Automatic water surface cleaning machine with function of reducing actual yaw angle

Abstract

The utility model discloses an automatic water surface cleaning machine with a function of reducing an actual yaw angle, which comprises a water pumping unit positioned on one side of the automatic water surface cleaning machine, the water pumping unit positioned on one side of the automatic water surface cleaning machine comprises a water pump, the water pump comprises a motor, and when the automatic water surface cleaning machine walks on the water surface, the motor drives the automatic water surface cleaning machine to move. The water flow driving direction is opposite to the motor driving direction, and the difference value between the actual yaw angle and the ideal yaw angle is reduced. The water flow driving direction is opposite to the motor driving direction, the thrust of the outlet water flow resists the side effect brought by the motor, and the difference value between the actual yaw angle and the ideal yaw angle is reduced. The difference value is reduced, the leaking area of the automatic water surface cleaning machine is reduced, and the cleaning efficiency of the automatic water surface cleaning machine is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of water surface cleaning, and in particular to an automatic water surface cleaning machine with the function of reducing the actual yaw angle. Background Technology

[0002] Currently, there are three types of automatic water surface cleaning machines, each with its own drawbacks. The first type, while only having a water pumping device and low cost, cannot clean while moving. The second type, while only having a propulsion device and low cost, cannot clean while stationary. The third type requires both a water pumping device and a propulsion device to achieve both stationary and moving cleaning capabilities, which increases the cost of having two sets of devices.

[0003] There is currently no automatic water surface cleaning machine that can clean while stationary and while moving, while also solving the problem of high cost of two separate devices.

[0004] To achieve both stationary and mobile cleaning capabilities, while also addressing the high cost of separate systems, we have recently developed a multi-functional automatic water surface cleaning machine. When using this machine to collect debris from the water surface, it is first placed in the water. The buoyancy generated by the flotation device causes the filter screen and filter cylinder of the filtration system to float on the water. Activating the pump draws water into the filter screen, which then flows through the mesh and out of the filter cylinder, finally being sprayed out through the water outlet. The water jet propels the automatic water surface cleaning machine forward. Even when the machine encounters obstacles and cannot move forward, the water outlet continues to spray water, and the filtration system continues to collect debris. This achieves both stationary and mobile cleaning capabilities, reducing costs.

[0005] However, our initial model of the latest automatic water surface cleaning machine, which can clean both in place and while moving, has a problem: the automatic water surface cleaning machine cannot yaw at the ideal yaw angle, but the actual yaw angle is greater than the ideal yaw angle, and the difference between the actual yaw angle and the ideal yaw angle is large. This causes the automatic water surface cleaning machine to miss some cleaning areas, reducing its cleaning efficiency. Utility Model Content

[0006] To address the issues mentioned above regarding the initial design of our newly developed automatic water surface cleaning machine, which missed some cleaning areas and reduced cleaning efficiency, this utility model provides an automatic water surface cleaning machine with a function to reduce the actual yaw angle. The automatic water surface cleaning machine with the function to reduce the actual yaw angle has two variations: New Model 1 and New Model 2.

[0007] This utility model provides an automatic water surface cleaning machine with the function of reducing the actual yaw angle, and adopts the following technical solution:

[0008] An automatic surface cleaning machine with a function to reduce the actual yaw angle includes a pumping unit located on one side of the automatic surface cleaning machine.

[0009] The pumping unit located on one side of the automatic water surface cleaning machine includes a pump, which in turn includes a motor. When the automatic water surface cleaning machine moves on the water surface, the direction of the water flow is opposite to the direction of the motor's drive, thus reducing the difference between the actual yaw angle and the ideal yaw angle.

[0010] The direction of water flow refers to the direction in which the thrust of the water flow drives the automatic water surface cleaning machine to rotate; the outflowing water refers to the water flow sprayed from the pumping unit.

[0011] The direction of motor drive refers to the direction in which the driving force of the motor drives the automatic water surface cleaning machine to rotate.

[0012] An automatic surface cleaning machine with a function to reduce the actual yaw angle is controlled to turn right at an ideal yaw angle. When the motor drive direction is clockwise...

[0013] The water flow direction is parallel to the axis and the water flow is located to the right of the positive direction of the axis, and the water flow sprays water to the right rear.

