Cleaning robot

Abstract

The utility model is applicable to the field of robots, and discloses a cleaning robot which is applied to a pool cleaning robot, the cleaning robot is provided with a cavity and an exchange port, and the cavity is communicated with the outside through the exchange port. The cleaning robot is provided with a first plane perpendicular to the advancing direction, the cavity part is located on the front side, facing the cleaning robot, of the first plane, and the exchange port is located on the rear side, facing the cleaning robot, of the first plane. And when the cleaning robot cleans the side wall of the pool, the first plane is located below the water surface. According to the cleaning robot, it can be guaranteed that the exchange port is located below the water surface all the time, water in the cavity is prevented from being discharged from the exchange port, air is prevented from entering the cavity from the exchange port, the cleaning robot can stably advance on the side wall of the water pool, and then effective cleaning and cleaning efficiency of the side wall of the water pool are guaranteed.

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, when cleaning the side walls of a pool, the robot may sometimes emerge from the water. When this happens, the robot is prone to floating, causing the cleaning process to fail and preventing further cleaning of the pool side walls, thus affecting the overall cleaning efficiency. Utility Model Content

[0003] The purpose of this application is to provide a cleaning robot that aims to solve the technical problem that cleaning robots are prone to cleaning failure when cleaning the side walls of a pool.

[0004] To achieve the above objectives, this application provides a cleaning robot, applicable to pool cleaning robots, wherein the cleaning robot is provided with a cavity and an exchange port, and the cavity is connected to the outside through the exchange port;

[0005] The cleaning robot has a first plane perpendicular to the direction of travel, the cavity portion is located on the front side of the first plane facing the cleaning robot, and the exchange port is located on the rear side of the first plane facing the cleaning robot.

[0006] When the cleaning robot cleans the side wall of the pool, the first plane is located below the water surface.

[0007] In the cleaning robot of this application, the bottom surface of the cleaning robot is provided with a suction port, which is located on the rear side of the first plane facing the cleaning robot.

[0008] In the cleaning robot of this application, the bottom surface of the cleaning robot is provided with a baffle, the baffle is arranged around the suction port facing the front side of the cleaning robot, and the baffle is located on the rear side of the first plane facing the cleaning robot.

[0009] In the cleaning robot of this application, the cleaning robot is further provided with a water pump and a water outlet. The water pump is used to draw water and discharge it from the water outlet, which is located on the side of the cleaning robot away from the bottom surface.

[0010] In the cleaning robot of this application, the bottom surface of the cleaning robot is provided with a suction port, and the water pump is connected to the suction port.

[0011] In the cleaning robot of this application, the water outlet is located on the rear side of the first plane facing the cleaning robot.

[0012] In the cleaning robot of this application, when cleaning underwater, the cavity collects water and discharges gas through the exchange port; when cleaning on the water surface, the cavity collects gas and discharges water through the exchange port.

[0013] In the cleaning robot of this application, the cavity includes a main cavity and a sub-cavity. The main cavity is located in the middle of the cleaning robot in the direction of travel, and the sub-cavity is located in the front of the cleaning robot in the direction of travel.

[0014] The cleaning robot of this application includes a main body and two buoyancy devices, which are located on both sides of the main body. Each buoyancy device is provided with a cavity and an exchange port.

[0015] In the cleaning robot of this application, the exchange port includes a water inlet and an air inlet, which are located on opposite sides of the buoyancy device.

[0016] In the cleaning robot of this application, the water inlet is located on the bottom surface of the buoyancy device, and the air inlet is located on the top surface of the buoyancy device.

[0017] In the cleaning robot of this application, the water inlet is equipped with a filter screen.

[0018] In the cleaning robot of this application, the air inlet is provided with one of a waterproof and breathable membrane, a push-button switch, and a solenoid valve to restrict gas from passing through the air inlet.

[0019] In the cleaning robot of this application, the bottom surface of the cleaning robot is provided with tracks, which are used to abut against the wall of the pool to drive the cleaning robot to walk.

[0020] The cleaning robot provided in this application allows water to enter its cavity through an exchange port during underwater cleaning. This adds weight to the robot's own weight, ensuring stable underwater movement and preventing it from floating and thus preventing cleaning failure. When cleaning the sidewalls of a pool, the robot moves close to the sidewalls. Since the robot's first plane never exceeds the water surface, the exchange port remains below the water level. This prevents water from draining out of the cavity and air from entering through the exchange port. The water continuously adds extra weight to the robot, ensuring stable movement along the pool sidewalls and guaranteeing effective and efficient cleaning. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram showing the position of the first plane of the cleaning robot provided in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the cleaning robot provided in this application cleaning the side wall of a pool and being in a balanced state;

[0024] Figure 3 This is a schematic diagram of the cleaning robot provided in this application during underwater cleaning;

[0025] Figure 4 This is a cross-sectional view of the cleaning robot provided in this application embodiment during underwater cleaning;

[0026] Figure 5 This is a schematic diagram of the cleaning robot provided in this application during water surface cleaning;

[0027] Figure 6 This is a cross-sectional view of the cleaning robot provided in this application embodiment during water surface cleaning;

[0028] Figure 7 This is a schematic diagram of the chassis of the cleaning robot provided in the embodiments of this application;

[0029] Figure 8 This is a schematic diagram of the transmission mechanism of the cleaning robot provided in the embodiments of this application.

[0030] Figure 9 This is one of the schematic diagrams showing the position of the first rotating component of the cleaning robot provided in the embodiments of this application;

[0031] Figure 10 This is the second schematic diagram showing the position of the first rotating component of the cleaning robot provided in the embodiments of this application.

[0032] 100: Cleaning robot; 100a: First plane;

[0033] 10: Main body; 102: Semicircular part; 10a: Water guide channel; 11: Top shell; 12: Chassis; 121: Mounting part; 123: Protrusion;

[0034] 20: Collection device; 20a: Suction port; 201: Baffle plate;

[0035] 21: First collection basket; 21a: First suction port; 21b: First filter port; 21c: Second filter port;

[0036] 22: Second collection basket; 22a: Second suction port; 22b: Third filter port;

[0037] 30: Drive unit;

[0038] 40: First rotating component; 41: First rotating shaft; 42: Cleaning brush;

[0039] 50: Second rotating component; 51: Second rotating shaft; 52: Blade;

[0040] 60: Tracks;

[0041] 70: Transmission mechanism; 71: Front ring gear; 72: Rear ring gear; 73: First rotating gear; 74: Second rotating gear; 75: Intermediate transmission component; 76: Drive gear;

[0042] 80: Water pump; 80a: Water outlet;

[0043] 90: Buoyancy device; 90a: Exchange port; 91a: Water inlet; 92a: Air inlet. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Cleaning robots can move and clean pools to maintain their cleanliness and hygiene. For example, they can move along the bottom and side walls of the pool to clean them. It's important to understand that when cleaning underwater, the robot needs additional weight to stay submerged and ensure stable and effective cleaning. However, when cleaning the side walls, the robot may sometimes emerge from the water. This can cause the extra weight to be lost, for example, by being displaced by the water, making the robot float and rendering the cleaning ineffective. This prevents further cleaning of the side walls and reduces the overall cleaning efficiency.

