Cleaning device

Abstract

The present disclosure relates to the technical field of water cleaning, and provides a cleaning device, comprising a machine body, a filter box, a fluid pumping apparatus, a locomotion mechanism, and a cleaning mechanism. At least one water inlet and at least one water outlet are formed in the machine body; the filter box is arranged downstream of the water inlet; the fluid pumping apparatus is used for pumping water flows from the water inlet to the water outlet; the locomotion mechanism comprises locomotion wheels, crawler belts, and a driving motor; and the cleaning mechanism at least comprises a first roller brush and a second roller brush. According to the present disclosure, by means of transmission connections between the driving motor, the locomotion wheels, the crawler belts, the first roller brush and the second roller brush, the locomotion mechanism and the cleaning mechanism work in conjunction; and since the first roller brush and the second roller brush are both arranged near front wheels and are close to each other, under the action of opposite rotations of the first roller brush and the second roller brush, stirred-up dirt can be rapidly carried into the water inlet together with the water flows, thereby avoiding the situation where the stirred-up dirt is suspended in water and cannot be effectively cleaned, and improving the underwater cleaning capacity of the cleaning device.

Description

A cleaning device Technical Field

[0001] The present disclosure relates to the technical field of water cleaning, and more particularly, to a cleaning device. Background Art

[0002] Swimming pools accumulate various types of dirt over time, leading to the emergence of automated cleaning machines. These machines typically utilize tracks or wheels to move along the pool floor or walls, while a roller brush scrubs the surface, stirring up dirt and allowing it to flow into the suction port with the water. The water, under the suction force generated by the filtration system, passes through the filter cartridge, filtering out and collecting dirt, debris, and impurities. Clean water is then discharged to clean the pool.

[0003] However, in actual use, it was found that after the roller brushes on some cleaning machines stirred up the dirt, only a portion of the dirt entered the suction port, while a large amount of the stirred dirt remained suspended in the water. In some other cleaning machines, the roller brushes did not thoroughly clean the pool bottom or walls. Therefore, the travel and cleaning mechanisms of existing cleaning equipment need to be further optimized to improve the cleaning performance of the cleaning machines.

[0004] Summary of the Invention

[0005] The purpose of the present disclosure is to provide a cleaning device to solve the technical problem that the cleaning effect of the cleaning device in the prior art is not ideal.

[0006] To achieve the above objectives, the technical solutions adopted in this disclosure are:

[0007] The present disclosure provides a cleaning device, comprising a body, a filter box, a fluid pumping device, a walking mechanism and a cleaning mechanism, wherein a water inlet and a water outlet are provided on the body, the filter box is fluidically connected to the water inlet, and the fluid pumping device is used to pump water from the water inlet to the water outlet, the walking mechanism comprises: walking wheels, tracks and a drive motor, the walking wheels at least comprise a first rear wheel, a second rear wheel and a first front wheel, a second front wheel, the first front wheel and the first rear wheel are sleeved with a first track on their outer circumferences, and the second front wheel and the second rear wheel are sleeved with a second track on their outer circumferences, the number of the drive motor is at least one, and at least one drive motor is transmission-connected to at least one walking wheel; the cleaning mechanism at least comprises: a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged in parallel and spaced apart between the first and second front wheels; the first roller brush and the second roller brush are driven by the first front wheel alone, or the first or second roller brush is driven by the first or second front wheel respectively; the first and second roller brushes rotate towards each other.

[0008] The beneficial effect of the cleaning device provided by the present invention is at least that: by driving the transmission connection between the motor, the walking wheel, the crawler and the first roller brush and the second roller brush, the walking mechanism and the cleaning mechanism are linked to work together, so that when the cleaning device is moving, the first roller brush and the second roller brush will rotate to stir the dirt on the bottom or wall surface of the pool. Since the first roller brush and the second roller brush are both arranged near the front wheel, the distance between them is close, and the water inlet corresponds to the interval position between the two, the stirred dirt can be quickly drawn into the water inlet along with the water flow under the action of the synchronous rotation of the first roller brush and the second roller brush, thereby avoiding the stirred dirt from being suspended in the water and unable to be effectively cleaned, thereby improving the underwater cleaning ability of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0010] FIG1 is a schematic side view of a cleaning device provided by an embodiment of the present disclosure;

[0011] FIG2 is a perspective view of the positional relationship between a walking mechanism and a cleaning mechanism provided by an embodiment of the present disclosure;

[0012] FIG3 is a schematic structural diagram of a traveling wheel 141 provided in an embodiment of the present disclosure;

[0013] FIG4 is a schematic structural diagram of another traveling wheel 141 provided in an embodiment of the present disclosure;

[0014] FIG5 is a side cross-sectional view of a walking mechanism and a cleaning mechanism provided by an embodiment of the present disclosure;

[0015] FIG6 is a side cross-sectional view of another walking mechanism and cleaning mechanism provided in an embodiment of the present disclosure;

[0016] FIG7 is a first schematic diagram of a transmission relationship in which a cleaning mechanism provided by an embodiment of the present disclosure is driven by two traveling wheels;

[0017] FIG8 is a second schematic diagram of the transmission relationship in which the cleaning mechanism provided by the embodiment of the present disclosure is driven by two traveling wheels;

[0018] FIG9 is a schematic diagram of a transmission relationship of a drive motor provided in a roller brush according to an embodiment of the present disclosure;

[0019] FIG10 is a schematic diagram of the transmission relationship of the drive motors provided in the two roller brushes according to an embodiment of the present disclosure;

[0020] FIG11 is a structural diagram of a first roller brush and a second roller brush provided in an embodiment of the present disclosure;

[0021] FIG12 is a side position relationship diagram of the first roller brush and the second roller brush provided in an embodiment of the present disclosure.

