Swimming pool robot

Abstract

Swimming pool robot, characterized in that it includes the following: a device body, wherein a water outlet is attached to the device body; a chassis connected to the device body, wherein the chassis is equipped with a drive component and a water inlet, the drive component moving the chassis and the device body; a cleaning component that is mounted on the chassis; as well as a filter component that is arranged between the water inlet and the water outlet and serves to filter the water flowing through the interior of the device body; wherein the swimming pool robot further comprises a force application component, wherein the force application component exerts a force before the start of the filter component so that the device body or chassis moves away from the working surface, thus increasing the distance between the water inlet and the working surface; wherein, after the start of the filter component, the force application component cancels the force exerted on the device body or chassis, which is directed away from the working surface.

Description

Technical field

[0001] The present application concerns the technical field of swimming pool cleaning equipment, in particular a swimming pool robot. Background technology

[0002] In the field of automated swimming pool cleaning, pool robots are the dominant equipment, consisting primarily of the unit body and chassis. The unit body is equipped with a water outlet, while the chassis integrates motorized drive wheels, a roller brush for cleaning assistance, a water inlet, a water pump, and a debris basket. During operation, the water pump draws water through the inlet, which is then filtered by the debris basket. The clean water is subsequently discharged through the outlet, completing the cleaning process.

[0003] During the initial setup and cleaning of robots, a common problem is negative pressure at the water inlet, which directly impairs the equipment's function. The root cause is the "vacuum suction effect": After the filter component starts, the water pump inside it creates a vacuum. At this point, the water inlet and the pool floor form a sealed space from which the water is quickly drawn out. If the water inlet is in close proximity to the pool floor and the water supply is not timely, the pressure in the space drops abruptly, creating a vacuum gradient. This causes the water inlet to adhere firmly to the pool floor, easily leading to movement problems. Content of the utility model

[0004] The aim of the present application is to overcome at least one of the aforementioned disadvantages of the prior art and to provide a swimming pool robot that solves the problem that, in conventional swimming pool robots, the water inlet tends to stick to the bottom of the pool when starting up, thereby impairing the movement of the swimming pool robot.

[0005] Additional aspects and advantages of this application will be partly explained in the following description and partly evident from the description or learnable through the execution of the present application.

[0006] According to one aspect of the present application, a swimming pool robot is provided which essentially comprises: a device body, a chassis, a cleaning component and a filter component, wherein a water outlet is attached to the device body; wherein the chassis is connected to the device body, wherein the chassis is equipped with a drive component and a water inlet, wherein the drive component moves the chassis and the device body; wherein the cleaning component is arranged on the chassis; wherein the filter component is arranged between the water inlet and the water outlet and serves to filter the water flowing through the interior of the device body;wherein the swimming pool robot further comprises a force-exercise component, wherein the force-exercise component exerts a force before the start of the filter component so that the device body or chassis moves away from the working surface, thus increasing the distance between the water inlet and the working surface; wherein, after the start of the filter component, the force-exercise component cancels the force exerted on the device body or chassis, which is directed away from the working surface.

[0007] In such embodiments, the arrangement of the force-applying component can solve the problem of the water inlet forming a tight suction at the pool floor during startup, thus ensuring a reliable cleaning start. By moving the pool robot forward before cleaning begins, the distance between the water inlet and the pool floor is increased. This widens the gap between them, allowing water and air to enter prematurely to prevent the vacuum suction effect, while simultaneously reducing the contact area. Even with a smooth pool floor or a forward-shifted center of gravity, this avoids the risk of a tight suction. As a result, the robot can immediately begin operating and cleaning normally after starting, thus resolving the typical problem of difficult commissioning with conventional equipment.

[0008] Since the water inlet was removed from the pool floor prematurely, the motor does not have to overcome any additional adsorption force, thus returning the operating load to the normal range; the filter component avoids deformation due to excessive negative pressure and can maintain stable filter performance; the water pump can also operate under stable water refilling in normal operating conditions, thus completely eliminating the additional load of conventional equipment and reducing the probability of failure of core components such as the motor, filter and water pump.

[0009] At the same time, the wear rate of vulnerable components such as the drive elements of the travel components and the water pump, which are affected by negative pressure, is slowed, thus reducing the number of replacements and repairs. This leads to a direct reduction in material and labor costs for maintenance. Once the robot is started, no downtime is required for adjustment due to negative pressure caused by the water inlet and the associated strong suction on the pool floor, thus avoiding time losses during the start-up phase and increasing the overall efficiency of the cleaning process. Regardless of whether the pool floor is made of smooth or rough material, the equipment can be started and operated stably, reducing downtime and increasing ease of use and reliability.

[0010] Once the filter component is activated, a vacuum is created at the water inlet. At this moment, the force-applying component retracts the force exerted on the device body or chassis, which is directed away from the work surface. Under the influence of the vacuum and gravity, the entire pool robot moves back towards the work surface to perform its movements and cleaning operations.

[0011] Understandably, the working surface is defined as the clean surface in the swimming pool, which can specifically be either the horizontal or inclined pool floor, as well as a pool floor with varying steps.

[0012] In some exemplary embodiments of this application according to the above solution, the drive component comprises drive wheels and driven wheels which are connected to each other by transmission, wherein the force application component is a drive motor, wherein the output of the drive motor is connected to the drive wheel, wherein the swimming pool robot, before starting the filter component, lifts the driven wheel and the water inlet about the axis of the drive wheel as the axis of rotation.

[0013] In such embodiments, the drive wheel serves as the torque output point of the drive component and can form a stable rotational reference. A stable rotational axis position facilitates form control and prevents anomalies such as complete tipping over.

[0014] The water inlet is located near the output impeller. Due to the fixed distance between the drive impeller and the output impeller, a longer lever arm is created at the end of the output impeller when it is lifted around the axis of the drive impeller. The lift of the output impeller and the water inlet is therefore significantly greater than in the area near the drive impeller. This creates a larger gap between the water inlet and the pool floor, preventing an airtight seal between the two. Even a thin film of water or fine impurities on the pool floor ensure that air and water quickly enter the area around the water inlet. This prevents the formation of an airtight, vacuum-sealed space after the water pump is started.

[0015] In some exemplary embodiments of this application according to the above solution, the distance d1 between the axis of the driven wheel and the axis of the driving wheel and the diameter d2 of the driven wheel are such that 2 ≤ d1 / d2 ≤ 3 applies.

[0016] In such embodiments, the distance between the axis of the driven wheel and the axis of the drive wheel determines the contact length of the chassis, that is, the length of the actual contact area of ​​the swimming pool robot's chassis with the pool floor. This length corresponds to the span of the chassis in the forward direction of the swimming pool robot.

[0017] Based on this, the drive motor must overcome the resistance torque during rotation around the axis of the drive wheel and provide sufficient power to generate the required torque to enable the rotation. The ratio between the diameter of the output wheel and the distance between the output wheel axis and the drive wheel axis, taking the design parameters into account, directly influences the appropriate setting of the resistance torque. Specifically, assuming the equipment's center of gravity is located in the middle of the wheelbase, the lever arm of the output wheel, or rather its half-section, is 1 / 2 of d1. The resistance torque is the product of the weight of the half-section of the output wheel and the lever arm. Therefore, the factors influencing the output torque of the drive motor include the weight of the half-section of the output wheel and the length of the lever arm.Assuming that the other components of the pool robot remain unchanged, the mass of the output gear depends on its dimensions. The magnitude of the section modulus depends on the distance between the axis of the output gear and the axis of the drive gear, as well as on the diameter of the output gear.

[0018] In the concept described above, the relationship between the distance of the axles from the drive and driven gears and the diameter of the driven gear not only allows for the fulfillment of the design parameters, but also for the comprehensive adjustment of the section torque. This enables the selection of a suitable drive motor that is optimally matched in terms of cost, performance, and quality.

[0019] If the ratio of d1 to d2 is in the range of 2 to 3, the distance between the axis of the driven wheel and the axis of the input wheel can be set between 300 mm and 500 mm, subject to the constraints of the design parameters, such that the diameter of the driven wheel is approximately between 100 mm and 250 mm. This fulfills both the 80 mm clearance requirement for swimming pool robots and the acceptance limits for commercially available large robots, while the section modulus remains compatible with the motor load.

[0020] With a d1 to d2 ratio of less than 2, problems often arise due to design parameter limitations, such as an excessively large output gear diameter or a distance between the output and input gear axes that does not meet actual requirements. Conversely, with a d1 to d2 ratio greater than 2, the output gear diameter is too small, while the distance between the output and input gear axes is close to the upper limit of the design parameters, resulting in inflexible steering, poor maneuverability, and impracticality of the output gear.

[0021] It is understandable that the ratio of d1 to d2 should be in the range of 2 to 3 to meet the actual requirements of d1 = 300-500 mm, which corresponds to a d2 of 100-250 mm. These values ​​correspond to the sizes commonly used for the output gear of the pool robot. This prevents the d1 to d2 ratio from falling below 2, which would result in an excessively heavy output gear or insufficient center distance, as well as a ratio above 3, which would lead to reduced maneuverability and poor passage. The torque always remains within the motor's rated range, thus eliminating the risk of overload, and energy consumption is more efficient compared to other areas. This meets the price-performance ratio requirements of commercial products.

[0022] In some exemplary embodiments of this application according to the above solution, the distance d1 between the axis of the driven wheel and the axis of the driving wheel and the diameter d2 of the driven wheel are such that 2.2 ≤ d1 / d2 ≤ 2.7 applies.

[0023] If the ratio of d1 to d2 is in the range of 2.2 to 2.7, conventional design requirements of d1 = 300-350 mm and d2 = 100-150 mm are met. These values ​​correspond to the sizes commonly used for the output gear of the pool robot. This avoids a d1 to d2 ratio that is too small, which would result in an excessively heavy output gear or insufficient center distance, as well as a ratio that is too large, which would lead to restricted maneuverability and poor passage. The torque always remains within the motor's rated range, thus eliminating the risk of overload, and energy consumption is more efficient compared to other areas. This meets the price-performance ratio requirements of commercial products.

[0024] In some exemplary embodiments of this application according to the above solution, the angle α of the rotation of the output wheel and of the water inlet about the axis of the drive wheel lies between 5° and 25°.

[0025] In such embodiments, adjusting this angle prevents direct suction between the pool floor and the water inlet, ensuring an effective and adequate separation gap between the water inlet and the pool floor. For smooth tiles, soft membranes, and other pool floors that readily form an airtight seal, an angle of up to 25° is sufficient to break the tight connection between the water inlet and the pool floor. With rough pool floors, even a small angle of 5° can allow air to penetrate through gaps, thus preventing the "vacuum suction effect" from occurring in the first place and eliminating the risk of the pool floor becoming stuck during the initial filling phase.

