Pool cleaning robot

Abstract

The utility model discloses a pool cleaning robot which comprises at least one balance adjusting assembly, the balance adjusting assembly comprises a conveying piece, and the conveying piece is arranged in the pool cleaning robot in a sliding mode. The conveying piece is used for adjusting the gravity center position and / or the buoyancy center position of the pool cleaning robot in the process of sliding in the pool cleaning robot. The balance adjusting assembly is arranged in the robot, the conveying piece in the balance adjusting assembly slides in the robot, and the gravity center position or the buoyancy center position of the whole robot is changed in the sliding process of the conveying piece, so that the gravity center position or the buoyancy center position is adaptively adjusted in the climbing or downhill process of the robot; and the stability in the moving process is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater operation field, especially a pool cleaning robot. BACKGROUND

[0002] The current pool cleaning robot usually faces different working modes and environmental requirements when working underwater, such as pool bottom, wall surface, steps and slopes. However, the existing pool robot cannot freely adjust the position of the center of buoyancy and the center of gravity according to different working scenes. This fixed design will lead to low efficiency of the robot in many actual use scenes, and even cause operation difficulties. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide a pool cleaning robot to solve the problem of poor stability during underwater operation.

[0004] To solve the above technical problems, the utility model adopts the technical scheme that:

[0005] A pool cleaning robot comprises at least one balance adjusting assembly, the balance adjusting assembly comprises a conveying member, the conveying member is slidably arranged inside the pool cleaning robot, and the conveying member is used to adjust the position of the center of gravity and / or the center of buoyancy of the pool cleaning robot during sliding inside the pool cleaning robot.

[0006] In some embodiments, the balance adjusting assembly further comprises a balance member, the balance member can move along with the conveying member, and the conveying member is used to change the position of the balance member inside the underwater robot to adjust the position of the center of gravity and / or the center of buoyancy of the pool cleaning robot.

[0007] In some embodiments, the balance member is fixedly arranged opposite to the conveying member.

[0008] In some embodiments, the balance adjusting assembly further comprises a driving member, the driving member drives the sliding of the conveying member and in turn controls the position of the balance member inside the pool cleaning robot.

[0009] In some embodiments, the balance adjusting assembly further comprises a limiting member, the limiting member is used to limit the movement of the balance member to control the position of the balance member inside the pool cleaning robot.

[0010] In some embodiments, the limiting member is two, the two limiting members are arranged in the path range of the conveying member to limit the movement of the two balance members on the conveying member, and the two limiting members are arranged close to the head and tail of the pool cleaning robot.

[0011] In some embodiments, the transmission member can continue to slide after the balancing member is limited to move by the limiting member.

[0012] In some embodiments, the robot further comprises a track walking assembly, and the balancing adjusting assembly is arranged between front and rear wheels of the track walking assembly.

[0013] In some embodiments, the balancing adjusting assembly further comprises a position sensor for detecting a current position of the balancing member.

[0014] In some embodiments, the balancing member is a counterweight or a buoyancy block, the density of the counterweight is greater than water, and the density of the buoyancy block is less than water.

[0015] The balancing adjusting assembly of the pool cleaning robot has at least the following beneficial effects: the balancing adjusting assembly is arranged in the robot, and the transmission member in the balancing adjusting assembly slides in the robot, the center of gravity or the center of buoyancy of the robot is changed during the sliding of the transmission member, the center of gravity or the center of buoyancy of the robot is adaptively adjusted during the climbing or descending of the robot, and the stability of the moving process is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a schematic view of a balancing adjusting assembly in a pool cleaning robot according to an embodiment of the present application;

[0017] Figure 2 FIG. 2 is a schematic view of a track walking assembly in a pool cleaning robot according to an embodiment of the present application;

[0018] REFERENCE SIGNS:

[0019] 1, balancing adjusting assembly; 11, transmission member; 12, balancing member; 13, limiting member; 2, track walking assembly. DETAILED DESCRIPTION

[0020] To make the technical content, purposes and effects of the present application clear, the following will be described in detail in combination with embodiments and the accompanying drawings.

[0021] Please refer to Figure 1 and Figure 2 A pool cleaning robot comprises at least one balancing adjusting assembly 1, the balancing adjusting assembly 1 comprises a transmission member 11, the transmission member 11 is arranged to slide in the pool cleaning robot, and the transmission member 11 is used to adjust the center of gravity and / or the center of buoyancy of the pool cleaning robot during the sliding of the transmission member 11 in the pool cleaning robot.

[0022] The utility model discloses a balance adjusting assembly 1 is arranged in the inside of pool cleaning robot, makes the transmission 11 can slide adjustment robot's barycenter position and / or the position of floating center, thereby realize the function of adjusting the attitude according to different operation scene. For example, when the robot needs to climb the wall, can adjust the position of floating center to the robot head, promote the ability of rising, when downhill or into the pool bottom, can adjust the position of floating center to the tail, enhance the stability of downhill, avoid the attitude single problem caused by the fixed barycenter and the center of gravity in the traditional design.

