Cleaning robot

Abstract

The utility model discloses a kind of cleaning robots, it is related to robot technical field, wherein, cleaning robot includes cleaning main body, water pump and grid, two water flow passages are equipped in cleaning main body, and two water outlets are arranged in top and interval in left and right direction. Water pump drives water from water inlet port to water outlet port. Grid cover is equipped in water outlet, with two communicating water outlets, the water outlet direction of water outlet has backward component in vertical plane, has outward component in horizontal plane, so that water flow is obliquely sprayed to rear. By water flow reaction force increase adhesion, provide forward thrust and balance lateral deviation, so as to be able to stably operate in pool bottom, pool wall and transition area, improve the cleaning reliability of complex swimming pool surface.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a cleaning robot. Background Technology

[0002] With the development of intelligent cleaning equipment, pool robots have been widely used in home and public swimming pools to automatically clean the pool bottom, side walls, and waterline areas. They draw in wastewater through a pump, filter it internally, and then discharge clean water, while autonomously moving along the pool surface using a propulsion mechanism. In actual operation, the robot frequently needs to handle complex conditions such as transitions between the pool bottom and side walls, inclined surfaces, or smooth surfaces, placing high demands on its motion stability, adhesion ability, and posture adjustment.

[0003] Existing products mostly rely on wheel drives or counterweight designs for adhesion, but slippage, deviation, or detachment still easily occur during wall climbing or obstacle crossing, affecting the continuity of cleaning. Furthermore, current water discharge structures have a single function, primarily serving to remove impurities, and fail to form effective coordination with the overall motion system. Therefore, there is an urgent need for a cleaning robot that can improve posture stability and motion coordination when working on complex surfaces, enhance operational reliability, and adapt to diverse pool environments. Utility Model Content

[0004] The main objective of this invention is to propose a cleaning robot that can improve posture stability and motion coordination when working on complex surfaces.

[0005] To achieve the above objectives, the cleaning robot proposed in this utility model includes:

[0006] The cleaning body has two water flow channels inside, each water flow channel has a water outlet port located at the top of the cleaning body, and the water outlet ports of the two water flow channels are arranged at intervals from left to right and upward.

[0007] A water pump is used to drive water to flow from the inlet port of the water flow channel to the outlet port of the water flow channel; and,

[0008] A grille is provided over the two outlet ports of the two water flow channels, and the grille has two outlet channels respectively connected to the outlet ports of the two water flow channels;

[0009] The water outlet channel has a backward component in the vertical plane and an outward component in the horizontal plane, so that the water flow is sprayed out obliquely backward and outward.

[0010] In one embodiment, the two water outlet channels extend from bottom to top, in a direction away from each other, and tilted backward; or,

[0011] The two water flow channels extend upwards and in a direction away from each other, while the two water outlet channels extend upwards and backwards at an angle; or...

[0012] The two water flow channels extend backward at an angle from bottom to top, and the two water outlet channels extend upward and in a direction away from each other.

[0013] In one embodiment, each of the water outlet channels includes two channel segments extending vertically.

[0014] One of the two channel segments extends backward at an upward angle, and the other channel segment extends outward at an upward angle; or...

[0015] The two water outlet channels extend from front to back in a direction that brings them closer to each other.

[0016] In one embodiment, the grille includes two sets of guide strips corresponding to two outlet ports of the water flow channel, each set of guide strips including a plurality of first guide strips and a plurality of second guide strips, the first guide strips and the second guide strips being arranged sequentially in the vertical direction;

[0017] The plurality of first guide strips extend in the front-to-back direction and are spaced apart in the left-to-right direction. Each first guide strip extends outward from the bottom up, and a channel segment is formed on both sides of the plurality of first guide strips.

[0018] The plurality of second guide strips extend in the left and right direction and are arranged at intervals in the front and back direction. Each second guide strip extends obliquely backward from bottom to top, and the two sides of the plurality of second guide strips form another channel segment.

[0019] In one embodiment, the first guide bar and the second guide bar are partially overlapped in the vertical direction.

[0020] In one embodiment, the number of the first guide strips is set to be greater than the number of the second guide strips, so that the cross-sectional area of ​​the inlet port of the water outlet channel is greater than the cross-sectional area of ​​the outlet port of the water outlet channel.