[0014] or,

[0015] The angle between the direction of the water flow and the axis is not zero, and the water flow is sprayed obliquely to the left and rear.

[0016] An automatic surface cleaning machine with a function to reduce the actual yaw angle has a pumping unit located on one side of the machine, which includes a water outlet cylinder. The water outlet cylinder is close to the pump, and water is sprayed out from behind the cylinder.

[0017] The axis of the water outlet cylinder is parallel to the shaft, and the axis is located to the right of the positive direction of the shaft;

[0018] or,

[0019] The angle between the axis of the water outlet tube and the shaft is not zero, and the axis is inclined to the left and rear.

[0020] An automatic surface cleaning machine with a function to reduce the actual yaw angle is controlled to turn left at an ideal yaw angle. When the motor drive direction is counterclockwise...

[0021] The water flow direction is parallel to the axis and the water flow is located to the left of the positive direction of the axis, and the water flow sprays water to the left rear.

[0022] or,

[0023] The angle between the direction of the water flow and the axis is not zero, and the water flow is sprayed obliquely to the right and rear.

[0024] An automatic surface cleaning machine with a function to reduce the actual yaw angle has a pumping unit located on one side of the machine, which includes a water outlet cylinder. The water outlet cylinder is close to the pump, and water is sprayed out from behind the cylinder.

[0025] The axis of the water outlet is parallel to the shaft, and the axis is located to the left of the positive direction of the shaft;

[0026] or,

[0027] The angle between the axis of the water outlet cylinder and the shaft is not zero, and the axis is inclined to the right rear.

[0028] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a water suction shell, the inside of which forms a water suction chamber, and the water outlet tube is connected to the water suction chamber.

[0029] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a sealed chamber, the motor body is located inside the sealed chamber, the motor shaft passes through the sealed chamber, and the pump includes an impeller, with the impeller installed on one side of the shaft located inside the pumping chamber.

[0030] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a filtration device, which includes a filter cylinder installed on the top of the pumping shell. A filter screen is installed inside the filter cylinder, and an opening is provided at the bottom of the filter cylinder, which communicates with the pumping chamber.

[0031] An automatic water surface cleaning machine with the function of reducing actual yaw angle has three floating devices. The floating devices are installed on the outer periphery of the filter device, with two floating devices symmetrically installed on both sides of the shaft and one floating device located on the shaft.

[0032] In summary, this utility model has at least one of the following beneficial effects:

[0033] The water flow drives the machine in the opposite direction to the motor, and the thrust of the water counteracts the side effects of the motor, reducing the difference between the actual yaw angle and the ideal yaw angle. The smaller the difference, the smaller the area missed by the automatic surface cleaner, and the higher its cleaning efficiency. A smaller difference means fewer areas are missed, further improving the cleaning efficiency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments or initial descriptions of this utility model, the drawings used in the descriptions of the embodiments or initial descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 The front view of the initial model of the automatic water surface cleaning machine;

[0036] Figure 2 For automatic water surface cleaning machine Figure 1 AA section Figure 1 ;

[0037] Figure 3 A top-down view of the initial model of the automatic water surface cleaning machine. Figure 1 ;

[0038] Figure 4 For automatic water surface cleaning machine Figure 1 AA section Figure 2 ;

[0039] Figure 5 A top-down view of the initial model of the automatic water surface cleaning machine. Figure 2 ;

[0040] Figure 6 This is a front view of a new type of automatic water surface cleaning machine with the function of reducing actual yaw angle.

[0041] Figure 7 This utility model relates to an automatic water surface cleaning machine with the function of reducing actual yaw angle. Figure 6 BB sectional view Figure 1 ;

[0042] Figure 8 This is a front view of the new model of the automatic water surface cleaning machine with the function of reducing actual yaw angle.

