Swimming pool robot

Abstract

This application relates to the technical field of pool cleaning equipment, and more particularly to a pool robot. The pool robot includes a body, a chassis, cleaning components, and a filtration component, with a newly added force-applying component. Before starting cleaning, the force-applying component applies a force away from the pool bottom to the body or chassis. Before the water pump generates negative pressure, the force-applying component increases the distance between the water inlet and the pool bottom. This increased gap allows water and air to enter, breaking the sealed space required for the "vacuum suction effect." Simultaneously, it allows the motor, filtration component, and water pump to return to normal load operation, reducing the failure rate of core components. This application effectively solves the problem of traditional pool robots having their water inlet tightly sucked to the pool bottom during startup, reducing the probability of failure of core components such as the motor and filter, as well as wear and tear on vulnerable parts, thus reducing maintenance costs. It avoids the need for start-up and shutdown adjustments, improving cleaning efficiency; and it adapts to both smooth and rough pool bottoms, enhancing operational convenience and reliability.

Description

Technical Field

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

[0002] In the field of automated pool cleaning, pool robots are the mainstream equipment, with the core consisting of a body and a chassis: the body has a water outlet, and the chassis integrates motor-driven drive wheels, auxiliary cleaning rollers, as well as a water inlet, water pump, and trash can. During operation, the water pump draws water in through the inlet, filters impurities through the trash can, and then the clean water is discharged from the outlet, completing the cleaning operation.

[0003] However, when the robot is initially started cleaning, it generally faces the core problem of negative pressure adsorption at the water inlet, which directly affects the operation of the equipment. The root cause is the "vacuum suction cup effect": after the filter component is started, the water pump inside generates negative pressure. At this time, the water inlet and the bottom of the pool form a sealed space, and the water is quickly drawn away. If the water inlet is tightly attached to the bottom of the pool and the water is not replenished in time, the pressure in the space drops sharply, forming a negative pressure difference, which causes the water inlet to tightly suck the bottom of the pool, easily causing motion interference. Utility Model Content

[0004] The purpose of this application is to overcome at least one of the shortcomings of the prior art and to provide a swimming pool robot that solves the problem that the inlet of the current swimming pool robot is prone to sucking into the bottom of the pool when it starts up, which can easily interfere with the movement of the swimming pool robot.

[0005] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0006] According to one aspect of this application, a swimming pool robot is provided, which mainly includes: a body, a chassis, a cleaning component, and a filtering component. The body is provided with a water outlet; the chassis is connected to the body and is provided with a walking component and a water inlet. The walking component drives the chassis and the body to move; the cleaning component is disposed on the chassis; the filtering component is disposed between the water inlet and the water outlet for filtering water passing through the body; wherein, the swimming pool robot also includes a force-applying component. Before the filtering component is activated, the force-applying component applies a force away from the working surface to the body or chassis, thereby increasing the distance between the water inlet and the working surface. After the filtering component is activated, the force-applying component removes the force applied away from the working surface to the body or chassis.

[0007] In this type of embodiment, the force-applying component addresses the issue of the inlet tightly gripping the pool bottom during startup, ensuring reliable cleaning startup. Through pre-action actions before the pool robot starts cleaning, the distance between the inlet and the pool bottom is increased before startup. This increased gap allows water and air to enter earlier, avoiding a vacuum suction effect, and reduces the contact area. Even on smooth pool bottoms or when the center of gravity is forward, the risk of tight suction is avoided, ensuring the robot can move and clean normally after startup, solving the pain point of difficult startup in traditional equipment.

[0008] Because the water inlet is located far from the bottom of the pool, the motor does not need to overcome the suction force, and the operating load returns to the normal range; the filter components avoid deformation caused by excessive negative pressure and can maintain stable filtration performance; the water pump can also operate under normal working conditions with stable water supply, completely eliminating the additional load of traditional equipment and reducing the probability of failure of core components such as motors, filters, and water pumps.

[0009] Meanwhile, the wear rate of vulnerable components such as the drive unit and water pump affected by negative pressure is slowed down, reducing the frequency of replacement and maintenance, and directly lowering maintenance material and labor costs. After the robot starts, there is no need to stop for adjustments due to negative pressure at the inlet causing suction to the pool bottom, avoiding wasted time during startup and improving overall cleaning efficiency. Furthermore, the equipment can start and operate stably regardless of whether the pool bottom is smooth or rough, reducing malfunctions and enhancing ease of operation and reliability.

[0010] When the filtration component is activated, it will generate negative pressure at the inlet. At this time, the force application component will withdraw and apply a force away from the working surface to the body or chassis. The entire pool robot will then move closer to the working surface under the influence of negative pressure and gravity to perform forward and cleaning actions.

[0011] Understandably, the working surface refers to the clean surface in the pool, which can be a horizontal or sloping pool bottom, or a varied pool bottom with steps.

[0012] In some exemplary embodiments of this application, based on the above scheme, the walking component includes a drive wheel and a driven wheel connected by transmission, the force application component is a drive motor, the output end of the drive motor is connected to the drive wheel, and before the filtration component is started, the pool robot lifts the driven wheel and the water inlet with the axis of the drive wheel as the rotation axis.

[0013] In this type of embodiment, the drive wheel serves as the torque output point of the walking component, which can form a stable rotation reference. The stable position of the rotating shaft facilitates shape control and prevents abnormalities such as overall flipping.

[0014] The inlet is positioned close to the driven wheel. Due to the fixed distance between the drive wheel and the driven wheel, when the pump is lifted around the axis of the drive wheel, a longer lever arm is formed at the end of the driven wheel. The lifting range of the driven wheel and the inlet is much greater than that of the area near the drive wheel, thus creating a larger separation gap between the inlet and the bottom of the pool. This gap prevents the inlet from being airtightly fitted to the bottom of the pool. Even if there are slight water stains or small impurities on the bottom of the pool, it can ensure that air and water can quickly enter the area around the inlet, thus preventing the formation of a closed negative pressure space after the pump starts.

[0015] In some exemplary embodiments of this application, based on the above scheme, the distance between the axis of the driven wheel and the axis of the driving wheel is d1, the diameter of the driven wheel is d2, and d1 and d2 satisfy: 2≤d1 / d2≤3.

[0016] In this type of embodiment, the distance between the axis of the driven wheel and the axis of the driving wheel determines the chassis contact length, that is, the length of the actual contact area between the chassis of the pool robot and the bottom of the pool, which is the span of the chassis in the direction of the pool robot's movement.

[0017] Based on this, during rotation around the axis of the drive wheel, the drive motor needs to overcome the resistance torque, requiring a corresponding power output to achieve the rotation. Under design parameter constraints, the ratio between the diameter of the driven wheel and the distance between its axis and the axis of the drive wheel directly affects the optimal setting of the resistance torque. Specifically, assuming the center of gravity of the vehicle body is at the midpoint of the wheelbase, the weight of the driven wheel and its half-section has a lever arm of 1 / 2 d1. The resistance torque equals the product of the weight of the driven wheel's half-section and the lever arm. Therefore, the factors affecting the output torque of the drive motor include the weight of the driven wheel's half-section and the length of the lever arm. With other components of the pool robot remaining constant, the mass of the driven wheel is related to its dimensions. In other words, the magnitude of the resistance torque is determined by the distance between the axis of the driven wheel and the axis of the drive wheel, as well as the diameter of the driven wheel.

[0018] In the above scheme, the ratio of the distance between the axis of the driven wheel and the axis of the driving wheel and the diameter of the driven wheel can not only meet the requirements of the design parameters, but also comprehensively configure the magnitude of the resistance torque and adapt to the selection of a suitable drive motor, so as to comprehensively consider multiple aspects such as cost, power and quality.

[0019] When the ratio of d1 to d2 is within the range of 2-3, the distance between the axis of the driven wheel and the axis of the drive wheel is limited to the design parameters of 300mm to 500mm. The diameter of the driven wheel can be constrained to between 100mm and 250mm. This can meet the 80mm requirement for the passage of the pool robot without exceeding the acceptable level for large commercial robots. At the same time, the resistance torque can match the load of the motor.

[0020] When the ratio of d1 to d2 is less than 2, due to design parameter limitations, the driven wheel diameter may be too large or the distance between the driven wheel axis and the drive wheel axis may not meet the actual requirements. When the ratio of d1 to d2 is greater than 2, the driven wheel diameter may be too small, and the distance between the driven wheel axis and the drive wheel axis may be close to the upper limit of the design parameters, resulting in inflexible turning and poor passability of the driven wheel, making it impractical.

[0021] It is understandable that when the ratio of d1 to d2 is in the range of 2-3, it can cover the actual needs of d1 = 300-500mm, corresponding to d2 = 100-250mm. These are all conventional and usable sizes for the driven wheels of pool robots. It can also avoid the situation where the driven wheels with a ratio of d1 to d2 less than 2 are too heavy / insufficient wheelbase, and avoid the situation where the turning is not flexible / poor passability is not good when the ratio of d1 to d2 is greater than 3. In addition, the resistance torque always falls within the rated range of the motor, with no risk of overload, and the energy consumption is better than other ranges, which meets the cost performance requirements of commercial products.

[0022] In some exemplary embodiments of this application, based on the above scheme, the rotation angle α of the driven wheel and the inlet about the axis of the drive wheel is between 5° and 25°.

[0023] In this type of embodiment, the angle setting prevents the inlet from tightly sucking into the pool bottom, ensuring an effective and moderate separation gap between the inlet and the pool bottom. For pool bottoms that are easy to form an airtight seal, such as smooth ceramic tiles or soft membranes, a lifting range of up to 25° is sufficient to break the tight seal between the inlet and the pool bottom. Even at a small angle of 5°, a rough pool bottom can still introduce air through the gap, fundamentally preventing the formation of the "vacuum suction cup effect" and ensuring no "sucking-in" risk during startup.