[0022] Among them, the reference numerals in the figures are:

[0023] 100. Cleaning device; 110. Machine body; 111. Water inlet; 112. Water outlet; 120. Filter box; 130. Fluid pumping device; 140. Traveling mechanism; 141. Traveling wheel; 1411. First outer tooth; 1412. Second outer tooth; 1413. Internal tooth; 1414. Center tooth; 142. Track; 1421. Tooth groove; 143. Drive motor; 1431. Drive gear; 150. Cleaning mechanism; 151. First roller brush; 1511. First roller brush; 152. Second roller brush; 1521. Second roller brush gear; 153. Rotating shaft; 154. Bushing; 155. Blade. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0025] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0026] 1 , an embodiment of the present disclosure provides a cleaning device 100, which at least includes a body 110, a filter cartridge 120, a fluid pumping device 130, a walking mechanism 140 and a cleaning mechanism 150. The body 110 is provided with a water inlet 111 and a water outlet 112. The filter cartridge 120 is fluidically connected to the water inlet 111. The fluid pumping device 130 is used to pump water from the inlet and outlet to the water outlet 112. The walking mechanism 140 includes walking wheels 141, crawlers 142 and a drive motor 143. The walking wheels 141 are divided into two groups. The two groups of walking wheels 141 are respectively arranged on both sides of the body 110. Each group of walking wheels 141 includes at least a front wheel and a rear wheel. The front wheel and the rear wheel on each side are connected to a crawler 142 for synchronous rotation. There is at least one drive motor 143, and each drive motor 143 is transmission-connected to at least one walking wheel 141, so that the crawler 142 rolls under the drive of the walking wheel 141.

[0027] Cleaning mechanism 150 includes a first roller brush 151 and a second roller brush 152, which are axially parallel and spaced apart between the two sets of running wheels. At least one axial end of each of first and second roller brushes 151, 152 is in driving connection with at least one front wheel or the drive motor 143 that drives the front wheel, causing first and second roller brushes 151, 152 to rotate toward each other. Preferably, one of the water inlets 111 corresponds to the space between first and second roller brushes 151, 152, so that water flows through the space between the two roller brushes toward water inlet 111.

[0028] The working principle of the above cleaning device 100 is as follows: the walking wheel 141 rotates under the drive of the driving motor 143, and the crawler 142 rolls under the rotation of the walking wheel 141, so that the cleaning device 100 can move on the bottom or wall of the pool; at the same time, the front wheel in the walking wheel 141 or the driving motor 143 driving the front wheel also drives the first roller brush 151 and the second roller brush 152 to rotate in the opposite direction, so that when the cleaning device 100 moves, the first roller brush 151 and the second roller brush 152 are rotated in the opposite direction. The first and second roller brushes 151, 152 rotate to scrub the surface of the pool bottom or wall, stirring up dirt. The two first and second roller brushes 151, 152 rotate in opposite directions, quickly drawing the stirred-up dirt into the water inlet 111. The fluid pumping device 130 pumps the dirt along with the water into the filter cartridge 120 for filtration, separating and collecting the dirt in the filter cartridge 120. The filtered, cleaned water is then pumped to the water outlet 112 and returned to the pool, achieving the desired effect of cleaning the swimming pool. It should be noted that the first and second roller brushes 151, 152 can also be placed at the rear of the cleaning device 100, i.e., driven to rotate by rear wheels or a drive motor.

[0029] The present invention enables the walking mechanism 140 and the cleaning mechanism 150 to work together by driving the transmission connection between the motor 143, the walking wheel 141, the crawler 142 and the first roller brush 151 and the second roller brush 152, so that when the cleaning device 100 is moving, the first roller brush 151 and the second roller brush 152 will rotate to stir the dirt on the bottom or wall surface of the pool and quickly roll it into the water inlet 111; in one embodiment, since the first roller brush 151 and the second roller brush 152 are both arranged near the front wheel, the first and second roller brushes and the water inlet 111 are projected onto the corresponding surface to be cleaned, and the projection of the water inlet 111 is at the first roller brush 151. Between the rotating axes of the first and second roller brushes, during operation, the first roller brush 151 and the second roller brush 152 are in contact with the surface to be cleaned. At the same time, the roller brush bin walls or the side walls of the cleaning device arranged at both ends of the two roller brushes are close to the ground with the surface to be cleaned, or brushes or soft rubber are arranged on the roller brush bin walls or the side walls of the cleaning device close to the surface to be cleaned to contact the surface to be cleaned, thereby forming a relatively closed negative pressure space, which can more effectively draw the dust-carrying water flow in the space into the filter box 120, avoiding the stirred dirt from being suspended in the water and unable to be effectively cleaned, thereby improving the underwater cleaning ability of the cleaning equipment 100.