[0043] Figure 9 This utility model relates to an automatic water surface cleaning machine with the function of reducing actual yaw angle. Figure 8 CC-direction section Figure 1 ;

[0044] Figure 10 Top view of the first and second new models of the automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 1 ;

[0045] Figure 11 This utility model relates to an automatic water surface cleaning machine with the function of reducing actual yaw angle. Figure 6 BB sectional view Figure 2 ;

[0046] Figure 12 This utility model relates to an automatic water surface cleaning machine with the function of reducing actual yaw angle. Figure 8 CC-direction section Figure 2 ;

[0047] Figure 13 Top view of the first and second new models of the automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 2 ;

[0048] Figure 14 This is a cross-sectional perspective view of the new type of automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 1 ;

[0049] Figure 15 For the present utility model Figure 12 Enlarged structural diagram at point A in the middle;

[0050] Figure 16 This is a cross-sectional perspective view of the new type of automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 2 ;

[0051] Figure 17 This is a partial three-dimensional structural diagram of a new type of automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 1 ;

[0052] Figure 18 This is a partial three-dimensional structural diagram of a new type of automatic surface cleaning machine with the function of reducing actual yaw angle. Figure 2 ;

[0053] Figure 19 This is a three-dimensional structural diagram of the combination of the water pump casing and the water outlet cylinder of the new type of automatic water surface cleaning machine with the function of reducing the actual yaw angle.

[0054] Figure 20 This is a three-dimensional structural diagram of the new automatic water surface cleaning machine with the function of reducing actual yaw angle.

[0055] In the diagram: 1. Motor; 2. Water outlet cylinder; 3. Shaft; 4. Pumping shell; 5. Pumping chamber; 6. Sealed chamber; 7. Impeller; 8. Opening; 9. Floating device; 10. Filter cylinder; 11. Filter screen.

[0056] A1, Ideal yaw angle; A2, Actual yaw angle; A3, Difference; D1, Motor driving direction; D2, Water flow driving direction; D3, Outflow water flow direction; E1, One side of the automatic water surface cleaner; E2, The other side of the automatic water surface cleaner. Detailed Implementation

[0057] The following is in conjunction with the appendix Figure 1-20 The present invention will be described in further detail below.

[0058] An orthogonal rectangular coordinate system OXYZ is established for the automatic water surface cleaning machine in this application. Point O in this coordinate system is the center of the automatic water surface cleaning machine. Any two of the three axes, X-axis, Y-axis and Z-axis, are perpendicular to each other. The X-axis is perpendicular to the YZ plane, the Y-axis is perpendicular to the XZ plane, and the Z-axis is perpendicular to the XY plane.

[0059] The X-axis of this coordinate system is the front and rear axis of the automatic water surface cleaner. The X-axis is located in the direction of travel of the automatic water surface cleaner. When the automatic water surface cleaner travels on the surface of the pool, the X-axis is parallel to the surface of the pool.

[0060] The Y-axis of this coordinate system is the horizontal axis of the automatic water surface cleaner. The Y-axis is perpendicular to the direction of movement of the automatic water surface cleaner. When the automatic water surface cleaner moves on the surface of the pool, the Y-axis is parallel to the surface of the pool.

[0061] The Z-axis of this coordinate system is the vertical axis of the automatic water surface cleaner. When the automatic water surface cleaner moves on the surface of the pool, the Z-axis is perpendicular to the surface of the pool.

[0062] like Figure 1-20 The automatic water surface cleaning machine in this application has two pumping units, each including a pump. The automatic water surface cleaning machine in this application is not limited to... Figure 1-20 The automatic water surface cleaning machine in this application may have one water pumping unit, or two, three, four, etc.

[0063] When different pumping units are operating, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is different because the orthogonal rectangular coordinate system OXYZ is established on the pumping unit that is currently operating. For example... Figure 1-20 The automatic water surface cleaning machine has two pumping units. When the pumping unit on one side (E1) of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is on the pumping unit on one side (E1), such as... Figure 1-20 O is the center around which the automatic water surface cleaner rotates when it moves. O is on the rotating shaft 3 of motor 1. The X-axis is the front and rear axis of the automatic water surface cleaner, the Y-axis is the horizontal axis of the automatic water surface cleaner, and the Z-axis is the vertical axis of the automatic water surface cleaner. The rotating shaft 3 of motor 1 of the water pump is located on the Z-axis, and the shaft end of the rotating shaft 3 is located in the positive direction of the Z-axis. The water flow propels the automatic water surface cleaner forward.

[0064] Similarly, when the pumping unit on the other side E2 of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is on the pumping unit on the other side E2 of the automatic water surface cleaning machine. In this application, only the pumping unit on one side E1 of the automatic water surface cleaning machine is analyzed below. The pumping unit on the other side E2 of the automatic water surface cleaning machine, as well as the pumping units at other positions of the automatic water surface cleaning machine, are not specifically analyzed.