[0021] In one embodiment, the height of the second guide bar is set to be greater than the height of the first guide bar in the vertical direction.

[0022] In one embodiment, the grille includes two sets of guide strips corresponding to two outlet ports of the water flow channel. Each set of guide strips includes a plurality of third guide strips. The plurality of third guide strips extend vertically and are spaced apart horizontally. The third guide strips of the two sets of guide strips are inclined from front to back in a direction away from each other, and are inclined outward from bottom to top in a direction away from each other.

[0023] In one embodiment, the grille is provided with a connecting portion, and the cleaning body is provided with a mating portion that is detachably connected to the connecting portion.

[0024] In one embodiment, one of the connecting portion and the mating portion includes a snap fastener, and the other includes a slot.

[0025] In one embodiment, two water pumps are provided, and the two water pumps are respectively configured to correspond to the two outlet ports of the water flow channel, so as to drive water to flow towards the corresponding outlet ports of the water flow channel.

[0026] In one embodiment, the cleaning robot further includes an electronic control device electrically connected to each of the two water pumps, for controlling the two water pumps to operate independently.

[0027] In this invention, when water is sprayed obliquely outward from the outlet channel, a downward reaction force is generated in the vertical direction, increasing the adhesion of the cleaning robot; a backward thrust is generated in the horizontal longitudinal direction, providing the cleaning robot with a forward reverse driving force to assist in forward movement or maintain motion inertia; and an outward force is generated in the horizontal transverse direction to balance the lateral deviation tendency of the cleaning robot during turning or climbing. Thus, the reaction force generated by the water discharge is coordinated with the movement state of the cleaning robot, thereby enhancing operational stability when working on curved surfaces, slopes, or transition areas of the pool, and adapting to the cleaning needs of complex pool surfaces. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the structure of an embodiment of the cleaning robot provided by this utility model;

[0030] Figure 2 for Figure 1 A diagram illustrating the explosion of a cleaning robot.

[0031] Figure 3 for Figure 1 A partial structural diagram of a cleaning robot;

[0032] Figure 4 and Figure 5 for Figure 1Schematic diagram of the central grille;

[0033] Figure 6 for Figure 1 A schematic diagram of another embodiment of the central grille.

[0034] Explanation of icon numbers:

[0035] 100. Cleaning robot; 1. Cleaning body; 1a. Water flow channel; a1. Water outlet port; 11. Connecting part; 2. Water pump; 3. Grille; 3b. Water outlet channel; b1. Channel section; 31. First guide bar; 32. Second guide bar; 33. Connecting part.

[0036] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0038] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0039] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0040] With the development of intelligent cleaning equipment, pool robots have been widely used in home and public swimming pools to automatically clean the pool bottom, side walls, and waterline areas. They draw in wastewater through a pump, filter it internally, and then discharge clean water, while autonomously moving along the pool surface using a propulsion mechanism. In actual operation, the robot frequently needs to handle complex conditions such as transitions between the pool bottom and side walls, inclined surfaces, or smooth surfaces, placing high demands on its motion stability, adhesion ability, and posture adjustment.

[0041] This utility model proposes a cleaning robot 100, which aims to provide a cleaning robot that can improve posture stability and motion coordination when working on complex surfaces.

[0042] Please see Figures 1 to 3 In one embodiment of this utility model, the cleaning robot 100 includes a cleaning body 1, a water pump 2, and a grille 3. The cleaning body 1 is provided with two water flow channels 1a, each of which has a water outlet port a1 located at the top of the cleaning body 1. The two water outlet ports a1 of the two water flow channels 1a are arranged at an interval from left to right upward. The water pump 2 is used to drive water to flow from the water inlet port of the water flow channel 1a toward the water outlet port a1 of the water flow channel 1a. The grille 3 is covered on the water outlet ports a1 of the two water flow channels 1a. The grille 3 has two water outlet channels 3b that are respectively connected to the two water outlet ports a1 of the water flow channels 1a. The water outlet direction of the water outlet channel 3b has a backward component in the vertical plane and an outward component in the horizontal plane, so that the water flow is sprayed out obliquely backward and outward.

