Automatic surface cleaning machine with reduced yaw angle difference function

Abstract

The utility model discloses automatic water surface cleaning machine technical field's with the function of reducing yaw angle difference value automatic water surface cleaning machine, including the pumping unit of automatic water surface cleaning machine one side, and the pumping unit includes the water pump, and the water pump includes motor, and automatic water surface cleaning machine works in water, the driving force of motor drives the direction that automatic water surface cleaning machine rotates around Z axle is just the motor drive direction. The utility model will side rear water flow drive direction and the direction of motor drive direction setting is contrary, adjusts the direction that automatic water surface cleaning machine rotates around Z axle, and the yaw angle difference value of actual yaw angle and ideal yaw angle yaw angle reduces, when yaw angle difference value is smaller, the area that automatic water surface cleaning machine leaks is smaller, and the cleaning efficiency of automatic water surface cleaning machine is higher, when yaw angle difference value is equal to zero, actual yaw angle is equal to ideal yaw angle, and automatic water surface cleaning machine can most efficiently and fully clean water surface.

Description

Technical Field

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

[0002] Garbage often floats on water surfaces, such as in swimming pools, rivers, lakes, and reservoirs. In current technology, when using a water surface cleaning machine to collect this garbage, the machine is first placed in the water. Because the floating device generates buoyancy, the filter screen and filter cylinder of the filtration system float on the water. The pumping device is then activated, drawing water into the filter screen. The water then passes through the mesh of the filter screen and flows out of the filter cylinder, creating a continuous cycle. As the water flows into the filter screen, it carries garbage from the surface into the screen, where it accumulates.

[0003] Automatic water surface cleaning machines use a motor in the pumping device to pump and filter water. When pumping water, the motor needs to drive a propeller or impeller, and the motor can rotate clockwise or counterclockwise.

[0004] The first and second models of the multi-functional automatic water surface cleaner work by first placing the machine in the water. The buoyancy of the flotation device causes the filter screen and filter cylinder to float. Activating the pump draws water into the filter screen, through the mesh, and out of the filter cylinder. The water is then sprayed out through the outlet, propelling the cleaner forward. Even when the machine is obstructed, the outlet continues to spray water, allowing the filter to continue collecting debris. This pumping mechanism enables cleaning both while stationary and while the machine is moving.

[0005] However, during the clockwise rotation of the motor, the automatic water surface cleaner also rotates slightly clockwise, and during the counterclockwise rotation of the motor, the automatic water surface cleaner rotates slightly counterclockwise. In other words, the driving force of the motor produces a side effect, resulting in an uneven output torque. This unevenness is transmitted to the motion system of the automatic water surface cleaner, causing it to yaw. This prevents it from yawing at the ideal yaw angle, and the actual yaw angle is greater than the ideal yaw angle. Furthermore, the difference between the actual yaw angle and the ideal yaw angle is too large. As a result, the automatic water surface cleaner cannot clean according to the predetermined path or direction, leading to some areas not being covered and thus missing some cleaning areas, reducing the cleaning efficiency of the automatic water surface cleaner. Utility Model Content

[0006] To address the problem mentioned above where automatic water surface cleaning machines fail to clean along a predetermined path or direction, resulting in some areas being uncovered and thus missing some cleaning areas, thereby reducing the cleaning efficiency of the automatic water surface cleaning machine, this utility model provides an automatic water surface cleaning machine with a function to reduce yaw angle difference.

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

[0008] An automatic water surface cleaning machine with the function of reducing yaw angle difference includes a water pumping unit located on one side of the automatic water surface cleaning machine. The water pumping unit includes a water pump, which includes a motor. When the automatic water surface cleaning machine is working in water, the direction in which the driving force of the motor drives the automatic water surface cleaning machine to rotate around the Z-axis is the direction of motor driving.

[0009] The driving force of the motor also draws out and sprays out water. The sprayed side and rear water flow generates a thrust on the automatic water surface cleaning machine. Part of the thrust is transmitted back to the motor, forming a reverse force opposite to the direction of the motor's drive. The direction in which the automatic water surface cleaning machine rotates around the Z-axis due to the reverse force is the direction of the side and rear water flow.