[0065] An automatic surface cleaning machine with a function to reduce the actual yaw angle includes a pumping unit located on one side E1 of the automatic surface cleaning machine.

[0066] The pumping unit located on one side E1 of the automatic water surface cleaning machine includes a pump, which includes a motor 1. When the automatic water surface cleaning machine moves on the water surface, the water flow driving direction D2 is opposite to the motor driving direction D1, and the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1 decreases.

[0067] The water flow driving direction D2 refers to the direction in which the thrust of the water flow drives the automatic water surface cleaning machine to rotate. The water flow refers to the water flow sprayed from the pumping unit.

[0068] The direction of motor drive (D1) refers to the direction in which the driving force of motor 1 drives the automatic water surface cleaning machine to rotate.

[0069] The direction of water flow driving D2 is opposite to the direction of motor driving D1. There are two situations: the first is... Figure 7-9 The motor drives in a clockwise direction (D1), while the water flow drives in a counter-clockwise direction (D2); The second type: such as... Figure 11-13 The motor drives in a counter-clockwise direction (D1); the water flows in a clockwise direction (D2).

[0070] The ideal yaw angle A1 is the ideal yaw angle that needs to be achieved to control an automatic pool cleaner.

[0071] The ideal yaw angle A1 can be initially stored in the software program of the automatic water surface cleaner, or it can be calculated in real time by the automatic water surface cleaner during operation.

[0072] like Figure 1-5 In the initial description, the ideal yaw angle A1 can also be obtained through the mechanical structure of the automatic surface cleaning machine rather than through software programs. The mechanical structure referred to here means that the automatic surface cleaning machine itself has a mass distribution in various parts. When the automatic surface cleaning machine moves on the water surface, the thrust of the water flow propels the automatic surface cleaning machine forward. The mass distribution of the automatic surface cleaning machine affects the magnitude of the ideal yaw angle A1, and the automatic surface cleaning machine moves according to the ideal yaw angle A1.

[0073] Ideally, an automatic water surface cleaning machine should yaw at an ideal yaw angle A1. This allows the machine to operate as expected and clean the water surface most efficiently and thoroughly. However, in reality, the actual yaw angle A2 is often not equal to the ideal yaw angle A1, resulting in a difference A3.

[0074] The actual yaw angle A2 is the actual yaw angle of the automatic pool cleaner.

[0075] It should be noted that the ideal yaw angle A1, actual yaw angle A2, and difference A3 in this application are all absolute values, which are all greater than or equal to zero, and do not have a direction.

[0076] In the initial clause, such as Figure 1-5 If the actual yaw angle A2 is larger than the ideal yaw angle A1, the automatic surface cleaning machine will miss some areas. The larger the difference A3, the larger the area missed by the automatic surface cleaning machine, and the lower its cleaning efficiency.

[0077] In order to reduce the difference A3 and improve the automatic water surface cleaning machine's ability to clean the water surface efficiently and thoroughly, our R&D personnel conducted many tests and attempts on the mass distribution of the automatic water surface cleaning machine. For example, changing the counterweight before and after automatic water surface cleaning or left and right, and ensuring the symmetry of the structure and mass on both sides of the automatic water surface cleaning machine, etc., none of these methods could reduce the difference A3.

[0078] After multiple rounds of elimination to find the reason why the actual yaw angle A2 is often larger or smaller than the ideal yaw angle A1, that is, to find the reason why the difference A3 is greater than zero, our R&D personnel found that the reason why the difference A3 is greater than zero is related to the motor of the water pumping unit. During the rotation of the motor, it will drive the automatic water surface cleaning machine to rotate slightly. This slight rotation is so small that R&D personnel in this field have not noticed the problem that the actual yaw angle A2 is often larger than the ideal yaw angle A1, and no one has thought of solving this problem. However, it is this slight rotation that causes the difference A3 of the automatic water surface cleaning machine to be greater than zero, and the difference A3 is so large that it affects the cleaning efficiency.

[0079] In other words, the ideal yaw angle A1 exists without taking into account the driving force of motor 1. With the driving force of motor 1 in mind, the automatic surface cleaning machine will yaw according to the actual yaw angle A2, which is larger than the ideal yaw angle A1. Figure 1-5 That's how it is. The driving force of the motor provides power for the automatic water surface cleaning machine to suck up water, but it also produces the side effect of making the actual yaw angle A2 larger than the ideal yaw angle A1.