[0024] Experimental tests revealed that if the rotation angle is less than 5°, the driven wheel and water inlet will not be raised sufficiently, the gap between the water inlet and the pool bottom will be too small, and the water and air replenishment speed will not match the negative pressure formation speed after the water pump starts. There is still a probability of negative pressure in the enclosed space. Furthermore, the continuous contact between the water inlet and the pool bottom will increase the movement resistance when the robot starts, affecting the cleaning start-up efficiency. If the rotation angle exceeds 25°, the center of gravity of the pool robot will shift significantly, easily causing the body to tilt forward or backward and become unbalanced, which may even lead to the equipment tipping over, posing a safety hazard. At the same time, excessively large angles will cause the transmission components of the drive wheel and driven wheel to bear torque and pressure far exceeding normal operating conditions, accelerating component wear, shortening service life, and when returning to normal cleaning posture, the impact of the body falling may also cause additional damage to the chassis, water inlet, cleaning components, and other components.

[0025] The backward shift of the center of gravity based on inertia relies on the rotation around the axis of the drive wheel. This angle range ensures that the backward shift of the center of gravity is always within the safe range of "stable support of the drive wheel". It will not cause insufficient backward shift of the center of gravity or incomplete lifting of the driven wheel due to too small an angle, nor will it cause excessive tilting of the machine body due to too large an angle (such as exceeding 25°), which would lead to problems such as reduced contact area between the drive wheel and the bottom of the pool, decreased traction, or even slippage.

[0026] In some exemplary embodiments of this application, based on the above scheme, the drive wheel and the driven wheel are driven by a track, and before the filter assembly is started, the rotation direction of the drive motor is opposite to the rotation direction of the drive wheel when the pool robot moves forward. After cleaning is started, the rotation direction of the drive motor is the same as the rotation direction of the drive wheel when the pool robot moves forward.

[0027] In this type of embodiment, the drive wheel and the driven wheel are driven by the track, which can form a stable and controllable "backward force". The drive motor rotating in the opposite direction drives the driven wheel through the track, and forces the track to pull the driven wheel to rotate around the rotation axis of the drive wheel with a large instantaneous torque, thereby lifting the driven wheel.

[0028] Because the contact area between the track and the bottom of the pool is much larger than that of a single wheel, it can provide a more uniform and stronger reverse friction force. Furthermore, based on the flexible fit characteristics of the track drive, it can buffer the instantaneous torque impact when the drive motor rotates in the reverse direction. Compared with rigid wheel drives, which are prone to local stress concentration due to sharp reverse rotation, the track can distribute the reverse torque to a larger contact surface through multiple contact points with the bottom of the pool, making the lifting process of the driven wheel smoother.

[0029] In some exemplary embodiments of this application, based on the above scheme, before the filter component is started, the output power of the drive motor is greater than the output power of the drive motor when the pool robot is moving normally.

[0030] In this type of embodiment, the output power of the drive motor corresponds to the output torque of the drive motor when the size and speed of the drive wheel remain unchanged. That is, the drive motor outputs a torque greater than the normal forward torque before starting. This setting can instantly generate a large torque to drive the drive wheel to accelerate rapidly, so that the traction force of the drive wheel can quickly break through the friction limit between the driven wheel and the bottom of the pool. This process does not require complicated pre-action preparation. It can use inertia to shift the center of gravity of the pool robot towards the drive wheel and lift the driven wheel in a short time, thereby increasing the distance between the chassis and the bottom of the pool. This design has a certain preparation time before the cleaning components are started, which can ensure that the robot can quickly enter the cleaning operation state.

[0031] Understandably, by directly using the drive motor of the walking component as the force-applying component, there is no need to add an additional independent mechanism, which reduces the number of parts and assembly difficulty of the equipment, and saves installation space inside the machine body.

[0032] By using the drive motor as a force-applying component, there is no need to develop new control logic and maintenance standards for new components. The existing motor testing, troubleshooting, and repair processes of the walking system can be directly adopted, reducing investment in technology research and development and training costs for maintenance personnel. At the same time, it improves the overall technical maturity and operational reliability of the equipment.

[0033] It should be noted that "normal forward movement" refers to the pool robot moving forward at a constant speed during normal cleaning operations, when the cleaning components move forward. The torque output by the drive wheels is sufficient to keep the pool robot moving forward at a constant speed.

[0034] In some exemplary embodiments of this application, based on the above scheme, the force-applying component includes a drainage device, which is disposed inside the body. The chassis is provided with a water outlet, and the output end of the drainage device is connected to the water outlet. Before the filter component is started, the drainage device discharges water through the water outlet to generate a force that drives the distance between the inlet and the bottom of the pool to increase.

[0035] In this type of embodiment, the solution generates water flow through a drainage device and discharges it from the outlet hole, which is located on the chassis. At this time, the inlet will actively output positive pressure to the bottom of the pool. The reaction force of the water jetting downwards will directly lift the chassis, quickly increasing the distance between the inlet and the bottom of the pool. This breaks the sealed environment required for the vacuum suction effect from the source. Even when facing smooth tiles, soft membranes, or other pool bottoms that are easy to airtightly adhere to, the positive pressure impact can efficiently eliminate the risk of adsorption.

[0036] In some exemplary embodiments of this application, based on the above scheme, the drainage device includes a water pump, which includes a first port, a second port, and a third port. The body is provided with a connecting port. The first port is connected to the output end of the filter assembly, the second port is connected to the connecting port, and the third port is connected to the water outlet. A first valve body is provided between the third port and the water outlet. Before the pool robot moves, the water pump reverses, and water enters from the connecting port, passes through the third port and the first valve body, and is discharged from the water outlet, thereby increasing the distance between the inlet and the bottom of the pool. When the pool robot moves, the water pump rotates forward, the first valve body closes, and water enters from the output end of the filter assembly, passes through the second port, and is discharged from the connecting port.

[0037] In this type of embodiment, the water pump is configured to generate directional fluid to meet the needs of the filter assembly or to lift the chassis. The above solution reuses the drive component that generates negative pressure in the filter assembly and the drive component that generates the force to lift the chassis as a single drive component. This reduces the cost of arranging the drive components and improves the compactness of the structure. Furthermore, the arrangement of multiple ports allows for precise guidance of the water flow inside the pool robot.

[0038] It's understandable that the filter assembly, due to its filtration requirements, is a unidirectional channel. Even when the water pump reverses, water won't flow backwards through the inlet, preventing the filter assembly's waste bin from reversing and polluting the pool. Corresponding to the first valve body's design, the lifting platform's passageway is also a unidirectional passageway. This arrangement of two unidirectional passageways creates a layout where forward rotation starts the filtration function, and reverse rotation starts the lifting function. This also prevents negative pressure from forming at the inlet during lifting, ensuring the chassis can be effectively raised.

[0039] In some exemplary embodiments of this application, based on the above scheme, the pump reversal time t1 satisfies: 0.4s≤t1≤1.2s.

[0040] This type of implementation meets the time requirements for the robot to adjust its posture and create a tiny gap between the inlet and the pool bottom, avoiding the problem of insufficient inlet lifting distance due to a short action time, which could easily lead to the inlet being tightly sucked into the pool bottom. It also strictly controls the cleaning interval after the inlet is lifted, reducing the problem of cleaning blank areas created by the inlet not being activated, reducing rework, and shortening the overall cleaning cycle. It is particularly suitable for the high-efficiency cleaning needs of large swimming pools, further optimizing cleaning efficiency.

[0041] Understandably, if the time is less than 0.4 seconds, the positive pressure generated by the pump reversal is insufficient, and the water reaction force cannot effectively lift the chassis, causing the inlet to adhere tightly to the bottom of the pool. During a slow start, the negative pressure build-up speed is faster than the inlet lifting speed, causing the pump to quickly form a high negative pressure, resulting in the inlet remaining in contact with the bottom of the pool, forming a sealed space, ultimately leading to the "sucking" problem and failing to achieve the desired effect. Conversely, if the time is longer than 1.2 seconds, the continuous positive pressure during pump reversal will cause the robot to move unnecessarily in the water, deviating from the initial cleaning position and increasing the cost of subsequent path calibration. During a slow start, the inability to establish an effective negative pressure for an extended period will prevent the robot from properly absorbing and filtering water during its movement, resulting in "empty cleaning." This not only requires rework to clean missed areas, extending the overall operation time, but may also lead to a significant decrease in cleaning efficiency due to path overlap, and even an imbalance problem of repeated cleaning of some areas and uncleaned areas.

[0042] In some exemplary embodiments of this application, based on the above scheme, the force application component includes one or more floating assistance structures disposed within the fuselage. The floating assistance structure is a buoyancy chamber, which is provided with a drainage structure and a water inlet. Before the filter component is activated, the water inlet is closed, and the drainage structure discharges the water in the buoyancy chamber to raise or lower the water inlet.

[0043] In this type of embodiment, there is no need to rely on additional traction or negative pressure adjustment. It can directly cut off the sealing conditions required for the vacuum suction cup effect. Even in the case of a smooth pool bottom or slight clogging of the filter screen, it can increase the distance between the water inlet and the pool bottom through stable buoyancy, thereby avoiding the problem of movement difficulties caused by suction during startup.

[0044] Meanwhile, the floating assist structure eliminates the need for additional drive motors, transmission components, and other power components, simplifying the overall structure of the force application system, reducing the risk of failure caused by the coordination of multiple components, and lowering equipment energy consumption.

[0045] In addition, the buoyancy of a single or multiple floating assist structures can be flexibly adjusted, which can adapt to robot models with different weights and inlet positions, as well as swimming pool environments of different depths; and the buoyancy process is stable and will not cause mechanical impact to the body, inlet and other components, effectively extending the service life of the equipment, reducing the frequency and cost of subsequent maintenance, and ensuring the continuity of cleaning operations.