[0043] It should be noted that the cleaning body 1 is the main structure of the cleaning robot 100, and has two water flow channels 1a inside for water circulation. Each water flow channel 1a has an inlet port and an outlet port a1. The inlet port is usually located at the bottom or front of the cleaning body 1 and is used to suck up pool water containing impurities. The two outlet ports a1 are located at the top of the cleaning body 1 and are arranged at intervals in the left and right direction. A filter structure for collecting impurities is generally installed in the water flow channel 1a. The water flow channel 1a is used to suck up water and impurities from the bottom or side wall surface of the pool during the movement of the cleaning robot 100, and to discharge the filtered and treated water back into the pool.

[0044] The water flow channel 1a can be configured in a symmetrical or asymmetrical form. The specific structure and arrangement can be adjusted according to the internal space layout, and this specification does not limit this. In addition, the water outlet channel 3b is not limited to a continuous pipe structure, but can also be formed by a combination of multiple water outlet holes. For example, multiple small holes are arranged in a rear-upward or outer-upward direction to form an equivalent inclined flow channel. The specific arrangement can be determined according to actual needs, and this specification does not limit this.

[0045] It should also be noted that the water pump 2 can adopt a centrifugal, axial flow or other pump body structure adapted to small cleaning equipment. Its power, flow parameters, specific type, installation position and drive method do not affect the core of this solution, and this manual does not impose any restrictions on them.

[0046] The grille 3 is installed on top of the cleaning body 1, covering the two water outlet ports a1. The grille 3 forms two water outlet channels 3b, which are respectively connected to the two water outlet ports a1 of the water flow channel 1a.

[0047] The connection method between the grille 3 and the cleaning body 1 is not limited to fixed installation; it can be selected as integral molding or detachable assembly according to actual needs. When the grille 3 and the cleaning body 1 are integrally molded, the water outlet channel 3b is directly formed on the top of the cleaning body 1, which results in a compact structure, good sealing performance, and reduced assembly steps.

[0048] When the grille 3 is detachable and can be installed on top of the cleaning body 1 using clips, screws, or threads, the grille 3 and the cleaning body 1 can be separately molded and then assembled, facilitating the implementation of the product molding process. By setting the grille 3 as either detachable or integrally molded, the needs for maintenance convenience and structural reliability in different usage scenarios can be met.

[0049] It should also be noted that the water outlet direction of water outlet channel 3b is set to have a rearward component in the vertical plane and an outward component in the horizontal plane, causing the water to spray out obliquely in a rearward and outward direction. According to Newton's third law, the water jet generates a reaction force of equal magnitude and opposite direction on the cleaning body 1. This reaction force can be decomposed into three component forces in different directions, each affecting the operating state of the cleaning robot 100.

[0050] In the vertical direction, the downward reaction force component of the water jet acts on the cleaning body 1 to increase the overall positive pressure of the cleaning robot 100 on the pool surface, thereby improving its adhesion ability when running on the pool wall or inclined surface and reducing the risk of slipping or detachment.

[0051] In the horizontal longitudinal direction (front-to-back direction), the reaction force generated by the water jet propels the cleaning body 1 forward, providing auxiliary propulsion. This thrust, in conjunction with the driving force of the traveling mechanism, enables the cleaning robot 100 to maintain a stable forward trend when starting, climbing slopes, or overcoming resistance.

[0052] In the horizontal (left-right) direction, the water is sprayed outwards in opposite directions, generating outward reaction forces at the two water outlet channels 3b on the left and right. When the cleaning robot turns 100 degrees or travels over curved surfaces, the symmetrical spraying of water from both sides helps to balance the lateral forces. If asymmetrical control is used, the direction of the resultant force can be changed by adjusting the water flow on one side to assist in adjusting the robot's posture or turning movements.

[0053] During operation, water pump 2 drives water to enter through the inlet port, and after filtration, it is delivered to the two outlet ports a1 at the top and discharged through the inclined outlet channel 3b of the grille 3. The water is sprayed out in the left rear-upward and right rear-upward directions, generating corresponding reaction forces. The backward component propels the cleaning robot 100 forward, assisting in forward propulsion; the outward lateral component, when the water flows out symmetrically, enables the cleaning robot 100 to maintain balance, and when adjusted on one side, it can generate asymmetrical torque; the upward component acts on the top, which can moderately adjust the adhesion pressure with the pool wall when the cleaning robot 100 climbs the side wall, preventing excessive adhesion or detachment.