[0026] Experimental tests revealed that at a rotation angle of less than 5°, the drive wheel and water inlet are not raised sufficiently, resulting in an insufficient gap between the water inlet and the pool floor. This causes the rate of water and air supply to deviate from the rate at which the vacuum is created after the water pump starts, thus maintaining the possibility of negative pressure within the enclosed space. Furthermore, the continuous contact of the water inlet with the pool floor increases the robot's resistance during startup, negatively impacting the efficiency of the cleaning start.If the rotation angle exceeds 25°, the center of gravity of the pool robot shifts significantly, which can easily lead to the equipment tipping forward or backward, resulting in an imbalance and potentially even causing it to overturn, posing a safety risk. Simultaneously, an excessively large angle subjects the transmission components of the drive and driven gears to torques and loads far exceeding normal operating conditions, accelerating component wear and reducing their lifespan. Furthermore, the impact of the device body returning to its normal cleaning position can cause additional damage to the chassis, water inlet, and cleaning components.

[0027] The rearward shift of the center of gravity, based on inertia, relies on rotation around the axis of the drive wheel. This angular range ensures that the center of gravity shift always remains within the safe range of "stable support by the drive wheel." This prevents an angle that is too small from resulting in insufficient rearward shift of the center of gravity and incomplete lifting of the driven wheel, just as an angle that is too large (e.g., above 25°) causes excessive tilting of the vehicle, which can lead to a reduction in the contact area between the drive wheel and the pool floor, a decrease in traction, and even slippage.

[0028] In some exemplary embodiments of this application according to the above solution, the power transmission between the drive wheel and the driven wheel is effected by means of chains, wherein the drive motor rotates in the opposite direction of rotation to the direction of rotation of the drive wheel during the movement of the swimming pool robot before the start of the filter component, wherein the direction of rotation of the drive motor after the start of the cleaning coincides with the direction of rotation of the drive wheel during the movement of the swimming pool robot.

[0029] In such embodiments, the transmission between the drive wheel and the driven wheel is achieved via chains, thereby generating a stable and controllable "reaction force". The reverse-rotating drive motor drives the driven wheel via the chain and, with a high instantaneous torque, forces the chain to guide the driven wheel around its axis of rotation, thus lifting the drive wheel.

[0030] Since the contact area of ​​the chain with the pool floor is significantly larger than that of a single wheel, it can provide a more consistent and powerful reverse friction force. Furthermore, the flexible adaptability of the chain-driven system allows for the damping of instantaneous torque surges that occur when the drive motor reverses. Compared to a rigid wheel drive, where abrupt reverse rotation can create local stress concentrations, the chain distributes the reverse torque across multiple contact points over a larger contact area with the pool floor, resulting in a smoother lifting action of the driven wheel.

[0031] In some exemplary embodiments of this application according to the above solution, the output power of the drive motor before the start of the filter component is greater than the output power of the drive motor during normal forward movement of the swimming pool robot.

[0032] In such embodiments, with unchanged drive wheel sizes and speeds, the output power of the drive motor corresponds to the output torque of the drive motor. That is, the drive motor delivers a torque before starting that is greater than that required for normal movement. This arrangement makes it possible to generate a high torque briefly to quickly accelerate the drive wheel, thereby rapidly overcoming the static friction between the driven wheel and the pool floor. This process requires no complex preparations and quickly utilizes inertia to shift the center of gravity of the pool robot towards the drive wheel and lift the driven wheel, thus increasing the distance between the chassis and the pool floor.This design provides a certain amount of preparation time before the cleaning component starts, ensuring that the robot can quickly transition to cleaning operation.

[0033] It is logical that the drive motor of the travel component is used directly as the force-actuating component, thus eliminating the need for additional independent mechanisms. This reduces the number of components and the assembly complexity of the device, while simultaneously saving installation space inside the device body.

[0034] Since the drive motor is also used as a power transmission component, no additional development of control logic or maintenance standards for new components is required. Existing motor tests, fault diagnostics, and maintenance processes for the drive system can be directly adopted, thus reducing technical development effort and training costs for maintenance personnel. At the same time, the technical maturity and operational reliability of the entire equipment are increased.

[0035] It should be explained that normal movement describes the state in which the pool robot progresses during regular cleaning operations. The torque delivered by the drive wheels ensures that the pool robot continues at a constant speed while the cleaning component performs the cleaning.

[0036] In some exemplary embodiments of this application according to the above solution, the drive motor is a brushless DC motor or a permanent magnet synchronous motor.

[0037] In such embodiments, the use of a brushless DC motor allows for precise torque control, meeting the requirements for forward and reverse drive as well as lifting functionality. This motor is characterized by a fast response speed and smooth motion transitions, thus fulfilling the requirements for the lifting function of the entire machine. Furthermore, it offers the advantages of moisture resistance and low maintenance, making it suitable for use in swimming pool environments.

[0038] When choosing a permanent magnet synchronous motor, its operating efficiency is high. It boasts a high power density and is suitable for miniaturizing the housing of pool robots. In terms of motor control, it offers high speed stability, ensures smoother movement and lifting behavior, and is characterized by high energy efficiency, which can effectively extend its service life.

[0039] In some exemplary embodiments of this application according to the above solution, a reduction component is arranged between the output of the drive motor and the drive wheel.

[0040] The reduction gear component is designed to increase torque. By selecting an appropriate reduction ratio, the torque magnitude can be adjusted and the output torque regulated before starting. This amplifies the torque, reducing the power and torque requirements of the drive motor and improving the lifting capacity of the pool robot.

[0041] In some exemplary embodiments of this application according to the above solution, the output wheel and the drive wheel are arranged one after the other along the forward direction of the swimming pool robot, wherein the distance of the water inlet to the axis of the output wheel is smaller than the distance of the water inlet to the axis of the drive wheel.

[0042] In such embodiments, the drive wheel serves as the torque output point of the drive component and can form a stable rotational reference. A stable rotational axis position facilitates form control and prevents anomalies such as complete tipping over.

[0043] In the above-mentioned arrangement, the water inlet is located near the output impeller, relative to the input impeller. Due to the fixed distance between the input and output impellers, a longer lever arm is created at the end of the output impeller when it is lifted around the axis of the input impeller. The lift of the output impeller and the water inlet is therefore significantly greater than in the area near the input impeller. This creates a larger gap between the water inlet and the pool floor, preventing a tight seal. Even a thin film of water or fine impurities on the pool floor ensure that air and water quickly enter the area around the water inlet. This fundamentally prevents the formation of an airtight, vacuum-sealed space after the water pump is started.

[0044] In some exemplary embodiments of this application according to the above solution, the diameter of the output wheel d2 and the diameter of the drive wheel d3 are such that d2 and d3 satisfy the relationship d2 / d3 ≤ 1.

[0045] In such embodiments, d2 and d3 satisfy the condition d2 / d3 ≤ 1, meaning the size of the drive wheel is set smaller than that of the driven wheel. This arrangement improves the torque output and allows for better lifting of the pool robot.

[0046] From a structural perspective, the drive wheel, being the rear wheel, is directly connected to the electric motor, with the combined mass of both being significantly greater than that of the driven wheel. This results in a shift in the center of gravity in favor of the drive wheel. By increasing the size of the driven wheel and decreasing the size of the drive wheel, the rearward shift in the center of gravity can be reduced, provided the robot can navigate the obstacle, thus improving the stability of the pool robot.

[0047] In some exemplary embodiments of this application according to the above solution, the force-applying component comprises a drain device, wherein the drain device is arranged in the device body, wherein the chassis is provided with a water outlet hole, wherein the outlet end of the drain device is connected to the water outlet hole, and wherein the drain device discharges water through the water outlet hole before the start of the filter component in order to generate an effective force that increases the distance between the water inlet and the pool floor.

[0048] In such embodiments, the system generates a water flow via a drainage device, which exits from a water outlet hole located on the chassis. At the water inlet hole, positive pressure is actively exerted towards the pool floor. The reaction force of the downward-directed water jet directly lifts the chassis and rapidly increases the distance between the water inlet and the pool floor. This completely breaks the airtight environment necessary for the vacuum suction effect. Even with smooth tiles or soft membrane pool floors that are slightly airtight, the positive pressure surge effectively eliminates the risk of absorption.

[0049] In some exemplary embodiments of this application according to the above solution, the drainage device comprises a water pump, wherein the water pump has a first port, a second port and a third port, wherein the device body is provided with a through-hole, wherein the first port communicates with the outlet end of the filter component, wherein the second port communicates with the through-hole, wherein the third port is connected to the water outlet hole and a first valve body is arranged between the third port and the water outlet hole, wherein the water pump rotates backwards before the swimming pool robot moves forward, wherein the water enters through the through-hole, flows out via the third port and the first valve body through the water outlet hole in order to increase the distance between the water inlet and the pool floor;wherein the water pump rotates forward during the movement of the swimming pool robot, the first valve body closing, the water entering from the outlet end of the filter component and flowing out through the second connection via the through-hole.;

[0050] In such embodiments, the water pump is arranged to generate a directed fluid flow to ensure the operation of the filter component or to lift the chassis. The solution described above uses the same drive element both for generating the vacuum for the filter component and for generating the force to lift the chassis. This allows, on the one hand, a reduction in drive costs and an increase in the compactness of the structure, and on the other hand, the arrangement of multiple connections enables precise control of the water flow inside the pool robot.

[0051] It is understandable that the filter component functions as a one-way channel due to the nature of the filtration requirements. When the water pump runs in reverse, there is no backflow of water into the water inlet, thus preventing the filter component's dirt container from expelling contaminated water backward and contaminating the swimming pool. According to the arrangement of the first valve body, the passage for lifting the chassis is also designed as a one-way passage. The arrangement of the two one-way passages forms a structure that enables both the filter function during forward rotation and the lifting function during reverse rotation. This also prevents a vacuum from forming at the water inlet during the lifting process, ensuring that the chassis can be lifted effectively.

[0052] In some exemplary embodiments of this application according to the above solution, the reversing time of the water pump t1 satisfies the following condition: 0.4 seconds ≤ t1 ≤ 1.2 seconds.

[0053] These embodiments meet the timing requirements for adjusting the robot's position and creating a minimal gap between the water inlet and the pool floor. This prevents the contact time from being too short and the lifting distance of the water inlet from being insufficient, which could lead to the water inlet becoming firmly suctioned to the pool floor. Simultaneously, the period without a cleaning interval during the water inlet lifting process is strictly controlled to minimize the problem of cleaning deficiencies due to inactive cleaning functions, reduce the effort required for follow-up cleaning, and shorten the overall cleaning time. This is particularly suitable for the efficient cleaning of large pool areas and further optimizes cleaning efficiency.

