Pool cleaning robot

Abstract

The utility model discloses a pool cleaning robot which comprises a balance adjusting assembly, the balance adjusting assembly comprises a swing part, the swing part is rotatably arranged in the pool cleaning robot, and the swing part adjusts the gravity center position and / or the buoyancy center position of the pool cleaning robot in the rotating process in the pool cleaning robot. The balance adjusting assembly is arranged in the robot, the swing piece in the balance adjusting assembly swings in the robot, and the gravity center position or the buoyancy center position of the whole robot is changed in the swing process of the swing 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] This utility model relates to the field of underwater operations, and in particular to a pool cleaning robot. Background Technology

[0002] Current pool cleaning robots typically face different working modes and environmental requirements when operating underwater, such as pool bottoms, walls, steps, and slopes. However, existing pool robots cannot freely adjust their center of buoyancy and center of gravity according to different working scenarios. This fixed design leads to low robot efficiency and even difficulties in many practical applications. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a water tank cleaning robot that solves the problem of poor stability of the equipment during underwater operation.

[0004] A pool cleaning robot includes a balance adjustment component, which includes a swinging member rotatably disposed inside the pool cleaning robot. The swinging member adjusts the center of gravity and / or center of buoyancy of the pool cleaning robot during rotation inside the robot.

[0005] In some embodiments, the balance adjustment component adjusts the center of gravity and / or center of buoyancy of the pool cleaning robot by changing the swing angle of the swing member.

[0006] In some embodiments, the balance adjustment assembly includes a drive member for driving the oscillating member to oscillate and controlling the oscillation angle of the oscillating member.

[0007] In some embodiments, the balance adjustment assembly includes a limiting member for limiting the swing angle of the swing member.

[0008] In some embodiments, there are two limiting members, which are respectively disposed within the swing range of the swinging member to limit the swinging of the swinging member. The two limiting members are respectively disposed near the head and tail of the water tank cleaning robot.

[0009] In some embodiments, the balance adjustment assembly further includes a balancer, the oscillating member changing the position of the balancer inside the underwater robot by oscillation.

[0010] In some embodiments, the swing member includes a swing arm and a drive unit, one end of the swing arm is hinged to the pool cleaning robot, and the other end of the swing arm is connected to the balancing member; the drive unit is used to drive the swing arm to swing.

[0011] In some embodiments, the swing arm is capable of rotating in multiple planes and being positioned at any swing angle.

[0012] In some embodiments, the number of swing arms is at least two, the swing arms are respectively disposed on opposite sides inside the underwater robot, and the at least two swing arms are synchronously or independently controlled by the drive unit.

[0013] In some embodiments, the balance adjustment assembly further includes an angle sensor for detecting the current rotation angle of the rotating arm.

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

[0015] The beneficial effects of this utility model include at least the following: providing a pool cleaning robot, in which a balance adjustment component is set inside the robot and a swinging component in the balance adjustment component swings inside the robot. During the swinging process, the overall center of gravity or center of buoyancy of the robot is changed, thereby adaptively adjusting the center of gravity or center of buoyancy during the robot's climbing or descending process, thereby improving the stability of the movement process. Attached Figure Description

[0016] Figure 1 This is an assembly diagram of a balance adjustment component according to an embodiment of the present utility model;

[0017] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0018] Label Explanation:

[0019] 1. Balance adjustment component; 11. Swing component; 111. Swing arm; 12. Limiting component; 13. Balance component. Detailed Implementation

[0020] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0021] Please refer to Figure 1 as well as Figure 2A pool cleaning robot includes a balance adjustment component 1, which includes a swing element 11 rotatably disposed inside the robot. The swing element 11 adjusts the robot's center of gravity and / or center of buoyancy as it rotates within the robot. This invention, by using the balance adjustment component 1 and the rotatable swing element 11 to adjust the center of gravity and center of buoyancy within the robot, allows the robot to flexibly adjust its posture according to different working scenarios. This adjustment method improves the robot's adaptability, enabling stable operation in complex pool environments and optimizing cleaning results. It is particularly suitable for cleaning different areas such as pool bottoms, walls, and slopes.

[0022] In some embodiments, the balance adjustment component 1 adjusts the center of gravity and / or center of buoyancy of the pool cleaning robot by changing the swing angle of the swing member 11. By changing the swing angle of the swing member 11 to adjust the robot's center of gravity and center of buoyancy, the robot's posture can be precisely adjusted according to operational needs; ensuring the robot's stability and cleaning efficiency in the pool under different working modes. For example, when climbing walls or going downhill, the robot can adjust its center of gravity as needed to avoid the phenomenon of "flying off the bottom of the pool".