[0080] like Figure 2 Viewed from above, the automatic water surface cleaner's water flow direction D3 and its forward direction are both on the X-axis and opposite, propelling the cleaner forward. If the motor's drive direction D1 is clockwise, meaning the motor 1 drives the cleaner clockwise, when the cleaner is turned right at the ideal yaw angle A1, the motor 1's drive force will cause the cleaner to turn even further to the right. Figure 3The actual yaw angle A2 of the automatic water surface cleaning machine is larger than the ideal yaw angle A1, and the difference A3 is larger, where A3 = A2 - A1.

[0081] like Figure 4 Viewed from above, the automatic water surface cleaner's water flow direction D3 and its forward direction are both on the X-axis and opposite, propelling the cleaner forward. If the motor's drive direction D1 is counter-clockwise, meaning the motor 1 drives the cleaner counter-clockwise, when the cleaner is turned left at the ideal yaw angle A1, the motor 1's drive force will cause the cleaner to turn even further to the left. Figure 5 The actual yaw angle A2 of the automatic water surface cleaning machine is larger than the ideal yaw angle A1, and the difference A3 is larger, where A3 = A2 - A1.

[0082] As mentioned earlier, our R&D team found the reason why the actual yaw angle A2 is larger than the ideal yaw angle A1. The reason is that the driving force of the motor drives the automatic water surface cleaning machine to rotate clockwise or counterclockwise. To reduce the difference A3, we need to start by counteracting the side effects of the driving force of the motor.

[0083] To reduce the difference A3, the researchers modified the structure of the automatic water surface cleaning machine. The modified version is the new model of the automatic water surface cleaning machine. Figure 7 , Figure 8 , Figure 11 and Figure 12 The shaft 3 of motor 1 remains located on the Z-axis, and the end of shaft 3 remains in the positive direction of the Z-axis. However, the water flow direction D3 of the automatic surface cleaning machine is not on the X-axis. The thrust of the water flow propels the automatic surface cleaning machine forward and also drives it to rotate, either clockwise or counterclockwise. The direction in which the thrust of the water flow from the pumping unit drives the automatic surface cleaning machine to rotate is the water flow driving direction D2. The water flow driving direction D2 is opposite to the motor driving direction D1.

[0084] In other words, if we want to reduce the actual yaw angle A2 and the difference A3, the thrust of the outflowing water needs to counteract the side effects of motor 1. That is, the direction of the water flow D2 needs to be opposite to the direction of the motor D1. Only when the actual yaw angle A2 is reduced can the difference A3 be reduced.

[0085] The water flow direction D2 is opposite to the motor drive direction D1, reducing the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1. The smaller the difference A3, the smaller the area missed by the automatic surface cleaner, and the higher its cleaning efficiency. When the difference A3 equals zero, the actual yaw angle A2 equals the ideal yaw angle A1, and the automatic surface cleaner is most efficient and thorough in cleaning the water surface.

[0086] An automatic surface cleaning machine with the function of reducing the actual yaw angle is controlled to turn right at an ideal yaw angle A1. When the motor drive direction D1 is clockwise...

[0087] The water flow direction D3 is parallel to the X-axis and the water flow is located to the right of the positive direction of the X-axis, and the water flow sprays water to the right rear.

[0088] or,

[0089] The angle between the water flow direction D3 and the X-axis is not zero, and the water flow is sprayed obliquely to the left and rear.