[0010] The direction of the side and rear water flow is opposite to the direction of the motor drive, and the direction of the automatic water surface cleaning machine rotating around the Z-axis is adjusted to reduce the difference between the actual yaw angle and the ideal yaw angle.

[0011] The ideal yaw angle is the ideal yaw angle that the automatic water surface cleaning machine needs to achieve, while the actual yaw angle is the actual yaw angle of the automatic water surface cleaning machine.

[0012] By adopting the above technical solution, the direction of the side and rear water flow is opposite to the direction of the motor drive. The difference between the actual yaw angle and the ideal yaw angle is reduced. The smaller the difference in yaw angle, the smaller the area missed by the automatic water surface cleaner, and the higher the cleaning efficiency of the automatic water surface cleaner. When the difference in yaw angle is equal to zero, the actual yaw angle is equal to the ideal yaw angle, and the automatic water surface cleaner can clean the water surface most efficiently and thoroughly.

[0013] Optionally, the automatic water surface cleaner is controlled to turn right at an ideal yaw angle. When the motor drives the machine in a clockwise direction, a side-rear water jet is sprayed out from the right side, which is not coplanar with the XZ plane and is in the opposite direction to the walking direction of the automatic water surface cleaner.

[0014] By adopting the above technical solution, the thrust of the side-rear water flow drives the automatic water surface cleaning machine to rotate in a counterclockwise direction, that is, the water flow driving direction is counterclockwise, and the water flow driving direction is opposite to the motor driving direction, thus reducing the actual yaw angle and the yaw angle difference.

[0015] Optionally, the pumping unit located on one side of the automatic water surface cleaning machine further includes a rear-side water outlet cylinder. Water is ejected from the rear of the rear-side water outlet cylinder, and the axis of the rear-side water outlet cylinder is located on the right side, not coplanar with the XZ plane. Preferably, the direction of the rear-side water flow is parallel to the X-axis and perpendicular to the YZ plane, and the axis of the rear-side water outlet cylinder is parallel to the X-axis and perpendicular to the YZ plane.

[0016] By adopting the above technical solution, water jets are sprayed from the right side, which is not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine. The direction of the water jets from the right side is also not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine.

[0017] Optionally, the automatic water surface cleaner is controlled to turn to the left at an ideal yaw angle. When the motor drives in a counterclockwise direction, a side-rear water jet is sprayed out at a position on the left that is not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaner.

[0018] By adopting the above technical solution, the thrust of the side and rear water flow drives the automatic water surface cleaning machine to rotate in a clockwise direction. That is, the side and rear water flow drives in a clockwise direction, which is opposite to the direction driven by the motor. This reduces the actual yaw angle and the yaw angle difference.

[0019] Optionally, the axis of the rear side water outlet is located on the left side, which is not coplanar with the XZ plane.

[0020] By adopting the above technical solution, water jets are sprayed from the left side, which is not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine. The direction of the water jets from the left side is also not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine.

[0021] Optionally, the water flow at the rear outlet is on the XZ plane and is opposite to the direction of travel of the automatic water surface cleaner.

[0022] By adopting the above technical solution, the water flow from the rear outlet propels the automatic water surface cleaning machine forward.

[0023] Optionally, the pumping unit located on one side of the automatic water surface cleaning machine also includes a rear water outlet cylinder, from which water is sprayed out, and the axis of the rear water outlet cylinder is in the negative direction of the X-axis.

[0024] By adopting the above technical solution, the rear water outlet tube can concentrate the water flow at the rear outlet, preventing the water flow at the rear outlet from being too dispersed and thus affecting its ability to propel the automatic cleaning machine forward.

[0025] Optionally, the number of water pumping units is two, and a baffle is installed on the outer side of the rear water outlet cylinder. When the automatic water surface cleaning machine moves forward, the baffle on the outer side of the front rear water outlet cylinder closes, and the rear rear water outlet cylinder opens. Preferably, the water pumping unit is equipped with a housing, and the baffle is installed on the housing.