[0049] Therefore, this application provides a cleaning robot that ensures the exchange port is always below the water surface, preventing water from being discharged from the exchange port and air from entering through the exchange port, thus enabling the cleaning robot to move stably along the side wall of the pool and ensuring effective cleaning and cleaning efficiency of the pool side wall.

[0050] 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.

[0051] like Figure 1 and Figure 2 As shown in the embodiment of this application, a cleaning robot 100 is provided, applied to a pool cleaning robot 100. The cleaning robot 100 has a cavity and an exchange port 90a, with the cavity communicating with the outside through the exchange port 90a. The cleaning robot 100 has a first plane 100a perpendicular to the direction of travel. The cavity portion is located on the front side of the first plane 100a facing the cleaning robot 100, and the exchange port 90a is located on the rear side of the first plane 100a facing the cleaning robot 100. When the cleaning robot 100 cleans the sidewalls of the pool, the first plane 100a is below the water surface.

[0052] It is important to understand that the first plane 100a of the cleaning robot 100 can be programmed. For example, when the first plane 100a of the cleaning robot 100 reaches the water surface, the program can control the cleaning robot 100 to stop moving, thus keeping the first plane 100a below the water surface. Alternatively, it can be achieved through physical design. For example, when the first plane 100a of the cleaning robot 100 reaches the water surface, the cleaning robot 100 will be in a balanced state and unable to move upwards further, thus keeping the first plane 100a below the water surface.

[0053] It's important to understand that the cavity of the cleaning robot 100 allows water to enter. Since the exchange port 90a is connected to the cavity, water and gas can enter and exit the cavity through the exchange port 90a. Generally, the density of the cleaning robot 100 itself is less than the density of water. When the cleaning robot 100 is fully submerged, its weight Fg1 is less than its buoyancy Ff1. When the cleaning robot 100 is cleaning underwater, the cavity contains water, which adds an extra weight Fg. 水 , so that Fg1+Fg 水 >F buoyancy 1 ensures that the cleaning robot 100 will not float, thus facilitating stable underwater cleaning. Furthermore, even if the portion of the cleaning robot 100 above the first plane 100a is exposed above the water surface, the water inside the cavity will not be discharged or air will not enter because the exchange port 90a is located below the first plane 100a. Therefore, stable underwater cleaning can still be guaranteed.

[0054] In the cleaning robot 100 of this application embodiment, when the cleaning robot 100 is cleaning underwater, water can enter the cavity through the exchange port 90a, adding extra weight to the cleaning robot 100's own weight. This allows the cleaning robot 100 to maintain stable movement underwater without floating upside down, which would render underwater cleaning ineffective. When cleaning the sidewall of a pool, the cleaning robot 100 moves close to the sidewall to perform cleaning. Since the first plane 100a of the cleaning robot 100 will not exceed the water surface, the exchange port 90a is always kept below the water surface. This prevents water from escaping from the cavity through the exchange port 90a and air from entering through it. The water continuously adds extra weight to the cleaning robot 100, allowing it to move stably along the sidewall of the pool, thereby ensuring effective cleaning and cleaning efficiency.

[0055] like Figure 1 and Figure 2As shown in the embodiment of this application, the position of the first plane 100a can be ensured by the physical structure of the cleaning robot 100. Specifically, when the cleaning robot 100 is cleaning the side wall of the pool and its front end is exposed above the water surface, the cleaning robot 100 is in a state of equilibrium. In this state of equilibrium, the buoyancy generated by the part of the cleaning robot 100 that is not exposed is Fbuoyancy2, where Fbuoyancy2 < Fbuoyancy1. The static friction force exerted on the cleaning robot 100 by the side wall of the pool is f, where Fg1 + Fg. 水 =Fbuoyancy2 + f. At this point, the plane on the water surface where the cleaning robot 100 is located is the first plane 100a. If the first plane 100a of the cleaning robot 100 is below the water surface, the buoyancy Fbuoyancy will be greater than Fbuoyancy2, and the cleaning robot 100 will easily overcome the static friction force f and move upward. If the cleaning robot 100 moves to a position where the first plane 100a is above the water surface, the buoyancy Fbuoyancy will be less than Fbuoyancy2, since Fg1 + Fg... 水 >F_buoyancy + f will eventually cause the cleaning robot to fall back down until it is below the equilibrium state.

[0056] Of course, in other embodiments, the first plane 100a of the cleaning robot 100 can be set by a program. Specifically, a water level sensor can be set at the position of the first plane 100a of the cleaning robot 100. When the cleaning robot 100 moves to the point where the first plane 100a crosses the water surface, the water level sensor can detect the water level change and transmit the information to the control terminal. The control terminal controls the cleaning robot 100 to stop moving upward, so as to ensure that the first plane 100a is always below the water surface.

[0057] like Figure 1 and Figure 2 As shown in this embodiment, the bottom surface of the cleaning robot 100 is provided with a suction port 20a, which is located on the rear side of the first plane 100a facing the cleaning robot 100. The cleaning robot 100 can collect debris from the water through the suction port 20a. It should be noted that the suction port 20a needs to be submerged below the water surface when collecting debris; if it is exposed above the water surface, cleaning will fail. In this embodiment, when cleaning the pool wall, the bottom surface of the cleaning robot 100 faces the pool wall, and the suction port 20a is located on the bottom surface of the cleaning robot 100, which facilitates cleaning the pool wall. Furthermore, when cleaning the pool sidewall, since the first plane 100a of the cleaning robot 100 will not exceed the water surface, the suction port 20a is always below the water surface, ensuring that the cleaning robot 100 can always clean the pool through the suction port 20a. This ensures effective cleaning and cleaning efficiency of the pool sidewall. It is important to know that the suction port 20a can collect garbage in the water flow through natural water flow or by using negative pressure to suction the water flow.