[0090] Figure 2 and Figure 3 In the middle, the motor drive direction D1 is clockwise, and the water flow direction D3 is on the X-axis, which is consistent with the initial design. Figure 2 and Figure 3 Improvements have been made, the new model is as follows Figure 6 , Figure 7 and Figure 10 New model two Figure 8 , Figure 9 and Figure 10 The water flow direction D3 is not on the X-axis, the water flow driving direction D2 is counterclockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Figure 10 , Figure 10 and Figure 3 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0091] The new model is as follows Figure 6 and Figure 7 In the diagram, the water flow direction D3 is parallel to the X-axis, and the water flow is located to the right of the positive direction of the X-axis. The water flow sprays water to the right and rear. The thrust of this water flow drives the automatic water surface cleaning machine to rotate counterclockwise, that is, the water flow driving direction D2 is counterclockwise. The water flow driving direction D2 is opposite to the motor driving direction D1. Figure 10 , Figure 10 and Figure 3 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0092] New model two Figure 8 and Figure 9 In the middle, the angle between the water flow direction D3 and the X-axis is not zero, and the water flow is sprayed diagonally to the left and rear. The thrust of this water flow drives the automatic water surface cleaning machine to rotate counterclockwise, that is, the water flow driving direction D2 is counterclockwise. The water flow driving direction D2 is opposite to the motor driving direction D1. Figure 10 , Figure 10 and Figure 3 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0093] An automatic surface cleaning machine with a function to reduce the actual yaw angle has a pumping unit located on one side E1 of the automatic surface cleaning machine, which includes a water outlet cylinder 2. The water outlet cylinder 2 is close to the pump, and the water flow is sprayed out from the rear of the water outlet cylinder 2.

[0094] The axis of water outlet cylinder 2 is parallel to the X-axis, and the axis is located to the right of the positive direction of the X-axis;

[0095] or,

[0096] The angle between the axis of the water outlet cylinder 2 and the X-axis is not zero, and the axis is inclined to the left and rear.

[0097] like Figure 7 The axis of the water outlet cylinder 2 is parallel to the X-axis and is located to the right of the positive direction of the X-axis. Thus, the water flow direction D3 is parallel to the X-axis and is located to the right of the positive direction of the X-axis, and the water flow sprays water to the right rear.

[0098] like Figure 9 The angle between the axis of the water outlet 2 and the X-axis is not zero, and the axis is obliquely to the left and rear. Thus, the angle between the water flow direction D3 and the X-axis is not zero, and the water flow is obliquely sprayed to the left and rear.

[0099] An automatic surface cleaning machine with the function of reducing the actual yaw angle is controlled to turn left at an ideal yaw angle A1. When the motor drive direction D1 is counterclockwise...

[0100] The water flow direction D3 is parallel to the X-axis and the water flow is located to the left of the positive direction of the X-axis, and the water flow sprays water to the left rear.

[0101] or,

[0102] The angle between the water flow direction D3 and the X-axis is not zero, and the water flow is sprayed obliquely to the right and rear.

[0103] Figure 4 and Figure 5 In the middle, the motor drive direction D1 is counterclockwise, and the water flow direction D3 is on the X-axis, which is consistent with the initial design. Figure 4 and Figure 5 Improvements have been made, the new model is as follows Figure 6 , Figure 11 and Figure 13 New model two Figure 8 , Figure 12 and Figure 13 The water flow direction D3 is not on the X-axis, the water flow driving direction D2 is clockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Figure 13 , Figure 13 and Figure 5 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0104] Figure 11 In the diagram, the water flow direction D3 is parallel to the X-axis, and the water flow is located to the left of the positive X-axis. The water flow sprays water directly to the left and rear. The thrust of this water flow drives the automatic water surface cleaning machine to rotate clockwise, meaning the water flow driving direction D2 is clockwise. The water flow driving direction D2 is opposite to the motor driving direction D1. Figure 13 , Figure 13 and Figure 5 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0105] Figure 12 In the middle, the angle between the water flow direction D3 and the X-axis is not zero, and the water flow is sprayed diagonally to the right and rear. The thrust of this water flow drives the automatic water surface cleaning machine to rotate clockwise, that is, the water flow driving direction D2 is clockwise. The water flow driving direction D2 is opposite to the motor driving direction D1. Figure 13 , Figure 13 and Figure 5 In comparison, the actual yaw angle A2 decreases, and the difference A3 decreases.

[0106] An automatic surface cleaning machine with a function to reduce the actual yaw angle has a pumping unit located on one side E1 of the automatic surface cleaning machine, which includes a water outlet cylinder 2. The water outlet cylinder 2 is close to the pump, and the water flow is sprayed out from the rear of the water outlet cylinder 2.

[0107] The axis of the water outlet cylinder 2 is parallel to the X-axis, and the axis is located to the left of the positive direction of the X-axis;

[0108] or,

[0109] The angle between the axis of the water outlet cylinder 2 and the X-axis is not zero, and the axis is inclined to the right rear.