[0026] By adopting the above technical solution, the automatic water surface cleaning machine is protected from the impact of the water flow in front during its movement, thus protecting the internal components of the automatic water surface cleaning machine.

[0027] Optionally, the pumping unit located on one side of the automatic water surface cleaning machine also includes a side water outlet cylinder, from which water is sprayed out. The axis of the side water outlet cylinder is parallel to the Y-axis, and the side water outlet cylinder and the rear side water outlet cylinder are located on opposite sides of the XZ plane.

[0028] By adopting the above technical solution, the side water outlet tube flows out side water, increasing the total water flow of the automatic water surface cleaner and increasing the volume of water filtered by the filtration device per unit time. Therefore, the amount of garbage filtered per unit time also increases, thereby improving the cleaning ability of the automatic water surface cleaner.

[0029] Optionally, it also includes a water-drawing shell, the interior of which forms a water-drawing chamber, the rear water outlet tube is connected to the water-drawing chamber, the water-drawing shell is connected to the rear side water outlet tube through a transition tube, and the water-drawing chamber is connected to the rear side water outlet tube through a transition tube.

[0030] It also includes a sealed chamber, the motor body is located inside the sealed chamber, the motor shaft passes through the sealed chamber, and an impeller is installed on one side of the shaft inside the pumping chamber;

[0031] It also includes a filtration device, which includes a filter cylinder installed on top of the pumping shell. A filter screen is installed inside the filter cylinder, and an opening is provided at the bottom of the filter cylinder, which communicates with the pumping chamber.

[0032] The filter device is equipped with a number of four floating devices, which are symmetrically installed on both sides of the X-axis.

[0033] By adopting the above technical solution, when the water pump is turned on, water enters the interior of the filter cylinder and flows into the pumping chamber from the opening. The garbage on the water surface will be carried into the filter screen and collected inside the filter screen, making it easy to collect the garbage. When the motor is working, it drives the impeller to rotate through the rotating shaft. The rotation of the impeller drives the water to move, so that the water entering the pumping chamber can flow out from the rear water outlet. The water flowing out from the rear water outlet propels the water surface cleaner to move on the water surface.

[0034] In summary, this utility model has at least one of the following beneficial effects:

[0035] This invention sets the direction of the side and rear water flow drive to be opposite to the direction of the motor drive, and adjusts the direction of the automatic water surface cleaner's rotation around the Z-axis. This reduces the difference between the actual yaw angle and the ideal yaw angle. The smaller the yaw angle difference, the smaller the area missed by the automatic water surface cleaner, and the higher the cleaning efficiency of the automatic water surface cleaner. When the yaw angle difference is equal to zero, the actual yaw angle is equal to the ideal yaw angle, and the automatic water surface cleaner can clean the water surface most efficiently and thoroughly.

[0036] This invention utilizes the combined action of the rear and side water outlets to increase the flow rate of the automatic water surface cleaner, thereby increasing the volume of water filtered per unit time. Consequently, the amount of debris filtered per unit time also increases, further enhancing the cleaning capability of the automatic water surface cleaner. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the main structure of the new automatic water surface cleaning machine of this utility model;

[0039] Figure 2 This is a top view structural diagram of the new automatic water surface cleaning machine of this utility model;

[0040] Figure 3 This is a schematic diagram of the structure of the new automatic water surface cleaning machine of this utility model when turning right according to the ideal yaw angle;

[0041] Figure 4 This is a top view schematic diagram of the new automatic water surface cleaning machine of this utility model;

[0042] Figure 5 This is a schematic diagram of the structure of the new model of the automatic water surface cleaning machine of this utility model when turning to the left according to the ideal yaw angle;

[0043] Figure 6 This is a three-dimensional structural diagram of the new automatic water surface cleaning machine of this utility model;

[0044] Figure 7 This is a schematic cross-sectional view of the new automatic water surface cleaning machine of this utility model. Figure 1 ;

[0045] Figure 8This is a schematic cross-sectional view of the new automatic water surface cleaning machine of this utility model. Figure 2 ;

[0046] Figure 9 This is a schematic diagram of the connection structure between the outer shell and the baffle in the new automatic water surface cleaning machine of this utility model;

[0047] Figure 10 This is a top view of the initial design of the automatic water surface cleaning machine of this utility model.