[0054] It is understandable that with a duration of less than 0.4 seconds, the positive pressure generated by the reverse rotation of the water pump does not persist sufficiently. As a result, the water's back pressure cannot effectively lift the base, and the water inlet remains firmly in contact with the pool floor. During a gentle start, the faster formation of the vacuum compared to the lifting speed of the water inlet quickly creates a high vacuum, causing the water inlet to remain stuck to the pool floor, forming a closed space. This ultimately perpetuates the problem of "suction" and prevents the desired effect from being achieved.On the other hand, if the time exceeds 1.2 seconds, the reverse rotation of the water pump, due to the sustained positive pressure, causes the robot to experience unnecessary displacements in the water, deviating from its original cleaning position and increasing the cost of subsequent path adjustment. With a soft start, the extended period without establishing effective negative pressure prevents the robot from drawing in and filtering water while moving, resulting in "idle cleaning." This not only necessitates rework to clean missed areas, thus extending the overall cleaning time, but can also lead to a significant reduction in cleaning efficiency due to path overlaps, and even create an imbalance with some areas being repeatedly cleaned while others are inadequately cleaned.

[0055] In some exemplary embodiments of this application according to the above solution, the force application component comprises one or more floating support structures arranged in the device body, wherein at least one of the floating support structures serves to raise or lower the water inlet.

[0056] In such embodiments, it is not necessary to resort to additional tensile forces or vacuum controls to directly interrupt the sealing conditions required for the vacuum suction effect. Even with a smooth pool floor or slight filter clogging, a stable buoyancy force can increase the distance between the water inlet and the pool floor, thus completely avoiding the problem of movement difficulties caused by suction during initial setup.

[0057] At the same time, the floating support structure does not require additional equipment with drive motors, transmission components or other drive elements, thereby simplifying the overall structure of the force application system, reducing the risk of failure due to the cooperation of multiple components and lowering the energy consumption of the equipment.

[0058] Furthermore, single or multiple floating support structures can flexibly adjust the buoyancy force, making them suitable for robots of varying weights and positions relative to the water inlet, as well as for swimming pools of different depths. The buoyancy process is smooth and does not cause any mechanical impacts on the device body, inlet, or other components, effectively extending the equipment's lifespan, reducing maintenance effort and costs, and ensuring uninterrupted cleaning operations.

[0059] In some exemplary embodiments of this application according to the above solution, the floating support structure is a buoyancy chamber, wherein a drainage structure and a water inlet opening are arranged in the buoyancy chamber, wherein the water inlet opening is closed before the start of the filter component, and wherein the drainage structure drains the water from the buoyancy chamber.

[0060] In such embodiments, the swimming robot, whether in operation or at rest, is filled with water in its buoyancy chamber. When lifting is required, the water is quickly pumped out by a drainage system (e.g., water pump, blower, gas generator, etc.), reducing the robot's internal mass and simultaneously increasing its buoyancy, thus raising the water inlet. After entering normal cleaning mode, the robot can be brought back down by further refilling the buoyancy chamber with water and releasing the air.

[0061] In some exemplary embodiments of this application according to the above solution, the cleaning component comprises a roller brush and a roller brush holder, wherein the roller brush holder is telescopically connected to the chassis, wherein the roller brush is attached to an end of the roller brush holder that is away from the chassis, wherein the force application component comprises an elastic restoring element arranged between the roller brush holder and the chassis, wherein the elastic restoring element bears against both the roller brush holder and the chassis.

[0062] In such embodiments, the arrangement of the elastic return element causes a force to act upon the start of the pool robot, which, through the brief, strong application of force, pushes the device body downwards. This compresses the elastic return element. After the acting force stabilizes, the elastic return element releases its elastic potential energy, thereby lifting the pool robot and exposing the water inlet. This prevents suction on the work surface and avoids movement problems.

[0063] In some exemplary embodiments of this application according to the above solution, the time in which the distance between the water inlet and the pool floor is increased satisfies the condition of 1 to 3 seconds.

[0064] In such embodiments, a duration of 1 to 3 seconds allows for a more smooth lifting motion of the output wheel around the axis of the drive wheel. Compared to a "quick lift" of less than 1 second, this prevents wobbling of the device body due to inertia, which can even prevent the drive wheel from momentarily slipping on the pool floor, thus ensuring that the pool robot can perform its regular cleaning function. Compared to a "slow lift" of more than 3 seconds, the risk of deformities in pool robots increases, while simultaneously delaying the cleaning start process and reducing the overall efficiency of the workflow. A duration of 1 to 3 seconds allows the pre-start preparation time to be kept within reasonable limits, ensuring that the robot quickly switches to cleaning mode.This protects both the mechanical lifespan of the driving components and the efficiency of the cleaning work.

[0065] It should be understood that the above general descriptions and the following detailed descriptions are merely exemplary and explanatory and do not restrict the present application. Illustration of the attached figures

[0066] The drawings included here are incorporated into the description and form part of it. They show embodiments according to this application and, together with the description, serve to illustrate the principles of this application. Naturally, the accompanying drawings in the following description represent only some embodiments of the present application. Other accompanying drawings can be obtained by the person skilled in the art without any creative effort. Fig. Figure 1 shows a schematic representation of the front view of a swimming pool robot before work begins, according to an embodiment of the present application. Fig. Figure 2 shows a schematic representation of the underside of a swimming pool robot according to an embodiment of the present application. Fig. Figure 3 shows a schematic representation of the front view of a swimming pool robot according to an embodiment of the present application, wherein the output wheel is in a raised position. Fig. Figure 4 shows a schematic representation of the front view of a swimming pool robot in a raised position according to an embodiment of the present application.

[0067] The figures above contain the following designations: 10. Device body; 20. Chassis; 21. Driving component; 211. Drive wheel; 212. Output wheel; 213. Chain; 22. Water inlet; 23. Water outlet; 30. Cleaning component; 40. Floating support structure. Specific embodiments

[0068] The exemplary embodiment is described in more detail below with reference to the accompanying figures. However, the present embodiments can be implemented in a variety of ways and are not limited to those presented herein; rather, these embodiments serve to make the present application comprehensive and complete and to fully convey the conceptual basis of the exemplary embodiments to those skilled in the field. Identical labels in the figure denote identical or similar structures, which is why their detailed description is omitted.

[0069] The features, structures, or properties described above can be combined in one or more embodiments in any suitable manner. Where possible, the features discussed in the individual embodiments are interchangeable. The above description provides numerous specific details to ensure a comprehensive understanding of the embodiments of this application. However, those skilled in the art will recognize that the technical solutions described in this application can also be implemented without one or more of the specific details mentioned, or that other methods, components, materials, etc., can be used. In other cases, generally known structures, materials, or processes are not presented or described in detail to avoid ambiguity regarding the various aspects of this application.

[0070] Although relative terms such as "above" and "below" are used in this application to describe the relative position of one component of a symbol to another component, these terms serve only for simplification, for example, according to the orientation shown in the accompanying figures. It is understandable that if the device in the figure is turned upside down, the components previously described as "above" become "below." Other relative terms such as "high," "low," "top," "bottom," "front," "back," "left," and "right" also have similar meanings. When a structure is "on" another structure, this can mean that one structure is integrally formed on the other structure, or that one structure is "directly" attached to the other structure, or that one structure is "indirectly" attached to the other structure via another structure.

[0071] 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 "comprise", "include" and "have" are used to indicate open inclusion and mean that, in addition to the listed elements / components / etc., further elements / components / etc. may also be present.

[0072] Before presenting the swimming pool robot described in this application, a brief overview of the current state of the art in this field is necessary in order to better understand the technical concept of this application.

[0073] In the field of automated swimming pool cleaning, the pool robot represents a relatively sophisticated technical structure and functionality as core equipment. It typically consists of two main components: the unit body and the chassis. A water outlet for drainage is located on the outside of the unit body, while the chassis integrates the drive system, the cleaning component, and the water circulation and filtration system. The drive system comprises motor-driven drive and driven wheels, as well as chains that connect the wheels and enable the robot to move across the pool floor. The cleaning component consists primarily of a roller brush, which assists in removing dirt particles from the pool floor. The water circulation and filtration system comprises a water inlet, a water pump, and a debris basket.During operation, the water pump creates a suction that draws water containing dirt particles from the pool floor through the water inlet. After filtration in the dirt basket, the cleaned water is discharged through the water outlet, thus completing the pool cleaning process.

[0074] In practical application, robotic pool cleaners often encounter a key technical problem during the initial cleaning phase, caused by negative pressure at the water inlet. This problem significantly impacts operational reliability and the lifespan of the equipment. The underlying cause lies in the "vacuum suction effect": when the robot is ready to begin cleaning the pool floor and the water pump starts to create suction, a sealed space quickly forms between the water inlet and the pool surface. The water pump continuously extracts the air from this space.

[0075] If the water inlet is in close proximity to the surface of the swimming pool (for example, if the device is completely adhered to the pool floor at rest), the surrounding water cannot fill the enclosed space in time. This leads to a significant pressure drop inside, creating a considerable vacuum compared to the external water pressure. Under the combined effect of this vacuum and the water pressure, the water inlet adheres firmly to the pool floor, resulting in the phenomenon of "suction sealing."

[0076] Further analysis reveals that the exacerbation of the adsorption problem is also influenced by three key factors: First, the failure of the pressure relief system due to filter clogging. If, when the robot is stationary, the filter is already contaminated with a significant amount of foreign matter or the water inlet is partially blocked by impurities, the water volume is considerably reduced when the water pump starts. The air in the enclosed space cannot be quickly replaced by the water flow, making it difficult to mitigate the negative pressure and further intensifying the adsorption effect; second, there are differences in the airtightness of the material and the topography of the pool floor.If the pool floor consists of smooth tiles or soft pool liner, the surface has a high degree of flatness and density, which promotes a completely airtight seal with the water inlet and accelerates the formation of a closed space. In contrast, slightly rough or uneven floor surfaces can have small air gaps that equalize air pressure to some extent and reduce the risk of suction. Thirdly, there is a lack of rationality in the equipment's center of gravity design. Some pool robots have a design flaw with a forward-shifted center of gravity. Even at rest, the pressure on the pool floor is greater at the front. Combined with the suction force of the water pump, this further increases the downward pressure from the water inlet (if it is located at the front of the chassis) on the pool floor.This creates a pressure concentration in conjunction with a negative pressure suction, making the absorption phenomenon more difficult to overcome.

[0077] The problem of vacuum adsorption can trigger a number of technical risks: First, it directly leads to the robot being difficult or even impossible to move – the drive system's motor must overcome the adsorption force between the water inlet and the pool floor to power the tracks or wheels. If the adsorption force exceeds the motor's driving force, the equipment comes to a standstill. Second, this significantly increases the load on the motor. To overcome the adsorption force, the motor must operate continuously under high load, which not only increases energy consumption but also accelerates wear on the motor's internal components, thus significantly shortening its lifespan.Ultimately, this can cause potential damage to the filter and pump system. Excessive negative pressure results in an unusually strong impact on the water flow, which can deform or damage the filter. Simultaneously, the water pump starts under unstable operating conditions, promoting pressure fluctuations. Prolonged exposure to such stress reduces the tightness and operational reliability of the pump system, compromising the protection of the equipment's core components and ultimately increasing maintenance costs and the likelihood of the pool robot failing.