[0030] The body 110 refers to the main structure of the cleaning device 100, including but not limited to the housing. The housing serves not only as a protective outer layer within the cleaning device 100 but also provides the structural framework of the body 110, supporting and securing the various key components within. For example, the body 110 includes a bottom shell, with a water inlet positioned on the bottom shell between the first and second roller brushes 152. Roller brush grooves are provided on either side of the water inlet in the width direction for mounting the roller brushes.

[0031] It is understandable that the positions of the water inlet 111 and the water outlet 112 on the body 110 are not unique. For example, the water inlet 111 can be set on the side, top or bottom of the body 110. With reference to Figure 1, the water inlet 111 is generally connected to the fluid of the filter box 120. The suction force generated by the fluid pumping device 130 pumps the water flow near the water inlet 111 from the water inlet 111 to the water outlet 112. During this process, the water flow will pass through the filter box 120, and the filter box 120 will filter and collect the dirt or impurities in the water flow, and then pump the clean water flow to the water outlet 112 and discharge it out of the body. Among them, the fluid pumping device 130 and the water outlet 112 can be used as a water spraying mechanism for spraying water outward to provide auxiliary power for the cleaning device 100. There can be one or more water outlets 112. For example, when the cleaning device 100 is located on the water surface, water can be sprayed outward by adjusting the direction of the water outlet 112, so that the cleaning device 100 obtains corresponding thrust to assist the cleaning device 100 in moving on the water surface or adjusting its posture; when the cleaning device 100 is located on the pool wall, the pressure perpendicular to the pool wall can be obtained by adjusting the direction of the water outlet 112, so that the cleaning device 100 can be more stably attached to the pool wall.

[0032] The filter cartridge 120 is a component used to filter and collect impurities and dirt in the water. It is typically designed as a removable container, equipped with a filter medium, including but not limited to a filter screen or filter bag. After passing through the filter cartridge 120, the water becomes clean and is then pumped to the water outlet 112 by the fluid pumping device 130 for discharge, achieving clean water quality. Of course, in practice, the specific implementation structure of the filter cartridge 120 is not unique, and since the filter cartridge 120 is not the focus of this disclosure, it will not be described in detail.

[0033] The fluid pumping device 130 is used to draw water near the water inlet 111 to transport dirt into the filter cartridge 120 for filtration, and then pump the filtered water to the water outlet 112 for discharge. In this embodiment, the fluid pumping device 130 can be a water pump, and the disclosed embodiment does not limit the type of water pump.

[0034] In conjunction with Figure 2, in some embodiments, the running wheels 141 of the running mechanism include at least a first rear wheel, a second rear wheel, and a first front wheel and a second front wheel. The first front wheel and the first rear wheel are provided with a first track, and the second front wheel and the second rear wheel are provided with a second track. The first track and the second track are provided on either side of the cleaning device in the direction of travel. At least one drive motor is connected to at least one running wheel 141 to drive the first track and the second track on either side to achieve the running function of the cleaning device. For example, when the first track and the second track on either side of the running mechanism roll at the same speed, the cleaning device travels in a straight line; when only the first track or the second track rolls, or when the first track and the second track roll at a differential speed, the cleaning device travels in a curve. In addition, a first roller brush 151 and a second roller brush 152 are provided in parallel and spaced apart between the first and second front wheels. The first roller brush 151 and the second roller brush 152 are driven independently by one of the running wheels 141, for example, the first front wheel or the second front wheel alone drives the first and second roller brushes 152 to rotate. Alternatively, the first and second roller brushes 152 are driven by two traveling wheels 141, for example, the first roller brush 151 is driven to rotate by the first front wheel, and the second roller brush 152 is driven to rotate by the second front wheel; for another example, the first and second roller brushes 152 are each divided into two sections, and the first front wheel drives one section of the first and second roller brushes 152 to rotate toward each other, and the second front wheel drives the other section of the first and second roller brushes 152 to rotate relative to each other.

[0035] In conjunction with Figure 3, in some embodiments, at least one circle of external teeth is provided on the outer periphery of the walking wheel 141, including first external teeth 1411 and second external teeth 1412. The first external teeth 1411 and the second external teeth 1412 are arranged side by side along the axial direction of the walking wheel 141, and internal teeth 1413 are provided on the inner side of the walking wheel 141.

[0036] 4 , in some embodiments, the travel wheel 141 is provided with external teeth and a central tooth 1414, the axes of which coincide with the axis of the travel wheel 141. The external teeth are provided on the outer circumference of the travel wheel 141, and the central tooth 1414 is provided on a rotating shaft portion on one side of the travel wheel 141. For example, the external teeth in FIG3 may be the first external teeth 1411 in FIG2 , and the central tooth 1414 is axially fixedly connected to one side of the travel gear, with the central tooth 1414 coinciding with the axis of the travel wheel 141.

[0037] In practice, at least one of the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel in the running mechanism can be the running wheel 141 of the structure shown in FIG2 , or the running wheel 141 of the structure shown in FIG3 . Of course, the running wheel 141 can also be implemented as a combination of at least one of the first external teeth 1411 , the second external teeth 1412 , the internal teeth 1413 , and the center teeth 1414 . For example, in one embodiment, the running wheel 141 is provided with only the first external teeth 1411 for transmission connection with the crawler track 142 ; alternatively, the running wheel 141 is provided with the first external teeth 1411 , the second external teeth 1412 , the internal teeth 1413 , and the center teeth 1414 .

