Cleaning robot

Abstract

The utility model is suitable for the field of robots, and discloses a cleaning robot which comprises a main body and a water outlet part. The water outlet part is located at the top of the main body and close to the front end of the main body, the water outlet part is obliquely arranged relative to the retreating direction of the cleaning robot, and the included angle between the water outlet part and the retreating direction of the cleaning robot is an acute angle. According to the cleaning robot, the climbing force of the cleaning robot during wall climbing operation can be enhanced, and the overall operation performance of the cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a cleaning robot. Background Technology

[0002] With the rapid development of technology, robots are increasingly being used for automated cleaning to improve work efficiency and reduce manpower. For example, robots can be used to clean pools to keep them clean and hygienic. However, existing cleaning robots rely solely on the traction provided by their moving parts to propel them up when climbing walls. This results in low efficiency and higher power consumption during the climbing process. Utility Model Content

[0003] The purpose of this application is to provide a cleaning robot that enhances the climbing ability of the cleaning robot when performing wall-climbing operations.

[0004] To achieve the above objectives, this application provides a cleaning robot, comprising:

[0005] main body;

[0006] The water outlet is located at the top of the main body and near the front end of the main body. The water outlet is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet and the backward direction of the cleaning robot is an acute angle.

[0007] In the cleaning robot of this application, the water outlet section includes a water outlet channel and a grid screen, the water outlet channel has a water outlet, and the grid screen is installed at the water outlet.

[0008] In the cleaning robot of this application, the water outlet channel is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet channel and the backward direction of the cleaning robot is an acute angle.

[0009] In the cleaning robot of this application, the grid includes a plurality of grid plates spaced apart along the traveling direction of the cleaning robot. The plurality of grid plates are inclined relative to the backward direction of the cleaning robot, and the angle between the plurality of grid plates and the backward direction of the cleaning robot is an acute angle.

[0010] In the cleaning robot of this application, the grid mesh further includes a grid frame, the grid frame is provided with grid holes, the plurality of grid plates are disposed in the grid holes, the grid holes are inclined relative to the backward direction of the cleaning robot on both sides of the hole wall along the traveling direction of the cleaning robot, and the included angle between the hole wall on both sides of the hole along the traveling direction of the cleaning robot and the backward direction of the cleaning robot is an acute angle.

[0011] In the cleaning robot of this application, the bottom of the grid plate is provided with an arc-shaped part.

[0012] In the cleaning robot of this application, the water outlet is tilted at an angle of 5°-15° relative to the direction perpendicular to the working surface.

[0013] In the cleaning robot of this application, the main body includes an upper shell, a chassis assembly, and a motor box assembly. The upper shell and the chassis assembly are connected to form an enclosure, and the motor box assembly is installed in the enclosure. The motor box assembly includes a water pump assembly for pumping water to discharge it from the water outlet, which is located on the upper shell.

[0014] The cleaning robot of this application also includes a collection box. The chassis assembly is provided with a suction port. The collection box is located in the mounting part. The collection box is provided with a water inlet and a water filter. The water inlet of the collection box is connected to the suction port, and the water filter is connected to the water outlet.

[0015] In the cleaning robot of this application, the motor box assembly is located near the front end of the main body, and the collection box is located near the rear end of the main body.

[0016] The cleaning robot provided in this application has its water outlet set at an angle. During operation, the water outlet sprays an angled stream of water in the opposite direction of the robot's movement. This water stream exerts a counter-propulsive force on the robot. A portion of this thrust is perpendicular to the work surface, providing pressure and creating friction between the robot and the surface, preventing the robot from falling during wall-climbing operations. The other portion of the thrust is directed in the robot's direction of movement, providing propulsion and assisting in its motion, thus reducing power consumption during cleaning. Particularly during wall-climbing, the propulsive force of the water stream significantly enhances the robot's upward climbing ability, allowing for more efficient cleaning on pool walls. Therefore, the cleaning robot of this application enhances its climbing ability during wall-climbing operations, improving its overall operational performance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application;