[0054] When water is ejected obliquely outward from the outlet channel 3b, it generates a downward reaction force component in the vertical direction, which increases the adhesion of the cleaning robot 100; it generates a backward thrust component in the horizontal longitudinal direction, enabling the cleaning robot 100 to obtain a forward reverse driving force to assist in forward movement or maintain motion inertia; and it generates an outward component in the horizontal transverse direction to balance the lateral deviation tendency of the cleaning robot 100 during turning or climbing. Thus, the reaction force generated by the water discharge is coordinated with the motion state of the cleaning robot 100, thereby enhancing operational stability when operating on curved surfaces, slopes, or transition areas of the pool, and adapting to the cleaning needs of complex pool surfaces.

[0055] Specifically, to guide the water outlet direction in three-dimensional space and ensure that the water flow reaction force has rearward and lateral components, this embodiment provides several feasible structural arrangements for achieving a rearward component in the vertical plane and an outward component in the horizontal plane in the water outlet channel 3b. By adjusting the combination of the extension directions of the water flow channel 1a and the water outlet channel 3b, the water flow is ultimately ejected obliquely backward and outward, thereby utilizing the water flow reaction force to improve the posture stability of the cleaning robot 100 when operating on a complex pool surface.

[0056] In the first implementation, the two water outlet channels 3b extend upwards, in a direction away from each other, and tilt backwards. That is, the water outlet channels 3b extend outwards in the horizontal plane and tilt backwards in the vertical plane, so that the water flow has both outward and backward flow tendencies. This structure is achieved by integrally molding the grille 3, which utilizes mature manufacturing technology and is easy to assemble. Of course, the specific tilt angle of the water outlet channels 3b can be adjusted according to the actual flow rate and reaction force requirements; this embodiment does not limit this.

[0057] In the second implementation, the two water flow channels 1a extend from bottom to top and in a direction away from each other. That is, inside the cleaning body 1, the water flow channels 1a are inclined outward in the horizontal direction to form a lateral outflow trend. Meanwhile, the two water outlet channels 3b on the grille 3 extend from bottom to top and are inclined backward. That is, the water outlet channels 3b are inclined backward in the vertical plane to form a backward outflow trend. The water flow gains outward momentum through the water flow channels 1a, then turns backward through the water outlet channels 3b, and finally combines into a backward-outward inclined outflow direction.

[0058] In the third implementation, the two water flow channels 1a extend backward at an upward angle from bottom to top. That is, inside the cleaning body 1, the water flow channels 1a are inclined backward in the vertical plane to create a backward flow tendency. Meanwhile, the two water outlet channels 3b on the grille 3 extend upward from bottom to top in a direction away from each other. That is, the water outlet channels 3b are inclined outward in the horizontal direction to guide the water flow outward. The water flow gains backward momentum in the water flow channels 1a, and then turns outward through the water outlet channels 3b, ultimately achieving the same backward-outward inclined water outlet direction.

[0059] Please see Figures 4 to 5 In another embodiment, each of the water outlet channels 3b includes two channel segments b1 extending in the vertical direction; one of the two channel segments b1 extends backward at an angle from bottom to top, guiding the water flow to be discharged backward and upward; the other channel segment b1 extends outward at an angle from bottom to top, causing the water flow to diffuse outward.

[0060] It should be noted that the two channel sections b1 can be connected in series, with no restrictions on the order. The connection point can be smoothly transitioned to reduce resistance. Furthermore, the outlet channel 3b structure can be integrally formed into the grille 3, or it can be detachably connected for easy replacement or adaptation to different working conditions. This manual does not limit the specific connection process; it can be a snap-fit, welded, or threaded connection, etc., and is not limited here.

[0061] By setting up a water outlet channel 3b consisting of a backward tilting section and an outward tilting section, water is discharged along a composite direction, generating a reaction force with backward propulsion and lateral separation effects, thereby assisting the cleaning robot 100 in dynamic balance under different postures.