[0058] like Figure 1 and Figure 2 As shown in this embodiment, the bottom surface of the cleaning robot 100 is provided with a baffle 201. The baffle 201 is arranged around the suction port 20a facing the front of the cleaning robot 100, and the baffle 201 is located on the rear side of the first plane 100a facing the cleaning robot 100. When the cleaning robot 100 moves to clean, the baffle 201 can propel the water flow forward. Since the baffle 201 is arranged around the suction port 20a facing forward, it can easily propel the water flow to the suction port 20a, so that the suction port 20a can collect the garbage carried in the water flow. At the same time, the baffle 201 can also clean the pool wall to a certain extent, improving the cleaning effect. Furthermore, since the baffle 201 is located on the rear side of the first plane 100a facing the cleaning robot 100, the first plane 100a of the cleaning robot 100 will not exceed the water surface, ensuring that the baffle 201 is always below the water surface, so as to effectively propel the water flow for collection by the suction port 20a.

[0059] In this embodiment, the baffle 201 includes a first baffle 201 and two second baffles 201. The two second baffles 201 are respectively connected to both ends of the first baffle 201. The first baffle 201 extends perpendicular to the traveling direction of the cleaning robot 100 and is located on the rear side of the suction port 20a facing the traveling direction of the cleaning robot 100. The two second baffles 201 extend obliquely from both ends of the first baffle 201 towards the traveling direction of the cleaning robot 100. It should be noted that the ends of the two second baffles 201 are also located on the rear side of the first plane 100a facing the cleaning robot 100. This ensures that there is always water flow within the area enclosed by the baffles 201, thereby ensuring effective cleaning and cleaning efficiency of the pool sidewall. For example, both the first baffle 201 and the second baffle 201 are flexible sheets, allowing them to bend and deform when they contact the pool wall, preventing them from affecting the movement of the cleaning robot 100.

[0060] like Figure 1 and Figure 2As shown in this embodiment, the cleaning robot 100 is further equipped with a water pump 80 and a water outlet 80a. The water pump 80 is used to draw water and discharge it from the water outlet 80a, which is located on the side of the cleaning robot 100 away from the bottom surface. The water pump 80 can draw water from the water and discharge it from the water outlet 80a. Since the water outlet 80a is located on the side of the cleaning robot 100 away from the bottom surface, the water outlet 80a can apply a reaction force to the cleaning robot 100 when draining water, so that when cleaning the pool wall, it can apply pressure to the cleaning robot 100 against the pool wall, ensuring that the cleaning robot 100 can move and clean stably. In particular, when cleaning the side wall of the pool, it can make the cleaning robot 100 stably adhere to the side wall of the pool and not easily fall off, ensuring that the cleaning robot 100 can move and clean stably on the side wall of the pool. Of course, in other embodiments, the bottom surface of the cleaning robot 100 can be negatively pressed against the pool wall to ensure that the cleaning robot 100 moves stably on the pool wall.

[0061] like Figure 1 and Figure 2 As shown in this embodiment, the water pump 80 is connected to the suction port 20a. It can be understood that the water pump 80 can draw water through the suction port 20a and discharge it through the outlet 80a. The suction port 20a draws water, which accelerates the collection of debris within the water flow and simultaneously provides water to the water pump 80 for discharge through the outlet 80a. It should be noted that when the suction port 20a draws water, it can create a negative pressure on the bottom surface of the cleaning robot 100. This negative pressure can exert pressure on the cleaning robot 100 against the pool wall to a certain extent. Combined with the reaction pressure exerted on the cleaning robot 100 when the outlet 80a discharges water, this further ensures that the cleaning robot 100 can move and clean stably, especially when cleaning the side walls of the pool. In this embodiment, when determining the position of the first plane 100a based on the physical structure of the cleaning robot 100, the influencing factors of the static friction force f are the pressure applied to the cleaning robot 100 when the outlet 80a drains water and the suction port 20a draws water, as well as the coefficient of friction between the cleaning robot 100 and the side wall of the pool. Based on these influencing factors, the position of the first plane 100a of the cleaning robot 100 can be determined, thereby determining the structure of the cleaning robot 100 so that it can stably clean the side wall of the pool. Of course, in other embodiments, the water pump 80 may not be connected to the suction port 20a, but may draw water through a separate water inlet 91a.

[0062] like Figure 1 and Figure 2As shown in the embodiment of this application, the water outlet 80a is located on the rear side of the first plane 100a facing the cleaning robot 100. It should be understood that once the water outlet 80a emerges from the water surface, on the one hand, the water pump 80 needs to have a large pressure to discharge the water; on the other hand, the reaction force generated when the water is discharged is also small, which cannot guarantee that the cleaning robot 100 adheres to the pool wall. In this embodiment, since the first plane 100a of the cleaning robot 100 does not exceed the water surface, it can be ensured that the water outlet 80a is always below the water surface. Pumping and draining is a continuous fluid transmission process, ensuring stable pumping and draining circulation of the water pump 80. Simultaneously, draining water through the water outlet 80a can apply stable pressure to the cleaning robot 100 against the pool wall, thereby ensuring that the cleaning robot 100 can move and clean stably against the pool sidewall.

[0063] like Figure 1 and Figure 2 As shown in this embodiment, the cleaning robot 100 is equipped with a collection chamber and a filter port. The collection chamber is connected to the suction port 20a and the filter port. A filter screen is installed at the filter port, which is connected to a water pump 80. When the water pump 80 draws water through the suction port 20a, the water and the debris it carries enter the collection chamber along the suction port 20a. Then, when the water flows through the filter port, the debris is blocked by the filter screen and collected in the collection chamber. The water is then discharged from the outlet 80a by the water pump 80. In this way, the water and the debris in the water can be separated, thereby accelerating the collection of debris.

[0064] like Figures 3 to 6 As shown in this embodiment, during underwater cleaning, the cavity contains water and discharges gas through the exchange port 90a; during surface cleaning, the cavity contains gas and discharges water through the exchange port 90a. During underwater cleaning, the water in the cavity adds extra gravity to the cleaning robot 100, increasing its density to be greater than the water, allowing it to submerge below the surface for underwater cleaning, such as cleaning the pool walls. During surface cleaning, the cavity contains gas, decreasing its density to be less than the water, allowing it to float on the surface for cleaning. By containing water or gas in the cavity, the overall density of the cleaning robot 100 can be adjusted to achieve underwater or surface cleaning as needed, diversifying its cleaning methods and enabling comprehensive cleaning of the pool. Specifically, during underwater cleaning, Fg1+Fg 水 >Fbuoyancy1, while cleaning the water surface, the cleaning robot 100 is partially exposed above the water surface. The buoyancy generated by the part of the cleaning robot 100 below the water surface is Fbuoyancy3, Fg1 = Fbuoyancy3, which enables the cleaning robot 100 to float stably on the water surface and clean the water surface.