[0048] Figure 11 This is a schematic diagram of the structure of the initial design of the automatic water surface cleaning machine of this utility model when turning right according to the ideal yaw angle;

[0049] Figure 12 This is a top view of the initial design of the automatic water surface cleaning machine of this utility model;

[0050] Figure 13 This is a schematic diagram of the structure of the automatic water surface cleaning machine of this utility model when it turns to the left according to the ideal yaw angle;

[0051] Figure 14 This is a three-dimensional structural diagram of the initial design of the automatic water surface cleaning machine of this utility model.

[0052] In the diagram: 1. Motor; 2. Rear water outlet cylinder; 3. Shaft; 4. Pumping shell; 5. Pumping chamber; 6. Sealed chamber; 7. Impeller; 8. Opening; 9. Floating device; 10. Filter cylinder; 11. Side rear water outlet cylinder; 12. Filter screen; 13. Side water outlet cylinder; 14. Baffle; 15. Outer shell; 16. Transition cylinder.

[0053] A1, Ideal yaw angle; A2, Actual yaw angle; A3, Yaw angle difference; D1, Motor driving direction; D2, Side and rear water flow driving direction; E1, One side of the automatic water surface cleaning machine. Detailed Implementation

[0054] The following is in conjunction with the appendix Figures 1-14 The present invention will be described in further detail below.

[0055] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 and Figure 4 An embodiment of this utility model provides an automatic water surface cleaning machine with the function of reducing yaw angle difference, including a water pumping unit located on one side E1 of the automatic water surface cleaning machine. The water pumping unit includes a water pump, which includes a motor 1. When the automatic water surface cleaning machine is working in water, the driving force of the motor 1 drives the automatic water surface cleaning machine to rotate around the Z-axis in the direction of the motor driving direction D1.

[0056] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 and Figure 4 The driving force of motor 1 also draws out and sprays out water. The sprayed side and rear water flow generates a thrust on the automatic water surface cleaner. Part of the thrust is transmitted back to motor 1, forming a reverse force opposite to the driving direction D1 of the motor. The direction in which the reverse force drives the automatic water surface cleaner to rotate around the Z-axis is the driving direction D2 of the side and rear water flow.

[0057] Please refer to the attached diagram in the instruction manual. Figure 2 , Figure 3 , Figure 4 and Figure 5 The direction of the water flow from the side to the rear is opposite to the direction of the motor drive, D1. Adjust the direction of the automatic water surface cleaner's rotation around the Z-axis to reduce the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1. The ideal yaw angle A1 is the ideal yaw angle that the automatic water surface cleaner needs to achieve, while the actual yaw angle A2 is the actual yaw angle of the automatic water surface cleaner.

[0058] It should be noted that the ideal yaw angle A1, the actual yaw angle A2, and the yaw angle difference A3 in this application are all numerical values ​​without direction, and are scalars.

[0059] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 and Figure 3 The automatic water surface cleaning machine is controlled to turn right at an ideal yaw angle A1. When the motor drive direction D1 is clockwise, a side-rear water jet is sprayed from the right side, which is not coplanar with the XZ plane and is in the opposite direction to the automatic water surface cleaning machine's travel direction. For example... Figure 10 , Figure 11 and Figure 12 In the middle, the motor drive direction D1 is clockwise, which is different from the original model. Figure 11 and Figure 12 Improvements were made, and it was changed to Figure 2 and Figure 3 The water jet is sprayed from the right side, which is not coplanar with the XZ plane and is in the opposite direction to the walking direction of the automatic water surface cleaner. The thrust of this water jet drives the automatic water surface cleaner to rotate in a counterclockwise direction. That is, the driving direction of the water jet D2 is counterclockwise. The driving direction of the water jet D2 is opposite to the driving direction of the motor D1. The actual yaw angle A2 decreases and the yaw angle difference A3 decreases.