[0062] Specifically, in this embodiment, the grille 3 includes two sets of guide strips corresponding to the two outlet ports a1 of the water flow channel 1a. Each guide strip set includes multiple first guide strips 31 and multiple second guide strips 32. The first guide strips 31 and the second guide strips 32 are arranged sequentially in the vertical direction. The multiple first guide strips 31 extend in the front-back direction and are arranged at intervals in the left-right direction. Each first guide strip 31 extends outward from the bottom up, and a channel segment b1 is formed on both sides of the multiple first guide strips 31. The multiple second guide strips 32 extend in the left-right direction and are arranged at intervals in the front-back direction. Each second guide strip 32 extends backward from the bottom up, and another channel segment b1 is formed on both sides of the multiple second guide strips 32.

[0063] It is understood that each group of guide bars includes multiple first guide bars 31 and multiple second guide bars 32 arranged sequentially in the vertical direction to jointly form a water outlet path. The first guide bars 31 and the second guide bars 32 are staggered, and the gaps between them form a space for water flow.

[0064] It is understood that the vertical positional relationship of the first guide bar 31 and the second guide bar 32 is not limited to the structural form shown in the figure, and the vertical positional relationship of the first guide bar 31 and the second guide bar 32 can be interchanged.

[0065] Multiple first guide strips 31 extend in the front-to-back direction and are spaced apart from each other in the left-to-right direction. Each first guide strip 31 is inclined outward from bottom to top, that is, its upper end is offset away from the center of the cleaning robot 100 relative to its lower end. This creates an outwardly inclined flow channel between adjacent first guide strips 31, guiding water flow outward. The number, thickness, and spacing of the first guide strips 31 can be increased or decreased according to actual needs, and this specification does not limit this aspect.

[0066] Multiple second guide strips 32 extend in the left-right direction and are spaced apart in the front-back direction. Each second guide strip 32 is inclined backward from bottom to top, that is, its upper end is offset behind the cleaning robot 100 relative to its lower end. The gap between adjacent second guide strips 32 forms a backward-inclined flow channel section, guiding water flow to be discharged backward and upward.

[0067] The first guide bar 31 and the second guide bar 32 are arranged alternately in space, with their inclination directions perpendicular to each other: the first guide bar 31 dominates the outward inclination in the horizontal plane, and the second guide bar 32 dominates the backward inclination in the vertical plane. When the two are combined, the water flow is guided by the lateral and longitudinal directions in sequence, and finally forms a composite outflow direction with both outward and backward components.

[0068] By setting up a guide bar group consisting of an outwardly inclined first guide bar 31 and a rearwardly inclined second guide bar 32, the gap between adjacent guide bars forms a water outlet channel 3b with a compound inclination direction, thereby guiding the water flow to be discharged along the outer rear and upward, generating a reaction force that propels and stabilizes the flow.

[0069] Further, please refer to Figure 4 In this embodiment, the first guide bar 31 and the second guide bar 32 are partially overlapped in the vertical direction, that is, there is an overlapping section in the height direction. Within this overlapping area, the first guide bar 31 and the second guide bar 32 interweave with each other to form a grid-like structure, and the gaps between adjacent bars form a composite inclined water flow channel 1a.

[0070] Since the first guide strip 31 and the second guide strip 32 partially overlap in the vertical direction, their intersection area can be integrally formed. Of course, this structure can also be achieved by manufacturing separately and then splicing them together. Specific connection processes such as ultrasonic welding, bonding, or snap-fit ​​connection are not limited to this embodiment in this specification.

[0071] The cross-sectional shape of the guide strip can be circular, elliptical, or rectangular, and the surface can be chamfered or have a flow-guiding surface to optimize the water flow trajectory. Of course, other possible shapes can also be used, and the specific shape can be determined according to the actual situation. This specification does not limit this.

[0072] By partially overlapping the first guide bar 31 and the second guide bar 32 in the vertical direction, the two sets of guide bars can form a stable spatial grid structure in an interlaced manner, thereby accurately guiding the water flow out in the outer rear upper composite direction. This arrangement not only improves the mechanical strength of the grid 3, but also ensures continuous flow guidance when the water flows through, reducing eddies or diversion phenomena, and facilitates one-piece molding manufacturing.

