clean underwater and on the water surface.

[0085] In addition, in this embodiment, the transmission coefficient between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission coefficient between the first rotating gear 73 and the front annular gear 71 is set to be the same as the transmission coefficient between the second rotating gear 74 and the rear annular gear 72, so that the first rotating member 40 and the second rotating member 50 can have the same rotation speed. Exemplarily, the front annular gear 71 and the rear annular gear 72 have the same number of teeth on the inner and outer sides, and the first rotating gear 73 and the second rotating gear 74 have the same number of teeth.

[0086] In other embodiments, the first rotating member 40 and the second rotating member 50 have different rotation speeds. In this embodiment, by setting the rotation speeds of the first rotating member 40 and the second rotating member 50 differently, one of them has a larger rotation speed, which is convenient for moving the garbage, and the rotation speed of the other will not be too fast, causing water rolling or increasing resistance. Exemplarily, the rotation speed of the first rotating member 40 can be set to be greater than that of the second rotating member 50, and the first rotating member 40 has a larger rotation speed so that the garbage can be moved quickly to improve the cleaning effect. The rotation speed of the second rotating member 50 is relatively small, and when the water flow is moved during underwater cleaning, the travel resistance of the cleaning robot 100 will not be increased, and when the water flow is moved during surface cleaning, the water rolling phenomenon is not likely to occur. In this way, setting the rotation speeds of the first rotating member 40 and the second rotating member 50 differently can facilitate the cleaning of the cleaning robot 100 underwater and on the surface of the water.

[0087] In addition, in this embodiment, the transmission system between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission coefficient between the first rotating gear 73 and the front annular gear 71 is less than the transmission coefficient between the second rotating gear 74 and the rear annular gear 72. In this way, the rotation speed of the first rotating member 40 can be made greater than that of the second rotating member 50. Exemplarily, the number of teeth on the inner and outer sides of the front annular gear 71 and the rear annular gear 72 is the same, and the number of teeth of the first rotating gear 73 is less than that of the second rotating gear 74.

[0088] As Figure 4 and Figure 6 shown, in the embodiment of the present application, at least a part of the first rotating member 40 protrudes from the bottom of the main body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 50 is located in the installation space defined by the bottom of the main body 10. During underwater cleaning, the first rotating member 40 can wipe the surface of the area to be cleaned by rotating to improve the cleaning effect, while the second rotating member 50 is located in the installation space defined by the bottom of the main body 10, and the second rotating member 50 will not contact the surface of the area to be cleaned, so it will not hinder the movement of the cleaning robot 100, which is beneficial to the underwater movement and cleaning of the cleaning robot 100. Exemplarily, a part of the first rotating member 40 is located inside the water guide groove 10a, and a part is located outside the water guide groove 10a, and the second rotating member 50 is entirely located inside the water guide groove 10a. In this embodiment, during underwater cleaning, when the first rotating member 40 rotates, the rotation tangent line at the end of the first rotating member 40 away from the cleaning surface 101 faces the reverse direction of the traveling direction of the main body 10, and the rotation tangent line at the end of the first rotating member 40 facing the cleaning surface 101 faces the traveling direction of the main body 10. In this way, the first rotating member 40 can push the wiped or stirred garbage towards the collecting device 20, which is beneficial to the collecting device 20 to collect the garbage.

[0089] As Figure 10 shown, in the embodiment of the present application, at least a part of the first rotating member 40 also protrudes from the front end of the main body 10. During underwater cleaning, when the cleaning robot 100 travels from the bottom wall of the pool to the side wall, the first rotating member 40 protruding from the front end and the bottom can simultaneously wipe the bottom wall and the side wall of the pool, so as to fully wipe the bottom wall and the side wall of the pool. Figure 10 The A1 area in Figure 11The A2 area in it is the cleaning dead angle where the first rotating member 40 does not protrude from the front end of the main body 10 when cleaning the bottom wall and side wall of the cleaning pool. It can be seen that this embodiment can reduce the cleaning dead angle and improve the cleaning effect of the pool. In addition, when cleaning the water surface and the cleaning robot 100 travels to the side wall of the pool, the first rotating member 40 can also first contact the side wall of the pool. On the one hand, it can wipe and clean the side wall of the pool to a certain extent. On the other hand, it can ensure that the cleaning robot 100 can completely clean the water surface, that is, there will be no problem that the water surface between the first rotating member 40 and the side wall cannot be cleaned due to the main body 10 contacting the side wall before the first rotating member 40. In addition, it can also prevent the main body 10 from directly hitting the side wall of the pool and can protect the main body 10 to a certain extent.