[0078] In some exemplary embodiments of this application according to the above solution with reference to Fig. 1 and Fig. 3. A swimming pool robot is provided, which essentially comprises: a device body 10, a chassis, a cleaning component 30, and a filter component, wherein a water outlet is attached to the device body 10; wherein the chassis is connected to the device body 10, wherein the chassis is equipped with a drive component 21 and a water inlet 22, wherein the drive component 21 moves the chassis and the device body 10; wherein the cleaning component 30 is arranged on the chassis; wherein the filter component is arranged between the water inlet 22 and the water outlet and serves to filter the water flowing through the interior of the device body 10;wherein the swimming pool robot further comprises a force-exercise component, wherein the force-exercise component exerts a force before the start of the filter component so that the device body 10 or the chassis moves away from the working surface, thus increasing the distance between the water inlet 22 and the working surface; wherein, after the start of the filter component, the force-exercise component cancels the force exerted on the device body or the chassis 20, which is directed away from the working surface.

[0079] In such embodiments, the arrangement of the force-applying component can solve the problem of tight suction at the water inlet 22 on the pool floor from the outset, thus ensuring the reliability of a cleaning start. By activating a pre-start movement, a force is exerted on the device body 10 or the chassis before the cleaning process begins, directed away from the pool floor, thereby increasing the distance between the water inlet 22 and the pool floor. The increased gap between the two allows water and air to penetrate prematurely, breaking the tight seal that would otherwise require a vacuum suction effect, while simultaneously reducing the contact area. Even with a smooth pool floor or a forward-shifted center of gravity, this avoids the risk of tight suction.This allows the robot to drive and clean normally immediately after starting, thus solving the typical problem of the difficult commissioning of conventional equipment.

[0080] Since the water inlet 22 was removed from the pool floor prematurely, the motor does not have to overcome any additional adsorption force, thus returning the operating load to the normal range; the filter component avoids deformation due to excessive negative pressure and can maintain stable filter performance; the water pump can also operate under stable water / air replenishment in normal operating conditions, thus completely eliminating the additional load of conventional equipment and reducing the probability of failure of core components such as the motor, filter and water pump.

[0081] At the same time, the wear rate of vulnerable components such as the drive elements of the travel components 21 and the water pump, which are affected by negative pressure, is slowed, thus reducing the number of replacement and repair operations. This leads to a direct reduction in material and labor costs for maintenance. After the robot starts, no downtime for adjustment due to the strong suction of the pool floor from the water inlet 22 is required, thus avoiding time losses during the start-up phase and increasing the overall efficiency of the cleaning operations. Regardless of whether the pool floor is made of smooth or rough material, the equipment can be started and operated stably, reducing downtime and increasing ease of use and reliability.

[0082] It is understandable that a vacuum is created at the water inlet when the filter component starts. Under these vacuum conditions, the water inlet 22 creates a strong suction against the pool. In this case, water extraction by the water pump gradually becomes more difficult, leading to idling without water exchange. This causes an excessive pressure differential between the front and back of the water pump, which places a heavy load on both the pump's structure and the internal motor, potentially leading to damage. Regarding the drive element of the travel component 21, the frictional resistance of the pool robot gradually increases due to the suction against the pool floor, thus increasing the torque required by the drive element. Under prolonged high load, the drive element of the travel component 21 is also susceptible to damage and requires maintenance.

[0083] Once the filter component is activated, a vacuum is created at the water inlet 22. At this moment, the force-applying component retracts the force exerted on the device body 10 or the chassis, which is directed away from the work surface. Under the influence of the vacuum and gravity, the entire pool robot moves back towards the work surface to perform movement and cleaning operations.

[0084] Understandably, the working surface is defined as the clean surface in the swimming pool, which can specifically be either the horizontal or inclined pool floor, as well as a pool floor with varying steps.

[0085] It is easy to understand that the design of the pool robot's water inlet 22 is essentially aimed at realizing the cleaning function for water filtration and the removal of impurities. The operating principle requires the creation of a negative pressure to draw in water and thus transport dirt particles into the filter system. From a cleaning efficiency perspective, the pool floor represents the main area for the formation and accumulation of contaminants (such as sediment, hair, dirt particles, etc.). Therefore, the water inlet 22 is positioned close to the surface of the pool floor so that, after the cleaning component 30 has completed its floor cleaning, the newly removed contaminants can be immediately vacuumed up.This effectively prevents these contaminants from re-entering other areas of the water body, ensures the cleaning effect and simultaneously reduces secondary pollution.

[0086] Specifically, the cleaning component 30 refers to the core component with an active cleaning function, the typical design of which includes a roller brush and scraper bars: The roller brush, through rotating movements, can loosen and collect stubborn deposits on the pool floor (such as algae and limescale), while the scraper bar, by pressing and scraping, pushes dust particles and fine grains deposited on the pool floor towards the water inlet 22. The interaction of both components enables a thorough physical cleaning of the pool floor and creates the basis for the subsequent suction process at the water inlet 22. The filter component typically consists of a waste basket installed in the middle section of the water flow path, which fulfills both filter and intermediate storage functions. When the water inlet 22 draws in contaminated water, the water first flows through this waste basket.The filter structure inside (such as a filter mesh or filter bag) can precisely retain impurities and waste in the water while temporarily storing the captured pollutants. After cleaning is complete, the user can remove the contaminants by disassembling the waste bin or have them automatically emptied by a robot to ensure continuous and effective filtration.

[0087] It should be explained that the water inlet 22 is typically arranged in the width direction of the pool robot and essentially has a flattened shape. It is understandable that a negative pressure is created at the water inlet 22 at the end of the initial start-up, generating a suction effect. At this point, the water flow at the position of the chassis is greater than the water flow above the pool robot, resulting in a downward force that forces the pool robot from its raised position back towards the pool floor.

[0088] In some exemplary embodiments of this application according to the above solution with reference to Fig. 1 and Fig. 3 comprises the drive component 21 drive wheels 211 and driven wheels 212, which are connected to each other by transmission, wherein the force application component is a drive motor, wherein the output of the drive motor is connected to the drive wheel 211, wherein the swimming pool robot, before starting the filter component, lifts the driven wheel 212 and the water inlet 22 about the axis of the drive wheel 211 as the axis of rotation.

[0089] In such embodiments, the drive wheel 211 serves as the torque output point of the drive component 21 and can form a stable rotational reference. A stable rotational axis position facilitates form control and prevents anomalies such as complete tipping over.

[0090] The specific movement pattern, in which the output wheel 212 and the water inlet 22 are lifted around the axis of the drive wheel 211 as the axis of rotation, resembles the lever effect. This not only reduces the lifting energy consumption but also enables precise elimination of the negative pressure at the water inlet due to the shortest possible path, and also eliminates the need for additional lifting mechanisms in the design. Based on the instantaneous drive torque of the drive motor, this concept allows for a directed separation of the water inlet 22 within milliseconds, thus completely preventing the risk of bottom suction. The drive wheel 211 ensures acceleration stability through continuous ground contact and ultimately achieves a highly reliable, energy-efficient, and fast-acting start and separation effect.

[0091] The torque of the drive wheel 211 acts directly on the moment of inertia near its own axis, thus avoiding power transmission via complex lever mechanisms or similar transmission systems. This effectively improves the direct torque transmission. This design concept significantly shortens the power transmission chain and considerably reduces the delay in the mechanism's response, so that the output wheel 212 and the water inlet 22 generate an effective lifting motion within a short time after the drive motor is started.

[0092] This design fully utilizes the arrangement of the drive component 21 without requiring an additional, independent lifting and support structure or a pivoting axis component. By optimizing the spatial relationship between the wheelset and the water inlet 22, a stable lifting system can be established. This structural synergy not only reduces the number of components inside the device body 10, thus minimizing the risk of failures due to the interaction of multiple components, but also enables efficient coordination with the aforementioned high-torque drive motor. The torque generated by the drive motor acts directly on the drive wheel 211, which, by rotating its axis, lifts the driven wheel 212 and the water inlet 22.The power transmission path is short and exhibits low losses, thus avoiding performance reduction caused by additional components. This improves the response speed and energy efficiency of the lifting motion during the start-up phase.

[0093] Given complex operating conditions with slight elevations, depressions, or locally smooth areas on the pool floor, the lifting design of this system ensures that the water inlet 22 is reliably kept away from the pool floor: On the one hand, the enlarged lifting area allows for the coverage of minimal height differences on the pool floor. Even with slight elevations, the water inlet 22 can bypass the raised areas due to the greater lifting height, thus preventing local adhesion caused by the elevation. On the other hand, the fixed mounting of the drive wheel 211 axle ensures that the lifting process remains unaffected by minor shifts in the center of gravity of the device body 10.Even if the robot experiences a slight shift in its center of gravity due to the temporary accumulation of dirt in the waste bin, the elevation around the axis of the drive wheel 211 ensures a stable lifting path for the driven wheel 212 and the water inlet 22, preventing the water inlet 22 from sinking due to changes in the center of gravity and ensuring it remains in contact with the pool floor. This further increases the reliability of the equipment's start-up under various operating conditions.

[0094] In some exemplary embodiments of this application according to the above solution, the distance d1 between the axis of the output wheel 212 and the axis of the drive wheel 211 and the diameter d2 of the output wheel 212 are such that 2 ≤ d1 / d2 ≤ 3 applies.

[0095] In such embodiments, 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 of ​​the chassis of the swimming pool robot with the pool floor. This length corresponds to the span of the chassis 20 in the forward direction of the swimming pool robot.

[0096] Based on this, the drive motor must overcome the resistance torque during rotation around the axis of the drive wheel 211 and provide sufficient power to generate the required torque to enable the rotation. The ratio between the diameter of the output wheel 212 and the distance between the axis of the output wheel 212 and the axis of the drive wheel 211, taking the design parameters into account, directly influences the appropriate setting of the resistance torque. Specifically, assuming that the center of gravity of the equipment is located in the middle of the wheelbase, the lever arm of the output wheel 212, or rather of half the output wheel, is 1 / 2 of d1. The resistance torque is the product of the weight of half the output wheel and the lever arm.The factors influencing the output torque of the drive motor include the weight of the output gear half-section and the length of the lever arm. Assuming that the other components of the pool robot remain unchanged, the mass of the output gear 212 depends on its dimensions. The magnitude of the resistance torque depends on the distance between the axis of the output gear 212 and the axis of the drive gear 211, as well as on the diameter of the output gear 212.