[0038] 5 , in one embodiment, when the track 142 is sleeved on the outer periphery of the traveling wheel 141, a tooth groove 1421 is provided on the track 142, and the tooth groove 1421 matches the first outer tooth 1411, and the first outer tooth 1411 is embedded in the tooth groove 1421, so that the track 142 and the traveling wheel 141 form a tight connection in the circumferential direction. When the traveling wheel 141 rotates, the first outer tooth 1411 and the tooth groove 1421 are mutually limited and locked, so that the track 142 is pulled or pushed to roll; when the track 142 rolls, the tooth groove 1421 on the track 142 and the outer teeth (such as the first outer tooth 1411) on the traveling wheel 141 are mutually limited and locked, so that the traveling wheel 141 is pulled or pushed to rotate.

[0039] 4 and 6 , in one embodiment, when a gear transmission is provided between the drive motor and the travel wheel 141, a drive gear 1431 is provided on the output shaft of the drive motor 143, and the drive gear 1431 is engaged and matched with the outer teeth (for example, the second outer teeth 1412), the inner teeth 1413 or the center teeth 1414 on the travel wheel 141. When the drive motor 143 rotates, the travel wheel 141 is driven to rotate by the engagement transmission of the drive gear 1431 with the outer teeth (for example, the second outer teeth 1412), the inner teeth 1413 or the center teeth 1414 on the travel wheel 141.

[0040] In combination with Figures 5 and 6, in one embodiment, when the roller brush is connected to the traveling wheel 141 for transmission, a roller brush gear is provided on one end of the rotating shaft of the roller brush, and the roller brush gear is engaged and matched with the outer teeth (for example, the second outer teeth 1412), the inner teeth 1413 or the center teeth 1414 on the traveling wheel 141. When the traveling wheel 141 rotates, the roller brush can be driven to rotate by the engagement transmission of the outer teeth, the inner teeth 1413 or the center teeth 1414 with the roller brush gear; or, when the roller brush rotates, the traveling wheel 141 is driven to rotate by the engagement transmission connection of the roller brush gear with the outer teeth, the inner teeth 1413 or the center teeth 1414.

[0041] When the driving gear 1431 or the roller brush gear is meshed with the central teeth 1414 or the outer teeth (e.g., the second outer teeth 1412) of the travel wheel 141, the driving gear 1431 or the roller brush gear rotates in opposite directions to the travel wheel 141. When the driving gear 1431 or the roller brush gear is meshed with the inner teeth 1413 of the travel wheel 141, the driving gear 1431 or the roller brush gear rotates in the same direction as the travel wheel 141. For example, in some embodiments, two roller brushes are respectively meshed with the outer teeth and the inner teeth 1413 of the travel wheel 141 to drive the two roller brushes to rotate in opposite directions.

[0042] It is understandable that the gear types of the outer teeth, inner teeth 1413 and center teeth 1414 on the traveling wheel 141, as well as the roller brush gear on the roller brush and the drive gear 1431 on the drive motor 143, are generally determined by the relative positions of the roller brush and the drive motor 143 and the traveling wheel 141. For example, if the roller brush and the drive motor 143 are in parallel axis transmission with the traveling wheel 141, the outer teeth, inner teeth 1413 and center teeth 1414 on the traveling wheel 141, as well as the drive gear 1431 on the drive motor 143 and the roller brush gear on the roller brush may be parallel axis gears, including but not limited to spur gears, helical gears, inner teeth 1413 wheels or outer gears; if the roller brush and the drive motor 143 are in intersecting axis transmission with the traveling wheel 141, the outer teeth, inner teeth 1413 and center teeth 1414 on the traveling wheel 141, as well as the drive gear 1431 on the drive motor 143 and the roller brush gear on the roller brush may be parallel axis gears, including but not limited to spur gears, helical gears, inner teeth 1413 wheels or outer gears; The driving gear 1431 on the motor 143 and the roller brush gear on the roller brush can be selected as intersecting axis gears, including but not limited to straight bevel gears, arc bevel gears or zero-degree bevel gears, etc.; if the roller brush and the driving motor 143 and the walking wheel 141 are driven by staggered axes, the outer teeth, inner teeth 1413 and center teeth 1414 on the walking wheel 141, as well as the driving gear 1431 on the driving motor 143 and the roller brush gear on the roller brush can be selected as staggered axis gears, including but not limited to staggered axis helical gears, worm gears or quasi-hypoid gears, etc.

[0043] Among them, when at least one walking wheel 141 in the walking mechanism, such as the first front wheel, or the first and second front wheels, drives the first and second roller brushes 152 of the cleaning mechanism to rotate, at least one walking wheel 141 of the walking mechanism can be used completely as the main power source to drive the first and second roller brushes 152 to rotate; or a walking wheel 141 on one side of the walking mechanism can be used as the main power source to drive the first and / or second roller brushes 152 to rotate, and then the first and / or second roller brushes 152 are used as the slave power source to drive at least one walking wheel 141 on the other side of the walking mechanism to rotate, thereby realizing the rotation of the walking wheels 141 on both sides of the walking mechanism, or the walking wheels 141 pull the crawler 142 to roll. Alternatively, at least one walking wheel 141 on one side of the walking mechanism can be used as the main power source to drive the first or second roller brush 151, 152 to rotate, and then the first or second roller brush 151, 152 can be used as the slave power source to drive at least one walking wheel 141 on the other side of the walking mechanism to rotate, and then the rotation of at least one walking wheel 141 on the other side of the walking mechanism drives the second or first roller brush 151 to rotate, and at the same time realizes the rotation of the walking wheels 141 on both sides of the walking mechanism, or the walking wheels 141 pull the crawler 142 to roll.