[0046] When the pool robot is in operation or stationary, its buoyancy chamber is filled with water. When it needs to be lifted, the water is quickly expelled through a drainage system (such as a pump, air inflator, or gas generator), reducing the robot's internal mass and increasing its buoyancy to raise the water inlet. Once in normal cleaning mode, it can return to its original position by refilling the buoyancy chamber with water and expelling gas.

[0047] In some exemplary embodiments of this application, based on the above scheme, the time for increasing the distance between the inlet and the bottom of the pool is between 1 and 3 seconds.

[0048] In this type of embodiment, a duration of 1 to 3 seconds allows for a smoother lifting motion of the driven wheel around the drive wheel axis. Compared to a "rapid lift" of less than 1 second, it avoids body swaying due to inertia, and even prevents the drive wheel from slipping briefly on the pool floor, thus preventing the pool robot from entering normal cleaning activities. Conversely, a "slow lift" of more than 3 seconds increases the risk of abnormal robot morphology and delays the cleaning start-up process, reducing overall operational efficiency. A duration of 1 to 3 seconds keeps the preparation time before startup within a reasonable range, ensuring the robot quickly enters the cleaning state, protecting the mechanical lifespan of the walking components while also ensuring the timeliness of the cleaning operation.

[0049] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0051] Figure 1 This illustration shows a front view of a swimming pool robot before it begins to operate, according to one embodiment of this application.

[0052] Figure 2 The diagram shown is a bottom view of a swimming pool robot according to one embodiment of this application.

[0053] Figure 3 This is a front view schematic diagram of a swimming pool robot with its driven wheels raised, according to an embodiment of this application.

[0054] Figure 4 This is a front view schematic diagram of a pool robot in a raised state according to an embodiment of this application.

[0055] The above figures include the following reference numerals:

[0056] 10. Body; 20. Chassis; 21. Walking assembly; 211. Drive wheel; 212. Driven wheel; 213. Track; 22. Inlet; 23. Outlet; 30. Cleaning assembly; 40. Floating assist structure. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0058] The features, structures, or characteristics described above can be combined in any suitable manner in one or more embodiments, and where possible, the features discussed in the various embodiments are interchangeable. In the above description, numerous specific details are provided to give a full understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details described, or other methods, components, materials, etc., can be employed. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0059] Although this application uses relative terms such as "up" and "down" to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as the orientation of the example shown in the accompanying drawings. It is understood that if the icon's arrangement is flipped so that it is upside down, the component described as "up" will become the component described as "down". Other relative terms, such as "high", "low", "top", "bottom", "front", "back", "left", and "right", also have similar meanings. When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0060] In this application, the terms “a,” “an,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion meaning and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.

[0061] Before introducing the pool robot of this application, it is necessary to briefly introduce the current status of the field in order to understand the technical solution of this application.

[0062] In the field of automated pool cleaning, pool robots are core equipment. Their basic structure and working principle have formed a relatively mature technical framework. They are usually composed of two main parts: the body and the chassis. The body has a water outlet on the outside for drainage, while the chassis integrates the drive system, cleaning components, and water circulation and filtration system. The drive system includes motor-driven drive wheels, driven wheels, and tracks connecting the two wheels, enabling the robot to move on the bottom of the pool. The cleaning components are mainly roller brushes, used to assist in cleaning impurities on the bottom of the pool. The water circulation and filtration system consists of an inlet, a water pump, and a trash can. During operation, the water pump generates suction to draw water containing impurities from the bottom of the pool through the inlet. After the impurities are removed by the trash can, the clean water is discharged from the outlet, thus completing the pool cleaning operation.

[0063] However, in practical applications, pool robots generally face a core technical challenge during the initial cleaning phase due to negative pressure adsorption at the inlet. This problem severely restricts the operational stability and lifespan of the equipment. The root cause lies in the "vacuum suction effect": when the robot prepares to start cleaning at the bottom of the pool and the water pump begins to generate suction, a sealed space is quickly formed between the inlet and the pool bottom surface. The water pump continuously removes air from this space. If the inlet is tightly attached to the pool bottom (e.g., the suction port is completely attached to the pool bottom when the equipment is stationary), the surrounding water cannot replenish the sealed space in time, causing a sharp drop in air pressure within the space and creating a significant negative pressure difference with the external water pressure. Under the combined effect of this negative pressure difference and the water's own pressure, the inlet will adhere tightly to the pool bottom, resulting in a "sucking-in" phenomenon.

[0064] Further analysis reveals three key factors exacerbating the adsorption problem: First, filter clogging leads to a failure in negative pressure relief. If the filter is clogged with debris while the robot is stopped, or if the inlet is partially blocked by impurities, the water flow will be significantly reduced when the pump starts. This prevents the air in the enclosed space from being quickly replenished by the water flow, making it difficult to alleviate the negative pressure and further enhancing the adsorption effect. Second, the difference in airtightness between the pool bottom material and the terrain. When the pool bottom is made of smooth ceramic tiles or a soft membrane, its high surface flatness and strong sealing properties facilitate a seamless airtight fit with the inlet, accelerating the formation of a closed space. Conversely, a slightly rough or uneven pool bottom surface will retain tiny air gaps, which can balance the air pressure to some extent and reduce the risk of adsorption. Third, flaws in the design of the equipment's center of gravity. Some pool robots have a design flaw where the center of gravity is too far forward. When initially stationary, the pressure of the front end on the pool bottom is already greater. When combined with the suction effect after the water pump starts, this will further increase the pressure between the water inlet (if the water inlet is located at the front of the chassis) and the pool bottom. This creates a dual effect of pressure concentration and negative pressure adsorption, making the adsorption phenomenon even more difficult to overcome.

[0065] This negative pressure adsorption problem can trigger a series of chain reactions and potential technical risks: First, it directly leads to difficulties in robot movement or even prevents it from moving at all—the motor of the drive system needs to overcome the adsorption force between the water inlet and the bottom of the pool to drive the tracks or wheels. If the adsorption force exceeds the motor's driving force, the equipment will be in a "shutdown" state. Second, it significantly increases the load requirements on the motor. To overcome the adsorption force, the motor needs to operate under high load for a long time, which not only increases energy consumption but also accelerates the wear of internal motor components and significantly shortens the motor's lifespan. Finally, it can cause potential damage to the filter and pump system—when the negative pressure is too high, the water flow impact force is abnormal, which may cause the filter to deform or break. At the same time, the water pump starts under unstable operating conditions, which is prone to pressure fluctuations. Over time, this will reduce the sealing and operational stability of the pump system, which is not conducive to the protection of the core components of the equipment, and ultimately increases the maintenance cost and failure probability of the pool robot.

[0066] Please see Figures 1 to 3 In some exemplary embodiments of this application, a swimming pool robot is provided, which mainly includes: a body 10, a chassis, a cleaning component 30, and a filtering component. The body 10 is provided with a water outlet. The chassis is connected to a walking component 21 and a water inlet 22. The walking component 21 drives the chassis and the body 10 to move. The cleaning component 30 is disposed on the chassis. The filtering component is disposed between the water inlet 22 and the water outlet for filtering the water passing through the body 10. The swimming pool robot also includes a force-applying component. Before the filtering component is activated, the force-applying component applies a force away from the bottom of the pool to the body 10 or the chassis, increasing the distance between the water inlet 22 and the working surface. After the filtering component is activated, the force-applying component removes the force applied to the body or chassis 20 away from the working surface.

[0067] In this type of embodiment, the force-applying component addresses the issue of the inlet 22 tightly gripping the bottom of the pool during startup, ensuring reliable cleaning startup. Through pre-start actions, it applies a force away from the pool bottom to the machine body 10 or chassis before the cleaning operation begins, increasing the distance between the inlet 22 and the pool bottom. This increased gap allows water and air to enter earlier, breaking the sealed space required for the "vacuum suction cup effect," and also reduces the contact area. Even on smooth pool bottoms or when the center of gravity is forward, it avoids the risk of tight suction, ensuring the robot can move and clean normally after startup, solving the pain point of difficult startup in traditional equipment.

[0068] Because the inlet 22 is far from the bottom of the pool, the motor does not need to overcome the suction force, and the operating load returns to the normal range; the filter components avoid deformation caused by excessive negative pressure and can stably maintain the filtration performance; the water pump can also operate under the normal working condition of "stable water / air supply", completely eliminating the additional load of traditional equipment and reducing the probability of failure of core components such as motor, filter, and water pump.

[0069] Meanwhile, the wear rate of vulnerable components such as the drive unit and water pump of the walking assembly 21, which are affected by negative pressure, is slowed down, reducing the number of replacements and repairs, and directly lowering the material and labor costs of maintenance. After the robot starts, there is no need to stop and adjust due to the water inlet 22 being stuck to the bottom of the pool, avoiding wasted time during the start-up phase and improving the overall cleaning efficiency. Moreover, the equipment can start and operate stably regardless of whether the pool bottom is smooth or rough, reducing malfunctions and enhancing the convenience and reliability of operation.

[0070] Understandably, when the filter assembly starts, it creates negative pressure at the inlet. This negative pressure causes the inlet 22 to adhere tightly to the pool, making it increasingly difficult for the water pump to draw water. The pump will run dry without water exchange, leading to an excessive pressure difference between the pump's front and rear ends. This places a significant load on the pump's structure and internal motor, making it prone to damage. Similarly, the drive mechanism of the walking assembly 21 experiences increased frictional resistance due to the pool robot's adhesion to the pool bottom. This increases the torque required from the drive mechanism, and prolonged high load can also damage the drive mechanism of the walking assembly 21, necessitating maintenance.