[0110] like Figure 11 The axis of the water outlet cylinder 2 is parallel to the X-axis and is located to the left of the positive direction of the X-axis. Thus, the water flow direction D3 is parallel to the X-axis and is located to the left of the positive direction of the X-axis, and the water flow sprays water to the left rear.

[0111] like Figure 12 The angle between the axis of the water outlet cylinder 2 and the X-axis is not zero, and the axis is inclined to the right rear. Thus, the angle between the water flow direction D3 and the X-axis is not zero, and the water flow is sprayed obliquely to the right rear.

[0112] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a water suction shell 4, the inside of which forms a water suction chamber 5, and the water outlet cylinder 2 is connected to the water suction chamber 5.

[0113] like Figure 14-20 Under the action of the pump, the water flows from the pumping chamber 5 to the outlet cylinder 2, and then the water is sprayed out from the outlet cylinder 2.

[0114] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a sealed chamber 6, the body of a motor 1 is located inside the sealed chamber 6, the shaft 3 of the motor 1 passes through the sealed chamber 6, and the water pump includes an impeller 7, with the impeller 7 installed on one side of the shaft 3 located inside the water pumping chamber 5.

[0115] An automatic water surface cleaning machine with the function of reducing actual yaw angle includes a filtration device, which includes a filter cylinder 10. The filter cylinder 10 is installed on the top of the water pumping shell 4. A filter screen 11 is installed inside the filter cylinder 10. An opening 8 is provided at the bottom of the filter cylinder 10, and the opening 8 is connected to the water pumping chamber 5.

[0116] like Figure 14-20 Under the action of the pump, water flows from the filter device through the opening 8 to the pumping chamber 5, then flows from the pumping chamber 5 to the outlet cylinder 2, and finally sprays out the water from the outlet cylinder 2.

[0117] An automatic water surface cleaning machine with the function of reducing actual yaw angle has three floating devices 9. The floating devices 9 are installed on the outer periphery of the filter device, with two floating devices 9 symmetrically installed on both sides of the X-axis and one floating device 9 located on the X-axis.

[0118] This allows the automatic water surface cleaning machine to distribute its mass evenly on both sides of the X-axis, improving its stability during operation.

[0119] As mentioned earlier, when the pumping unit on the other side E2 of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is on the pumping unit on the other side E2 of the automatic water surface cleaning machine. In the previous text of this application, only the pumping unit on one side E1 of the automatic water surface cleaning machine was analyzed. Figure 1-20 The orthogonal rectangular coordinate system OXYZ is established on the pumping unit E1 on one side of the automatic water surface cleaning machine. No specific analysis was made on the pumping unit E2 on the other side of the automatic water surface cleaning machine and its corresponding coordinate system. No specific analysis was also made on the pumping units and their corresponding coordinate systems at other positions of the automatic water surface cleaning machine.

[0120] The water pumping unit on the other side E2 of the automatic water surface cleaning machine, or the water pumping unit in other locations, may have the same structure as the water pumping unit on one side E1 of the automatic water surface cleaning machine, or they may be different.

[0121] If the pumping unit on the other side E2 of the automatic water surface cleaning machine or the pumping unit at other locations has the same structure as the pumping unit on one side E1 of the automatic water surface cleaning machine, the automatic water surface cleaning machine can reduce the actual yaw angle regardless of which pumping unit is working.

[0122] If the water pumping unit on the other side E2 of the automatic water surface cleaning machine, or in other locations, has a different structure from the water pumping unit on one side E1 of the automatic water surface cleaning machine, such as... Figure 6-20 On one side of the automatic water surface cleaning machine, the direction of the water outlet of the pumping unit E2 is inconsistent with that of the pumping unit E1 on the other side. The direction of the water outlet of the pumping unit E2 on the other side is aligned with the front and rear axles of the machine, and the water jet from the outlet is also aligned with the front and rear axles. Therefore, the pumping unit E2 on the other side cannot effectively reduce the actual yaw angle during operation. This design allows the automatic water surface cleaning machine to select different pumping units based on varying cleaning efficiency requirements, thus improving its versatility.

[0123] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure and shape of this utility model should be included within the scope of protection of this utility model.