[0090] As Figure 10 shown, in the embodiment of the present application, the cleaning robot 100 has a semi-circular portion 102 at the front end of the side wall of the water guide groove 10a. Exemplarily, the radius of the semi-circular portion 102 corresponds to the semi-circle surrounded by the crawler 60 sleeved outside the front annular tooth 71. The center of the projection of the first rotating member 40 on the semi-circular portion 102 is O1, and the center of the semi-circular portion is O2. O1 is located in the front side and bottom side of O2 towards the cleaning robot 100. When cleaning at the underwater horizontal plane, the included angle between the connection line of O1 and O2 and the horizontal plane is 40-50°, and exemplarily, it is 45°. In this way, the contact amount between the first rotating member 40 and the side wall can be made consistent with the contact amount between the first rotating member 40 and the bottom wall, and the cleaning dead angle is minimized. Moreover, when the cleaning robot 100 travels towards the side wall, that is, during the process of contacting the side wall, tilting towards the side wall until traveling along the side wall, the first rotating member 40 can wipe from the bottom wall to the side wall and from the side wall from bottom to top to fully clean the cleaning dead angle of the pool and improve the cleaning effect of the pool.

[0091] As Figure 1 and Figure 2 shown, in the embodiment of the present application, when cleaning the water surface, the distance between the cleaning surface 101 and the water surface is 2 cm - 10 cm. In this way, part of the first rotating member 40 and the second rotating member 50 can be located above the water surface and part can be located below the water surface. In this way, when cleaning the water surface, the first rotating member 40 can stir the garbage at the water surface to quickly collect the garbage. Since part of the second rotating member 50 is located above the water surface, the situation of water rolling can be avoided, which is beneficial to the flow of water. When cleaning the water surface, when the first rotating member 40 rotates, the rotation tangent line at the end of the first rotating member 40 away from the cleaning surface 101 faces the traveling direction of the main body 10, and the rotation tangent line at the end of the first rotating member 40 towards the cleaning surface 101 faces the reverse of the traveling direction of the main body 10. In this way, the first rotating member 40 can push the garbage towards the collection device 20, which is beneficial to the collection device 20 to collect the garbage.

[0092] AsFigure 4 and Figure 6 As shown in Figure 6 , in the embodiment of the present application, the first rotating member 40 includes a first rotating shaft 41 and a cleaning brush 42. Both ends of the first rotating shaft 41 are rotatably installed on both sides of the main body 10. The cleaning brush 42 is provided on the first rotating shaft 41 and extends along the axial direction of the first rotating shaft 41, and is used to wipe the surface of the area to be cleaned during underwater cleaning and collect garbage during surface cleaning. When the cleaning robot 100 is moving for cleaning, the first rotating shaft 41 can rotate relative to the main body 10, and thus can drive the cleaning brush 42 to rotate around the axis of the first rotating shaft 41, so as to wipe the surface of the area to be cleaned and stir the garbage during underwater cleaning, and stir the garbage during surface cleaning, so as to facilitate the rapid collection of garbage. In this embodiment, the cleaning brush 42 extends along the axial direction of the first rotating shaft 41, which can enable the cleaning brush 42 to cover a wider area, so as to increase the wiping area and the area for stirring garbage, which is beneficial to the cleaning of the cleaning robot 100. Exemplarily, the first rotating shaft 41 includes two sections, and the end of each section passes through a mounting member 121 and is connected to the first rotating tooth 73 of the transmission mechanism 70 in the mounting member 121. The transmission mechanisms 70 in the two mounting members 121 can drive the two ends of the first rotating shaft 41 to rotate respectively. Since the first rotating shaft 41 is segmented, the rotations of the two sections do not affect each other, which is convenient for the stable rotation of the first rotating member 40.