[0071] When the filter assembly is activated, it will generate negative pressure at the inlet 22. At this time, the force application component will withdraw and apply a force away from the working surface to the body 10 or chassis. The entire pool robot will move closer to the working surface again under the action of negative pressure and gravity to perform forward and cleaning actions.

[0072] Understandably, the working surface refers to the clean surface in the pool, which can be a horizontal or sloping pool bottom, or a varied pool bottom with steps.

[0073] It's easy to understand that the core design of the pool robot's inlet 22 is to achieve the cleaning functions of water filtration and impurity removal. Its working principle dictates that it needs to generate negative pressure to draw in water, thereby bringing the dirt in the water into the filtration system. From a cleaning efficiency perspective, the bottom of the pool is the main area where dirt (such as sediment, hair, debris, etc.) is generated and accumulated. Therefore, placing the inlet 22 close to the pool bottom surface allows it to suck up the dirt that has just been cleaned up immediately after the cleaning component 30 completes the bottom cleaning, effectively preventing these dirt from spreading to other areas of the water, ensuring cleaning effectiveness while reducing secondary pollution.

[0074] Specifically, the cleaning component 30 refers to the core component with active cleaning function, typically including roller brushes and scrapers. The roller brush can loosen and collect stubborn impurities (such as moss and scale debris) attached to the bottom of the pool through rotation, while the scraper can push the deposited dust and fine particles towards the inlet 22 by scraping against the bottom of the pool. The two work together to achieve a deep physical cleaning of the bottom of the pool, laying the foundation for the subsequent water intake process of the inlet 22. The filter component is usually a trash can that is set in the middle of the water flow path and has both filtering and temporary storage functions. When the inlet 22 sucks in water containing sewage, the water will first flow through the trash can. Its internal filtration structure (such as filter screen and filter bag) can accurately intercept impurities and garbage in the water, and at the same time temporarily store the intercepted sewage. After the cleaning operation is completed, the user can remove the trash can to clean the sewage, or the robot can automatically discharge it, ensuring the continuous effectiveness of the filtration function.

[0075] It should be noted that, typically, the water inlet 22 is positioned along the width of the pool robot, and is roughly flat in shape. Understandably, upon initial startup, the negative pressure at the water inlet 22 generates suction. At this time, the water flow at the base is greater than the water flow above the pool robot, creating a downward pressure that forces the pool robot to return from its upright position to close to the pool bottom.

[0076] Please see Figure 1 and Figure 3 In some exemplary embodiments of this application, based on the above scheme, the walking component 21 includes a drive wheel 211 and a driven wheel 212 connected by transmission, the force application component is a drive motor, the output end of the drive motor is connected to the drive wheel 211, before the filter component is started, the pool robot lifts the driven wheel 212 and the water inlet 22 with the axis of the drive wheel 211 as the rotation axis.

[0077] In this type of embodiment, the drive wheel 211 serves as the torque output point of the walking component 21, which can form a stable rotation reference. The stable rotation axis position facilitates shape control and prevents abnormalities such as overall flipping.

[0078] The specific motion method of lifting the driven wheel 212 and the inlet 22 by using the axis of the drive wheel 211 as the rotation axis is similar to using a lever effect. This not only reduces lifting power consumption and accurately breaks the negative pressure at the inlet through the shortest path, but also eliminates the need for an additional lifting mechanism in the structure. Furthermore, based on the instantaneous start of the drive motor, this solution can achieve directional detachment of the inlet 22 within a millisecond response time, thereby completely avoiding the risk of bottoming out. Relying on the continuous grounding of the drive wheel 211 to ensure its acceleration stability, the solution ultimately achieves a highly reliable, low-power, and fast-response start-up and detachment effect.

[0079] The torque of the drive wheel 211 acts directly on the moment of inertia near its own axis, avoiding power transmission through complex linkage mechanisms and other transmission methods. This effectively improves the direct transmission of torque output. This design can shorten the torque transmission chain, significantly reduce the mechanism response delay, and enable the driven wheel 212 and the water inlet 22 to generate effective lifting displacement in a short time after the drive motor starts.

[0080] This solution fully utilizes the layout of the walking component 21, eliminating the need for an additional independent lifting support structure or rotating shaft assembly. A stable lifting system can be constructed simply by optimizing the positional relationship between the wheel set and the inlet 22. This structural synergy not only reduces the number of components inside the fuselage 10, lowering the risk of failure in multi-component coordination, but also achieves efficient cooperation with the high torque output of the aforementioned drive motor. The torque output by the drive motor can directly act on the drive wheel 211, and through the rotation of the drive wheel 211's axis, it quickly drives the driven wheel 212 and the inlet 22 to lift. The power transmission path is short and the loss is minimal, avoiding power attenuation caused by additional components and improving the response speed and energy utilization efficiency of the lifting action during the start-up phase.

[0081] Even when faced with complex conditions such as slight bumps, depressions, or smooth areas on the pool bottom, the lifting design of this solution still ensures that the inlet 22 is reliably kept away from the bottom of the pool. On the one hand, the increased lifting range can cover the slight height difference of the pool bottom. Even if there are slight bumps on the pool bottom, the inlet 22 can avoid the bumped area by lifting it to a greater height, avoiding local contact caused by the bump. On the other hand, the fixed support of the drive wheel 211 axis makes the lifting process unaffected by slight fluctuations in the center of gravity of the body 10. Even if the robot experiences a slight shift in its center of gravity due to impurities temporarily stored in the trash can, the lifting method around the drive wheel 211 axis can still maintain the stable lifting trajectory of the driven wheel 212 and the inlet 22. The inlet 22 will not sink and contact the pool bottom due to changes in the center of gravity, further improving the reliability of the equipment startup under different working conditions.

[0082] In some exemplary embodiments of this application, based on the above scheme, the distance between the axis of the driven wheel 212 and the axis of the driving wheel 211 is d1, the diameter of the driven wheel 212 is d2, and d1 and d2 satisfy: 2≤d1 / d2≤3.

[0083] In this type of embodiment, the distance between the axis of the driven wheel 212 and the axis of the drive wheel 211 determines the contact length of the chassis 20, that is, the length of the actual contact area between the chassis 20 of the pool robot and the bottom of the pool. This length is the span of the chassis in the forward direction of the pool robot.

[0084] Based on this, during the rotation process with the axis of the drive wheel 211 as the pivot, the drive motor needs to overcome the resistance torque and output corresponding power to achieve the rotation process. Under the constraints of design parameters, the ratio between the diameter of the driven wheel 212 and the distance between its axis and the axis of the drive wheel 211 directly affects the reasonable setting of the resistance torque. Specifically, assuming the center of gravity of the vehicle body is at the midpoint of the wheelbase, the weight of the driven wheel 212 and its half-section has a lever arm of 1 / 2 d1. The resistance torque is equal to the product of the weight of the driven wheel half-section and the lever arm. That is, the factors affecting the output torque of the drive motor include the weight of the driven wheel half-section and the length of the lever arm. With other components of the pool robot remaining unchanged, the mass of the driven wheel 212 is related to its size. In other words, the magnitude of the resistance torque is determined by the distance between the axis of the driven wheel 212 and the axis of the drive wheel 211, as well as the diameter of the driven wheel 212.

[0085] In the above scheme, the ratio of the distance between the axis of the driven wheel 212 and the axis of the driving wheel 211 and the diameter of the driven wheel 212 can not only meet the requirements of the design parameters, but also comprehensively configure the magnitude of the resistance torque and select a suitable drive motor to comprehensively consider multiple aspects such as cost, power and quality.

[0086] When the ratio of d1 to d2 is in the range of 2-3, the distance between the axis of the driven wheel 212 and the axis of the drive wheel 211 is limited to the design parameters of 300mm to 500mm. The diameter of the driven wheel 212 can be constrained to between 100mm and 250mm. This can meet the 80mm requirement for the passage of the pool robot without exceeding the acceptable level for large commercial robots. At the same time, the resistance torque can match the load of the motor.

[0087] When the ratio of d1 to d2 is less than 2, due to design parameter limitations, the diameter of the driven wheel 212 may be too large or the distance between the axis of the driven wheel 212 and the axis of the drive wheel 211 may not meet the actual requirements. When the ratio of d1 to d2 is greater than 2, the diameter of the driven wheel 212 may be too small, and the distance between the axis of the driven wheel 212 and the axis of the drive wheel 211 may be close to the upper limit of the design parameters, resulting in inflexible turning and poor passability and impracticality of the driven wheel 212.

[0088] It is understandable that when the ratio of d1 to d2 is in the range of 2-3, it can cover the actual needs of d1 = 300-500mm and d2 = 100-250mm. These are all standard usable sizes for the 212 driven wheels of the pool robot. It can also avoid the problem of driven wheels being too heavy / insufficient wheelbase when the ratio of d1 to d2 is less than 2, and avoid the problem of inflexible turning / poor passability when the ratio of d1 to d2 is greater than 3. In addition, the resistance torque always falls within the rated range of the motor, with no risk of overload, and the energy consumption is better than other ranges, which meets the cost performance requirements of commercial products.

[0089] In some exemplary embodiments of this application, based on the above scheme, the distance between the axis of the driven wheel 212 and the axis of the driving wheel 211 is d1, the diameter of the driven wheel 212 is d2, and d1 and d2 satisfy: 2.2≤d1 / d2≤2.7.

[0090] When the ratio of d1 to d2 is within the range of 2.2-2.7, it can cover the conventional design requirements of d1=300-350mm and d2=100-150mm. This is a standard usable size for the driven wheels of pool robots. It can avoid the problem of the driven wheels being too heavy / insufficient wheelbase due to an excessively small ratio of d1 to d2, and also avoid the problem of inflexible turning / poor passability due to an excessively large ratio of d1 to d2. Furthermore, the resistance torque always falls within the rated range of the motor, eliminating the risk of overload. Moreover, the energy consumption is better than other ranges, meeting the cost-effectiveness requirements of commercial products.