[0019] Figure 2 This is an exploded view of the cleaning robot provided in an embodiment of this application;

[0020] Figure 3 This is one of the cross-sectional schematic diagrams of the cleaning robot provided in the embodiments of this application;

[0021] Figure 4 This is a second cross-sectional schematic diagram of the cleaning robot provided in the embodiments of this application;

[0022] Figure 5 This is a schematic diagram of the structure of the grid mesh of the cleaning robot provided in the embodiments of this application;

[0023] Figure 6 This is a cross-sectional schematic diagram of the grid mesh of the cleaning robot provided in the embodiments of this application.

[0024] Explanation of icon numbers:

[0025] 10: Main body;

[0026] 11: Upper shell;

[0027] 12: Chassis components; 121: Suction port;

[0028] 20: Water outlet section;

[0029] 21: Water outlet channel; 211: Water outlet; 212: Transition channel;

[0030] 22: Grille; 221: Grille plate; 2211: Curved section; 222: Grille frame; 222a: Grille hole;

[0031] 30: Motor box assembly; 31: Water pump assembly;

[0032] 40: Collection Box. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0034] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0035] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0036] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0037] In existing technologies, cleaning robots typically use vertically positioned water nozzles, meaning the angle between the water jet and the work surface is 90°. During operation, the water jet is perpendicular to the work surface, and the recoil force of the water provides pressure on the surface, allowing the robot to maintain close contact with it. However, when climbing walls, the robot relies solely on the traction force provided by its moving parts, resulting in low efficiency and high power consumption. This poor wall-climbing ability limits the performance of cleaning robots in pool wall cleaning, especially when efficient cleaning of walls and waterlines is required; existing robots struggle to meet these practical needs.

[0038] Therefore, this application provides a cleaning robot that can enhance the climbing force of the cleaning robot when climbing walls, thereby improving the overall operation performance of the cleaning robot.

[0039] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] like Figure 1 As shown in the embodiment of this application, the cleaning robot includes a main body 10 and a water outlet 20.

[0041] The water outlet 20 is located at the top of the main body 10 and close to the front end of the main body 10. The water outlet 20 is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet 20 and the backward direction of the cleaning robot is an acute angle.

[0042] The backward direction of the cleaning robot is the direction in which it moves backward, and the forward direction of the cleaning robot is the direction in which it moves forward. Figure 4 For example, the cleaning robot moves to the right and moves backward to the left.

[0043] In this embodiment, the water outlet 20 is tilted. When the cleaning robot is running, the water outlet 20 can spray a tilted water stream in the opposite direction of the robot's travel. This water stream exerts a counter-propulsive force on the cleaning robot. Part of this thrust is perpendicular to the work surface, providing pressure from the robot and creating friction between the robot and the work surface. This prevents the robot from falling while climbing walls. The other part of the thrust is directed towards the robot's travel direction, providing propulsion in that direction to assist movement and reduce power consumption. Especially during wall climbing, the propulsive force of the water stream significantly improves the robot's upward climbing ability, allowing it to move and clean the pool wall more efficiently. Therefore, the cleaning robot of this application enhances its climbing ability during wall climbing, improving its overall performance.

[0044] Specifically, during the cleaning process, the main body 10 can suck up water and discharge the sucked water from the top water outlet 20 to form a water flow.

[0045] like Figure 1 and Figure 2 As shown, in some embodiments, the water outlet 20 includes a water outlet channel 21 and a grid 22. The water outlet channel 21 has a water outlet 211, and the grid 22 is installed at the water outlet 211. The grid 22 can block external debris from entering the water outlet 211, preventing the water outlet 211 from becoming clogged. When the cleaning robot is running, the water flow from the water outlet channel 21 flows to the water outlet 211 and passes through the grid 22 to be sprayed out from the cleaning robot, forming a backward-sloping water flow.