[0093] As Figure 10 shown in Figure 10 , in some embodiments, the distance between the center of the first rotating member 40 and the end of the cleaning brush 42 is greater than the distance between the center of the first rotating member 40 and the intersection position of the vertical plane and the bottom plane at the front end of the main body 10, that is, greater than Figure 10 the length of the line segment connecting O1 to K shown in Figure 10 . The radius of the first rotating shaft 41 is less than the distance from the center of the first rotating member 40 to the bottom or the front end of the main body 10. It should be noted that the cleaning brush 42 is flexible and can be deformed and bent when it contacts the pool wall. In this way, during underwater cleaning, when the cleaning robot 100 travels from the bottom wall of the pool to the side wall, the cleaning brush 42 can brush the corner between the bottom wall and the side wall of the pool, and the first rotating shaft 41 will not affect the travel of the cleaning robot 100, which can further fully clean the cleaning dead corners of the pool and improve the cleaning effect of the pool.

[0094] As Figure 4 and Figure 6As shown in the figure, in the embodiment of the present application, the second rotating member 50 includes a second rotating shaft 51 and a plurality of blades 52. Both ends of the second rotating shaft 51 are rotatably installed on both sides of the main body 10 and are connected to the driving device 30. The plurality of blades 52 are evenly arranged along the outer peripheral surface of the second rotating shaft 51 and are used to drive the cleaning robot 100 to move when the cleaning robot 100 performs water surface cleaning. During water surface cleaning, the driving device 30 can drive the second rotating shaft 51 to rotate, and then drive the plurality of blades 52 to rotate, so as to push the cleaning robot 100 to move by stirring the water flow. Exemplarily, the second rotating shaft 51 includes two sections, and the end of each section penetrates through a mounting member 121 and is connected to the second rotating tooth 74 of the transmission mechanism 70 in the mounting member 121. The driving device 30 includes two motors and is connected to the transmission mechanisms 70 in the two mounting members 121. The transmission mechanisms 70 in the two mounting members 121 can drive the two ends of the second rotating shaft 51 to rotate respectively. Since the second rotating shaft 51 is segmented, the rotation of the two sections does not affect each other, which is convenient for the stable rotation of the second rotating member 50.

[0095] As Figure 4 , Figure 6 and Figure 9 As shown in the figure, in the embodiment of the present application, the blade surface of the blade 52 is inclined with respect to the axial center line of the second rotating shaft 51. In this way, it is beneficial to stir the water flow, so that when cleaning the water surface, the cleaning robot 100 can be stably pushed to move. Specifically, in this embodiment, during water surface cleaning, the blade surface of the blade 52 is inclined in the rotation direction of the second rotating shaft 51. During water surface cleaning, the rotation tangent line at the end of the second rotating member 50 away from the cleaning surface 101 faces the traveling direction of the main body 10, and the rotation tangent line at the end of the first rotating member 40 facing the cleaning surface 101 faces the reverse direction of the traveling direction of the main body 10. The blade surface of the blade 52 can efficiently stir the water flow according to the above-mentioned inclination direction, so as to facilitate the movement of the cleaning robot 100 on the water surface; while during underwater cleaning, the rotation tangent line at the end of the first rotating member 40 away from the cleaning surface 101 faces the reverse direction of the traveling direction of the main body 10, and the rotation tangent line at the end of the first rotating member 40 facing the cleaning surface 101 faces the traveling direction of the main body 10. The blade surface of the blade 52 can reduce the resistance when stirring the water flow according to the above-mentioned inclination direction, which is beneficial to the underwater movement of the cleaning robot 100. Exemplarily, the blade surface of the blade 52 is perpendicular to the radial direction of the second rotating shaft 51.