[0023] Specifically, the balance adjustment component 1 includes a drive component, which drives the swinging component 11 to swing and controls the swing angle of the swinging component 11. Controlling the swing angle of the swinging component 11 through the drive component provides an efficient and controllable balance adjustment function. Precise control of the drive component ensures that the movement of the swinging component 11 can quickly respond to changes in the working mode, thereby effectively adjusting the robot's center of gravity and center of buoyancy, ensuring stable operation of the robot in different working scenarios, and improving work efficiency.

[0024] Specifically, the balance adjustment component 1 includes a limiting member 12, which limits the swing angle of the swinging member 11. By setting the limiting member 12, the swinging member 11 is limited at a preset position, and the swing angle of the swinging member 11 can be precisely controlled, avoiding excessive swinging or improper adjustment, thereby ensuring the stability and safety of the balance adjustment system. The limiting member 12 effectively prevents the swinging member 11 from adjusting beyond the predetermined range, improving the controllability and reliability of the robot when operating in complex pool environments.

[0025] Preferably, there are two limiting members 12, each positioned within the swing range of the swinging member 11 to limit its swing. The two limiting members 12 are positioned close to the head and tail of the water tank cleaning robot, respectively. By setting two limiting members 12 within the swing range of the swinging member 11, the adjustment range of the swinging member 11 at the head and tail of the water tank cleaning robot can be controlled separately. This design allows for more precise adjustment of the robot's posture in different operating scenarios, ensuring that the robot's head or tail is always at a suitable angle, thereby achieving a more stable cleaning effect, especially when climbing slopes or cleaning steps.

[0026] The drive component, limit component 12, and swing component 11 can be implemented in the following ways and work together to adjust the position of the robot's center of gravity and center of buoyancy. The drive component can use an electric motor (such as a DC motor, stepper motor, or servo motor) as the power source, and drive the movement of the swing component 11 through transmission devices such as gears, belts, and chains. The swing component 11 itself can be designed as a swing arm 111 structure, with one end of the swing arm 111 hinged to the robot and the other end connected to a balance component 13 (such as a counterweight or buoyancy block). The swing of the swing arm 111 is controlled by the drive component. The limit component 12 can be a mechanical stop, spring pin, gear limiter, etc., to ensure that the swing angle of the swing component 11 does not exceed a predetermined range, avoiding instability caused by excessive movement. For example, two limit components 12 can be respectively set at the front and rear ends of the swing component 11. When the swing component 11 moves to a predetermined angle, the limit component 12 is triggered and limits its continued swing, thereby achieving precise control. During coordinated implementation, the motor drives the swing arm 111 to rotate, and the maximum swing angle is controlled by the limit component 12 to ensure that the balance component 13 (counterweight or buoyancy block) is properly positioned inside the underwater robot, thereby adjusting the robot's center of gravity or center of buoyancy to ensure its stable operation in complex scenarios such as climbing, descending, and steps.

[0027] In some embodiments, the balance adjustment assembly 1 further includes a balancer 13, and the swinging member 11 changes the position of the balancer 13 inside the underwater robot by swinging. By adding the balancer 13 (such as a counterweight or buoyancy block) and using the swinging member 11 to adjust the position of the balancer 13 within the robot, more precise adjustment of the center of gravity and center of buoyancy can be achieved. By dynamically moving the balancer 13, the robot's operational performance can be optimized in different scenarios, avoiding the limitation of the robot's operational capabilities by fixed positions of the center of buoyancy and center of gravity, and improving its adaptability in various complex environments.

[0028] In some embodiments, the swing member 11 includes a swing arm 111 and a drive unit. One end of the swing arm 111 is hinged to the pool cleaning robot, and the other end is connected to the balancing member 13. The drive unit drives the swing arm 111 to swing. By designing the cooperation between the swing arm 111 and the drive unit, the balancing member 13 can be precisely adjusted according to the swing of the swing member 11. The design of the swing arm 111 allows the balancing member 13 to move in multiple planes, increasing the flexibility of adjustment and adapting to cleaning needs in different scenarios. Through the control of the drive unit, the swing arm 111 can be accurately positioned at various angles, providing more stable and efficient balance adjustment.

[0029] Specifically, the swing arm 111 can rotate in multiple planes and be positioned at any swing angle. That is, the swing arm 111 does not swing in a single plane, but can adjust its position in at least two planes, enhancing the flexibility of adjustment and enabling the robot to more precisely adjust its center of gravity and center of buoyancy. Through this design, the robot can freely adjust its posture in complex environments, optimize its operational performance, and enhance its adaptability in different working areas.

[0030] Preferably, there are at least two swing arms 111, which are respectively located on opposite sides inside the underwater robot. The at least two swing arms 111 are synchronously or independently controlled by the drive unit. By setting multiple swing arms 111, located on opposite sides of the robot and synchronously or independently controlled by the drive unit, a more balanced adjustment of the center of gravity and center of buoyancy can be achieved.