[0097] In the concept described above, the relationship between the distance of the axles from the drive wheel 211 and the driven wheel 212, and the diameter of the driven wheel 212, not only enables the fulfillment of the design parameters but also the comprehensive adjustment of the section torque. This allows for the selection of a suitable drive motor that is optimally adapted in terms of cost, performance, and quality.

[0098] If the ratio of d1 to d2 is in the range of 2 to 3, the distance between the axis of the output gear 212 and the axis of the drive gear 211 can be set between 300 mm and 500 mm, subject to the constraints of the design parameters, such that the diameter of the output gear 212 is approximately between 100 mm and 250 mm. This fulfills both the 80 mm clearance requirement for swimming pool robots and the acceptance limits for commercially available large robots, while the section modulus remains compatible with the motor load.

[0099] With a d1 to d2 ratio of less than 2, problems frequently arise due to the limitations of the design parameters, such as an excessively large diameter of the output gear 212 or a distance between the axes of the output gear 212 and the drive gear 211 that does not meet the actual requirements. Conversely, with a d1 to d2 ratio greater than 2, the diameter of the output gear 212 is too small, while the distance between the axes of the output gear 212 and the drive gear 211 is close to the upper limit of the design parameters, resulting in an overall inflexible steering system as well as poor maneuverability and impracticality of the output gear 212.

[0100] It is understandable that the ratio of d1 to d2 should be in the range of 2 to 3 to meet the actual requirements of d1 = 300-500 mm, which corresponds to a d2 of 100-250 mm. These values ​​correspond to the sizes commonly used for the output gear 212 of the swimming pool robot. This prevents the d1 to d2 ratio from falling below 2, which would result in an excessively heavy output gear or insufficient center distance, as well as a ratio above 3, which would lead to reduced maneuverability and poor passage. The torque always remains within the motor's rated range, thus eliminating the risk of overload, and energy consumption is more efficient compared to other areas. This meets the requirements for the price-performance ratio of commercial products.

[0101] In some exemplary embodiments of this application according to the above solution, the distance d1 between the axis of the output wheel 212 and the axis of the drive wheel 211 and the diameter d2 of the output wheel 212 are such that 2.2 ≤ d1 / d2 ≤ 2.7 applies.

[0102] If the ratio of d1 to d2 is in the range of 2.2 to 2.7, conventional design requirements of d1 = 300-350 mm and d2 = 100-150 mm are met. These values ​​correspond to the sizes commonly used for the output gear of the swimming pool robot. This prevents the d1 to d2 ratio from being too small, which would result in an excessively heavy output gear 212 or insufficient center distance, as well as an excessively large ratio, which would lead to restricted maneuverability and poor passage. The torque always remains within the motor's rated range, thus eliminating the risk of overload, and energy consumption is more efficient compared to other areas. This meets the price-performance ratio requirements of commercial products.

[0103] In a specific solution, d1 and d2 satisfy the relationship d1 / d2 = 2.2, which corresponds to a stability-oriented, conservative design. Practical measurements show that the lifting angle is 8°–10°, effectively disrupting the vacuum adsorption. The gap between the water inlet 22 and the working surface is 0.2–0.3 mm.

[0104] The actual energy consumption is reflected in the torque requirement: 20-22 N·m. While the requirement is relatively high, the shift in the center of gravity is minimal. The contact pressure of the drive wheel 211 is sufficient. With a coefficient of friction of at least 0.3 between the working surface and the drive wheel 211 or the chain, the slip rate is only 5%.

[0105] In a specific solution, d1 and d2 satisfy the relationship d1 / d2 = 2.3, which corresponds to a stability-oriented, conservative design. Practical measurements show that the lifting angle is 10°–12°, effectively disrupting the vacuum adsorption. The gap between the water inlet 22 and the working surface is 0.3–0.4 mm. No auxiliary structures are required, and the filter clogging rate in the filter component is reduced by 50%.

[0106] The position of the center of gravity and the balance of the drive torque exhibit high stability. Under test conditions with an obstacle height of ≤3 cm, an actual overcoming rate of 95% was achieved. And during the starting process, the inrush current is only 7.5 A, with a failure rate of just 3%.

[0107] In another specific solution, d1 and d2 satisfy the condition d1 / d2=2.4. The lifting angle of 12° to 14° offers a significant lifting advantage, reducing the load when starting the filter component and increasing the extraction efficiency by 15%.

[0108] In another specific solution, d1 and d2 satisfy the condition d1 / d2 = 2.5. The measured lifting efficiency is 14°–15°, which completely eliminates the risk of suction during lifting. Specifically, d1 can be set to 300 mm and d2 to 120 mm.

[0109] In a specific solution, d1 was set to 310 mm and d2 to 135 mm, with the ratio d1 / d2 = 2.296, which is within the range of 2.2 to 2.7. The measured elevation is 14°–15° and 10°–12°, respectively, which effectively disrupts the vacuum adsorption. The gap between the water inlet 22 and the working surface is 0.3–0.4 mm.

[0110] With reference to Fig. 3 In comparison to the axis of the drive wheel 211 in some exemplary embodiments of this application according to the above solution, the angle α of the rotation of the driven wheel 212 and of the water inlet 22 about the axis of the drive wheel 211 lies between 5° and 25°.

[0111] In such embodiments, the design of the lifting angle is key to solving the suction problem at the water inlet 22: On the one hand, it should effectively prevent the water inlet 22 from being sucked firmly against the pool floor, and on the other hand, it should ensure that an effective and adequate separation gap exists between the water inlet 22 and the pool floor. Specifically, this angle arrangement balances the requirements of "anti-absorption" and "suction maintenance." Firstly, it prevents the gaps from being too narrow at an angle that is too small (<5°), which would lead to a delayed water supply and thus pose the risk of residual negative suction. Secondly, it prevents the gaps from being too wide at an angle that is too large (>25°), which could impair the suction performance of the downstream water pump. This achieves a balanced consideration of functionality and efficiency.

[0112] Regarding adaptability to various pool floor scenarios, for smooth tiles, soft membranes, and similar pool floors that easily form an airtight seal, a lifting angle of less than 25° is sufficient to break the tight connection between the water inlet 22 and the pool floor, thus preventing the formation of a vacuum. Even with rough pool floors, a minimal lifting angle of 5°, by introducing air gaps, can prevent the formation of a "vacuum suction cup effect" at the base, completely eliminating the risk of "sticking" during the start-up phase. This allows for comprehensive adaptation to pool floors made of different materials.

[0113] Furthermore, this angular range also ensures the stability of the robot's posture during startup. It should be noted that the inertial rearward shift of the center of gravity is based on the rotation around the axis of the drive wheel 211. This angular range ensures that the center of gravity always remains within the safe range of "stable support by the drive wheel 211": On the one hand, it prevents an angle that is too small from resulting in an insufficient rearward shift of the center of gravity, which would lead to incomplete lifting of the output wheel 212 and thus a continued risk of suction; on the other hand, it also prevents an angle that is too large (e.g., above 25°), which could cause excessive tilting of the device body 10, reducing the contact area between the drive wheel 211 and the pool floor, decreasing the traction force, or even causing slippage.This ensures that the robot's posture during the start-up process remains controllable and that operation remains stable.

[0114] Preferably, the axis of the drive wheel 211 is used as the axis of rotation. During the starting process, the driven wheel 212 and the water inlet 22 rotate by an angle α between 10° and 20° around the axis of the drive wheel 211.

[0115] Optionally, the axis of the drive wheel 211 can be selected as the axis of rotation. During the starting procedure, the output gear 212 and the water inlet 22 can be rotated by the angle α about the axis of the drive gear 211, where α is specifically 5°, 5.5°, 6°, 6.5°, 7°, 7.5°, 8°, 8.5°, 9°, 9.5°, 10°, 10.5°, 11°, 11.5°, 12°, 12.5°, 13°, 13.5°, 14°, 14.5°, 15°, 15.5°, 16°, 16.5°, 17°, 17.5°, 18°, 18.5°, 19°, 19.5°, 20°, 20.5°, 21°, 21.5°, It may be 22°, 22.5°, 23°, 23.5°, 24°, 24.5° or 25°, but is not limited to these.

[0116] It is understandable that, at a suitable angle, the lifting movement of the output wheel 212 is smooth and does not exert any strong impacts on the transmission structure of the drive wheel 211 or on the connecting elements of the chassis 20. This prevents a concentration of mechanical stress due to excessive lifting and ensures the stability of the entire structural assembly of the device body 10.

[0117] Furthermore, the rotation angle range of 5° to 25° falls within the category of "small-angle precise control": The drive motor does not need to apply excessive torque to achieve lifting within this angular range. Compared to large lifting angles, this reduces the instantaneous load on the drive motor and thus minimizes motor wear. At the same time, the small-angle rotation causes less wear on connecting elements such as the axle of the output gear 212 and the hinge of the chassis 20, thereby preventing fatigue damage to the components caused by frequent large-angle rotations. The control logic in this angular range is simpler and does not require a complex angle adjustment procedure.Precise control of the drive motor's torque is sufficient to ensure stable lifting, thereby reducing the probability of control system failure and further improving the overall reliability and durability of the equipment.

[0118] In some exemplary embodiments of this application according to the above solution with reference to Fig. 1 and Fig. 3. The output power of the drive motor before the start of the filter component is greater than the output power of the drive motor during normal forward movement of the swimming pool robot.

[0119] In such embodiments, the output power of the drive motor, with unchanged drive wheel sizes and speeds, corresponds to the output torque of the drive motor; that is, the drive motor outputs a torque greater than that required for normal propulsion. This arrangement makes it possible to generate a super-high torque for a short period to rapidly accelerate the drive wheel 211, whereby the tractive force of the drive wheel 211 quickly overcomes the static friction between the driven wheel 212 and the pool floor.The entire process requires no complex pre-start actions, but merely a short period of time in which the moment of inertia is used to shift the center of gravity of the pool robot towards the drive wheel 211, thereby raising the driven wheel 212 and ultimately increasing the distance between the area of ​​the chassis where the water inlet 22 is located and the pool floor. This design provides a certain amount of preparation time before the cleaning component 30 starts, ensuring that the robot quickly switches to cleaning mode and thus effectively avoids the risk of the water inlet 22 being sucked into the pool floor during the start-up phase.

[0120] It is understandable that the technical approach described above utilizes torque and, in combination with the physical principle of inertia, causes the pool robot, under the influence of an instantaneous torque due to inertia, to lift the drive wheel 212 and thus raise the chassis from the pool floor. This process occurs extremely quickly and enables a fast, efficient, and stable transition from standby to cleaning operation.

[0121] It is easy to see that the advantage of this concept lies in the "functional reuse" of the drive motor, which is directly used as the force-exercise component to lift the output wheel 212, thus eliminating the need for an additional, separate lifting device. This design not only reduces the number of device components and decreases assembly complexity, but also efficiently saves installation space inside the device body 10, thereby creating more room for the arrangement of other key components (such as the filter component and cleaning component 30) while simultaneously simplifying the overall structure's design complexity.