[0096] As Figure 4 and Figure 6As shown, in the embodiment of the present application, the driving device 30 includes two driving motors. The transmission mechanism 70 further includes a driving gear 76, and the driving gear 76 meshes with the front annular gear 71 or the rear annular gear 72. The two driving motors are respectively connected to the driving gears 76 of the transmission mechanisms 70 on both sides to drive the two transmission mechanisms 70 to operate through the two driving motors, thereby driving the first rotating member 40 or the second rotating member 50 to rotate. Exemplarily, the driving device 30 is disposed in the space formed by enclosing the top shell 11 and the chassis 12. By driving the two segments of the second rotating member 50 to rotate respectively through the two driving motors, the rotation speeds of the two segments of the second rotating member 50 can be made different by controlling the different torques output by the two driving motors, and thus the turning of the cleaning robot 100 can be realized, so as to facilitate the mobile cleaning of the cleaning robot 100 on the water surface.

[0097] As Figure 5 and Figure 6 As shown, in the embodiment of the present application, a crawler 60 is provided at the bottom of the main body 10. When cleaning and wiping the surface of the area to be cleaned underwater, the bottom of the main body 10 faces the surface of the area to be cleaned, and the crawler 60 rolls to drive the cleaning robot 100 to move forward. During the forward movement of the cleaning robot 100, the surface of the area to be cleaned can be wiped through the first rotating member 40. Exemplarily, the crawler 60 is the transmission belt of the aforementioned transmission mechanism 70. In this way, the transmission mechanism 70 can be driven by the two driving motors, and then the rolling of the two crawlers 60 can be realized. Moreover, the first rotating member 40 and the second rotating member 50 can be driven to work simultaneously to meet the different working mode requirements of the cleaning robot 100. By driving the two crawlers 60 to roll respectively through the two driving motors, the rolling speeds of the two crawlers 60 can be made different by controlling the different torques output by the two driving motors, and thus the turning of the cleaning robot 100 can be realized, so as to facilitate the mobile cleaning of the cleaning robot 100 underwater.

[0098] As Figure 4 and Figure 6 As shown, in the embodiment of the present application, a guiding inlet is formed between the first rotating member 40 and the cleaning surface 101. A convex member 123 for narrowing the guiding inlet is provided directly below the first rotating member 40, and the convex member 123 is installed on the cleaning surface 101. When the water flows along the water guiding groove 10a, it will first enter the water guiding groove 10a from the guiding inlet. By providing the convex member 123, the guiding inlet can be narrowed, so as to be able to accelerate the flow rate of the water, improve the garbage collection efficiency, and facilitate the concentrated flow of the water into the collection device 20. Exemplarily, the front end of the convex member 123 gradually thickens along the water flow direction to gradually narrow the guiding inlet. In this way, after more water enters the guiding inlet, the guiding inlet gradually narrows, and more water and the garbage carried therein can be received, improving the garbage collection efficiency.

[0099] As Figures 1 to 4As shown, in the embodiment of the present application, the collection device 20 includes a first collection basket 21. The first collection basket 21 has a first sewage suction port 21a and a first filter port 21b. The first sewage suction port 21a faces the front end of the main body 10, and the first filter port 21b faces the rear end of the main body 10. When the water flow is flowing, it will enter the first collection basket 21 through the first sewage suction port 21a. The first collection basket 21 then collects the garbage carried in the water flow, and the water flow flows out of the first collection basket 21 through the first filter port 21b.

[0100] In addition, in some embodiments, the first collection basket 21 further has a second filter port 21c facing the inside of the main body 10. A suction mechanism 80 is provided inside the main body 10, and the suction mechanism 80 is communicated with the second filter port 21c. When the water flow is flowing, the water flow can also be sucked by the suction mechanism 80, so that the water flow flows out of the first collection basket 21 through the second filter port 21c. By means of the suction mechanism 80, the flow rate of the water flow can be accelerated, and the garbage collection efficiency can be improved.

[0101] It should be noted that the above-mentioned first collection basket 21 is mainly used for garbage collection during the water surface cleaning of the cleaning robot 100. By means of the provided first collection basket 21, the water surface cleaning efficiency can be greatly improved. Exemplarily, during the water surface cleaning, the first sewage suction port 21a is located at the water surface.