[0031] In some embodiments, the balance adjustment assembly 1 further includes an angle sensor for detecting the current rotation angle of the rotating arm 111. By incorporating an angle sensor into the balance adjustment assembly 1, the current rotation angle of the swing arm 111 can be monitored in real time, and precise control can be achieved through sensor feedback. This design ensures that the robot can adjust its center of buoyancy and center of gravity positions in a timely manner according to environmental requirements, improving operational accuracy and preventing posture instability caused by angular deviations.

[0032] In some embodiments, the balancing component 13 is a counterweight or a buoyancy block; the density of the counterweight is greater than that of water; and the density of the buoyancy block is less than that of water. By using a counterweight or buoyancy block as the balancing component 13, and selecting materials of different densities as needed (e.g., the density of the counterweight is greater than that of water, and the density of the buoyancy block is less than that of water), the position of the center of gravity or the center of buoyancy can be flexibly adjusted according to actual operational needs, thereby optimizing the robot's operational performance. For example, a counterweight is suitable for increasing the robot's center of gravity to enhance stability, while a buoyancy block is suitable for raising the position of the center of buoyancy to enhance climbing ability and ensure the robot's cleaning effect in different scenarios.

[0033] In summary, this utility model provides a pool cleaning robot that, by incorporating a balance adjustment component and utilizing rotatable swing arms, adjusts the robot's center of gravity and center of buoyancy internally. This allows the robot to flexibly adjust its posture according to different working scenarios, enhancing its adaptability and stability. This adjustment method not only optimizes the robot's cleaning effect in complex pool environments such as pool bottoms, walls, and slopes, but also prevents the robot from "flying off the pool bottom" or failing to maintain contact with the ground. Simultaneously, precise control of the swing angle of the swing arms through the drive component, combined with effective restraint from the limiting components, ensures the safety and reliability of the balance adjustment. Furthermore, the multiple swing arms and adjustable angle design increase the flexibility of adjustment, enabling precise adjustment of the robot's center of buoyancy and center of gravity in different operating modes, ensuring stable operation. The addition of angle sensors and counterweights or buoyancy blocks allows the robot to freely adjust its posture in complex environments, thereby improving its work efficiency and cleaning effect, especially in challenging working environments such as climbing slopes, descending slopes, and cleaning steps, further enhancing the robot's adaptability and reliability.

[0034] The above description is merely an embodiment of this utility model and does not limit the patent scope of this invention. Any equivalent modifications made based on the description and drawings of this utility model, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A pool cleaning robot, characterized in that: The system includes a balance adjustment component, which includes a swinging element rotatably disposed inside the pool cleaning robot. During the rotation of the swinging element inside the pool cleaning robot, the swinging element adjusts the center of gravity and / or center of buoyancy of the pool cleaning robot.

2. The pool cleaning robot according to claim 1, characterized in that, The balance adjustment component adjusts the center of gravity and / or center of buoyancy of the pool cleaning robot by changing the swing angle of the swinging component.

3. A pool cleaning robot according to claim 2, characterized in that, The balance adjustment assembly includes a drive component, which drives the oscillating component to oscillate and controls the oscillation angle of the oscillating component.

4. A pool cleaning robot according to claim 2, characterized in that, The balance adjustment assembly includes a limiting member, which is used to limit the swing angle of the swinging member.

5. A pool cleaning robot according to claim 4, characterized in that, There are two limiting members, which are respectively set within the swing range of the swinging member to limit the swinging of the swinging member. The two limiting members are respectively set close to the head and tail of the water tank cleaning robot.

6. A pool cleaning robot according to any one of claims 1-5, characterized in that: The balance adjustment assembly also includes a balancer, and the swinging member changes the position of the balancer inside the underwater robot by swinging.

7. A pool cleaning robot according to claim 6, characterized in that: The swinging component includes a swing arm and a drive unit. One end of the swing arm is hinged to the pool cleaning robot, and the other end of the swing arm is connected to the balancing component. The drive unit is used to drive the swing arm to swing.

8. A pool cleaning robot according to claim 7, characterized in that: The swing arm can rotate in multiple planes and be positioned at any swing angle.

9. A pool cleaning robot according to claim 7, characterized in that: The number of swing arms is at least two, and the swing arms are respectively located on opposite sides inside the underwater robot. The at least two swing arms are controlled synchronously or independently by the drive unit.

10. A pool cleaning robot according to any one of claims 1-5, characterized in that: The balance adjustment assembly also includes an angle sensor for detecting the current rotation angle of the rotating arm.

11. A pool cleaning robot according to claim 6, characterized in that: The balancing component is a counterweight or a buoyancy block; the density of the counterweight is greater than that of water; the density of the buoyancy block is less than that of water.

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