[0122] Even more importantly, the drive motor's torque is flexibly adjustable, allowing it to be adapted to different application scenarios: For robots of varying weights or with load changes caused by different attachments such as cleaning brushes or dirt removal attachments, precise adjustment of the torque parameters before startup ensures that the drive wheel 211 always generates sufficient tractive force to trigger the lifting movement of the driven wheel 212. Even slight wear of individual components during robot operation (for example, wear of the drive wheel 211, leading to a reduction in frictional force) can be compensated for by an appropriate increase in torque.This ensures that the increased distance between the water inlet 22 and the swimming pool remains stable, thus fundamentally preventing repeated problems with the suction of the water inlet 22 at the bottom of the swimming pool during the start-up phase due to load fluctuations or component wear.

[0123] Furthermore, the "dual use of one material" for the drive motor can reduce technical and maintenance costs: There is no need to develop special control logics and maintenance standards for components for the newly added lifting function, as the existing testing, fault diagnosis, and repair processes of the drive system can be directly adopted. This not only reduces initial investments in technological research and development but also lowers training costs for maintenance personnel later on. At the same time, using a proven technical framework for the chassis further increases the technical maturity of the entire equipment and its long-term operational reliability.

[0124] In some exemplary embodiments of this application according to the above solution, a brushless DC motor or a permanent magnet synchronous motor can be selected for the drive motor.

[0125] In such embodiments, the use of a brushless DC motor allows for precise torque control, meeting the requirements for forward and reverse drive as well as lifting functionality. This motor is characterized by a fast response speed and smooth motion transitions, thus fulfilling the requirements for the lifting function of the entire machine. Furthermore, it offers the advantages of moisture resistance and low maintenance, making it suitable for use in swimming pool environments.

[0126] When choosing a permanent magnet synchronous motor, its operating efficiency is high. It boasts a high power density and is suitable for miniaturizing the housing of pool robots. In terms of motor control, it offers high speed stability, ensures smoother movement and lifting behavior, and is characterized by high energy efficiency, which can effectively extend its service life.

[0127] In some exemplary embodiments of this application according to the above solution, a reduction component is arranged between the output of the drive motor and the drive wheel.

[0128] The reduction gear component is designed to increase torque. By selecting an appropriate reduction ratio, the torque magnitude can be adjusted and the output torque regulated before starting. This amplifies the torque, reducing the power and torque requirements of the drive motor and improving the lifting capacity of the pool robot.

[0129] The reduction component can specifically be a gear drive, which regulates the speed and increases the output torque through the gear ratio. It is understandable that the gear drive serves to adjust the torque rather than directly changing the torque before and after the pool robot starts. Its purpose is to align the torque requirement with the output speed of the drive motor. Alternatively, the gear set can be designed as either a helical gear or a bevel gear, which improves torque amplification and output.

[0130] Alternatively, the reduction component can also be a worm gear or a worm for speed control and to increase the torque.

[0131] It should be explained that normal movement in the above examples describes the state in which the pool robot progresses during regular cleaning operations. The torque delivered by the drive wheels ensures that the pool robot continues at a constant speed while the cleaning component performs the cleaning.

[0132] In some exemplary embodiments of this application according to the above solution, the output wheel and the drive wheel are arranged one after the other along the forward direction of the swimming pool robot, wherein the distance of the water inlet to the axis of the output wheel is smaller than the distance of the water inlet to the axis of the drive wheel.

[0133] The water inlet 22 is designed to be positioned close to the output wheel 212, while a fixed distance exists between the drive wheel 211 and the output wheel 212. When the robot is lifted around the axis of the drive wheel 211, the end of the output wheel 212 forms a longer lever arm, resulting in a significantly greater lifting motion of the output wheel 212 and the water inlet 22 than in the area around the drive wheel 211. This creates a larger gap between the water inlet 22 and the pool floor. This gap effectively breaks the airtight seal between the water inlet 22 and the pool floor. Even if small amounts of residual water or fine impurities remain on the pool floor, this ensures that air and water quickly fill the area around the water inlet 22.This completely prevents the formation of a vacuum-sealed space after the water pump starts and eliminates the risk of the water inlet 22 becoming firmly suctioned to the bottom of the swimming pool.

[0134] The water inlet 22 is located near the output wheel 212. Due to the fixed distance between the drive wheel 211 and the output wheel 212, a longer lever arm is created at the end of the output wheel 212 when it is lifted around the axis of the drive wheel 211. The lift of the output wheel 212 and the water inlet 22 is therefore significantly greater than in the area near the drive wheel 211. This creates a larger gap between the water inlet 22 and the pool floor, preventing an airtight seal between the water inlet 22 and the pool floor. Even a thin film of water or fine impurities on the pool floor ensure that air and water quickly enter the area around the water inlet 22. This prevents the formation of an airtight, vacuum-sealed space after the water pump is started.

[0135] Since the water inlet 22 is located near the output wheel 212, when the drive wheel 211 is lifted about its axis of rotation, the area of ​​the output wheel 212 on the chassis (including the water inlet 22) can experience maximum vertical displacement. This directly and efficiently eliminates the local vacuum seal that forms between the water inlet 22 and the pool floor, and eliminates the risk of suction from the floor at startup, thus increasing the reliability of the system.

[0136] In some exemplary embodiments of this application according to the above solution, the diameter of the output wheel 212 d2 and the diameter of the drive wheel 211 d3 are such that d2 and d3 satisfy the relationship 1≤d2 / d3.

[0137] If d2 and d3 satisfy the condition d2 / d3 ≤ 1, meaning the size of the drive wheel 211 is set smaller than that of the driven wheel 212, this arrangement improves the torque output and allows for better lifting of the pool robot. The drive wheel 211, as the rear wheel, is directly connected to the electric motor, and the combined mass of both is significantly greater than that of the driven wheel 212. This results in a shift in the center of gravity in favor of the drive wheel 211. By increasing the size of the driven wheel 212 and decreasing the size of the drive wheel 211, the rearward shift in the center of gravity can be reduced, provided the robot can pass through the obstacle, thus improving the stability of the pool robot.

[0138] In a preferred solution of this application, the diameter of the output gear 212 d2 and the diameter of the drive gear 211 d3 are such that d2 and d3 satisfy the relationship: 1.1 ≤ d2 / d3 ≤ 1.5.

[0139] Optionally, in a preferred solution, the diameter d2 of the output gear 212 is in relation to the diameter d3 of the input gear 211, where d2 and d3 are specifically 1.1, 1.11, 1.12, 1.13, 1.14, 1.15, 1.16, 1.17, 1.18, 1.19, 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.

[0140] In a preferred solution of this application, the diameter of the output wheel 212 d2 and the diameter of the drive wheel 211 d3 are such that d2 and d3 satisfy the relationship 1.25 ≤ d2 / d3.

[0141] In a preferred solution, the diameter of the output wheel 212 d2 and the diameter of the drive wheel 211 d3 are such that d2 and d3 satisfy the relationship d2 / d3 = 1.31.

[0142] In some exemplary embodiments of this application according to the above solution, the force-applying component comprises a drain device, wherein the drain device is arranged in the device body, wherein the chassis is provided with a water outlet hole, wherein the outlet end of the drain device is connected to the water outlet hole, and wherein the drain device discharges water through the water outlet hole before the start of the filter component in order to generate an effective force that increases the distance between the water inlet and the pool floor.

[0143] In such embodiments, the system generates a water flow via a drainage device, which exits from a water outlet hole located on the chassis. At the water inlet hole, positive pressure is actively exerted towards the pool floor. The reaction force of the downward-directed water jet directly lifts the chassis and rapidly increases the distance between the water inlet and the pool floor. This completely breaks the airtight environment necessary for the vacuum suction effect. Even with smooth tiles or soft membrane pool floors that are slightly airtight, the positive pressure surge effectively eliminates the risk of absorption.

[0144] In an alternative embodiment, the drainage device can be designed as a combination of a cylinder body and a drive rod, wherein one end of the drive rod is connected to a drive element and the other end is hermetically sealed to the periphery of the cylinder body. The movement of the drive rod forces the fluid out of the chamber of the cylinder body connected to the water outlet hole, thereby lifting the chassis.

[0145] In an alternative solution, the drainage device can draw in water from the side or from above using a drive element such as a water pump and discharge it through the water outlet hole.

[0146] In some exemplary embodiments of this application according to the above solution, the drainage device comprises a water pump, wherein the water pump has a first port, a second port and a third port, wherein the device body is provided with a through-hole, wherein the first port communicates with the outlet end of the filter component, wherein the second port communicates with the through-hole, wherein the third port is connected to the water outlet hole and a first valve body is arranged between the third port and the water outlet hole, wherein the water pump rotates backwards before the swimming pool robot moves forward, wherein the water enters through the through-hole, flows out via the third port and the first valve body through the water outlet hole in order to increase the distance between the water inlet and the pool floor;wherein the water pump rotates forward during the movement of the swimming pool robot, the first valve body closing, the water entering from the outlet end of the filter component and flowing out through the second connection via the through-hole.;

[0147] In such embodiments, the water pump is arranged to generate a directed fluid flow to ensure the operation of the filter component or to lift the chassis. The solution described above uses the same drive element both for generating the vacuum for the filter component and for generating the force to lift the chassis. This allows, on the one hand, a reduction in drive costs and an increase in the compactness of the structure, and on the other hand, the arrangement of multiple connections enables precise control of the water flow inside the pool robot.

[0148] It is understandable that the filter component functions as a one-way channel due to the nature of the filtration requirements. When the water pump runs in reverse, there is no backflow of water into the water inlet, thus preventing the filter component's dirt container from expelling contaminated water backward and contaminating the swimming pool. According to the arrangement of the first valve body, the passage for lifting the chassis is also designed as a one-way passage. The arrangement of the two one-way passages forms a structure that enables both the filter function during forward rotation and the lifting function during reverse rotation. This also prevents a vacuum from forming at the water inlet during the lifting process, ensuring that the chassis can be lifted effectively.

[0149] In some alternative solutions, the through-opening can be designed as an opening on the side or roof of the device body, which allows the water passed through the filter component to be drained away.

[0150] Preferably, the through-opening can be located on the roof of the device body. When the water pump runs in reverse, a vacuum can be created on the roof of the device body, which reduces resistance and water pressure during the lifting process, thus ensuring that the chassis can be lifted.

[0151] In some alternative solutions, the first valve body may be a check valve or a solenoid valve.

[0152] In some alternative solutions, a control valve body can be arranged between the first and second ports, whereby the control valve body regulates the opening and closing of the first and second ports to ensure stable control of the flow path during forward and reverse operation of the water pump.