[0044] In conjunction with Figures 2-6, in some embodiments, the cleaning mechanism is driven by a walking wheel 141, the number of drive motors 143 is one, one drive motor 143 is connected to the first or second rear wheel, the first roller brush 151 and the second roller brush 152 are connected to the first or second front wheel in the same direction and reverse direction respectively. When the drive motor 143 drives the first or second rear wheel to rotate, the rotation of the first or second rear wheel is transmitted to the first or second front wheel on the same side through the track, causing the first or second front wheel to rotate, and the first or second front wheel drives the first and second roller brushes 152 to rotate towards each other, and the first or second front wheel on the opposite side of the rotation of the first or second roller brushes 151, 152 rotates.

[0045] For example, in combination with Figures 3 and 4, the first and second rear wheels are provided with at least a first outer tooth 1411, and at least one of a second outer tooth 1412, an inner tooth 1413 and a center tooth 1414, and the first and second front wheels are provided with at least a first outer tooth 1411, a second outer tooth 1412 and an inner tooth 1413; the first outer teeth 1411 on the first front wheel and the first rear wheel are meshed and transmitted with the tooth grooves 1421 on the first crawler track, and the first outer teeth 1411 on the second front wheel and the second rear wheel are meshed and transmitted with the tooth grooves 1421 on the second crawler track; a driving gear 1431 is provided on the output shaft of a driving motor 143, and the driving gear 1431 is meshed and transmitted with the center tooth 1414 or the inner tooth 1413 or the outer tooth of the first rear wheel. When the driving motor 143 rotates, the first rear wheel is driven to rotate, and the rotation of the first rear wheel drives the first crawler track to roll. The first roller brush 151 is provided with a first roller brush gear 1511 at one end of its shaft, and the second roller brush 152 is provided with a second roller brush gear 1521 at one end of its shaft. The first roller brush gear 1511 and the second roller brush gear 1521 are respectively connected to the outer teeth and inner teeth 1413 of the first front wheel, enabling the first roller brush 151 and the second roller brush to rotate in opposite directions. Furthermore, a third roller brush gear is provided at the other end of the shaft of the first roller brush 151, meshing with the outer teeth of the second front wheel. Alternatively, a third roller brush gear is provided at the other end of the shaft of the second roller brush, meshing with the inner teeth 1413 of the second front wheel. When the first or second roller brush 151, 152 rotates, it drives the second front wheel. The rotation of the second front wheel drives the second track roller brush, thereby driving the second rear wheel. It is understood that if a single drive motor 143 is used to drive the second rear wheel, the process is the same as the process described above for driving the first rear wheel, so this will not be described in detail here.

[0046] Among them, in order to reduce the mold opening cost, in the embodiment of the present disclosure, the four walking wheels 141 of the walking mechanism can be selected to have the same structure. For example, in combination with Figure 2, the first and second front wheels, and the first and second rear wheels are all provided with first outer teeth 1411, second outer teeth 1412 and inner teeth 1413.

[0047] Because a single front wheel serves as the drive input for the first and second roller brushes, the first roller brush 151 is driven via the front wheel's external teeth, and the second roller brush is driven via the front wheel's internal teeth 1413. Since the first and second roller brushes, as well as the front wheel, all contact the surface to be cleaned during travel, the rotation axes of the first and second roller brushes 151 and 151 are located on either side of the front wheel's rotation axis. Viewed from the side of the cleaning device, the rotation axis of the first roller brush 151 is located outside the front wheel's range, while the rotation axis of the second roller brush is located within the front wheel's range. In the disclosed embodiment, the internal and external teeth on the front wheel on one side of the traveling mechanism simultaneously drive the two roller brushes on either side of the front wheel's rotation axis, thereby causing the two roller brushes to rotate in opposite directions.