[0065] like Figures 3 to 6 As shown in this embodiment, during underwater cleaning, the cleaning robot 100 is placed upright in the water with its bottom facing the surface to be cleaned. During surface cleaning, the cleaning robot 100 is placed upside down in the water with its bottom facing the surface to be cleaned. Whether cleaning underwater or on the surface, the cleaning robot 100 collects debris through the suction port 20a on its bottom. The robot is located at the same point for both underwater and surface cleaning. Compared to other cleaning robots 100, this design minimizes the size and simplifies the structure, allowing for more flexible cleaning and facilitating both underwater and surface cleaning.

[0066] In this embodiment, the cavity includes a main cavity and a sub-cavity. The main cavity is located in the middle of the cleaning robot 100 in the direction of travel, and the sub-cavities are located at the front of the cleaning robot 100 in the direction of travel. It is understood that because the sub-cavities are located at the front, when the cleaning robot 100 is exposed above the water surface on the side wall of the cleaning pool, the sub-cavities are the first to be exposed. This allows the buoyancy of the cleaning robot 100 below the water surface to be reduced quickly. When determining the position of the first plane 100a based on the physical structure of the cleaning robot 100, the length of the rear portion of the cleaning robot 100 on the first plane 100a can be increased as much as possible, so that the exchange port 90a can have more space, for example, it can be placed closer to the front of the cleaning robot 100. Similarly, the aforementioned suction port 20a and water outlet 80a can also have more space. This allows for a more reasonable arrangement of the structure of the cleaning robot 100. Of course, in other embodiments, the cavity can also be a single-piece cavity, with the front end of the cavity having a larger volume than the rear end.

[0067] like Figures 3 to 6 As shown in the embodiment of this application, the cleaning robot 100 includes a main body 10 and two buoyancy devices 90. The two buoyancy devices 90 are located on both sides of the main body 10, and each buoyancy device 90 has a cavity and an exchange port 90a. The cavities in both buoyancy devices 90 can contain water or gas through the exchange port 90a. In this embodiment, placing the two buoyancy devices 90 on both sides of the main body 10 can ensure the overall balance of the cleaning robot 100. For example, when cleaning the water surface, the balance on both sides makes it less likely to tip over, and when cleaning the side wall of a pool, the front end of the cleaning robot 100 can be kept facing upwards. Exemplarily, the suction port 20a, the water pump 80, and the water outlet 80a are all located on the main body 10 and between the two buoyancy devices 90. Of course, in other embodiments, there are two buoyancy devices 90, which can also be located on both sides of the main body 10 along the direction of travel of the cleaning robot 100. Alternatively, there can be only one buoyancy device 90, located at the bottom of the main body 10.

[0068] like Figure 3 , Figure 5 and Figure 7 As shown in the embodiment of this application, the main body 10 includes a chassis 12 and a top shell 11. Two mounting members 121 protruding from the chassis 12 are provided on the side of the chassis 12 away from the top shell 11. The two mounting members 121 are spaced apart and extend along the traveling direction of the main body 10. Two buoyancy devices 90 are respectively connected to the outside of the two mounting members 121. A water guide channel 10a is formed between the bottom plate and the two mounting members 121. The suction port 20a is located in the water guide channel 10a. The water guide channel 10a can ensure that the garbage carried in the water flow can be collected quickly, so as to improve the cleaning efficiency of the cleaning robot 100.

[0069] like Figures 1 to 3 As shown in this embodiment, the exchange port 90a includes a water inlet 91a and an air inlet 92a, which are located on opposite sides of the buoyancy device 90. The water inlet 91a allows for water exchange, and the air inlet 92a allows for gas exchange. In this embodiment, when water is injected into the cavity and gas is discharged, water enters through the water inlet 91a on one side of the buoyancy device 90, and air exits through the air inlet 92a on the other side. This allows water to quickly and smoothly enter the cavity. When gas is injected into the cavity and water is discharged, water exits through the water inlet 91a on one side of the buoyancy device 90, and air enters through the air inlet 92a on the other side. This allows water to be discharged quickly and smoothly, and gas to enter the cavity. Such a buoyancy device 90 can quickly inject water or air, which is beneficial for user operation. It is important to note that both the water inlet 91a and the air inlet 92a are located on the rear side of the first plane 100a facing the cleaning robot 100. This ensures that when cleaning the sidewalls of the pool, water will not drain through the water inlet 91a or air will not enter through the air inlet 92a, guaranteeing that the cavity is always filled with water. Of course, in other embodiments, the exchange port 90a includes only one water inlet 91a, through which water and air are supplied and discharged.

[0070] like Figures 1 to 3As shown in the embodiment of this application, the water inlet 91a is located on the bottom surface of the buoyancy device 90, and the air inlet 92a is located on the top surface of the buoyancy device 90. During underwater cleaning, the cleaning robot 100 is placed upright in the water. Water in the pool can enter the cavity from the bottom surface of the buoyancy device 90, while gas in the cavity is discharged from the top surface. This allows the cavity of the cleaning robot 100 to quickly contain water, ensuring stable cleaning underwater. When the cleaning robot 100 is removed from the water, under the influence of gravity, gas enters the cavity from the air inlet 92a on the top surface, and water in the cavity can be quickly discharged through the water inlet 91a on the bottom surface, greatly simplifying the use of the cleaning robot 100. Furthermore, during surface cleaning, the cleaning robot 100 is placed upside down in the water, floating on the surface with the water inlet 91a above the water surface. This prevents water from entering the cavity, ensuring stable cleaning on the surface.

[0071] In this embodiment, the water inlet 91a is equipped with a filter screen. When water enters the cavity through the water inlet 91a, the filter screen can block debris, preventing debris from entering the cavity with the water, thus facilitating water intake or drainage of the cavity and enabling the cleaning robot 100 to switch between various cleaning modes.

[0072] In this embodiment, the air vent 92a is equipped with one of the following: a waterproof and breathable membrane, a push-button switch, or a solenoid valve, to restrict gas passage. The waterproof and breathable membrane allows small molecules like gas to pass through, but prevents large molecules like water from passing through, thus restricting water movement. The push-button switch and solenoid valve open the air vent 92a during venting and close it when venting is not needed, preventing water from freely entering or exiting. This prevents water from entering or exiting through the air vent 92a; for example, during water surface cleaning, the air vent 92a is below the water surface, ensuring that the cavity always contains gas. Of course, in other embodiments, a removable cover can also be provided to seal the air vent 92a to restrict gas passage.