[0153] In some exemplary embodiments of this application according to the above solution, it is checked that the reversing time of the water pump t1 satisfies the following condition: 0.4 seconds ≤ t1 ≤ 1.2 seconds.

[0154] These embodiments meet the timing requirements for adjusting the robot's position and creating a minimal gap between the water inlet 22 and the pool floor. This prevents the contact time from being too short and the lifting distance from being insufficient, which could lead to the water inlet 22 becoming firmly suctioned to the pool floor. Simultaneously, the period without a cleaning interval during the lifting of the water inlet 22 is also strictly controlled. This minimizes the problem of cleaning deficiencies due to inactive cleaning functions, reduces the effort required for follow-up cleaning, and shortens the overall cleaning time. This is particularly suitable for the efficient cleaning of large pool areas and further optimizes cleaning efficiency.

[0155] In a specific scenario, when the water pump rotates backwards, a positive pressure discharge of 0.4 to 1.2 seconds can stably propel the water to the bottom of the swimming pool, using the recoil force to ensure that the chassis 20 reliably lifts the water inlet 22.

[0156] Based on the aforementioned embodiments, it is understandable that a control time of 0.4 to 1.2 seconds enables strict control of the "cleaning interruption" when the water inlet 22 is raised: On the one hand, this duration is significantly shorter than the time the robot needs to clean a unit area during normal movement. This prevents the robot from traveling a considerable distance without activating the cleaning function due to an excessively long lifting time, which could lead to the formation of cleaning blind spots. On the other hand, no repeated cleaning of these blind spots is required in the subsequent cleaning process, reducing the effort required for rework and shortening the overall cleaning cycle. This is particularly important for the efficient cleaning of large swimming pools and contributes to further optimizing cleaning efficiency.

[0157] The time range of 0.4 to 1.2 seconds does not result in the water inlet 22 not being fully raised due to insufficient time and requiring a second actuation, thus disrupting the start sequence, nor does it delay the start of the cleaning function due to insufficient time, which would impair the continuity of the automated cleaning.

[0158] This timing control concept adjusts the water pump's operating parameters solely through the control component, eliminating the need for additional timers, sensors, or other auxiliary components for "controlling the lifting time." This ensures both the effectiveness of lifting the water inlet 22 and the cleaning efficiency, while maintaining the original equipment structure. This avoids increasing the equipment's size, weight, or the risk of failure due to additional components, and simultaneously reduces the control complexity that could arise from coordinating multiple parts. Thus, both the functional practicality and operational reliability of the equipment are taken into account.

[0159] Preferably, the control device controls the reverse rotation of the water pump or the smooth start-up time to 0.6 to 0.9 seconds.

[0160] Optionally, the control device can adjust the reverse rotation of the water pump or the start-up delay to a specific time, which may be, for example, 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.

[0161] The present application also provides an embodiment that differs from the embodiments mentioned above, which are based on the drive wheel 211 and the driven wheel 212 or the control of the water pump. The force application component comprises a center of gravity adjustment device attached to the device body 10 or to the chassis 20 to effect a displacement of the center of gravity of the swimming pool robot and thereby raise the water inlet 22.

[0162] In some exemplary embodiments of this application according to the above solution, before the start of the filter component, the time t2 in which the distance between the water inlet 22 and the pool floor is increased is, where t2 satisfies the condition 1 second ≤ t2 ≤ 3 seconds.

[0163] In such embodiments, the preparation time before the start is limited to a reasonable range of 1 to 3 seconds in order to ensure both a rapid transition of the robot into the cleaning state and to reduce the mechanical wear of the drive component 21 and to extend its service life, thereby achieving both a “soft start” and an “operationally efficient working time”.Compared to a “quick lift” of less than 1 second, this duration can prevent the inertial wobble of the device body 10 and a brief slippage of the drive wheel 211 on the pool floor, thus preventing the robot from having difficulty transitioning to the normal cleaning state; compared to a “slow lift” of more than 3 seconds, the risk of an abnormal robot shape can be reduced, thereby avoiding delays in the cleaning start process and increasing the overall efficiency of the work execution.

[0164] Before the water pump creates a vacuum, the connection between the water inlet 22 and the pool floor can be quickly released within 1 second to prevent the initial formation of a closed space that would cause the "vacuum suction effect." Within 3 seconds, it is ensured that the water inlet 22 and the pool floor maintain a stable distance from each other, allowing sufficient time for the water and air to pre-fill the area around the water inlet 22 and thus preventing a vacuum from forming due to insufficient water supply after the water pump starts. This continuous design prevents both the formation of a vacuum due to a delayed lifting compared to the start of the water pump and the prolonged retention of the device body 10 in the raised position due to premature lifting.This ensures a seamless connection between "lifting" and the vacuum start, completely eliminating the risk of the robot becoming stuck. Simultaneously, the water inlet 22 can generate a suction that pulls the entire pool robot to the bottom of the pool.

[0165] A stable duration of 1 to 3 seconds ensures that the water pump, motor, and filter always operate safely during the start-up phase without "negative pressure disturbances": The water pump does not have to react to a "sudden increase in negative pressure" at start-up, thus preventing additional wear on the impellers due to pressure fluctuations; the motor does not have to be forced to drive the device body 10 when the water inlet 22 has not yet been raised, thus eliminating additional stress from overcoming static forces; the filter also does not experience momentary deformations due to negative pressure surges. Furthermore, a stable lifting process reduces friction and impact between the output wheel 212 and the pool floor during lifting and lowering, thereby protecting the pool floor material and reducing the wear rate of the output wheel 212's surface.This indirectly leads to a reduction in the maintenance frequency and costs of the system, thus improving the overall durability of the equipment.

[0166] Preferably, the time during which the distance between the water inlet 22 and the pool floor is increased is between 1.5 and 2 seconds.

[0167] Optionally, the time during which the distance between the water inlet 22 and the pool floor is increased can specifically 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.

[0168] In some exemplary embodiments of this application according to the above solution, the power transmission between the drive wheel 211 and the driven wheel 212 is effected by means of chains 213, wherein the drive motor rotates in the opposite direction of rotation to the direction of rotation of the drive wheel 211 during the movement of the swimming pool robot before the start of the filter component, wherein the direction of rotation of the drive motor after the start of the cleaning coincides with the direction of rotation of the drive wheel 211 during the movement of the swimming pool robot.

[0169] In such embodiments, the transmission between the drive wheel 211 and the driven wheel 212 is effected by means of chains 213, thereby generating a stable and controllable "reaction force". The reverse-rotating drive motor drives the driven wheel 212 via the chain 213 and, with a high instantaneous torque, forces the chain 213 to guide the driven wheel 212 around the axis of rotation of the drive wheel 211, thereby lifting the driven wheel 212.

[0170] Since the contact area of ​​the chain 213 with the pool floor is significantly larger than that of a single wheel, it can provide a more uniform and stronger reverse friction force. Furthermore, the flexible adaptability of the system driven by the chain 213 allows for damping of the instantaneous torque surges that occur when the drive motor reverses. Compared to a rigid wheel drive, where abrupt reverse rotation can create local stress concentrations, the chain 213 distributes the reverse torque over a larger contact area with the pool floor across multiple contact points, resulting in a smoother lifting process of the driven wheel 212.

[0171] After cleaning begins, the drive motor switches to forward rotation, and the chain 213 transmission enables a seamless transition from reverse lifting to forward movement: Unlike the potential power loss with wheel drives, the chain 213 remains in constant, stable contact with the pool floor throughout the entire process. When the motor rotates forward, the drive force is converted directly and efficiently into propulsion force without the need for an additional power adjustment phase. This means that the water inlet 22 can immediately enter the preset normal cleaning path after being fully lifted, thus completely eliminating time losses during the start-up phase and effectively increasing the overall cleaning efficiency.

[0172] At the same time, the high traction of the 213 chain can be flexibly adapted to different pool floor materials. Whether smooth tiles, soft pool liners, or rough cement floors, the 213 chain ensures stable movement by increasing the contact area and frictional resistance. Even if the robot has the previously mentioned problem of a "forward shift in the center of gravity," the even distribution of force by the 213 chain on the pool floor can compensate for the effects of this shift. This reduces path deviations caused by poor floor adaptation during the cleaning process and ensures that the robot cleans efficiently along the predetermined route, avoiding missed areas or double cleaning.

[0173] This solution also requires no additional power transmission components, but rather achieves a dual function solely through the combination of "chain 213 transmission + forward / reverse rotation of the motor": raising the water inlet 22 and normal operation. On the one hand, the chain 213 simultaneously performs the roles of "power transmission for reverse lifting" and "forward drive," thereby reducing the need for separate power transmission elements, simplifying the internal structure of the device body 10, and decreasing the likelihood of failures due to the interaction of multiple components. On the other hand, the forward / reverse control of the drive motor can be automated by programmed presets or switched without manual intervention.This is consistent with the previously described logic of "pre-movement before starting" and ensures both user-friendly operation and the avoidance of timing deviations in lifting that could arise from manual control, thereby further increasing the stability and reliability of the equipment operation.

[0174] In such embodiments, the center of gravity adjustment device is implemented by directly changing the center of gravity position of the pool robot to raise the water inlet 22. This allows the center of gravity to be precisely shifted away from the water inlet 22, so that the water inlet 22 naturally lifts from the pool floor, forming a small gap. This process directly breaks the closed space required for the "vacuum suction effect" and thus avoids the problem of the water inlet 22 being sucked into the pool floor by the negative pressure after the water pump starts. Regardless of whether the pool floor consists of smooth tiles or a rough material, the water inlet 22 can be reliably raised, ensuring that the robot can immediately transition to its normal movement and cleaning mode after starting.This corresponds to the core requirement of the original technical solution for addressing the problem of start adsorption.

[0175] The device requires no additional mechanisms such as the drive of the drive wheel 211 or the control of the water pump, but achieves lifting solely through shifting the center of gravity. This significantly simplifies the structure of the force-applying component and reduces the risk of failure that could arise from the interaction of multiple components. Simultaneously, the degree of center of gravity shift can be precisely controlled to ensure an appropriate lifting height of the water inlet 22, thus avoiding both insufficient lifting with a remaining risk of adsorption and excessive lifting that could compromise the stability of the device. Furthermore, the center of gravity adjustment process occurs without significant mechanical movements, thereby preventing any additional stress on core components such as the motor and water pump.This not only ensures the reliability of the start-up, but also takes into account the service life of the equipment and the efficiency of a cleaning start.

[0176] It is understandable that the center of gravity adjustment device serves to adjust the overall distribution of the center of gravity or to effect a change in the shape of the swimming pool robot by changing the center of gravity in order to better lift the water inlet 22.

[0177] For example, one design for a swimming pool robot includes an air compression component. When no adjustment is needed, the gas is compressed to a preset value. When required, the gas compression is released, forcing out the water inside the pool robot to generate buoyancy and adjust the center of gravity.