[0060] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 , Figure 4 , Figure 6 and Figure 8The water pumping unit located on one side E1 of the automatic water surface cleaner also includes a rear-side water outlet cylinder 11. Water is ejected from the rear-side water outlet cylinder 11, and the axis of the rear-side water outlet cylinder 11 is located on the right side, not coplanar with the XZ plane. Preferably, the direction of the rear-side water flow is parallel to the X-axis and perpendicular to the YZ plane, and the axis of the rear-side water outlet cylinder 11 is parallel to the X-axis and perpendicular to the YZ plane. Thus, the rear-side water flow is ejected from the right side, not coplanar with the XZ plane, in a direction opposite to the traveling direction of the automatic water surface cleaner, and the direction of the rear-side water flow is also on the right side, not coplanar with the XZ plane, in a direction opposite to the traveling direction of the automatic water surface cleaner.

[0061] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 4 and Figure 5 The automatic water surface cleaning machine is controlled to turn left at an ideal yaw angle A1. When the motor drive direction D1 is counterclockwise, a side-rear water jet is sprayed from the left side, in a direction opposite to the direction of travel of the automatic water surface cleaning machine, at a position not coplanar with the XZ plane. For example... Figure 11 , Figure 13 and Figure 14 In the middle, the motor drive direction D1 is counterclockwise, which is different from the first model. Figure 13 and Figure 14 Improvements were made, and it was changed to Figure 4 and Figure 5 The water jet is sprayed from the left side, which is not coplanar with the XZ plane and is in the opposite direction to the walking direction of the automatic water surface cleaner. The thrust of this water jet drives the automatic water surface cleaner to rotate in a clockwise direction. That is, the driving direction of the water jet D2 is clockwise. The driving direction of the water jet D2 is opposite to the driving direction of the motor D1. The actual yaw angle A2 decreases and the yaw angle difference A3 decreases.

[0062] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 6 and Figure 8 The axis of the side-rear water outlet 11 is located on the left side, not coplanar with the XZ plane. Thus, water from the side-rear outlet is sprayed from the left side, in a direction opposite to the traveling direction of the automatic water surface cleaner, and the direction of the side-rear water outlet is also not coplanar with the XZ plane and is opposite to the traveling direction of the automatic water surface cleaner. The rear water outlet is on the XZ plane and opposite to the traveling direction of the automatic water surface cleaner. The rear water outlet propels the automatic water surface cleaner forward.

[0063] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 , Figure 6 and Figure 7The water pumping unit located on one side E1 of the automatic water surface cleaning machine also includes a rear water outlet cylinder 2. The water flow from the rear water outlet cylinder 2 is sprayed out from behind the rear water outlet cylinder 2, and the axis of the rear water outlet cylinder 2 is in the negative direction of the X-axis. The rear water outlet cylinder 2 plays a role in concentrating the rear water flow, preventing the water flow from being too dispersed and thus affecting the function of propelling the automatic cleaning machine forward.

[0064] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 2 and Figure 8 The water pumping unit located on one side E1 of the automatic water surface cleaner also includes a side water outlet cylinder 13. Water flows from the side water outlet cylinder 13, whose axis is parallel to the Y-axis. The side water outlet cylinder 13 and the rear side water outlet cylinder 11 are located on opposite sides of the XZ plane. The side water outlet cylinder 13 increases the total water flow rate of the automatic water surface cleaner, increasing the volume of water filtered per unit time by the filtration device. Therefore, the amount of debris filtered per unit time also increases, thereby improving the cleaning capacity of the automatic water surface cleaner.

[0065] Please refer to the attached diagram in the instruction manual. Figure 1 and Figure 9 The system has two water pumping units. A baffle 14 is installed on the outer side of the rear water outlet 2. When the automatic water surface cleaner moves forward, the baffle 14 on the outer side of the front rear water outlet 2 closes, and the rear rear water outlet 2 opens. Preferably, a housing 15 is installed outside the water pumping unit, and the baffle 14 is installed on the housing 15. This prevents the automatic water surface cleaner from being impacted by the water flow in front during movement, protecting the internal components of the automatic water surface cleaner.