[0073] like Figure 3 and Figure 4 As shown in the embodiment of this application, the cleaning robot 100 further includes a collection device 20. The collection device 20 is provided with a suction port 20a and includes a first collection basket 21. The first collection basket 21 has a first suction port 21a and a first filter port 21b. The first suction port 21a faces the front end of the main body 10, and the first filter port 21b faces the rear end of the main body 10. When water flows along the water guide channel 10a, it enters the first collection basket 21 through the first suction port 21a. The first collection basket 21 then collects the garbage carried in the water flow, and the water flows out of the first collection basket 21 through the first filter port 21b.

[0074] In some embodiments, the first collection basket 21 also has a second filter port 21c facing into the main body 10, and the water pump 80 is connected to the second filter port 21c. As water flows along the water guide channel 10a, the water can also be drawn out of the first collection basket 21 through the second filter port 21c by the water pump 80. This suction structure can accelerate the flow of water and improve waste collection efficiency.

[0075] It should be noted that the aforementioned first collection basket 21 is mainly used for collecting debris during water surface cleaning by the cleaning robot 100. The first collection basket 21 can greatly accelerate the water surface cleaning efficiency. For example, during water surface cleaning, the first suction port 21a is located at the water surface.

[0076] like Figure 5 and Figure 6 As shown in the embodiment of this application, the collection device 20 further includes a second collection basket 22. The second collection basket 22 has a second suction port 22a and a third filter port 22b. The second suction port 22a faces the bottom surface of the main body 10, and the third filter port 22b faces inward into the main body 10. The water pump 80 is connected to the third filter port 22b. When the water flows, it passes through the second suction port 22a. Through the suction of the water pump 80, the second suction port 22a can draw in the water flow, causing the water to flow into the second collection basket 22. The second collection basket 22 then collects the garbage carried in the water flow, and the water flows out of the second collection basket 22 through the third filter port 22b. Exemplarily, a baffle 201 is provided on the bottom surface of the second collection basket 22.

[0077] It should be noted that the second collection basket 22 mentioned above is mainly used for garbage collection when the cleaning robot 100 is cleaning underwater, especially when cleaning the pool wall, it can suck up the stains and garbage that are difficult to clean on the pool wall.

[0078] It should be noted that the first collection basket 21 and the second collection basket 22 mentioned above can be used either one or both, without restriction.

[0079] like Figures 1 to 3 As shown in this embodiment, the bottom surface of the cleaning robot 100 is provided with a track 60, which is used to abut against the pool wall to drive the cleaning robot 100 to move. Through the rolling of the track 60, the cleaning robot 100 can stably adhere to the pool wall for easy movement and cleaning. Furthermore, when cleaning the pool sidewall, the track 60 can provide the cleaning robot 100 with an upward driving force to overcome static friction and move upwards for cleaning. Of course, in other embodiments, the cleaning robot 100 can also be equipped with rollers for moving and cleaning on the pool wall.

[0080] like Figure 4 and Figure 6As shown in the embodiment of this application, the cleaning robot 100 further includes a drive device 30 and a rotating component. The drive device 30 is disposed on the main body 10, and the rotating component is rotatably disposed on the bottom of the main body 10. The drive device 30 is connected to the rotating component to drive the rotating component to rotate along the traveling direction of the main body 10. The rotating component can agitate water flow or debris to facilitate the movement of the cleaning robot 100 on the water surface, or it can accelerate the debris collection speed and improve cleaning efficiency by agitating the debris.

[0081] like Figure 4 and Figure 6 As shown in the embodiment of this application, the rotating component includes at least a first rotating component 40 and a second rotating component 50, which are located at the front and rear sides of the collection device 20 in the direction of travel of the cleaning robot 100, respectively. The first rotating component 40 is located at the front of the main body 10 and can contact the water flow first compared to the collection device 20. The first rotating component 40 can move the debris carried by the water flow to the suction port 20a to improve cleaning efficiency, or wipe the pool wall to improve the cleaning effect. For example, during underwater cleaning, the first rotating component 40 can contact the pool wall to wipe the pool wall, or move the debris carried in the water flow. The second rotating component 50 can increase the flow rate of the water flow by moving the water flow to improve cleaning efficiency, and can also drive the movement of the cleaning robot 100. For example, it can drive the cleaning robot 100 to move on the water surface to achieve water surface cleaning. Exemplarily, both the first rotating component 40 and the second rotating component 50 are located in the water guide channel 10a.

[0082] In some embodiments, the first rotating member 40 can also be used to agitate the water flow. For example, during surface or underwater cleaning, the first rotating member 40 is at least partially submerged below the water surface to agitate the water flow. Thus, the first rotating member 40 can also accelerate the water flow. And / or, the second rotating member 50 can also be used to wipe the pool wall. For example, during underwater cleaning, it can contact the pool wall to further clean the pool wall in conjunction with the first rotating member 40, thereby improving the cleaning effect.

[0083] like Figure 4 and Figure 6As shown in this embodiment, the first rotating member 40 rotates around a first rotating axis, and the second rotating member 50 rotates around a second rotating axis. Both the first and second rotating axes are perpendicular to the traveling direction of the cleaning robot 100, and the first rotating member 40 and the second rotating member 50 rotate in the same direction. When water flows, both the first rotating member 40 and the second rotating member 50 rotate along the direction of water flow, so that the first rotating member 40 can at least smoothly move the debris to the collection device 20, and the second rotating member 50 can at least smoothly move the water flow to increase its speed. The fact that the first rotating member 40 and the second rotating member 50 rotate in the same direction ensures that both can rotate in the direction of water flow when the cleaning robot 100 is moving, avoiding movement resistance caused by their different rotation directions. It should be noted that the first rotating member 40 and the second rotating member 50 can rotate clockwise or counterclockwise in the same direction, depending on the specific usage of the cleaning robot 100.

[0084] In this embodiment, the first rotating member 40 and the second rotating member 50 and the cleaning surface are all spaced apart so that the water flow can flow through at least the space, avoiding the obstruction of the first rotating member 40 or the second rotating member 50 from affecting the flow rate of the water flow, which is beneficial for the suction port 20a to collect the garbage carried in the water flow.