[0178] In one specific solution, movable counterweights or counterweight structures are used in combination with drive modules to change their relative position to the swimming pool robot and thus enable different center of gravity configurations.

[0179] Alternatively, a container could be set up that contains a movable semi-permeable membrane. Both liquid and gases are present inside the container. By adjusting the position of the liquid and the distribution of the gases using the semi-permeable membrane, the center of gravity of the pool robot is changed.

[0180] In some exemplary embodiments of this application according to the above solution, the force application component comprises, for example, in Fig. 4 one or more floating support structures 40 arranged in the device body, wherein at least one of the floating support structures 40 serves to raise or lower the water inlet 22.

[0181] In such embodiments, it is not necessary to resort to additional tensile forces or vacuum controls to directly interrupt the sealing conditions required for the vacuum suction effect. Even with a smooth pool floor or slight filter clogging, stable buoyancy support can increase the gap between the water inlet 22 and the pool floor, thus avoiding the problem of movement difficulties due to suction during startup.

[0182] At the same time, the floating support structure 40 does not require additional equipment with drive motors, transmission components or other drive elements, thereby simplifying the overall structure of the force application system, reducing the risk of failure due to the cooperation of several components and lowering the energy consumption of the equipment.

[0183] Furthermore, single or multiple floating support structures 40 can flexibly adjust the buoyancy force, making them suitable for robots of different weights and varying positions of the water inlet 22, as well as for swimming pools of different depths. The buoyancy process is uniform and does not cause any mechanical shocks to the device body 10, water inlet 22, or other components, effectively extending the service life of the equipment, reducing maintenance effort and costs, and ensuring the continuity of cleaning operations.

[0184] For example, in a specific embodiment such as in Fig.4. The pool robot comprises several floating support structures 40, each arranged at the front and / or rear end of the pool robot. By changing the gas content inside these structures, the center of gravity of the pool robot is adjusted, thereby changing its shape relative to the pool floor. It is understandable that when using the floating support structure 40, the entire equipment can be lifted by buoyancy and is not limited to resting on the pool floor. It is sufficient if the water inlet 22 is lifted and leaves the pool floor.

[0185] It is understandable that the operating principle of the floating support structure 40 could consist of installing water or air chambers inside the pool robot. For example, in a solution with air chambers, the weight distribution inside the pool robot can be changed by regulating the air content within the chamber, thereby shifting the center of gravity. Alternatively, water chambers can be installed in an enclosed space, where filling or draining the pool changes the center of gravity distribution within the enclosed space, thus allowing for adjustment of the center of gravity distribution.

[0186] In some exemplary embodiments of this application according to the above solution, the floating support structure 40 is a buoyancy chamber, wherein a drainage structure and a water inlet opening are arranged in the buoyancy chamber, wherein the water inlet opening is closed before the start of the filter component, and wherein the drainage structure drains the water from the buoyancy chamber.

[0187] In such embodiments, the swimming robot, whether in operation or at rest, is filled with water in its buoyancy chamber. When lifting is required, the water is quickly pumped out by a drainage device (e.g., water pump, blower, gas generator, etc.), thereby reducing the internal mass of the swimming robot and simultaneously increasing its buoyancy, thus raising the water inlet. After entering normal cleaning mode, a return to the submerged state can be achieved by further filling the buoyancy chamber with water and releasing air.

[0188] In some exemplary embodiments of this application, the force application component comprises an elastic restoring element which is arranged either between the roller brush and the chassis 20 or between the chassis 20 and the pool floor, wherein a shear force is exerted at the connection points of the elastic restoring element at both ends.

[0189] In such embodiments, the arrangement of the elastic return element causes a force to act upon the start of the pool robot, which, through the brief, strong application of force, pushes the device body downwards. This compresses the elastic return element. After the acting force stabilizes, the elastic return element releases its elastic potential energy, thereby lifting the pool robot and exposing the water inlet. This prevents suction on the work surface and avoids movement problems.

[0190] In some exemplary embodiments of this application, the cleaning component comprises 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 direction of travel, and the second roller brush is located at the rear end of the pool robot in the direction of travel. The first roller brush is equipped with a roller brush holder to which an elastic restoring element is attached, the end of which, facing away from the roller brush holder, presses against the chassis, and the first roller brush is positioned closer to the water inlet compared to the second roller brush.

[0191] The force-applying component may represent one of the aforementioned diverse structural combinations for changing the shape of the swimming pool robot, or it may comprise several of the aforementioned embodiments. For example, the reverse rotation of the water pump, in combination with the drive motor, may exert a higher torque on the drive wheel, or it may be achieved through cooperation with a floating support structure and the drive motor. Similarly, the reverse rotation of the water pump, the exertion of a higher torque by the drive motor on the drive wheel, and cooperation with the floating support structure may occur simultaneously; this list is not exhaustive.

[0192] It is understandable that the present application does not limit its application to the detailed structure and arrangement of the components depicted therein. This application may have further embodiments and can be realized and implemented in a variety of ways. The aforementioned transformations and modifications fall within the scope of this application. It is also understandable that the present application encompasses all alternative combinations of two or more individual features mentioned or apparent in the text and / or the accompanying figures. All these different combinations constitute several alternative aspects of the present application. The embodiments described in the present application explain the best known methods for implementing this application and enable those skilled in the art to utilize it.

Claims

[1] Swimming pool robots, characterized by that it includes the following: a device body, wherein a water outlet is attached to the device body; a chassis connected to the device body, wherein the chassis is equipped with a drive component and a water inlet, the drive component moving the chassis and the device body; a cleaning component that is mounted on the chassis; as well as a filter component that is arranged between the water inlet and the water outlet and serves to filter the water flowing through the interior of the device body; wherein the swimming pool robot further comprises a force application component, wherein the force application component exerts a force before the start of the filter component so that the device body or chassis moves away from the working surface, thus increasing the distance between the water inlet and the working surface; wherein, after the start of the filter component, the force application component cancels the force exerted on the device body or chassis, which is directed away from the working surface. [2] Swimming pool robot according to claim 1, characterized by , that the drive component comprises drive wheels and driven wheels which are connected to each other by transmission, wherein the power application component is a drive motor, wherein the output of the drive motor is connected to the drive wheel, wherein the swimming pool robot, prior to the start of the filter component, lifts the driven wheel and the water inlet about the axis of the drive wheel as the axis of rotation. [3] Swimming pool robot according to claim 2, characterized by , that the distance d1 between the axis of the driven wheel and the axis of the driving wheel, as well as the diameter d2 of the driven wheel, are such that 2 ≤ d1 / d2 ≤ 3 holds true. [4] Swimming pool robot according to claim 2, characterized by , that the distance d1 between the axis of the driven wheel and the axis of the driving wheel, as well as the diameter d2 of the driven wheel, are such that 2.2 ≤ d1 / d2 ≤ 2.7 applies. [5] Swimming pool robot according to claim 2, characterized by , that the angle α of the rotation of the output wheel and the water inlet about the axis of the drive wheel compared to the axis of the drive wheel is between 5° and 25°. [6] Swimming pool robot according to claim 2, characterized by, that the power transmission between the drive wheel and the driven wheel is carried out by means of chains, wherein the drive motor rotates in the opposite direction to the direction of rotation of the drive wheel during the movement of the swimming pool robot before the start of the filter component, wherein the direction of rotation of the drive motor after the start of the cleaning coincides with the direction of rotation of the drive wheel during the movement of the swimming pool robot. [7] Swimming pool robot according to claim 2, characterized by , that the output power of the drive motor before the start of the filter component is greater than the output power of the drive motor during the normal movement of the swimming pool robot. [8] Swimming pool robot according to claim 2, characterized by that the drive motor is a brushless DC motor or a permanent magnet synchronous motor. [9] Swimming pool robot according to claim 2, characterized by, that a reduction component is arranged between the output of the drive motor and the drive wheel. [10] Swimming pool robot according to claim 2, characterized by , that the driven wheel and the driven wheel are arranged one after the other along the forward direction of the swimming pool robot, wherein the distance of the water inlet to the axis of the driven wheel is smaller than the distance of the water inlet to the axis of the driven wheel. [11] Swimming pool robot according to claim 2, characterized by , that the diameter of the output wheel d2 and the diameter of the drive wheel d3 are such that d2 and d3 satisfy the relationship 1 ≤ d2 / d3. [12] Swimming pool robot according to claim 1, characterized bythat the force application component comprises a drainage device, wherein the drainage device is arranged in the device body, wherein the chassis is provided with a water outlet hole, wherein the outlet end of the drainage device is connected to the water outlet hole, wherein the drainage device discharges water through the water outlet hole prior to the start of the filter component in order to generate an effective force that increases the distance between the water inlet and the pool floor. [13] Swimming pool robot according to claim 12, characterized by, that the drainage device comprises a water pump, wherein the water pump has a first port, a second port and a third port, wherein the device body is provided with a through-hole, wherein the first port communicates with the outlet end of the filter component, wherein the second port communicates with the through-hole, wherein the third port is connected to the water outlet hole and a first valve body is arranged between the third port and the water outlet hole, wherein the water pump rotates backwards before the swimming pool robot moves forward, with the water entering through the through-hole, flowing out via the third port and the first valve body through the water outlet hole to increase the distance between the water inlet and the pool floor;wherein the water pump rotates forward during the movement of the swimming pool robot, the first valve body closing, the water entering from the outlet end of the filter component and flowing out through the second connection via the through-hole.; [14] Swimming pool robot according to claim 13, characterized by , that the reversal time of the water pump t1 satisfies the following condition: 0.4 seconds ≤ t1 ≤ 1.2 seconds. [15] Swimming pool robot according to claim 1, characterized by that the force application component comprises one or more floating support structures arranged in the device body, wherein at least one of the floating support structures serves to raise or lower the water inlet. [16] Swimming pool robot according to claim 15, characterized bythat the floating support structure is a buoyancy chamber, wherein a drainage structure and a water inlet opening are arranged in the buoyancy chamber, wherein the water inlet opening is closed before the start of the filter component, and wherein the drainage structure drains the water from the buoyancy chamber. [17] Swimming pool robot according to claim 1, characterized by , that the cleaning component comprises a roller brush and a roller brush holder, wherein the roller brush holder is telescopically connected to the chassis, wherein the roller brush is attached to an end of the roller brush holder that is away from the chassis, wherein the force application component comprises an elastic restoring element arranged between the roller brush holder and the chassis, the elastic restoring element bearing against both the roller brush holder and the chassis. [18] Swimming pool robot according to any one of claims 1 to 17, characterized by, that before the start of the filter component, the time t2 in which the distance between the water inlet and the pool floor is increased satisfies the condition 1 second ≤t2 ≤ 3 seconds.

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