[0073] Further, please refer to Figures 4 to 5 In this embodiment, the number of the first guide strips 31 is set to be greater than the number of the second guide strips 32, so that the cross-sectional area of ​​the water inlet port of the water outlet channel 3b is greater than the cross-sectional area of ​​the water outlet port a1 of the water outlet channel 3b.

[0074] Understandably, each water outlet channel 3b is formed by gaps between multiple first guide bars 31 and multiple second guide bars 32, with water flowing from bottom to top. The first guide bars 31 extend in the front-to-back direction and slope outward from bottom to top, forming multiple radially distributed gaps in the outlet area of ​​the water outlet channel 3b. Due to the large number of first guide bars 31, the number of water outlets formed at the outlet end increases accordingly, and these gaps together constitute the total cross-sectional area of ​​the water outlet end of the water outlet channel 3b.

[0075] The second guide strip 32 extends in the left-right direction and slopes backward from bottom to top, with fewer bars than the first guide strip 31. It forms several horizontally spaced inlets at the inlet end of the water outlet channel 3b. Because the number of second guide strips 32 is small, the total number of inlets they form is small, making the width of a single inlet or the overall flow area larger than the total flow area at the outlet end.

[0076] By controlling the quantitative relationship between the first guide bar 31 and the second guide bar 32, the cross-sectional area of ​​the inlet end of the water outlet channel 3b is made larger than the cross-sectional area of ​​the outlet end. When the water flows through this channel, the flow velocity increases in the outlet region due to the smaller cross-section, forming an accelerated jet to enhance the momentum concentration of the discharged water flow.

[0077] It should be noted that, because the first guide bar 31 and the second guide bar 32 are arranged in an alternating manner in space, the water flow is simultaneously affected by the guidance from two directions during the flow process. If the first guide bar 31 is too high, it may excessively dominate the water flow direction in its upper region, resulting in an excessively strong outward tilt component and weakening the backward tilt effect.

[0078] Furthermore, to balance the direction of water flow and reduce the excessive influence of the first guide bar 31 on the direction of water flow, please refer to [link / reference needed]. Figures 4 to 5 In this embodiment, the height of the second guide bar 32 is set to be greater than the height of the first guide bar 31 in the vertical direction.

[0079] This design allows it to extend from the inlet area to the middle of the outlet area, ensuring that the water flow is continuously guided by the backward inclination as it passes through the middle and rear sections of the channel, thus maintaining a backward and upward flow trend. By setting the second guide bar 32 higher, it maintains its guiding capacity at the outlet end, effectively controlling the final discharge direction of the water flow and preventing it from being completely dominated by the outward inclination trend of the first guide bar 31.

[0080] It should be noted that the height difference between the second guide bar 32 and the first guide bar 31 can be set according to the flow channel design requirements. Specifically, it can be determined based on actual fluid simulation or experimental test results. This embodiment of the specification does not limit this. The cross-sectional dimensions, tilt angle, and arrangement density of the guide bars can be designed in conjunction with the height parameters to achieve the target outflow direction.

[0081] Please see Figure 6 In another embodiment, the two water outlet channels 3b extend vertically and from front to back in a direction that brings them closer together. That is, the water flow from the inlet to the outlet is generally vertically direct, but in the front-back direction, the two water flows gradually converge. This flow path is directly formed by the guide structure inside the grille 3.

[0082] Specifically, the grille 3 includes two sets of guide strips corresponding to the two outlet ports a1 of the water flow channel 1a. Each set of guide strips includes multiple third guide strips 33. The multiple third guide strips 33 extend vertically and are spaced apart horizontally. The third guide strips 33 of the two sets of guide strips are inclined from front to back in a direction away from each other, and are inclined outward from bottom to top in a direction away from each other.

[0083] Multiple third guide strips 33 extend vertically and are spaced out horizontally, forming a channel wall through which water flows. The third guide strips 33 in the two sets of guide strips are inclined from front to back in a direction away from each other, and simultaneously inclined outward from bottom to top in a direction away from each other. When water flows upward through the gaps between the third guide strips 33, its flow path is continuously guided by the inclined sidewalls, gradually changing to a composite direction with both backward and outward components.