[0048] In conjunction with Figures 3 and 4, in some embodiments, the first and second rear wheels are provided with first external teeth 1411, and at least one of second external teeth 1412, internal teeth 1413 and center teeth 1414; the first and second front wheels are provided with first external teeth 1411 and center teeth 1414; the first external teeth 1411 on the first front wheel and the first rear wheel are meshed and connected to the tooth grooves 1421 on the first crawler track; the first external teeth 1411 on the second front wheel and the second rear wheel are meshed and connected to the tooth grooves 1421 on the second crawler track; a driving gear 1431 is provided on the output shaft of a driving motor 143, and the driving gear 1431 is meshed with the center teeth 1414, the internal teeth 1413 or the external teeth of the first rear wheel for transmission; when the driving motor 143 rotates The first rear wheel is driven to rotate together, and the rotation of the first rear wheel drives the first track to roll, thereby driving the first front wheel to rotate; a first roller brush gear 1511 is provided at one end of the rotating shaft of the first roller brush 151, and a second roller brush gear 1521 is provided at one end of the rotating shaft of the second roller brush; the first roller brush gear 1511 and the second roller brush gear 1521 are respectively connected to the center teeth 1414 of the first front wheel, wherein the first roller brush gear 1511 and the center teeth 1414 of the first front wheel can be connected by a first transition gear, and similarly, the second roller brush gear 1521 and the center teeth 1414 of the first front wheel can also be connected by a second transition gear, but in order to enable the first roller brush 151 and the second roller brush to rotate towards each other, the first and second transition gears are set selectively. Furthermore, a third roller brush gear is provided at the other end of the rotating shaft of the first roller brush 151. This third roller brush gear meshes with the center gear 1414 of the second front wheel, or a second roller brush gear 1521 is connected to the center gear 1414 of the second front wheel via a third transition gear. This drives the second front wheel to rotate. Simultaneously, the rotation of the second gear drives the second track, thereby driving the second rear wheel. In this way, a single drive motor 143 indirectly drives the running wheels 141 and tracks on both sides of the running mechanism to rotate in the same direction, while one of the front wheels simultaneously drives the first and second roller brushes to rotate in opposite directions. If the drive motor 143 drives the second rear wheel, the process is the same as driving the first rear wheel, so this will not be further described.

[0049] Among them, in order to reduce the mold opening cost, in the embodiment of the present disclosure, the four walking wheels 141 of the walking mechanism can be selected to have the same structure, for example, the first and second front wheels, and the first and second rear wheels are all provided with first outer teeth 1411 and center teeth 1414 wheels.

[0050] In conjunction with Figures 2-6, in some embodiments, the cleaning mechanism is driven by a walking wheel 141, the number of drive motors 143 is one, and the two ends of the output shaft of one drive motor 143 are respectively connected to the first or second rear wheel for transmission, and the first roller brush 151 and the second roller brush are respectively connected to the first or second front wheel for transmission in the same direction and reverse direction. When the drive motor 143 drives the first and second rear wheels to rotate, the rotation of the first and second rear wheels is transmitted to the first and second front wheels respectively through the crawler tracks, causing the first and second front wheels to rotate, and the rotation of the first or second front wheel drives the first and second roller brushes to rotate in opposite directions.

[0051] Specifically, the drive motor 143 has two output shafts, which can rotate synchronously or independently. Optionally, in one embodiment, the drive motor 143 is a dual-shaft motor, and the two output shafts of the drive motor 143 rotate synchronously.

[0052] For example, in conjunction with Figures 2-4, the first and second rear wheels are provided with first external teeth 1411, and at least one of second external teeth 1412, internal teeth 1413 and center teeth 1414, the first and second front wheels are provided with first external teeth 1411 and center teeth 1414, or first external teeth 1411, second external teeth 1412 and internal teeth 1413, the first external teeth 1411 on the first front wheel and the first rear wheel are meshed and connected with the tooth grooves 1421 on the first crawler track, and the first external teeth 1411 on the second front wheel and the second rear wheel are meshed and connected with the tooth grooves 1421 on the second crawler track; a driving motor 143 has a driving gear 1431 provided on each of the output shafts at both ends of the axis, and the driving gears 1431 at both ends are respectively meshed with the center teeth 1414 or the internal teeth 1413 or the external teeth of the first and second rear wheels for transmission. When the drive motor 143 rotates, the first and second rear wheels rotate together. The rotation of the first and second rear wheels drives the tracks to roll, thereby driving the first and second front wheels to rotate. A first brush gear 1511 is provided at one end of the rotating shaft of the first roller brush 151, and a second brush gear 1521 is provided at one end of the rotating shaft of the second roller brush. The first and second brush gears 1511 and 1521 are respectively connected to the center teeth 1414 of the first front wheel. The first brush gear 1511 and the center teeth 1414 of the first front wheel can be connected via a first transition gear, and the second brush gear 1521 and the center teeth 1414 of the first front wheel can also be connected via a second transition gear. However, to enable the first and second brushes to rotate in opposite directions, only one of the first and second transition gears is provided. Alternatively, the first and second brush gears 1511 and 1521 are respectively connected to the outer and inner teeth 1413 of the first front wheel, enabling the first and second brushes to rotate in opposite directions.

[0053] Among them, in order to reduce the mold opening cost, in the embodiment of the present disclosure, the four walking wheels 141 of the walking mechanism can be selected to have the same structure, for example, the first and second front wheels, and the first and second rear wheels are all provided with first outer teeth 1411 and center teeth 1414; or, the first and second front wheels, and the first and second rear wheels are all provided with first outer teeth 1411, second outer teeth 1412 and inner teeth 1413.

[0054] In the above embodiment, a driving motor 143 drives one or two walking wheels 141 to make the walking mechanism roll on the tracks on both sides. At the same time, the front wheel on one side is used to drive the first and second roller brushes of the cleaning mechanism to rotate toward each other, thereby achieving the effect of independently driving the first and second roller brushes to rotate toward each other by one walking wheel 141. Not only is the structure sophisticated, but also fewer driving parts are used, which is conducive to optimizing product costs.