[0046] In some embodiments, the water outlet channel 21 is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet channel 21 and the backward direction of the cleaning robot is an acute angle. In this embodiment, the water outlet channel 21 can guide the water flow so that the water flow is sprayed out at a backward angle. Based on this embodiment, the grille 22 may not provide a guiding function for the water flow. For example, the grille 22 can be a mesh grille with multiple openings.

[0047] like Figure 2 and Figure 3 As shown, in some embodiments, the grid 22 includes a plurality of grid plates 221 spaced apart along the traveling direction of the cleaning robot. The plurality of grid plates 221 are inclined relative to the backward direction of the cleaning robot, and the angle between the plurality of grid plates 221 and the backward direction of the cleaning robot is an acute angle. In this embodiment, the plurality of grid plates 221 can guide the water flow so that the water flow is sprayed backward at an angle from the outlet 211. Specifically, when the water flow reaches the grid 22, an inclined guide channel is formed between adjacent grid plates 221, thus guiding the water flow passing through the grid 22 so that the water flow can be sprayed out at an angle. Based on this embodiment, the water outlet channel 21 may not provide a guiding function for the water flow. For example, the water outlet channel 21 may be set from the bottom to the top of the main body 10, that is, the water outlet channel 21 is set perpendicular to the working surface, ensuring that the water flow can flow smoothly to the outlet 211.

[0048] like Figure 5 and Figure 6 As shown in this embodiment, the grid mesh 22 further includes a grid frame 222. The grid frame 222 has grid holes 222a, and multiple grid plates 221 are disposed within the grid holes 222a. The grid holes 222a are inclined relative to the backward direction of the cleaning robot along the hole walls on both sides of the robot's traveling direction, and the angle between the hole walls on both sides of the grid holes 222a along the robot's traveling direction and the backward direction of the cleaning robot is an acute angle. In this way, inclined guide channels are also formed between the hole walls on both sides of the grid holes 222a along the robot's traveling direction and their adjacent grid plates 221, thus guiding the water flow passing through the grid mesh 22, allowing the water flow to be sprayed backward at an angle. In this way, the grid mesh 22 can guide the water flow as a whole, preventing water flow turbulence and ensuring that the sprayed water flow can apply a stable propulsive force to the cleaning robot.

[0049] like Figure 2As shown, a transition channel 212 is provided at the top of the water outlet channel 21. Through the transition channel 212, the water outlet channel 21 can gradually align with the size of the grille holes 222a, ensuring smooth water flow. For example, the bottom of the water outlet channel 21 is a cylindrical channel, and the outlet 211 is an approximately square outlet; the transition channel 212 allows the cross-section of the water outlet channel 21 to gradually change from circular to square.

[0050] like Figure 5 and Figure 6 As shown, in some embodiments, the bottom of the grating plate 221 is provided with an arc-shaped portion 2211. Specifically, the bottom of the grating plate 221 has an arc-shaped transition to both sides. Thus, when water flows through the grating plate 221, the arc-shaped portion 2211 can guide the water flow, allowing it to pass smoothly through the grating plate 221. On the other hand, the arc-shaped portion 2211 can also effectively reduce the resistance when the water flows through, thereby optimizing the flow of water, reducing energy loss due to resistance, and improving the thrust. When draining water through the water pump assembly 31, the design of the arc-shaped portion 2211 can also improve the drainage efficiency of the water pump assembly 31. Therefore, this design not only helps to improve the power output of the cleaning robot during operation, but also enhances its stability and maneuverability when walking on the pool bottom and walls, further improving its overall cleaning effect and work efficiency.

[0051] In a further embodiment, the two ends of the grating plate 221 are rotatably connected to the wall of the grating hole 222a. This allows the user to adjust the angle of the grating plate 221 as needed to ensure a suitable tilt angle for the water outlet direction, meeting user requirements. For example, increasing the tilt angle can enhance the forward thrust of the water flow, further reducing energy consumption. Exemplarily, a transmission component is provided within the grating frame 222, which is connected to the ends of multiple grating plates 221 to simultaneously adjust the tilt angles of the multiple grating plates 221, ensuring a uniform direction of the outflowing water. In this embodiment, the angle of the grating plate 221 can be actively adjusted manually, or it can be adjusted by setting a control motor. For example, the motor can be connected to the ends of multiple grating plates 221 via the transmission component to uniformly control the angle adjustment of multiple grating plates 221.