[0084] With the above arrangement, a single layer of third guide strips 33 is sufficient to guide the water flow backward in the vertical plane and outward in the horizontal plane, eliminating the need for additional independent front-to-back or left-to-right guide structures. This design simplifies the overall structure of the grille 3 and reduces the difficulty of mold forming. Of course, the number, inclination angle, and arrangement density of the third guide strips 33 can be adjusted according to actual flow requirements and outflow direction targets. Specifically, this can be determined based on product specifications, and the embodiments in this specification do not limit this.

[0085] By setting a third guide bar 33 in the grid 3 that extends vertically and is inclined in opposite directions from front to back and from bottom to top, the water is gradually guided to spray outwards and backwards as it passes through the gaps. This allows for the control of flow in multiple directions using a single guide structure, simplifies the internal flow channel design as much as possible, and reduces the risk of blockage.

[0086] Furthermore, in order to achieve a reliable connection and convenient maintenance between the grille 3 and the cleaning body 1, in this embodiment, the grille 3 is provided with a connecting part 33, and the cleaning body 1 is provided with a mating part 11 that is detachably connected to the connecting part 33.

[0087] It should be noted that the connecting part 33 and the mating part 11 can be detachably connected by means of snap-fit ​​and slot, thread, magnetic attraction, or rotary lock. The number of connecting parts 33 and mating parts 11 can be one or more, evenly distributed along the circumference of the grille 3 to ensure connection stability and balanced force distribution. Their specific positions are determined according to the shape of the grille 3 and the shape and structure of the cleaning body 1, and can be located on the front and rear sides, left and right sides, or even arranged around the perimeter. This specification does not limit the specific form of the connection method.

[0088] Specifically, please refer to Figures 3 to 5In this embodiment, one of the connecting part 33 and the mating part 11 includes a buckle, and the other includes a groove. The buckle includes an elastic arm and a protruding buckle body at its end. The elastic arm can deform under force and return to its original shape after release. The shape of the groove matches the buckle, and it has a guide slope and a limiting step to guide the buckle to slide in and prevent it from falling out. When the grille 3 is installed, the buckle slides in along the guide surface of the groove, the elastic arm is deformed under pressure, and returns to its original shape after entering the bottom of the groove. The buckle body is engaged in the limiting step to achieve locking.

[0089] Furthermore, to achieve independent control of the water flow on both sides, in this embodiment, two water pumps 2 are provided. Each of the two water pumps 2 is correspondingly positioned to one of the two outlet ports a1 of the water flow channel 1a, driving water to flow towards the corresponding outlet port a1 of the water flow channel 1a. During operation, each water pump 2 independently draws water and delivers it to the designated outlet port a1, achieving separate operation of the left and right water flow systems. This allows the water flow output on each side to be driven and controlled independently by the corresponding water pump 2.

[0090] It should be noted that water pump 2 can be a miniature centrifugal pump or a jet pump, and its power, head, and flow rate parameters are set according to the requirements of the single-sided flow channel. Both water pumps 2 can use the same model to ensure consistency, or different specifications can be used depending on the actual layout, depending on the internal space and performance requirements. This manual does not limit the specific driving method of water pump 2; it can be driven by a DC brushed motor, brushless motor, or stepper motor, which will not be described in detail here.

[0091] Specifically, in this embodiment, the cleaning robot 100 further includes an electronic control device (not shown), which is electrically connected to the two water pumps 2 respectively, and is used to control the two water pumps 2 to work independently.

[0092] Thus, after receiving the control signal, the electronic control device adjusts the power supply parameters to control the speed and flow rate of each water pump 2. The two water pumps 2 can operate synchronously to maintain symmetrical outflow, or they can be adjusted independently to form asymmetrical outflow. For example, when operating in a waterline area, the electronic control device can increase the speed of the water pump 2 on the side closer to the pool wall, thereby increasing the reaction force generated by the water flow discharged from that side, thus forming a differential thrust torque to assist the cleaning robot 100 in adhering to curved surfaces or adjusting its posture.