[0085] like Figure 4 , Figure 6 as well as Figure 8 As shown in the embodiment of this application, the cleaning robot 100 further includes a transmission mechanism 70 disposed on the main body 10. The transmission mechanism 70 is connected to the first rotating member 40 and the second rotating member 50 respectively, so as to drive the first rotating member 40 and the second rotating member 50 to rotate in the same direction. When the transmission mechanism 70 is running, it can drive the first rotating member 40 and the second rotating member 50 to rotate simultaneously. The two must rotate simultaneously in the same direction or stop simultaneously, ensuring that the first rotating member 40 and the second rotating member 50 can both rotate in the same direction along the water flow. This can avoid the situation where the first rotating member 40 and the second rotating member 50 rotate in opposite directions, or one of the first rotating member 40 and the second rotating member 50 rotates while the other stops.

[0086] In this embodiment of the application, the transmission mechanism 70 can be provided on either side of the main body 10, or the transmission mechanism 70 can be provided on both sides of the main body 10.

[0087] like Figure 8As shown in the embodiment of this application, the transmission mechanism 70 includes a front annular tooth 71, a rear annular tooth 72, an intermediate transmission member 75, a first rotating tooth 73, and a second rotating tooth 74. The front annular tooth 71 and the first rotating tooth 73 are located at the front end of the main body 10, and the rear annular tooth 72 and the second rotating tooth 74 are located at the rear end of the main body 10. The inner side of the front annular tooth 71 meshes with the first rotating tooth 73, and the first rotating tooth 73 is connected to the first rotating member 40. The inner side of the rear annular tooth 72 meshes with the second rotating tooth 74, and the second rotating tooth 74 is connected to the second rotating member 50. The front annular tooth 71 and the rear annular tooth 72 are connected by the intermediate transmission member 75. The transmission of the intermediate transmission member 75 causes the front annular tooth 71 and the rear annular tooth 72 to rotate in the same direction, thereby enabling the first rotating member 40 and the second rotating member 50 to rotate in the same direction through the transmission mechanism 70. Exemplarily, the intermediate transmission member 75 is a transmission belt that surrounds and meshes with the front annular tooth 71 and the rear annular tooth 72. In other examples, the intermediate transmission 75 may also be an even number of gears that mesh sequentially with the outer sides of the front ring gear 71 and the rear ring gear 72.

[0088] In some embodiments, the first rotating member 40 and the second rotating member 50 rotate at the same speed. It should be noted that during underwater cleaning, the rotational speed of the rotating member is positively correlated with the resistance of the cleaning robot 100 underwater. During surface cleaning, a faster rotational speed of the rotating member makes it easier to cause water swirling, which is detrimental to surface cleaning. In this embodiment, the diameters of the first rotating member 40 and the second rotating member 50 can be set differently so that one has a larger linear velocity, facilitating the removal of debris, while the other's rotational speed is not too fast, thus preventing water swirling or increased resistance. For example, the diameter of the first rotating member 40 is larger than that of the second rotating member 50. With the same rotational speed, the first rotating member 40 can have a larger linear velocity, enabling it to quickly remove debris and improve cleaning efficiency. The second rotating member 50, when moving water underwater, will not increase the resistance of the cleaning robot 100, and when moving water on the surface, it is less prone to water swirling. In this way, by setting the rotation speed of the first rotating component 40 and the second rotating component 50 to be the same, it is convenient to set the transmission coefficient of each transmission component in the transmission mechanism 70. The usage requirements can be met simply by adjusting the diameter of the first rotating component 40 and the second rotating component 50, which is beneficial for the cleaning robot 100 to clean underwater and on the water surface.

[0089] In addition, in this embodiment, the transmission ratio between the front annular tooth 71 and the rear annular tooth 72 can be set to 1:1, and the transmission coefficient between the first rotating tooth 73 and the front annular tooth 71 can be set to be the same as the transmission coefficient between the second rotating tooth 74 and the rear annular tooth 72. In this way, the first rotating member 40 and the second rotating member 50 can rotate at the same speed. For example, the front annular tooth 71 and the rear annular tooth 72 have the same number of teeth on their inner and outer sides, and the first rotating tooth 73 and the second rotating tooth 74 have the same number of teeth.

[0090] In other embodiments, the rotational speeds of the first rotating member 40 and the second rotating member 50 are different. In this embodiment, by setting different rotational speeds for the first rotating member 40 and the second rotating member 50, one can have a higher rotational speed to easily move debris, while the other's rotational speed is not so high that it causes water swirling or increases resistance. For example, the rotational speed of the first rotating member 40 can be set to be greater than that of the second rotating member 50. The first rotating member 40 has a higher rotational speed to quickly move debris and improve cleaning efficiency, while the second rotating member 50 has a lower rotational speed, so that when cleaning underwater, it does not increase the travel resistance of the cleaning robot 100, and when cleaning on the water surface, it is less likely to cause water swirling. Thus, setting different rotational speeds for the first rotating member 40 and the second rotating member 50 can benefit the cleaning robot 100 in both underwater and surface cleaning.

[0091] In addition, in this embodiment, the transmission ratio between the front annular tooth 71 and the rear annular tooth 72 can be set to 1:1, and the transmission coefficient between the first rotating tooth 73 and the front annular tooth 71 is less than the transmission coefficient between the second rotating tooth 74 and the rear annular tooth 72. Thus, the rotational speed of the first rotating member 40 can be greater than that of the second rotating member 50. For example, the front annular tooth 71 and the rear annular tooth 72 have the same number of teeth on their inner and outer sides, and the first rotating tooth 73 has fewer teeth than the second rotating tooth 74.

[0092] like Figure 9 and Figure 10As shown in the embodiment of this application, the first rotating member 40 at least partially protrudes from the bottom of the main body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 50 is located within the installation space defined by the bottom of the main body 10. During underwater cleaning, the first rotating member 40 can wipe the surface of the area to be cleaned by rotating, thereby improving the cleaning effect. Since the second rotating member 50 is located within the installation space defined by the bottom of the main body 10, the second rotating member 50 will not contact the surface of the area to be cleaned, and therefore will not hinder the movement of the cleaning robot 100, which is beneficial for the cleaning robot 100 to move and clean underwater. Exemplarily, the first rotating member 40 is partially located inside the water guide channel 10a and partially located outside the water guide channel 10a, while the second rotating member 50 is entirely located inside the water guide channel 10a. In this embodiment, during underwater cleaning, when the first rotating member 40 rotates, the rotation tangent of the end of the first rotating member 40 away from the cleaning surface is in the opposite direction to the travel direction of the main body 10, and the rotation tangent of the end of the first rotating member 40 towards the cleaning surface is in the travel direction of the main body 10. In this way, the first rotating member 40 can push the wiped or moved garbage towards the collection device 20, which is beneficial for the collection device 20 to collect the garbage.