[0102] As Figure 5 and Figure 6 shown, in the embodiment of the present application, the collection device 20 further includes a second collection basket 22. The second collection basket 22 has a second sewage suction port 22a and a third filter port 22b. The second sewage suction port 22a faces the bottom of the main body 10, and the third filter port 22b faces the inside of the main body 10. The suction mechanism 80 is communicated with the third filter port 22b. When the water flow is flowing through the water flow channel, it will pass through the second sewage suction port 22a. Through the suction of the suction mechanism 80, the second sewage suction port 22a can suck the water flow, so that the water flow flows into the second collection basket 22. The second collection basket 22 then collects the garbage carried in the water flow, and the water flow flows out of the second collection basket 22 through the third filter port 22b.

[0103] It should be noted that the above-mentioned second collection basket 22 is mainly used for garbage collection during the underwater cleaning of the cleaning robot 100. Especially in the case of cleaning the pool wall, it can suck the stains and garbage that are relatively difficult to clean on the pool wall.

[0104] It should be noted that the above-mentioned first collection basket 21 and second collection basket 22 can be used alternatively or simultaneously, without limitation.

[0105] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the application concept of the present application, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, include: a main body, the bottom of which is formed with a cleaning surface; A buoyancy device, provided on the main body, for making the cleaning robot float on the water surface when cleaning the water surface; A driving device, used for driving the cleaning robot to move on the water surface or underwater; A collecting device, disposed on the main body and at least partially located at the cleaning surface, for collecting garbage on the water surface or underwater; When cleaning underwater, the cleaning robot is placed upright in the water with the cleaning surface facing the underwater surface to be cleaned; when cleaning on the surface of water, the cleaning robot is placed upside down in the water with the cleaning surface facing the surface of water to be cleaned.

2. The cleaning robot according to claim 1, wherein, The cleaning robot has a center plane, which is perpendicular to the first direction and located at the center of the cleaning robot along the first direction, and the center of gravity and the center of buoyancy of the cleaning robot are both located on the center plane; Wherein, the first direction is a horizontal direction perpendicular to the moving direction of the cleaning robot.

3. The cleaning robot according to claim 1 or 2, characterized in that, When the water surface cleaning is in a balanced state, the center of gravity of the cleaning robot is located below the center of buoyancy.

4. The cleaning robot according to claim 2, characterized in that, There are two buoyancy devices, which are arranged on both sides of the main body along the first direction, and the cleaning surface is located between the two buoyancy devices.

5. The cleaning robot according to claim 2, characterized in that The two buoyancy devices are symmetrical about the central plane, and the parts of the main body located on both sides of the central plane are symmetrical about the central plane.

6. The cleaning robot according to claim 2, wherein The two buoyancy devices both protrude from the cleaning surface. When cleaning the water surface, the buoyancy device parts are located above the water surface, and the main body is immersed below the water surface.

7. The cleaning robot according to claim 2, characterized in that, When cleaning the water surface, the center of gravity of the cleaning robot is close to the rear side in the moving direction of the cleaning robot, so that the cleaning surface is inclined.

8. The cleaning robot according to claim 1, characterized in that The buoyancy device is provided with a float chamber and a water inlet and an air inlet connected to the float chamber. When cleaning underwater, the float chamber receives water through the water inlet and discharges gas through the air inlet. The gravity of the cleaning robot is greater than the buoyancy. When cleaning on the water surface, the float chamber discharges water through the water inlet and receives gas through the air inlet. The gravity of the cleaning robot is equal to the buoyancy.

9. The cleaning robot according to claim 1, characterized in that, It also includes a rotating part, which is rotatably arranged at the bottom of the main body. The driving device is transmission-connected to the rotating part to drive the rotating part to rotate along the moving direction of the main body. When cleaning the water surface, the rotating part is located at the water surface.

10. The cleaning robot according to claim 9, wherein, The rotating member at least includes a first rotating member and a second rotating member, and the first rotating member and the second rotating member are respectively located at the front side and the rear side of the collecting device in the moving direction of the cleaning robot.

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