[0023] In some embodiments, the balance adjusting assembly 1 further comprises a balance piece 12, which can move with the transmission 11, and the transmission 11 is used to change the position of the balance piece 12 inside the underwater robot to adjust the barycenter position and / or the position of floating center of the pool cleaning robot. The balance piece 12 in the balance adjusting assembly 1 is used in cooperation with the transmission 11, and by changing the position of the balance piece 12 inside the robot, the precise adjustment of the barycenter and / or the center of gravity is further realized. Among them, the balance piece 12 can be a counterweight (density greater than water) or a buoyancy block (density less than water), by changing the position of the counterweight or the buoyancy block inside the robot, the position of the barycenter or the center of gravity of the robot is adjusted; the balance piece 12 can also be a counterweight and a buoyancy block, by adjusting the position of both inside the robot, the position of the barycenter or the center of gravity of the robot is adjusted to meet the corresponding demand.

[0024] The counterweight is suitable for the scene where the barycenter needs to be moved down, and the buoyancy block is suitable for the scene where the barycenter needs to be moved up or the center of gravity needs to be changed. This design enhances the adaptability of the robot in different working modes.

[0025] Specifically, the balance piece 12 is fixedly arranged relative to the transmission 11. The design of the fixed arrangement of the balance piece 12 and the transmission 11 ensures the accuracy of the movement of the balance piece 12, and at the same time avoids the error caused by vibration or water flow during the transmission process, and improves the adjustment effect. When the robot switches from the wall to the pool bottom, the fixed balance piece 12 can be quickly adjusted to the target position, ensuring the smoothness of the work switching.

[0026] Specifically, the balance adjusting assembly 1 further comprises a driving piece, which drives the sliding of the transmission 11 and further controls the position of the balance piece 12 inside the pool cleaning robot. The introduction of the driving piece to drive the sliding of the transmission 11, that is, the driving piece, the balance piece 12 and the transmission 11 work together, so that the robot can realize the dynamic adjustment of the barycenter and the center of gravity position through automatic control. In complex pool terrain, the driving piece can adjust the position of the transmission 11 in real time according to the sensor feedback information, improving the efficiency and stability of the cleaning task.

[0027] Preferably, the balancing member 12, the conveying member 11 and the driving member can be implemented and coordinated in various ways to dynamically adjust the center of gravity and the center of buoyancy inside the robot to adapt to different working scenarios. The balancing member 12 can be designed as a counterweight (such as steel, lead, etc. high-density material) or a buoyancy block (such as EVA foam, polyurethane, etc. low-density material), or a combination of nested blocks to provide the function of adjusting both buoyancy and gravity. The conveying member 11 can be selected from linear slide rails, track-type conveying devices, lead screw drive systems or rack and pinion transmission systems to meet different path and precision requirements, for example, slide rails are suitable for linear movement, tracks are suitable for nonlinear paths, and lead screw systems are suitable for high-precision scenarios. The driving member usually adopts a DC motor, a stepper motor or a servo motor to drive the movement of the conveying member 11 through a transmission mechanism such as a pulley, a gear box or a chain, ensuring that the balancing member 12 is accurately positioned. For example, when the robot needs to climb a slope, the driving DC motor drives the buoyancy block on the slide rail to move to the head of the robot, increasing the buoyancy and optimizing the head-lifting capability; when descending, the servo motor controls the track to move the counterweight to the head, increasing the ground pressure, thereby achieving efficient and stable working posture adjustment.

[0028] In some embodiments, the balancing adjustment assembly 1 further comprises a limiting member 13 for limiting the movement of the balancing member 12 to control the position of the balancing member 12 inside the pool cleaning robot. The design of the limiting member 13 is added to limit the range of movement of the balancing member 12, preventing it from exceeding the reasonable adjustment range. The limiting member 13 can ensure that the balancing member 12 stays at key positions on the path of the conveying member 11, for example, the limiting of the head and tail of the robot can be used for adjustment in climbing and descending scenarios, respectively, to improve the stability and safety of the working effect.

[0029] Specifically, the limiting member 13 is two, and the two limiting members 13 are respectively arranged in the path range of the conveying member 11 to limit the movement of the two balancing members 12 on the conveying member 11. The two limiting members 13 are respectively arranged near the head and tail of the pool cleaning robot. The two limiting members 13 are respectively arranged in the path range of the conveying member 11, which can accurately limit the movement range of the balancing member 12 on the conveying member 11. The balancing member 12 can be limited to positions close to the head and tail to meet the needs of different working modes.

[0030] Preferably, the limiting member 13 can be implemented in various ways to control the movement range of the balancing member 12 on the conveying member 11, thereby ensuring the accuracy and safety of the balancing adjustment. For example, mechanical limiting can adopt a fixed stopper or spring pin structure, with stoppers arranged at both ends of the track of the conveying member 11 to limit the sliding of the balancing member 12 to a predetermined position at the head or tail; magnetic limiting uses magnets and Hall sensors arranged on the track, which trigger the induction and stop the movement when the balancing member 12 reaches the specified position through the magnetic field; electronic limiting uses position sensors (such as photoelectric switches or encoders) to monitor the position of the balancing member 12 in real time, combined with the control system to stop the movement of the driver. For example, when the robot is descending, the mechanical stopper or magnetic induction is triggered when the balancing member 12 moves to the tail, ensuring that the balancing member 12 stays stably at the target position without sliding beyond the track range due to inertia. These limiting methods can be used alone or in combination to meet different accuracy and reliability requirements.