[0052] like Figure 4As shown, in some embodiments, the water outlet 20 is located at the front end of the main body 10, and the inclination angle of the water outlet 20 relative to the direction perpendicular to the working surface is 5°-15°. Specifically, the center of the main body 10 can be used as a reference, and the front end of the main body 10 is the end located slightly forward of the center in the direction of travel of the cleaning robot. For example, the grid plate 221 can be set with an inclination angle of 5°-20°. When the water outlet 20 is close to the front end of the main body 10, the reverse thrust of the water jet from the water outlet 20 will deviate significantly from the center of the main body 10. During the operation of the cleaning robot, this may cause the tail of the cleaning robot to lift up, especially when the cleaning robot is moving backward, the tail lifting up is particularly obvious. In this embodiment, by limiting the tilt angle of the water outlet 20, while ensuring that the forward thrust can be applied to the cleaning robot, the deviation of the reverse thrust of the water jet from the water outlet 20 relative to the center of the main body 10 is reduced. This ensures that the point of application of the reverse thrust of the water jet can always be kept in a reasonable position, thus effectively preventing the phenomenon of the cleaning robot's tail from lifting up. This ensures that the pool robot moves smoothly on the pool bottom and pool wall, improving its overall operation effect and stability.

[0053] In this embodiment of the application, when the cleaning robot moves and cleans on the pool wall, the climbing force of the cleaning robot is F = μF. N +F t =μF 合 cosθ+F 合 sinθ=F 合 (μcosθ+sinθ), where F 合 F is the reverse thrust exerted by the water flow on the cleaning robot. 合 >0; μ is the coefficient of friction of the pool wall, μ>0; F N The pressure exerted by the water flow on the cleaning robot; F t θ is the forward thrust exerted by the water flow on the cleaning robot; θ is the angle of inclination of the water outlet 20 relative to the direction perpendicular to the pool wall.

[0054] In the formula,

[0055] Therefore, climbing power

[0056]

[0057] To maximize the climbing force, sin(θ+arctan(μ)) needs to be as large as possible, with a maximum value of 1, meaning when... When μ = +∞, the climbing force can be maximized. However, in reality, μ cannot be infinitely large. Therefore, if sin(θ+arctan(μ)) = 1 is required, then θ must not be 0, meaning the water outlet 20 needs to have a certain angle of inclination relative to the direction perpendicular to the working surface. In practical applications, the tilt angle of the water outlet 20 can be adjusted according to the friction coefficient μ of the pool wall to ensure that the cleaning robot can achieve maximum wall-climbing power.

[0058] like Figure 3 and Figure 4 As shown, in some embodiments, the main body 10 includes an upper housing 11, a chassis assembly 12, and a motor housing assembly 30. The upper housing 11 and the chassis assembly 12 are connected to enclose and form a mounting portion. The motor housing assembly 30 is installed within the mounting portion and includes a water pump assembly 31. The water pump assembly 31 is used to draw water to discharge it from the water outlet 20, which is located on the upper housing 11. The water pump assembly 31 draws water from the pool into the main body 10 and guides the water flow to the water outlet 20 to spray water, thereby applying a thrust force to the cleaning robot through the sprayed water.

[0059] In this embodiment, the water outlet channel 21 is fixedly installed inside the mounting part, and the drive part of the water pump assembly 31 extends into the bottom of the water outlet channel 21 so that the water pump assembly 31 can draw water and discharge it from the water outlet channel 21. The bar screen 22 is fixedly installed on the upper housing 11. Specifically, the two sides of the bar screen 22 are embedded between the top of the water outlet channel 21 and the upper housing 11 to securely install the bar screen 22 and ensure that the bar screen 22 is located at the water outlet 211.