[0093] like Figure 9 As shown in this embodiment, the first rotating member 40 also protrudes at least partially from the front end of the main body 10. During underwater cleaning, when the cleaning robot 100 moves from the bottom wall to the side wall of the pool, the first rotating member 40 protruding from the front end and bottom can simultaneously wipe the bottom wall and side wall of the pool, so as to thoroughly wipe the bottom wall and side wall of the pool. Figure 9 Area A1 in this embodiment refers to the cleaning dead corner where the first rotating member 40 protrudes from the front end of the main body 10 when cleaning the bottom and side walls of the water tank. Figure 10 Area A2 in the diagram represents a cleaning dead zone where the first rotating member 40 does not protrude beyond the front end of the main body 10 when cleaning the bottom and side walls of the pool. This demonstrates that this embodiment can reduce cleaning dead zones and improve the cleaning effect of the pool. Furthermore, during water surface cleaning, when the cleaning robot 100 moves to the side wall of the pool, the first rotating member 40 can also contact the side wall first. This allows for a certain degree of wiping and cleaning of the side wall, and ensures that the cleaning robot 100 can completely clean the water surface. In other words, there is no problem where the water surface between the first rotating member 40 and the side wall cannot be cleaned because the main body 10 contacts the side wall before the first rotating member 40. In addition, it prevents the main body 10 from directly hitting the side wall of the pool, providing some protection for the main body 10.

[0094] like Figure 9As shown in this embodiment, the cleaning robot 100 has a semicircular portion 102 at the front end of the side wall of the water guide trough 10a. Exemplarily, the radius of this semicircular portion 102 corresponds to the semicircle enclosed by the track 60 that is overlaid on the front annular tooth 71. The center of the projection of the first rotating member 40 onto the semicircular portion 102 is O1, and the center of the semicircular portion 102 is O2. O1 is located on the front and bottom sides of the cleaning robot 100 facing O2. When cleaning on the underwater horizontal surface, the angle between the line connecting O1 and O2 and the horizontal plane is 40°-50°, exemplarily 45°. This ensures that the contact amount between the first rotating member 40 and the side wall is consistent with the contact amount between the first rotating member 40 and the bottom wall, minimizing cleaning dead angles. Furthermore, as the cleaning robot 100 moves toward the side wall, that is, during the process of contacting the side wall, tilting toward the side wall, and moving until it is in contact with the side wall, the first rotating component 40 can wipe from the bottom wall to the side wall and from the side wall from bottom to top, so as to thoroughly clean the dead corners of the pool and improve the cleaning effect of the pool.

[0095] like Figure 6 As shown in this embodiment, during water surface cleaning, the distance between the cleaning surface and the water surface is 2cm-10cm. This allows the first rotating member 40 and the second rotating member 50 to be partially above and partially below the water surface. Thus, during water surface cleaning, the first rotating member 40 can move the debris on the water surface for quick collection, while the second rotating member 50, having a portion above the water surface, avoids water swirling and facilitates water flow. During water surface cleaning, when the first rotating member 40 rotates, the tangent line of rotation at the end away from the cleaning surface faces the direction of travel of the main body 10, while the tangent line at the end facing the cleaning surface faces the opposite direction of travel of the main body 10. This allows the first rotating member 40 to move the debris towards the collection device 20, facilitating the collection of debris by the collection device 20.

[0096] like Figure 4As shown in this embodiment, the first rotating component 40 includes a first rotating shaft 41 and a cleaning brush 42. The two ends of the first rotating shaft 41 are rotatably mounted on both sides of the main body 10. The cleaning brush 42 is disposed on the first rotating shaft 41 and extends along the axial direction of the first rotating shaft 41, used for wiping the surface of the area to be cleaned during underwater cleaning and collecting debris during surface cleaning. When the cleaning robot 100 moves to clean, the first rotating shaft 41 can rotate relative to the main body 10, thereby driving the cleaning brush 42 to rotate around the axis of the first rotating shaft 41, so that it can wipe the surface of the area to be cleaned and move debris during underwater cleaning, and move debris during surface cleaning for quick collection. In this embodiment, the cleaning brush 42 extends along the axial direction of the first rotating shaft 41, allowing it to cover a wider area, increasing the wiping area and the area for moving debris, which is beneficial for the cleaning robot 100. For example, the first rotating shaft 41 includes two sections, the end of each section is inserted through a mounting member 121 and connected to the first rotating tooth 73 of the transmission mechanism 70 in the mounting member 121. The transmission mechanisms 70 in the two mounting members 121 can drive the two ends of the first rotating shaft 41 to rotate respectively. Since the first rotating shaft 41 is segmented, the rotation of the two sections does not affect each other, which facilitates the stable rotation of the first rotating member 40.

[0097] like Figure 9 As shown, in some embodiments, the distance between the center of the first rotating member 40 and the end of the cleaning brush 42 is greater than the distance between the center of the first rotating member 40 and the intersection of the front vertical surface and the bottom plane of the main body 10, that is, greater than... Figure 9 The length of the line connecting O1 to K is shown, and the radius of the first rotating shaft 41 is less than the distance from the center of the first rotating component 40 to the bottom or front end of the main body 10. It should be noted that the cleaning brush 42 is flexible and can deform and bend when it contacts the pool wall. Thus, during underwater cleaning, when the cleaning robot 100 moves from the bottom wall to the side wall of the pool, the cleaning brush 42 can reach the corners of the bottom and side walls, and the first rotating shaft 41 will not affect the movement of the cleaning robot 100. This allows for more thorough cleaning of the pool's hard-to-reach areas and improves the cleaning effect.

[0098] like Figure 6As shown in this embodiment, the second rotating component 50 includes a second rotating shaft 51 and a plurality of blades 52. The two ends of the second rotating shaft 51 are rotatably mounted on both sides of the main body 10 and connected to the drive device 30. The plurality of blades 52 are evenly arranged along the outer circumferential surface of the second rotating shaft 51, and are used to drive the cleaning robot 100 to move when cleaning the water surface. During water surface cleaning, the drive device 30 can drive the second rotating shaft 51 to rotate, thereby driving the plurality of blades 52 to rotate, so as to propel the cleaning robot 100 to move by agitating the water flow. For example, the second rotating shaft 51 includes two sections, the end of each section is inserted through a mounting member 121 and connected to the second rotating gear 74 of the transmission mechanism 70 in the mounting member 121. The drive device 30 includes two drive motors and is connected to the transmission mechanisms 70 in the two mounting members 121. The transmission mechanisms 70 in the two mounting members 121 can drive the two ends of the second rotating shaft 51 to rotate respectively. Since the second rotating shaft 51 is segmented, the rotation of the two segments does not affect each other, which facilitates the stable rotation of the second rotating member 50.