[0055] In some embodiments, referring to FIG. 2 , in the embodiment described above where a single drive motor 143 drives two rear wheels to achieve a single front wheel driving two roller brushes to rotate in opposite directions, two motors can be used instead of one to achieve the same effect, with the two motors being transmission-connected to the first and second rear wheels, respectively. However, when two drive motors 143 are used, the travel of the two sides of the walking mechanism is driven by independent motors. When the drive motors 143 drive the two sides of the walking mechanism at differential speeds, the device can be made to turn and travel on the pool bottom or wall, thereby enhancing the device's travel function.

[0056] In conjunction with Figures 2-7, in some embodiments, the cleaning mechanism is driven by two walking wheels 141, and there is at least one drive motor 143. The at least one drive motor 143 is connected to the first and second rear wheels to drive the first and second rear wheels to rotate. The first roller brush 151 is connected to the first front wheel, and the second roller brush is connected to the second front wheel. When the drive motor 143 drives the first and second rear wheels to rotate, the first and second front wheels on the same side as the first and second rear wheels are driven to rotate through the track, and the first and second front wheels respectively drive the first and second roller brushes to rotate in opposite directions. Specifically, when there is one drive motor 143, the two rear wheels are jointly driven by the two ends of the drive motor 143; when there are two drive motors 143, the two motors are each driven by an independent drive motor 143.

[0057] In one embodiment, in combination with Figures 2 and 7, there are preferably two drive motors 143, and the cleaning device is still divided into a left side and a right side. One side drives the first rear wheel in a gear-driven manner through a drive motor 143, wherein the rear wheel is provided with a central tooth 1414 or an inner tooth 1413 or an outer tooth, and the drive gear 1431 of the drive motor 143 is engaged with the above-mentioned central tooth 1414 or the inner tooth 1413 or the outer tooth for transmission; the rotation of the first rear wheel drives the rolling of the first crawler, and then drives the rotation of the first front wheel, wherein the first front wheel and the first rear wheel are both provided with a tooth groove 1421 that is engaged with the first crawler for transmission. The first outer teeth 1411 of the first roller brush 151 and the second roller brush 152 are provided on one of the rollers, with a transmission gear provided on the rotating shaft thereof in the direction extending toward the first front wheel, and a support member provided on the other roller brush. The transmission gear meshes with the center teeth 1414 of the first front wheel for transmission. The support member can be, for example, a toothless cylindrical member that can abut against the inner or outer ring of the front wheel, providing support only for the rotation of the other roller brush and ensuring the stability of the rotation of the other roller brush. Through the above arrangement, the rear wheel, track, front wheel, and one roller brush on one side of the cleaning device can be driven while supporting the other roller brush. On the other side of the cleaning device, the rear wheel, track, and front wheel can use the same transmission members and transmission methods as above. On the first roller brush 151 and the second roller brush 152, the other roller brush has a transmission gear provided on the rotating shaft thereof in the direction extending toward the second front wheel, and a support member provided on the other roller brush. The transmission gear meshes with the center teeth 1414 of the second front wheel for transmission.

[0058] In some embodiments, in combination with Figures 3, 5 and 7, the front wheels on both sides of the walking mechanism may optionally be provided with internal teeth 1413 and external teeth (for example, second external teeth 1412). Different from the above embodiments, on the first roller brush 151 and the second roller brush, one of the rotating shafts is provided with a roller brush gear in the extension direction toward the first front wheel, and the other is provided with a support member. The roller brush gear engages with the external teeth or internal teeth 1413 of the first front wheel for transmission. The support member can be, for example, a toothless cylindrical member, which can abut against the inner ring or outer ring of the front wheel, and only provides support for the rotation of the other roller brush, thereby ensuring the stability of the rotation of the other roller brush.

[0059] In conjunction with Figures 2-8, in some embodiments, the cleaning mechanism is driven by two running wheels 141. The rear wheels on either side of the running mechanism are driven by at least one drive motor 143. When the two rear wheels rotate, the corresponding tracks roll, thereby driving the two front wheels to rotate. The first and second roller brushes each include two sections that are axially rotatably connected. One section of each of the first and second roller brushes is respectively connected to the first front wheel, and the other end of each of the first and second roller brushes is respectively connected to the second front wheel. When the first front wheel rotates, one section of each of the first and second roller brushes is driven to rotate toward each other. When the second front wheel rotates, the other section of each of the first and second roller brushes is driven to rotate toward each other. Because the first and second roller brushes are each divided into two sections that rotate independently axially, and the two sections of each roller brush are independently driven by the front wheels on either side of the running mechanism, when the front wheels on either side of the running mechanism rotate differentially, not only the different roller brushes are driven differentially, but also the two ends of the same roller brush are driven differentially. This facilitates achieving a smaller turning radius, thereby improving the turning flexibility of the device.

[0060] With reference to FIG8 , in some embodiments, the first roller brush 151 and the second roller brush 152 are segmented, each comprising a first section and a second section, which can rotate independently without interference. In this case, the cleaning device can be divided into left and right sides, with the travel mechanisms and cleaning mechanisms on both sides utilizing symmetrical drive and transmission structures. For example, on one side, the drive gear 1431 of the drive motor 143 meshes with the central teeth 1414, the internal teeth 1413, or the external teeth of the rear wheel to drive the rear wheel. The rotation of the rear wheel drives the track, which in turn drives the front wheel. On one side, the ends of the first and second roller brushes are each provided with a roller brush gear, and the rear wheel is provided with a central tooth 1414. The first roller brush 151 and the second roller brush are each transmission-connected to the central tooth 1414, and a transition tooth is provided between the first roller brush 151 or the second roller brush and the central tooth 1414. The other side utilizes the same transmission structure to achieve overall transmission of the cleaning device. Furthermore, the provision of a transition tooth enables the first and second roller brushes to rotate in opposite directions.