Claims

1. An automatic water surface cleaning machine with a reduced actual yaw angle function, comprising a water pumping unit located on one side (E1) of the automatic water surface cleaning machine, The water pumping unit located on one side (E1) of the automatic water surface cleaning machine comprises a water pump, and the water pump comprises a motor (1), characterized in that, When the automatic water surface cleaning machine is walking on the water surface, the water flow driving direction (D2) is opposite to the motor driving direction (D1), and the difference (A3) between the actual yaw angle (A2) and the ideal yaw angle (A1) is reduced, The water flow driving direction (D2) refers to the direction in which the thrust of the water flow drives the automatic water surface cleaning machine to rotate, and the water flow refers to the water flow sprayed from the water pumping unit, The motor driving direction (D1) refers to the direction in which the driving force of the motor (1) drives the automatic water surface cleaning machine to rotate.

2. An automatic water surface cleaning machine with a reduced actual yaw angle function according to claim 1, characterized in that: Control the automatic water surface cleaning machine to turn right according to the ideal yaw angle (A1), when the motor driving direction (D1) is clockwise, The water flow direction (D3) is parallel to the x-axis, and the water flow is located on the right side of the x-axis positive direction, and the water flow is sprayed to the right rear side; Or, The angle between the water flow direction (D3) and the x-axis is not zero, and the water flow is sprayed obliquely to the left rear side.

3. An automatic water surface cleaning machine with reduced actual yaw angle function according to claim 2, characterized in that: The water pumping unit located on one side (E1) of the automatic water surface cleaning machine comprises a water outlet cylinder (2), which is close to the water pump, and the water flow is sprayed from the back of the water outlet cylinder (2), The axis of the water outlet cylinder (2) is parallel to the x-axis, and the axis is located on the right side of the x-axis positive direction; Or, The angle between the axis of the water outlet cylinder (2) and the x-axis is not zero, and the axis is obliquely to the left rear side.

4. An automatic water surface cleaning machine with a reduced actual yaw angle function according to claim 1, characterized in that: Control the automatic water surface cleaning machine to turn left according to the ideal yaw angle A1, when the motor driving direction (D1) is counterclockwise, The water flow direction (D3) is parallel to the x-axis, and the water flow is located on the left side of the x-axis positive direction, and the water flow is sprayed to the left rear side; Or, The angle between the water flow direction D3 and the x-axis is not zero, and the water flow is sprayed obliquely to the right rear side.

5. An automatic water surface cleaning machine with reduced actual yaw angle function according to claim 4, characterized in that: The water pumping unit located on one side (E1) of the automatic water surface cleaning machine comprises a water outlet cylinder (2), which is close to the water pump, and the water flow is sprayed from the back of the water outlet cylinder (2), and the axis of the water outlet cylinder (2) is parallel to the x-axis, and the axis is located on the left side of the x-axis positive direction; Or, The angle between the axis of the water outlet cylinder (2) and the x-axis is not zero, and the axis is obliquely to the right rear side.

6. An automatic water surface cleaning machine with a reduced actual yaw angle function according to claim 3 or 5, characterized in that: It comprises a water pumping shell (4), the inside of the water pumping shell (4) forms a water pumping cavity (5), the water outlet cylinder (2) communicates with the water pumping cavity (5).

7. An automatic water surface cleaning machine with reduced actual yaw angle function according to claim 6, characterized in that: It comprises a sealed cabin (6), the body of the motor (1) is located in the inside of the sealed cabin (6), the rotating shaft (3) of the motor (1) penetrates through the sealed cabin (6), the water pump comprises an impeller (7), and the rotating shaft (3) is provided with the impeller (7) on one side in the water pumping cavity (5).

8. An automatic water surface cleaning machine with reduced actual yaw angle function according to claim 7, characterized in that: It comprises a filtering device, the filtering device comprises a filtering cylinder (10), the filtering cylinder (10) is installed on the top of the water pumping shell (4), a filtering screen (11) is installed in the inside of the filtering cylinder (10), and an opening (8) is formed in the bottom of the filtering cylinder (10). The opening (8) communicates with the water pumping cavity (5).

9. An automatic water surface cleaning machine with reduced actual yaw angle function according to claim 8, characterized in that: The number of floating devices (9) is three, the floating devices (9) are installed on the outer periphery of the filtering device, two of the floating devices (9) are symmetrically installed on both sides of the x-axis, and the other floating device (9) is located on the x-axis.

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