[0091] In a specific design, d1 and d2 satisfy d1 / d2=2.2, which is a conservative design that prioritizes stability. According to actual measurements, the lifting angle is 8°-10°, which can effectively break the vacuum adsorption. The gap between the inlet 22 and the working surface is between 0.2-0.3mm.

[0092] The actual energy consumption is reflected in the torque requirement: 20-22 N·m, which is relatively high, but the center of gravity shifts backward slightly. The normal pressure of the drive wheel 211 is sufficient. When the coefficient of friction between the working surface and the drive wheel 211 or the track is greater than or equal to 0.3, the slippage rate is only 5%.

[0093] In another specific scheme, d1 and d2 satisfy d1 / d2=2.3, which is the optimal solution for performance balance. According to actual measurement, its lifting angle is 10°-12°, which can effectively break the vacuum adsorption. The gap between the water inlet 22 and the working surface is between 0.3-0.4mm, which does not require auxiliary structure. The filter clogging rate of the filter assembly is reduced by 50%.

[0094] Its balanced center of gravity and driving torque result in high motion stability. In test environments with obstacles ≤3cm in height, the measured obstacle-crossing success rate is 95%. Furthermore, the starting current is only 7.5A, and the failure rate is only 3%.

[0095] In another specific scheme, d1 and d2 satisfy d1 / d2 = 2.4. This scheme has a significant lifting advantage in the 12°-14° range. The lifting advantage reduces the load on the filter assembly when starting up, and the dirt suction efficiency is improved by 15%.

[0096] In another specific design, d1 and d2 satisfy d1 / d2 = 2.5, and the measured lifting effect is 14°-15°, completely eliminating the risk of suction failure. Specifically, d1 can be chosen to be 300mm and d2 to be 120mm.

[0097] In another specific scheme, d1 is selected as 310mm and d2 is selected as 135mm. d1 and d2 satisfy d1 / d2=2.296, which is within the range of 2.2-2.7. The actual measured lifting effect is 14°-15° and 10°-12°, which can effectively break the vacuum adsorption. The gap between the water inlet 22 and the working surface is between 0.3-0.4mm.

[0098] Please see Figure 3 In some exemplary embodiments of this application, based on the above scheme, the angle α of rotation of the driven wheel 212 and the water inlet 22 about the axis of the drive wheel 211 relative to the axis of the drive wheel 211 is between 5° and 25°.

[0099] In this type of embodiment, the design of the lifting angle is key to solving the adsorption problem of the inlet 22: it can effectively prevent the inlet 22 from tightly sucking into the bottom of the pool, while ensuring that the inlet 22 and the bottom of the pool form an effective and appropriate separation gap. Specifically, this angle setting balances the needs of "anti-adsorption" and "maintaining suction power". It avoids the problem of insufficient water replenishment due to a narrow gap when the angle is too small (<5°), thus avoiding the risk of residual negative pressure adsorption; and it also avoids the hidden danger of reduced water pump suction efficiency due to an excessively wide gap when the angle is too large (>25°), thus achieving a balance between function and efficiency.

[0100] In terms of adaptability to different pool bottom scenarios, for smooth ceramic tiles, soft membranes, and other pool bottoms that are easy to form an airtight fit, a lifting angle of up to 25° is sufficient to break the tight fit between the inlet 22 and the pool bottom, cutting off the basis for the formation of negative pressure; even when facing a rough pool bottom, a minimum lifting angle of 5° can introduce air through the gap, fundamentally blocking the generation of the "vacuum suction cup effect", completely eliminating the "sucking" risk during the start-up phase, and achieving comprehensive adaptability to pool bottoms of different materials.

[0101] Furthermore, this angle range ensures the robot's stable posture during startup. It's important to understand that the backward shift of the center of gravity, based on inertia, relies on rotation around the axis of drive wheel 211. This angle range ensures that the backward shift of the center of gravity remains within the safe range of "stable support from drive wheel 211": on the one hand, it prevents insufficient backward shift of the center of gravity due to an excessively small angle, which could lead to incomplete lifting of the driven wheel 212 and the risk of adhesion; on the other hand, it avoids excessive tilting of the robot body 10 due to an excessively large angle (e.g., exceeding 25°), which could reduce the contact area between drive wheel 211 and the pool bottom, decrease traction, or even cause slippage, thus ensuring controllable robot posture and stable operation during startup.

[0102] Preferably, with the axis of the drive wheel 211 as the rotation axis, during the start-up process, the angle α of the rotation of the driven wheel 212 and the water inlet 22 around the axis of the drive wheel 211 is between 10° and 20°.

[0103] Optionally, with the axis of the drive wheel 211 as the rotation axis, the angle α of the rotation of the driven wheel 212 and the water inlet 22 around the axis of the drive wheel 211 during the start-up process can be 5 degrees, 5.5 degrees, 6 degrees, 6.5 degrees, 7 degrees, 7.5 degrees, 8 degrees, 8.5 degrees, 9 degrees, 9.5 degrees, 10 degrees, 10.5 degrees, 11 degrees, 11.5 degrees, 12 degrees, 12.5 degrees, 13 degrees, 13.5 degrees, 14 degrees, 14.5 degrees, 15 degrees, 15.5 degrees, 16 degrees, 16.5 degrees, 17 degrees, 17.5 degrees, 18 degrees, 18.5 degrees, 19 degrees, 19.5 degrees, 20 degrees, 20.5 degrees, 21 degrees, 21.5 degrees, 22 degrees, 22.5 degrees, 23 degrees, 23.5 degrees, 24 degrees, 24.5 degrees, 25 degrees, but is not limited to these.

[0104] Understandably, at a moderate angle, the lifting action of the driven wheel 212 is smooth and will not cause severe impact on the transmission structure of the drive wheel 211 or the connecting parts of the chassis 20, thus avoiding mechanical stress concentration caused by excessive lifting and ensuring the stability of the overall structure of the fuselage 10.

[0105] Furthermore, the rotation angle of 5° to 25° falls within the "small-amplitude precise control range": the drive motor does not need to output excessive torque to achieve lifting within this angle range. Compared to large-angle lifting, this reduces the instantaneous load on the drive motor and lowers motor losses. Simultaneously, small-amplitude rotation causes less wear on connecting components such as the driven wheel 212 axle and the chassis 20 hinge, avoiding fatigue damage caused by frequent large-angle rotation. The control logic within this angle range is simpler, requiring no complex angle calibration procedures. Stable lifting can be achieved simply through precise control of the drive motor torque, reducing the probability of control system failure and further improving the overall durability and reliability of the equipment.

[0106] Please see Figure 1 and Figure 3 In some exemplary embodiments of this application, based on the above scheme, before the filter component is started, the output power of the drive motor is greater than the output power of the drive motor when the pool robot is moving forward normally.

[0107] In this type of embodiment, with the drive wheel size and speed remaining constant, the output power of the drive motor corresponds to the output torque of the drive motor. That is, the drive motor will initially output a torque higher than that of the normal travel state. This setting instantly generates a strong torque to drive the drive wheel 211 to accelerate rapidly, allowing the traction force of the drive wheel 211 to quickly overcome the static friction limit between the driven wheel 212 and the pool bottom. The entire process does not require complex pre-start actions; it only requires a short time to use inertia to shift the center of gravity of the pool robot towards the drive wheel 211, thereby lifting the driven wheel 212 and ultimately increasing the distance between the chassis area where the water inlet 22 is located and the pool bottom. This design provides a certain preparation time before the cleaning component 30 is activated, ensuring that the robot quickly switches to the cleaning operation state and effectively avoiding the risk of the water inlet 22 sticking to the pool bottom during the start-up phase.

[0108] Understandably, the above technical solution utilizes the effect of torque, combined with the physical principle of inertia, so that the pool robot, under the action of instantaneous torque, relies on inertia to lift the chassis away from the bottom of the pool by the driven wheel 212. The process is completed in a very short time, realizing a fast, efficient and stable transition from a static state to a cleaning operation state.

[0109] It's easy to understand that the advantage of this solution also lies in "functional reuse." The drive motor of the walking system is directly reused as the force-applying component to lift the driven wheel 212, eliminating the need for an additional independent lifting mechanism. This design not only reduces the number of parts in the equipment and lowers assembly complexity, but also efficiently saves installation space inside the body 10, leaving more room for the layout of other core components (such as the filter component and cleaning component 30), while simplifying the design difficulty of the overall structure.

[0110] More importantly, the torque output of the drive motor is flexible and adjustable, making it adaptable to different scenario requirements: for robots of different weights or with different attachments such as cleaning brushes and suction trays, the torque parameters before startup can be precisely adjusted to ensure that the drive wheel 211 always generates sufficient traction to trigger the driven wheel 212 to lift. Even if some parts suffer minor wear during robot use (such as wear on the drive wheel 211 leading to a decrease in friction), the performance degradation can be compensated by appropriately increasing the torque, and the effect of increasing the distance between the inlet 22 and the pool can be stably maintained. This fundamentally avoids the repeated occurrence of the problem of the inlet 22 sticking to the bottom of the pool during the startup phase due to load fluctuations or component wear.

[0111] Furthermore, the "dual-purpose" design of the drive motor reduces technical and maintenance costs: there's no need to develop dedicated control logic and maintenance standards for the new lifting function; existing motor testing, troubleshooting, and repair procedures from the existing walking system can be directly adopted. This not only reduces upfront R&D investment but also lowers training costs for maintenance personnel. Simultaneously, by utilizing a mature walking system technology framework, it further enhances the overall technical maturity and long-term operational reliability of the equipment.

[0112] In some exemplary embodiments of this application, based on the above scheme, the drive motor can be selected as a brushless DC motor or a permanent magnet synchronous motor.