[0066] Please refer to the attached diagram in the instruction manual. Figure 7 , Figure 8 and Figure 9 It also includes a water-drawing shell 4, the inside of which forms a water-drawing chamber 5, and the rear water outlet 2 is connected to the water-drawing chamber 5. The water-drawing shell 4 is connected to the rear side water outlet 11 through a transition tube 16, and the water-drawing chamber 5 is connected to the rear side water outlet 11 through the transition tube 16.

[0067] It also includes a sealed chamber 6, the body of the motor 1 is located inside the sealed chamber 6, the shaft 3 of the motor 1 passes through the sealed chamber 6, and an impeller 7 is installed on one side of the shaft 3 located inside the pumping chamber 5.

[0068] Please refer to the attached diagram in the instruction manual. Figure 7 and Figure 8 It also includes a filtration device, which includes a filter cylinder 10. The filter cylinder 10 is installed on the top of the pumping shell 4. A filter screen 12 is installed inside the filter cylinder 10. An opening 8 is provided at the bottom of the filter cylinder 10, and the opening 8 is connected to the pumping chamber 5.

[0069] Please refer to the attached diagram in the instruction manual. Figure 1 , Figure 6 , Figure 7 and Figure 8 The filter device has four floating devices 9 installed on its outer periphery, symmetrically arranged on both sides of the X-axis. When the pump is turned on, water enters the filter cylinder 10 and flows from the opening 8 into the pumping chamber 5. Debris on the water surface is carried into the filter screen 12 and collected inside the screen for easy collection. When the motor 1 is working, it drives the impeller 7 to rotate via the shaft 3. The rotation of the impeller 7 drives the water to move, thus allowing the water entering the pumping chamber 5 to flow out from the rear outlet pipe 2. The water flowing out from the rear outlet pipe 2 propels the water surface cleaner to move on the water surface.

[0070] Working Principle: In use, the automatic water surface cleaner is placed at the desired water surface location. The floating device 9 allows the cleaner to float on the water. Then, the pump is turned on, and water enters the filter cylinder 10 and flows from the opening 8 into the pumping chamber 5. Debris on the water surface is carried into the filter screen 12 and collected there for easy collection. When the motor 1 is working, it drives the impeller 7 to rotate via the shaft 3. The rotation of the impeller 7 moves the water, causing the water entering the pumping chamber 5 to flow out through the rear outlet cylinder 2, the transition cylinder 16, the rear side outlet cylinder 11, and the side outlet cylinder 13. The water flowing out of the rear outlet cylinder 2 propels the water surface cleaner across the water surface, while the water flowing out of the rear side outlet cylinders 11 and 13 increases the flow rate of the automatic water surface cleaner, increasing the volume of water filtered per unit time. Therefore, the amount of debris filtered per unit time also increases, thereby improving the cleaning capacity of the automatic water surface cleaner.

[0071] In addition, the thrust of the water flow from the side outlet tube 13 after passing through the transition tube 16 drives the automatic water surface cleaner to rotate in the direction of the side rear water flow, which is the direction D2 driven by the side rear water flow. The direction D2 driven by the side rear water flow is opposite to the direction D1 driven by the motor, so the actual yaw angle A2 decreases and the yaw angle difference A3 decreases.

[0072] Because two sets of rear water outlets 2 are installed, and the water flows out of the two sets of rear water outlets 2 in opposite directions, the automatic pool cleaner has forward and backward functions. When the automatic pool cleaner needs to move forward, the rear pump runs and the front pump stops running. Water flows out from the rear water outlet 2. Because of the baffle 14, the water will not flow out from the front water outlet 2, which is more conducive to pushing the automatic pool cleaner forward. When the automatic pool cleaner needs to move backward, the front pump runs and the rear pump stops running. Water flows out from the front water outlet 2. Because of the baffle 14, the water will not flow out from the rear water outlet 2, which is more conducive to pushing the automatic pool cleaner backward.