[0093] During steering or correction, the electronic control device adjusts the output difference of the two water pumps 2 according to the operating status, and uses the reaction force of the water flow to change the direction of travel in a coordinated manner. The control method can be based on a preset program or real-time feedback. The specific control logic and communication method do not affect the implementation of this solution, and the embodiments in this specification are not limited in this regard.

[0094] The two water pumps 2 can be independently controlled by an electronic control device, which can flexibly adjust the water output power on the left and right sides to adapt to the attitude control requirements under different working conditions.

[0095] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A cleaning robot, characterized in that, include: The cleaning body has two water flow channels inside, each water flow channel has a water outlet port located at the top of the cleaning body, and the water outlet ports of the two water flow channels are arranged at intervals from left to right and upward. A water pump is used to drive water to flow from the inlet port of the water flow channel to the outlet port of the water flow channel; and, A grille is installed over the outlet ports of the two water flow channels, and the grille has two outlet channels respectively connected to the outlet ports of the two water flow channels; The water outlet channel has a backward component in the vertical plane and an outward component in the horizontal plane, so that the water flow is sprayed out obliquely backward and outward.

2. The cleaning robot as described in claim 1, characterized in that, The two water outlet channels extend from bottom to top, in a direction that moves away from each other, and tilt backward; or... The two water flow channels extend from bottom to top and in a direction away from each other, while the two water outlet channels extend from bottom to top and tilt backward. or, The two water flow channels extend backward at an angle from bottom to top, and the two water outlet channels extend upward and in a direction away from each other.

3. The cleaning robot as described in claim 1, characterized in that, Each of the aforementioned water outlet channels includes two channel segments extending vertically, one of which extends backward at an upward angle, and the other extending outward at an upward angle; or, The two water outlet channels extend vertically and from front to back in a direction that brings them closer to each other.

4. The cleaning robot as described in claim 3, characterized in that, The grille includes two sets of guide strips corresponding to two outlet ports of the water flow channel. Each set of guide strips includes multiple first guide strips and multiple second guide strips, and the first guide strips and the second guide strips are arranged sequentially in the vertical direction. The plurality of first guide strips extend in the front-to-back direction and are spaced apart in the left-to-right direction. Each first guide strip extends outward from the bottom up, and a channel segment is formed on both sides of the plurality of first guide strips. The plurality of second guide strips extend in the left and right direction and are arranged at intervals in the front and back direction. Each second guide strip extends obliquely backward from bottom to top, and the two sides of the plurality of second guide strips form another channel segment.

5. The cleaning robot as described in claim 4, characterized in that, The first guide bar and the second guide bar are partially overlapped in the vertical direction.

6. The cleaning robot as described in claim 4, characterized in that, The number of the first guide strips is set to be greater than the number of the second guide strips, so that the cross-sectional area of ​​the inlet port of the water outlet channel is greater than the cross-sectional area of ​​the outlet port of the water outlet channel.

7. The cleaning robot as described in claim 4, characterized in that, In the vertical direction, the height of the second guide bar is set to be greater than the height of the first guide bar.

8. The cleaning robot as described in claim 3, characterized in that, The grille includes two sets of guide strips corresponding to two outlet ports of the water flow channel. Each set of guide strips includes multiple third guide strips. The multiple third guide strips extend vertically and are spaced apart horizontally. The third guide strips of the two sets of guide strips are inclined from front to back in a direction away from each other, and are inclined outward from bottom to top in a direction away from each other.

9. The cleaning robot as described in claim 1, characterized in that, The grille is provided with a connecting part, and the cleaning body is provided with a mating part that can be detachably connected to the connecting part.

10. The cleaning robot as described in claim 9, characterized in that, One of the connecting part and the mating part includes a snap fastener, and the other includes a slot.

11. The cleaning robot as described in claim 1, characterized in that, Two water pumps are provided, and the two water pumps are respectively set with the two water outlet ports of the water flow channel to drive water to flow towards the corresponding water outlet ports of the water flow channel.

12. The cleaning robot as described in claim 1, characterized in that, The cleaning robot also includes an electronic control device, which is electrically connected to the two water pumps respectively, and is used to control the two water pumps to work independently.

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