[0113] In this type of embodiment, if a brushless DC motor is selected, the torque control can be precise, adapting to the needs of forward and reverse lifting and driving. It has a fast response speed and smooth action connection, adapting to the needs of lifting the whole machine. It also has the advantages of moisture resistance and low maintenance rate, making it suitable for the application environment of swimming pools.

[0114] If a permanent magnet synchronous motor is selected, it has high operating efficiency, high power density, is suitable for the miniaturization of the pool robot body, has strong speed stability in motor control, smoother walking and lifting, and has high energy efficiency, which can effectively extend the battery life.

[0115] In some exemplary embodiments of this application, based on the above scheme, a speed reduction component is provided between the output end of the drive motor and the drive wheel.

[0116] The deceleration component is designed to increase torque. By adjusting the deceleration ratio, the magnitude of the torque can be adjusted, the output torque before startup can be adjusted, and the torque can be amplified to reduce the power and instantaneous torque requirements of the drive motor, thereby improving the lifting effect of the pool robot.

[0117] The reduction gear assembly can specifically be a gear set, which increases the output torque by adjusting the gear ratio. It's understood that the gear set is used to regulate torque, rather than directly changing the torque before and after the pool robot starts; it's used to balance torque requirements with the output speed of the drive motor. Optionally, the gear set can be helical gears or bevel gears, which are more conducive to torque amplification and output.

[0118] Alternatively, the reduction gear can also be a worm gear for speed regulation, used to increase torque.

[0119] It should be noted that "normal forward movement" in the above embodiments means that when the pool robot is in normal cleaning operation, the torque output by the drive wheel is sufficient to keep the pool robot moving forward at a constant speed as the cleaning components move forward.

[0120] In some exemplary embodiments of this application, based on the above scheme, driven wheels and drive wheels are arranged sequentially along the forward direction of the pool robot, and the distance between the water inlet and the axis of the driven wheel is less than the distance between the water inlet and the axis of the drive wheel.

[0121] The water inlet 22 is designed to be positioned close to the driven wheel 212, while a fixed distance exists between the drive wheel 211 and the driven wheel 212. When the robot lifts around the axis of the drive wheel 211, a longer lever arm is formed at the end of the driven wheel 212, resulting in a much greater lifting amplitude for the driven wheel 212 and the water inlet 22 compared to the area surrounding the drive wheel 211. This creates a larger separation gap between the water inlet 22 and the pool bottom. This gap effectively prevents the water inlet 22 from being airtightly adhered to the pool bottom. Even if slight water stains or small impurities remain on the pool bottom, air and water can quickly fill the area around the water inlet 22, fundamentally preventing the generation of a closed negative pressure space after the water pump starts and completely eliminating the potential for the water inlet 22 to be tightly sucked onto the pool bottom.

[0122] The inlet 22 is located close to the driven wheel 212. Since there is a fixed distance between the drive wheel 211 and the driven wheel 212, when the driven wheel 212 is lifted around the axis of the drive wheel 211, a longer lever arm is formed at the end of the driven wheel 212. The lifting range of the driven wheel 212 and the inlet 22 will be much greater than that of the area near the drive wheel 211. This results in a larger separation gap between the inlet 22 and the bottom of the pool. This gap can better prevent the inlet 22 from being tightly attached to the bottom of the pool. Even if there are slight water stains or small impurities on the bottom of the pool, it can ensure that air and water can quickly enter the area around the inlet 22, thus preventing the formation of a closed negative pressure space after the water pump is started.

[0123] Because the inlet 22 is located close to the driven wheel 212, when the drive wheel 211 is lifted, the chassis (including the inlet 22) in the driven wheel 212 area can achieve maximum vertical displacement. This action directly and efficiently breaks the local negative pressure seal formed between the periphery of the inlet 22 and the bottom of the pool, eliminating the risk of bottom suction at the moment of start-up and improving the reliability of detachment.

[0124] In some exemplary embodiments of this application, based on the above scheme, the diameter of the driven wheel 212 is d2 and the diameter of the driving wheel 211 is d3, and d2 and d3 satisfy: 1≤d2 / d3.

[0125] When d2 and d3 satisfy d2 / d3≤1, the size of the drive wheel 211 is set smaller than that of the driven wheel 212. This setting is more conducive to torque output and better lifts the pool robot. Since the drive wheel 211 is directly connected to the rear drive motor, the combined mass of the two is much greater than the mass of the driven wheel 212. This causes the center of gravity to shift towards the drive wheel 211. Increasing the size of the driven wheel 212 and decreasing the size of the drive wheel 211, while maintaining passability, can reduce the rearward shift of the center of gravity and improve the balance of the pool robot.

[0126] In a preferred embodiment, the diameter of the driven wheel 212 is d2 and the diameter of the driving wheel 211 is d3, and d2 and d3 satisfy: 1.1≤d2 / d3≤1.5.

[0127] Alternatively, in a preferred embodiment, the diameter of the driven wheel 212 is d2 and the diameter of the driving wheel 211 is d3. Specifically, d2 and d3 can be 1.1, 1.11, 1.12, 1.13, 1.14, 1.15, 1.16, 1.17, 1.18, 1.19, 1.2, 1.2, 1.21, 1.22, 1.23, 1.24, 1.25, 1.26, 1.27, 1.28, 1.29, 1.3, 1.31, 1.32, 1.33, 1.34, 1.35, 1.36, 1.37, 1.38, 1.39, 1.4, 1.41, 1.42, 1.43, 1.44, 1.45, 1.46, 1.47, 1.48, 1.49, or 1.5.

[0128] In a preferred embodiment, the diameter of the driven wheel 212 is d2 and the diameter of the driving wheel 211 is d3, and d2 and d3 satisfy 1.25≤d2 / d3.

[0129] In a preferred embodiment, the diameter of the driven wheel 212 is d2 and the diameter of the driving wheel 211 is d3, and d2 and d3 satisfy d2 / d3=1.31.

[0130] In some exemplary embodiments of this application, based on the above scheme, the force-applying component includes a drainage device, which is disposed inside the body. The chassis is provided with a water outlet, and the output end of the drainage device is connected to the water outlet. Before the filter component is started, the drainage device discharges water through the water outlet to generate a force that drives the distance between the inlet and the bottom of the pool to increase.

[0131] In this type of embodiment, the solution generates water flow through a drainage device and discharges it from the outlet hole, which is located on the chassis. At this time, the inlet will actively output positive pressure to the bottom of the pool. The reaction force of the water jetting downwards will directly lift the chassis, quickly increasing the distance between the inlet and the bottom of the pool. This breaks the sealed environment required for the vacuum suction effect from the source. Even when facing smooth tiles, soft membranes, or other pool bottoms that are easy to airtightly adhere to, the positive pressure impact can efficiently eliminate the risk of adsorption.

[0132] In one alternative, the drainage device can be a combination of a cylinder and a drive push rod. One end of the drive push rod is connected to a drive component, and the other end is sealed to the periphery of the cylinder. By moving the drive push rod, the liquid in the area connected to the water outlet in the cylinder can be squeezed out, thereby driving the chassis to rise.

[0133] In another alternative, the drainage device can use a power element such as a water pump to draw in water from the side or above and discharge it from the outlet.

[0134] In some exemplary embodiments of this application, based on the above scheme, the drainage device includes a water pump, which includes a first port, a second port, and a third port. The body is provided with a connecting port. The first port is connected to the output end of the filter assembly, the second port is connected to the connecting port, and the third port is connected to the water outlet. A first valve body is provided between the third port and the water outlet. Before the pool robot moves, the water pump reverses, and water enters from the connecting port, passes through the third port and the first valve body, and is discharged from the water outlet, thereby increasing the distance between the inlet and the bottom of the pool. When the pool robot moves, the water pump rotates forward, the first valve body closes, and water enters from the output end of the filter assembly, passes through the second port, and is discharged from the connecting port.

[0135] In this type of embodiment, the water pump is configured to generate directional fluid to meet the needs of the filter assembly or to lift the chassis. The above solution reuses the drive component that generates negative pressure in the filter assembly and the drive component that generates the force to lift the chassis as a single drive component. This reduces the cost of arranging the drive components and improves the compactness of the structure. Furthermore, the arrangement of multiple ports allows for precise guidance of the water flow inside the pool robot.

[0136] It's understandable that the filter assembly, due to its filtration requirements, is a unidirectional channel. Even when the water pump reverses, water won't flow backwards through the inlet, preventing the filter assembly's waste bin from reversing and polluting the pool. Corresponding to the first valve body's design, the lifting platform's passageway is also a unidirectional passageway. This arrangement of two unidirectional passageways creates a layout where forward rotation starts the filtration function, and reverse rotation starts the lifting function. This also prevents negative pressure from forming at the inlet during lifting, ensuring the chassis can be effectively raised.

[0137] In some alternative solutions, the connection port can be an opening located on the side or top of the unit, allowing water that has passed through the filter components to be discharged.

[0138] Preferably, the connection port can be located at the top of the machine body, which can generate negative pressure at the top of the machine body when the water pump reverses, thereby reducing the resistance and pressure of the water during the lifting process and ensuring that the chassis can be lifted.

[0139] In some alternatives, the first valve body can be a check valve or a solenoid valve.

[0140] In some alternative solutions, a control valve can be installed between the first port and the second port. By adjusting the on / off state of the first and second ports through the control valve, stable control of the flow path can be achieved when the water pump is rotating in both directions.

[0141] In some exemplary embodiments of this application, based on the above scheme, the pump reversal time t1 is controlled to satisfy: 0.4s≤t1≤1.2s.