[0060] In addition, in this embodiment, the motor box assembly 30 also includes a drive motor and a power supply assembly. The drive motor can drive the cleaning robot to move, and the power supply assembly can provide power to the cleaning robot to ensure that the cleaning robot can operate.

[0061] like Figure 3 and Figure 4 As shown, in some embodiments, the main body 10 further includes a collection box 40. The chassis assembly 12 is provided with a suction port 121. The collection box 40 is located within the mounting section and has a water inlet and a filter port. The water inlet of the collection box 40 is connected to the suction port 121, and the filter port is connected to the water outlet 20, specifically, to the water outlet channel 21. During operation, the cleaning robot can use the water pump assembly 31 to perform suction. The cleaning robot sucks in water and debris carried in the water through the suction port 121, while the filter port filters the water, causing the debris to remain in the collection box 40. The water can then be discharged from the cleaning robot through the water outlet 20.

[0062] In this embodiment, the water outlet 20 is located at the front end of the main body 10, the motor housing assembly 30 is close to the front end of the main body 10, and the collection box 40 is close to the rear end of the main body 10. This fully utilizes the space within the main body 10, and the water pump assembly 31 is positioned directly opposite the water outlet 20 to improve drainage efficiency and ensure that the water flow provides a better thrusting force to the cleaning robot. Of course, in other embodiments, the water outlet 20 and motor housing assembly 30 may also be located at the rear end of the main body 10, and the collection box 40 at the front end of the main body 10.

[0063] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of this application's specification and drawings under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A cleaning robot, characterized in that, include: main body; The water outlet is located at the top of the main body and near the front end of the main body. The water outlet is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet and the backward direction of the cleaning robot is an acute angle.

2. The cleaning robot as described in claim 1, characterized in that, The water outlet includes a water outlet channel and a bar screen. The water outlet channel has a water outlet, and the bar screen is installed at the water outlet.

3. The cleaning robot as described in claim 2, characterized in that, The water outlet channel is inclined relative to the backward direction of the cleaning robot, and the angle between the water outlet channel and the backward direction of the cleaning robot is an acute angle.

4. The cleaning robot as described in claim 2, characterized in that, The grid includes multiple grid plates spaced apart along the traveling direction of the cleaning robot. The multiple grid plates are inclined relative to the backward direction of the cleaning robot, and the angle between the multiple grid plates and the backward direction of the cleaning robot is an acute angle.

5. The cleaning robot as described in claim 4, characterized in that, The grid also includes a grid frame, the grid frame is provided with grid holes, the plurality of grid plates are disposed in the grid holes, the grid holes are inclined relative to the backward direction of the cleaning robot on both sides of the hole wall along the traveling direction of the cleaning robot, and the included angle between the hole wall on both sides of the hole along the traveling direction of the cleaning robot and the backward direction of the cleaning robot is an acute angle.

6. The cleaning robot as described in claim 4, characterized in that, The bottom of the grating plate is provided with an arc-shaped part.

7. The cleaning robot as described in claim 1, characterized in that, The angle of inclination of the water outlet relative to the direction perpendicular to the working surface is 5°-15°.

8. The cleaning robot as described in claim 1, characterized in that, The main body includes an upper shell, a chassis assembly, and a motor box assembly. The upper shell and the chassis assembly are connected to form a mounting part. The motor box assembly is installed in the mounting part. The motor box assembly includes a water pump assembly for drawing water to discharge it from the water outlet, which is located on the upper shell.

9. The cleaning robot as described in claim 8, characterized in that, It also includes a collection box. The chassis assembly is provided with a suction port. The collection box is located inside the mounting part. The collection box is provided with a water inlet and a water filter. The water inlet of the collection box is connected to the suction port, and the water filter is connected to the water outlet.

10. The cleaning robot as described in claim 9, characterized in that, The motor box assembly is located near the front end of the main body, and the collection box is located near the rear end of the main body.

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