[0099] In this embodiment, the blade surface of the propeller 52 is inclined relative to the axial centerline of the second rotating shaft 51. This facilitates water flow and allows for stable movement of the cleaning robot 100 during water surface cleaning. Specifically, in this embodiment, during water surface cleaning, the blade surface of the propeller 52 is inclined in the direction of rotation of the second rotating shaft 51. During surface cleaning, the rotation tangent of the second rotating member 50 away from the cleaning surface is in the direction of travel of the main body 10, while the rotation tangent of the first rotating member 40 away from the cleaning surface is in the opposite direction of travel of the main body 10. The blade surface of the propeller 52, tilted in the aforementioned direction, can efficiently propel the water flow, facilitating the movement of the cleaning robot 100 on the water surface. During underwater cleaning, the rotation tangent of the first rotating member 40 away from the cleaning surface is in the opposite direction of travel of the main body 10, while the rotation tangent of the first rotating member 40 away from the cleaning surface is in the same direction. The blade surface of the propeller 52, tilted in the aforementioned direction, can reduce resistance when propulsing the water flow, thus facilitating the underwater movement of the cleaning robot 100. For example, the blade surface of the propeller 52 is perpendicular to the radial direction of the second rotating shaft 51.

[0100] like Figure 4 and Figure 6As shown in this embodiment, the drive device 30 includes two drive motors, and the transmission mechanism 70 includes drive teeth 76. The drive teeth 76 mesh with a front ring tooth 71 or a rear ring tooth 72. The two drive motors are respectively connected to the drive teeth 76 of the transmission mechanisms 70 on both sides, so as to drive the two transmission mechanisms 70 to operate through the two drive motors, thereby driving the first rotating member 40 or the second rotating member 50 to rotate. Exemplarily, the drive device 30 is disposed within the space formed by the top shell 11 and the chassis 12. By driving the two segments of the second rotating member 50 to rotate through the two drive motors respectively, the rotational speeds of the two segments of the second rotating member 50 can be made different by controlling the different torques output by the two drive motors, thereby realizing the steering of the cleaning robot 100, so as to facilitate the movement and cleaning of the cleaning robot 100 on the water surface.

[0101] like Figure 4 and Figure 6 As shown in this embodiment, during underwater cleaning, the cleaning robot 100 can be propelled forward by the rolling of the track 60. During this movement, the cleaning robot 100 can wipe the surface of the area to be cleaned using the first rotating component 40. For example, the track 60 is the transmission belt of the aforementioned transmission mechanism 70. Thus, two drive motors can drive the transmission mechanism 70 to operate, thereby enabling the rolling of the two tracks 60. Simultaneously, the first rotating component 40 and the second rotating component 50 can be driven to work, meeting the different working mode requirements of the cleaning robot 100. By driving the two tracks 60 to roll using two drive motors respectively, the rolling speeds of the two tracks 60 can be different by controlling the different torques output by the two drive motors, thereby enabling the cleaning robot 100 to turn, facilitating its underwater cleaning movement.

[0102] like Figure 4 and Figure 6 As shown in this embodiment, an inlet is formed between the first rotating member 40 and the bottom surface of the water guide trough 10a. A protrusion 123 for narrowing the inlet is provided directly below the first rotating member 40, and the protrusion 123 is installed on the bottom surface of the water guide trough 10a. When water flows along the water guide trough 10a, it first enters the water guide trough 10a through the inlet. The protrusion 123 narrows the inlet, thereby accelerating the water flow, improving waste collection efficiency, and facilitating the concentrated flow of water into the collection device 20. For example, the front end of the protrusion 123 gradually thickens along the water flow direction to gradually narrow the inlet. Thus, after a large amount of water enters, the inlet gradually narrows, allowing it to receive more water and the waste it carries, thereby improving waste collection efficiency.

[0103] 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, applied to pool cleaning, characterized in that, The cleaning robot is equipped with a cavity and an exchange port, and the cavity is connected to the outside through the exchange port; The cleaning robot has a first plane perpendicular to the direction of travel, the cavity portion is located on the front side of the first plane facing the cleaning robot, and the exchange port is located on the rear side of the first plane facing the cleaning robot. When the cleaning robot cleans the side wall of the pool, the first plane is below the water surface.

2. The cleaning robot as described in claim 1, characterized in that, The bottom surface of the cleaning robot is provided with a suction port, which is located on the rear side of the first plane facing the cleaning robot.

3. The cleaning robot as described in claim 2, characterized in that, The bottom surface of the cleaning robot is provided with a baffle plate, which surrounds the suction port on the front side of the cleaning robot and is located on the rear side of the first plane facing the cleaning robot.

4. The cleaning robot as described in claim 1, characterized in that, The cleaning robot is also equipped with a water pump and a water outlet. The water pump is used to draw water and discharge it from the water outlet, which is located on the side of the cleaning robot away from the bottom.

5. The cleaning robot as described in claim 4, characterized in that, The cleaning robot has a suction port on its bottom surface, and the water pump is connected to the suction port.

6. The cleaning robot as described in claim 4, characterized in that, The water outlet is located on the rear side of the first plane facing the cleaning robot.

7. The cleaning robot as described in claim 1, characterized in that, During underwater cleaning, the cavity collects water and discharges gas through the exchange port; during surface cleaning, the cavity collects gas and discharges water through the exchange port.

8. The cleaning robot as described in claim 7, characterized in that, The cavity includes a main cavity and a sub-cavity. The main cavity is located in the middle of the cleaning robot in the direction of travel, and the sub-cavities are located in front of the cleaning robot in the direction of travel.

9. The cleaning robot as described in claim 1, characterized in that, The cleaning robot includes a main body and two buoyancy devices, which are located on both sides of the main body. Each buoyancy device is provided with a cavity and an exchange port.

10. The cleaning robot as described in claim 9, characterized in that, The exchange port includes a water inlet and an air inlet, which are located on opposite sides of the buoyancy device.

11. The cleaning robot as described in claim 10, characterized in that, The water inlet is located on the bottom surface of the buoyancy device, and the air inlet is located on the top surface of the buoyancy device.

12. The cleaning robot as described in claim 10, characterized in that, The water inlet is equipped with a filter screen.

13. The cleaning robot as described in claim 10, characterized in that, The air vent is equipped with one of the following: a waterproof and breathable membrane, a push-button switch, and a solenoid valve, to restrict gas passage through the air vent.

14. The cleaning robot as described in claim 1, characterized in that, The cleaning robot is equipped with tracks on its bottom surface, which are used to abut against the wall of the pool to drive the cleaning robot to move.

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