[0142] This type of embodiment meets the time requirements for the robot to adjust its posture and create a small gap between the inlet 22 and the pool bottom, avoiding insufficient lifting distance due to a short action time, which could easily lead to the inlet 22 being tightly sucked into the pool bottom. It also strictly controls the cleaning interval during the lifting of the inlet 22, reducing the problem of cleaning blank areas formed when the cleaning function is not activated, reducing rework and shortening the overall cleaning cycle. It is particularly suitable for the high-efficiency cleaning needs of large-area swimming pools, further optimizing cleaning efficiency.

[0143] In a specific scenario, when the water pump is in reverse mode, the positive pressure output of 0.4 to 1.2 seconds can stably push the water body to spray towards the bottom of the pool, and the reaction force ensures that the chassis 20 drives the water inlet 22 to be reliably lifted.

[0144] Understandably, based on the above embodiments, the control time of 0.4 to 1.2 seconds can strictly control the "no-cleaning interval" when the water inlet 22 is lifted: on the one hand, this time is much shorter than the cleaning time per unit area when the robot moves and cleans normally, and there will be no problem that the robot has traveled a long distance without starting the cleaning function due to the lifting time being too long, thus forming a cleaning blank area; on the other hand, there is no need to repeatedly clean the "blank area" in the subsequent cleaning process, reducing the amount of rework cleaning and shortening the overall cleaning operation cycle, which is especially suitable for the high-efficiency cleaning needs of large-area swimming pools, further optimizing cleaning efficiency.

[0145] The time range of 0.4 to 1.2 seconds is neither too short, which would cause the water inlet 22 to not lift completely, requiring a second trigger to apply force and disrupt the starting rhythm; nor too long, which would delay the start of the cleaning function and affect the continuity of automatic cleaning.

[0146] This time control scheme is achieved by adjusting the water pump operating parameters through the control device. There is no need to add auxiliary components such as timers and sensors to "control the lifting time". While ensuring the lifting effect of the inlet 22 and the cleaning efficiency, it maintains the simplicity of the original structure of the equipment, avoids the risk of increasing the size, weight or failure of the equipment due to additional components, and also reduces the control complexity caused by the collaboration of multiple components, thus balancing the practicality of the function and the reliability of the equipment operation.

[0147] Preferably, the control device controls the water pump to reverse or start slowly for 0.6 to 0.9 seconds.

[0148] Optionally, the control device can control the water pump to reverse or start slowly for 0.4 seconds, 0.5 seconds, 0.6 seconds, 0.7 seconds, 0.8 seconds, 0.9 seconds, 1 second, 1.1 seconds, or 1.2 seconds, but is not limited to these.

[0149] This application also provides an embodiment that differs from the above-mentioned embodiment that relies on drive wheel 211 and driven wheel 212 or water pump control. The force application component includes a center of gravity adjustment mechanism, which is disposed on the body 10 or chassis 20 to generate a shift in the center of gravity of the pool robot and raise the water inlet 22.

[0150] In some exemplary embodiments of this application, based on the above scheme, the time t2 for increasing the interval between the inlet 22 and the bottom of the pool is 1 second ≤ t2 ≤ 3 seconds.

[0151] In this type of embodiment, the preparation time before startup is controlled within a reasonable range of 1 to 3 seconds. This ensures that the robot can quickly switch to the cleaning state while reducing mechanical wear and tear on the walking components 21 and extending their service life, achieving a balance between "smooth startup" and "efficient operation". Compared to a "rapid lift" of less than 1 second, this duration avoids the shaking of the robot body 10 caused by inertia, and even the brief slippage of the drive wheels 211 on the bottom of the pool, preventing the robot from having difficulty smoothly entering the normal cleaning state. Compared to a "slow lift" of more than 3 seconds, it reduces the risk of abnormal robot shape, avoids delaying the cleaning startup process, and avoids reducing overall work efficiency.

[0152] Before the water pump generates negative pressure, a 1-second window quickly breaks the seal between the inlet 22 and the pool bottom, preventing the initial formation of the sealed space required for the "vacuum suction effect." A 3-second window ensures a stable distance between the inlet 22 and the pool bottom, allowing sufficient time for water and air to fill the area around the inlet 22, preventing negative pressure differences caused by insufficient water replenishment after the pump starts. This timing design avoids allowing negative pressure to form due to the head-up lag after pump startup, and also prevents the robot from being in a raised state for an extended period due to premature head-up, achieving a seamless transition between "head-up and negative pressure startup" and eliminating the risk of "sucking up" in terms of timing. Simultaneously, it adapts to the suction generated by the inlet 22, forcing the entire pool robot close to the pool bottom.

[0153] A stable startup time of 1 to 3 seconds ensures that the pump, motor, and filter are always in a safe operating condition without negative pressure interference during startup: the pump does not need to cope with a sudden increase in negative pressure, avoiding additional wear on the pump impeller due to pressure fluctuations; the motor does not need to forcibly drive the body 10 when the inlet 22 is not raised, eliminating the additional load of overcoming suction force; and the filter will not deform instantaneously due to negative pressure impact. In addition, the smooth lifting process reduces friction and collision between the driven wheel 212 and the pool bottom when it is raised and lowered, protecting the pool bottom material and reducing the wear rate of the driven wheel 212 surface, indirectly reducing the frequency and cost of equipment maintenance, and further improving the overall durability of the equipment.

[0154] Preferably, the time for increasing the gap between the inlet 22 and the bottom of the pool is 1.5 to 2 seconds.

[0155] Optionally, the time for increasing the interval between the inlet 22 and the bottom of the pool can be 1.1 seconds, 1.2 seconds, 1.3 seconds, 1.4 seconds, 1.5 seconds, 1.6 seconds, 1.7 seconds, 1.8 seconds, 1.9 seconds, 2 seconds, 2.1 seconds, 2.2 seconds, 2.3 seconds, 2.4 seconds, 2.5 seconds, 2.6 seconds, 2.7 seconds, 2.8 seconds, 2.9 seconds, or 3 seconds, but is not limited to these.

[0156] In some exemplary embodiments of this application, based on the above scheme, the drive wheel 211 and the driven wheel 212 are driven by the track 213, and before the pool robot starts cleaning, the rotation direction of the drive motor is opposite to the rotation direction of the drive wheel 211 when the pool robot moves forward. After the cleaning starts, the rotation direction of the drive motor is the same as the rotation direction of the drive wheel 211 when the pool robot moves forward.

[0157] In this type of embodiment, the drive wheel 211 and the driven wheel 212 are driven by the track 213, which can form a stable and controllable "backward force". The drive motor rotating in the opposite direction drives the driven wheel 212 through the track 213, and forces the track 213 to pull the driven wheel 212 to rotate around the rotation axis of the drive wheel 211 with a large instantaneous torque, thereby lifting the driven wheel 212.

[0158] Because the contact area between the track 213 and the bottom of the pool is much larger than that of a single wheel, it can provide a more uniform and stronger reverse friction force. Furthermore, based on the flexible fit characteristics of the track 213 transmission, it can buffer the instantaneous torque impact when the drive motor rotates in the reverse direction. Compared with rigid wheel transmission, which is prone to local stress concentration due to sharp reverse rotation, the track 213 can disperse the reverse torque to a larger contact surface through multiple contact points with the bottom of the pool, making the lifting process of the driven wheel 212 smoother.

[0159] After cleaning begins, the drive motor switches to forward rotation, and the track 213 transmission enables a seamless transition from reverse lifting to forward movement. Unlike wheeled transmissions that may experience power idling, the track 213 maintains stable contact with the pool bottom throughout the process. When the motor rotates forward, it can directly and efficiently convert power into forward traction without requiring an additional power adaptation phase. This means that once the inlet 22 is lifted, the robot can immediately enter the preset normal cleaning path, completely avoiding the time loss during the startup phase and effectively improving overall cleaning efficiency.

[0160] Meanwhile, the strong grip of track 213 allows it to flexibly adapt to different pool bottom materials. Whether it's smooth ceramic tiles, soft pool membranes, or rough cement bottoms, track 213 can ensure stability by increasing the contact area and enhancing frictional resistance. Even if the robot has the "forward-biased center of gravity" design issue mentioned earlier, the even force distribution between track 213 and the pool bottom can offset the impact of the center of gravity shift, reducing path deviations caused by poor ground adaptability during cleaning. This ensures the robot cleans efficiently along the predetermined route, avoiding missed or repeated cleaning.

[0161] This solution also requires no additional force-applying components. It achieves the dual functions of lifting the inlet 22 and normal forward movement simply through the combination of "track 213 transmission + motor forward and reverse rotation". On the one hand, the track 213 simultaneously undertakes the roles of "reverse lifting power transmission" and "forward driving", reducing the assembly requirements of independent force-applying components, simplifying the internal structure of the machine body 10, and reducing the probability of multi-component collaborative failure. On the other hand, the forward and reverse rotation control of the drive motor can be automatically switched through program preset without manual intervention. This is highly consistent with the "pre-start action" logic mentioned above, ensuring both ease of operation and avoiding lifting timing deviations caused by manual adjustment, further improving the stability and reliability of equipment operation.

[0162] In this type of embodiment, the center of gravity adjustment mechanism lifts the inlet 22 by directly changing the center of gravity position of the pool robot. It can precisely drive the center of gravity to shift away from the inlet 22, causing the inlet 22 to naturally lift up with the pool bottom and form a tiny gap. This process can directly break the sealed space required by the "vacuum suction cup effect," fundamentally avoiding the problem of the inlet 22 being tightly sucked to the pool bottom due to the negative pressure difference after the water pump starts. Moreover, regardless of whether the pool bottom is smooth ceramic tile or rough material, the lifting of the inlet 22 can be stably completed, ensuring that the robot can directly enter the normal moving and cleaning state after starting, which meets the core requirement of the initial technical solution to solve the start-up suction problem.