[0031] In some embodiments, the conveying member 11 can continue to slide after the movement of the balancing member 12 is limited by the limiting member 13. Even if the balancing member 12 is limited by the limiting member 13, the conveying member 11 can still continue to slide, allowing the robot to adjust only the conveying member 11 without moving the balancing member 12 in certain special cases, thereby more flexibly adapting to complex work scenarios, such as when the robot needs to be fine-tuned without changing the overall center of gravity or center of buoyancy position.

[0032] In some embodiments, the robot further comprises a track walking assembly 2, and the balancing adjustment assembly 1 is arranged between the front and rear wheels of the track walking assembly 2. The balancing adjustment assembly 1 is arranged between the front and rear wheels of the track walking assembly 2, making full use of the space inside the robot and optimizing the utilization rate of the internal structure of the robot; at the same time, the balancing adjustment assembly is arranged between the front and rear wheels of the track walking assembly 2, ensuring that the adjusted center of gravity or center of buoyancy position is always between the front and rear wheels of the track, and ensuring that the adjustment of the center of gravity or center of buoyancy position does not interfere with the operation of the track.

[0033] In some embodiments, the balancing adjustment assembly 1 further comprises a position sensor for detecting the current position of the balancing member 12. By adding a position sensor, the current position of the balancing member 12 can be detected in real time, providing accurate feedback information to ensure the accuracy of the adjustment process, and when the climbing angle of the robot changes, the position sensor can monitor the position of the balancing member 12 and automatically adjust the conveying member 11, avoiding the uncertainty caused by manual operation.

[0034] In summary, the utility model provides a kind of pool cleaning robot, by setting balance adjusting component, utilize conveying piece to drive balance piece to move in robot interior, realize the accurate adjustment of barycenter and floating center, make robot can flexibly adjust posture according to different task demand (such as climbing, downhill, wall surface cleaning or pool bottom movement), optimize cleaning effect.Balance piece can adopt counterweight or buoyancy block design, satisfy the specific demand of gravity or buoyancy under different scenes;The diversification design (such as slide rail, track, screw system etc.) of conveying piece and driving piece ensures the accuracy and efficiency of adjustment.Limiting piece (such as mechanical stop block, magnetic induction or electronic limit) further improves the safety and reliability of adjustment process, prevent adjusting from exceeding predetermined range.In addition, the device makes full use of robot internal space, avoid increasing volume or complexity, while keeping overall buoyancy and gravity unchanged, reduce manufacturing and maintenance cost.

[0035] The above is only the embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent transformation, direct or indirect application in related technical fields using the contents of the utility model specification and drawings are also included in the patent protection range of the utility model.

Claims

1. A pool cleaning robot characterized by: The balancing adjusting assembly comprises a transmission member which is arranged to slide in the pool cleaning robot and is used to adjust the center of gravity and / or the center of buoyancy of the pool cleaning robot.

2. The pool cleaning robot of claim 1, wherein: The balancing adjusting assembly further comprises a balancing member which is capable of moving with the transmission member, and the transmission member is used to change the position of the balancing member in the pool cleaning robot to adjust the center of gravity and / or the center of buoyancy of the pool cleaning robot.

3. A pool cleaning robot according to claim 2, wherein: The balancing member is fixed relative to the transmission member.

4. The pool cleaning robot of claim 3, wherein: The balancing adjusting assembly further comprises a driving member which drives the sliding of the transmission member and controls the position of the balancing member in the pool cleaning robot.

5. The pool cleaning robot of claim 2, wherein: The balancing adjusting assembly further comprises a limiting member which is used to limit the movement of the balancing member and control the position of the balancing member in the pool cleaning robot.

6. A pool cleaning robot according to claim 5, wherein, The limiting member is two, and the two limiting members are arranged in the path range of the transmission member to limit the movement of the two balancing members on the transmission member.

7. The pool cleaning robot of claim 5, wherein: The two limiting members are arranged close to the head and tail of the pool cleaning robot.

8. A pool cleaning robot according to any one of claims 1-7, characterized in that: After the movement of the balancing member is limited by the limiting member, the transmission member can continue to slide.

9. A pool cleaning robot according to any one of claims 2-7, characterized in that: The robot further comprises a track walking assembly, and the balancing adjusting assembly is arranged between the front and rear wheels of the track walking assembly.

10. A pool cleaning robot according to any one of claims 2-7, characterized in that: The balancing adjusting assembly further comprises a position sensor which is used to detect the current position of the balancing member. The balancing member is a counterweight or a buoyancy block, the density of the counterweight is greater than water, and the density of the buoyancy block is less than water.

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