[0073] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. An automatic water surface cleaning machine with a function to reduce yaw angle difference, comprising a pumping unit located on one side (E1) of the automatic water surface cleaning machine, the pumping unit comprising a pump, the pump comprising a motor (1), characterized in that: When the automatic water surface cleaning machine is working in the water, the driving force of the motor (1) drives the automatic water surface cleaning machine to rotate around the Z-axis in the direction of the motor driving (D1); the driving force of the motor (1) also draws out water and sprays it out. The sprayed side and rear water flow generates a thrust on the automatic water surface cleaning machine. Part of the thrust is transmitted back to the motor (1), forming a reverse force opposite to the motor driving direction (D1). The reverse force drives the automatic water surface cleaning machine to rotate around the Z-axis in the direction of the side and rear water flow driving (D2); the side and rear water flow driving direction (D2) is opposite to the motor driving direction (D1). Adjusting the direction of the automatic water surface cleaning machine to rotate around the Z-axis reduces the difference in yaw angle (A3) between the actual yaw angle (A2) and the ideal yaw angle (A1).

2. The automatic surface cleaning machine with yaw angle reduction function according to claim 1, characterized in that: The automatic water surface cleaning machine is controlled to turn right at an ideal yaw angle (A1). When the motor driving direction (D1) is clockwise, the side and rear water flow is sprayed out at the right side position that is not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine.

3. The automatic water surface cleaning machine with yaw angle difference reduction function according to claim 2, characterized in that: The pumping unit located on one side (E1) of the automatic water surface cleaning machine also includes a rear side water outlet cylinder (11), from which water is sprayed out. The axis of the rear side water outlet cylinder (11) is located on the right side, which is not coplanar with the XZ plane.

4. The automatic surface cleaning machine with yaw angle reduction function according to claim 1, characterized in that: The automatic water surface cleaning machine is controlled to turn left at an ideal yaw angle (A1). When the motor driving direction (D1) is counterclockwise, the side and rear water flow is sprayed out at a position on the left side that is not coplanar with the XZ plane and in the opposite direction to the walking direction of the automatic water surface cleaning machine.

5. The automatic surface cleaning machine with yaw angle reduction function according to claim 4, characterized in that: The pumping unit located on one side (E1) of the automatic water surface cleaning machine also includes a rear side water outlet cylinder (11), from which water is sprayed out. The axis of the rear side water outlet cylinder (11) is located on the left side, which is not coplanar with the XZ plane.

6. The automatic surface cleaning machine with yaw angle reduction function according to claim 1, characterized in that: The water flow from the rear outlet is on the XZ plane and is opposite to the direction of travel of the automatic water surface cleaning machine.

7. The automatic surface cleaning machine with yaw angle reduction function according to claim 6, characterized in that: The pumping unit located on one side (E1) of the automatic water surface cleaning machine also includes a rear water outlet cylinder (2), from which water is sprayed out, and the axis of the rear water outlet cylinder (2) is in the negative direction of the X-axis.

8. The automatic surface cleaning machine with yaw angle reduction function according to claim 7, characterized in that: The pumping unit located on one side (E1) of the automatic water surface cleaning machine also includes a side water outlet cylinder (13), from which water is sprayed out. The axis of the side water outlet cylinder (13) is parallel to the Y-axis. The side water outlet cylinder (13) and the rear side water outlet cylinder (11) are located on opposite sides of the XZ plane.

9. The automatic surface cleaning machine with yaw angle reduction function according to claim 7, characterized in that: It also includes a water-drawing shell (4), the inside of which forms a water-drawing chamber (5), the front rear water outlet (2) is connected to the water-drawing chamber (5), the water-drawing shell (4) and the side rear water outlet (11) are connected by a transition tube (16), and the water-drawing chamber (5) and the side rear water outlet (11) are connected by the transition tube (16).

10. The automatic surface cleaning machine with yaw angle reduction function according to claim 9, characterized in that: It also includes a sealed chamber (6), the body of the motor (1) is located inside the sealed chamber (6), the shaft (3) of the motor (1) passes through the sealed chamber (6), and an impeller (7) is installed on one side of the shaft (3) inside the pumping chamber (5). It also includes a filtration device, which includes a filter cylinder (10) installed on the top of the pumping shell (4). A filter screen (12) is installed inside the filter cylinder (10). An opening (8) is provided at the bottom of the filter cylinder (10), and the opening (8) is connected to the pumping chamber (5).

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