[0163] This mechanism eliminates the need for additional mechanisms such as drive wheel 211 transmission or water pump regulation, achieving lifting solely through center of gravity shift. This significantly simplifies the structural design of the force-applying components and reduces the risk of malfunctions that may arise from multi-component coordination. Simultaneously, it allows for precise control of the center of gravity shift, ensuring an appropriate lifting height for the inlet 22. This avoids both insufficient lifting leading to potential adsorption and excessive lifting affecting equipment stability. Furthermore, the center of gravity adjustment process involves no violent mechanical movements, preventing additional load on core components such as the motor and water pump. This ensures reliable startup while balancing equipment lifespan and efficient clean-start operation.

[0164] It is understandable that the center of gravity adjustment mechanism is used to adjust the overall center of gravity distribution, or to change the shape of the pool robot by changing the center of gravity, so as to better lift the water inlet 22.

[0165] For example, in one design, a component capable of compressing gas is installed in the pool robot. When no adjustment is needed, the gas is compressed to a set value. When adjustment is required, the gas is decompressed, thereby squeezing out the water inside the pool robot, generating buoyancy, and adjusting the center of gravity distribution.

[0166] In one specific solution, a movable counterweight or counterweight structure is used in conjunction with a drive module to change its position relative to the pool robot, thereby changing different center of gravity settings.

[0167] Alternatively, a chamber could be constructed with a movable semi-permeable membrane inside, containing both fluid and gas. The center of gravity of the pool robot could be altered by adjusting the position of the fluid and the distribution of the gas through the semi-permeable membrane.

[0168] For example Figure 4 As shown, in some exemplary embodiments of this application, based on the above scheme, the force application component includes one or more floating assistance structures 40 disposed in the fuselage, and at least one floating assistance structure 41 is used for raising or lowering the water inlet 22.

[0169] In this type of embodiment, there is no need to rely on additional traction or negative pressure adjustment. The sealing conditions required for the vacuum suction cup effect can be directly cut off. Even in the case of a smooth pool bottom or slight clogging of the filter screen, the stable buoyancy support can ensure that the gap between the inlet 22 and the pool bottom is increased, thus avoiding the problem of movement difficulties caused by suction during startup.

[0170] Meanwhile, the floating assist structure 40 does not require additional power components such as drive motors and transmission components, which simplifies the overall structure of the force application system, reduces the risk of failure caused by the coordination of multiple components, and reduces equipment energy consumption.

[0171] In addition, the buoyancy of a single or multiple floating assist structures 40 can be flexibly adjusted, which can adapt to robot models with different weights and different inlet 22 positions, as well as swimming pool environments of different depths; and the buoyancy process is stable and will not cause mechanical impact to the body 10, inlet 22 and other components, effectively extending the service life of the equipment, reducing the frequency and cost of subsequent maintenance, and ensuring the continuity of cleaning operations.

[0172] For example Figure 4 As shown, in one specific embodiment, the pool robot may include multiple floating assist structures 40, respectively arranged at the front and / or rear of the pool robot. By changing the gas content inside these structures, the center of gravity distribution of the pool robot is adjusted, thereby changing its shape relative to the pool bottom. It can be understood that when the floating assist structure 40 is applied, the entire vehicle can be lifted by buoyancy, not limited to the entire vehicle needing to be in contact with the pool bottom, as long as the water inlet 22 is lifted away from the pool bottom.

[0173] It is understandable that the working principle of the floating assist structure 40 can be a water bladder or air bladder set inside the pool robot. For example, in the case of using an air bladder, the gravity distribution inside the pool robot can be changed by adjusting the gas content inside the air bladder, thereby changing the center of gravity; or a water bladder set in a closed environment can change the center of gravity ratio of the closed environment by absorbing or draining water into the pool, thereby achieving the adjustment of the center of gravity distribution.

[0174] In some exemplary embodiments of this application, based on the above scheme, the floating assist structure 40 is a buoyancy chamber, and the buoyancy chamber is provided with a drainage structure and a water inlet. Before the filter assembly is started, the water inlet is closed and the drainage structure discharges the water in the buoyancy chamber.

[0175] In this type of embodiment, when the pool robot is in a working or stationary state, the buoyancy chamber is filled with water. When it needs to be lifted, the water is quickly discharged through a drainage structure (such as a pump, air inflator, or gas generator), thereby reducing the internal mass of the pool robot and increasing its buoyancy, thus raising the water inlet. After entering normal cleaning mode, it can fall back down by continuing to fill the buoyancy chamber with water and discharging the gas.

[0176] In some exemplary embodiments of this application, the force-applying component includes an elastic reset member disposed between the roller brush and the chassis 20, or between the chassis 20 and the bottom of the pool, wherein the elastic reset member applies a thrust to the connection at both ends.

[0177] In this type of embodiment, the elastic reset component is designed so that the pool robot will generate a force when it starts up. The instantaneous force is large enough to press down the body. At this time, the elastic reset component is compressed. After the force stabilizes, the elastic reset component releases its elastic potential energy, thereby lifting the pool robot out of the water inlet and avoiding the working surface from being sucked up and causing motion interference.

[0178] In some exemplary embodiments of this application, the cleaning component includes a first roller brush and a second roller brush. The first roller brush is located at the front end of the pool robot in the forward direction, and the second roller brush is located at the rear end of the pool robot in the forward direction. The first roller brush is provided with a roller brush support frame, and an elastic reset member is sleeved on the roller brush support frame, with the end away from the roller brush abutting against the chassis. The first roller brush is closer to the water inlet than the second roller brush.

[0179] Alternatively, the force-applying component can be a combination of structures that alter the shape of the pool robot as described above, or it can include multiple implementation methods as described above. For example, the water pump can reverse to apply a large torque to the drive wheel in conjunction with the drive motor, or a floating assist structure can be used in conjunction with the drive motor, or the water pump can reverse, the drive motor can apply a large torque to the drive wheel, and the floating assist structure can be implemented simultaneously, but it is not limited to these.

[0180] It should be understood that this application is not limited to the detailed structure and arrangement of the components proposed in this application. This application can have other embodiments and can be implemented and executed in various ways. The foregoing variations and modifications fall within the scope of this application. It should be understood that the disclosure and definition of this application extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or drawings. All these different combinations constitute multiple alternative aspects of this application. The embodiments described in this application illustrate the best known mode for implementing this application and will enable those skilled in the art to utilize this application.

Claims

1. A swimming pool robot, characterized in that, include: The body of the machine is provided with a water outlet. A chassis connected to the body, the chassis being equipped with a walking assembly and a water inlet, the walking assembly driving the chassis and the body to move; A cleaning component is mounted on the chassis; as well as A filter assembly is disposed between the water inlet and the water outlet for filtering water passing through the machine body; The pool robot also includes a force-applying component. Before the filtration component is activated, the force-applying component applies a force away from the working surface to the body or chassis, thereby increasing the distance between the water inlet and the working surface. After the filtration component is activated, the force-applying component removes the force applied to the body or chassis away from the working surface.

2. The pool robot according to claim 1, characterized in that, The walking component includes a drive wheel and a driven wheel that are connected by a transmission. The force-applying component is a drive motor. The output end of the drive motor is connected to the drive wheel. Before the filtration component is started, the pool robot lifts the driven wheel and the water inlet with the axis of the drive wheel as the rotation axis.

3. The pool robot according to claim 2, characterized in that, The distance between the axis of the driven wheel and the axis of the driving wheel is d1, and the diameter of the driven wheel is d2. d1 and d2 satisfy: 2≤d1 / d2≤3.

4. The pool robot according to claim 2, characterized in that, The angle α of rotation of the driven wheel and the water inlet about the axis of the drive wheel relative to the axis of the drive wheel is between 5° and 25°.

5. The pool robot according to claim 2, characterized in that, The drive wheel and the driven wheel are driven by a track. Before the filter assembly is started, the drive motor rotates in the opposite direction to the rotation direction of the drive wheel when the pool robot moves forward. After cleaning is started, the drive motor rotates in the same direction as the rotation direction of the drive wheel when the pool robot moves forward.

6. The pool robot according to claim 2, characterized in that, Before the filter assembly is started, the output power of the drive motor is greater than the output power of the drive motor when the pool robot is moving normally.

7. The pool robot according to claim 1, characterized in that, The force-applying component includes a drainage device, which is installed inside the body. The chassis is provided with a water outlet, and the output end of the drainage device is connected to the water outlet. Before the filtration component is started, the drainage device discharges water through the water outlet to generate a force that increases the distance between the water inlet and the bottom of the pool.

8. The pool robot according to claim 7, characterized in that, The drainage device includes a water pump with a first port, a second port, and a third port. The body has a connecting port. The first port is connected to the output end of the filter assembly, the second port is connected to the connecting port, and the third port is connected to the water outlet. A first valve body is provided between the third port and the water outlet. Before the pool robot moves, the water pump reverses, and water enters from the connecting port, passes through the third port and the first valve body, and exits from the water outlet, thereby increasing the distance between the inlet and the bottom of the pool. When the pool robot moves, the water pump rotates forward, the first valve body closes, and water enters from the output end of the filter assembly, passes through the second port, and exits from the connecting port.

9. The pool robot according to claim 8, characterized in that, The time t1 for the water pump to reverse direction satisfies: 0.4s≤t1≤1.2s.

10. The pool robot according to claim 1, characterized in that, The force-applying component includes one or more floating assistance structures disposed within the fuselage. The floating assistance structure is a buoyancy chamber, which is provided with a drainage structure and a water inlet. Before the filtration component is activated, the water inlet is closed, and the drainage structure discharges the water in the buoyancy chamber to raise or lower the water inlet.

11. The pool robot according to any one of claims 1 to 10, characterized in that, Before the filter assembly is activated, the time t2 during which the distance between the inlet and the bottom of the pool increases satisfies: 1s≤t2≤3s.

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