[0061] In conjunction with Figures 3-8, in another embodiment, the front and rear wheels on both sides of the walking mechanism are provided with internal teeth 1413 and external teeth. Taking one side as an example, the drive gear 1431 of the drive motor 143 meshes with the central teeth 1414, the internal teeth 1413, or the external teeth of the rear wheel to drive the rear wheel. The rotation of the rear wheel drives the track, which in turn drives the front wheel. The ends of the first and second roller brushes on one side are respectively provided with roller brush gears. The front wheel is provided with internal teeth 1413 and external teeth (e.g., second external teeth 1412). The first roller brush 151 and the second roller brush are respectively connected to the external teeth and the internal teeth 1413 of the front wheel via the roller brush gears. The same transmission structure is used on the other side to achieve overall transmission of the cleaning device. The first roller brush 151 and the second roller brush are driven simultaneously by the inner and outer sides of the front wheel, enabling the first and second roller brushes to rotate in opposite directions.

[0062] 8 , the first roller brush 151 includes a first section and a second section, which are axially rotatably connected and can be the same or different in length; the second roller brush includes a third section and a fourth section, which are axially rotatably connected and can be the same or different in length. When the two sections of the first roller brush 151 and the second roller brush are the same length, that is, the first, second, third and fourth sections are the same length, then the driving mechanism and the cleaning mechanism are symmetrical along the center line of the moving direction of the cleaning device; when the two sections of the first roller brush 151 and the second roller brush are different lengths, the first and second sections may be of different lengths, while the third and fourth sections may be of the same length. At this time, one front wheel may drive the first and third sections to rotate toward each other, while the other front wheel may drive the second and fourth sections to rotate toward each other, or the first and second sections may be of the same length, while the third and fourth sections may be of different lengths, and the driving method may be the same; the first and second sections may be of different lengths, the first section may be longer than the second section, while the third and fourth sections may be of different lengths, and the third section may be longer than the fourth section, and the first and third sections may be of the same length, while the second and fourth sections may be of the same length. At this time, one front wheel may drive the first and third sections to rotate, while the other front wheel may drive the second and fourth sections to rotate; or one front wheel may drive the first and fourth sections to rotate, while the other front wheel may drive the second and third sections to rotate. It can be seen that there are multiple combinations of driving modes for the segmented first and second roller brushes, which can be selected in practice according to specific application requirements, and the embodiments of the present disclosure do not limit this.

[0063] In the above embodiments, the traveling mechanism is driven by the driving motor 143 to drive the rear wheels to achieve walking. In practice, the traveling mechanism can also be driven by the driving motor 143 to drive the front wheels to achieve walking.

[0064] 2-9 , in some embodiments, the first and second roller brushes of the cleaning mechanism are driven to rotate by two front wheels, the number of drive motors 143 is one, and the drive motor 143 is arranged in the first roller brush 151. The first roller brush 151 is connected to the drive motor 143 for relative rotation, so that the first roller brush 151 does not rotate with the drive motor 143, and the axis of the first roller brush 151 coincides with the axis of the drive motor 143. The drive motor 143 is connected to the first front wheel at one axial end of the first roller brush 151, and the other axial end of the first roller brush 151 is connected to the second front wheel. One end of the rotating shaft of the second roller brush is connected to the first front wheel, and the other side of the rotating shaft of the second roller brush is connected to the second front wheel. When the drive motor 143 rotates, it drives the first front wheel to rotate. The rotation of the first front wheel drives the second roller brush to rotate, and at the same time drives the first track and the first rear wheel to rotate. The rotation of the second roller brush drives the second front wheel to rotate. The rotation of the second front wheel drives the first roller brush 151, and at the same time drives the second track and the second rear wheel to rotate.

[0065] In another embodiment, the first and second roller brushes of the cleaning mechanism are driven to rotate by a front wheel and a drive motor 143. In conjunction with Figure 9, the number of drive motor 143 is one, and the drive motor 143 is arranged in the first roller brush 151. The first roller brush 151 is relatively fixedly connected to the drive motor 143 so that the first roller brush 151 rotates together with the drive motor 143, and the axis of the first roller brush 151 coincides with the axis of the drive motor 143. The drive motor 143 is transmission-connected to the first front wheel at one axial end of the first roller brush 151, and the other axial end of the first roller brush 151 is connected to the second front wheel rotation support. One end of the rotating shaft of the second roller brush is transmission-connected to the first front wheel, and the other side of the rotating shaft of the second roller brush is transmission-connected to the second front wheel. When the drive motor 143 rotates, it drives the first roller brush 151 and the first front wheel to rotate. The rotation of the first front wheel drives the second roller brush to rotate, and at the same time drives the first track and the first rear wheel to rotate. The rotation of the second roller brush drives the second front wheel to rotate, and the rotation of the second front wheel drives the second track and the second rear wheel to rotate.

[0066] The drive motor 143 and the front wheels may be connected in a variety of ways. For example, referring to Figures 4 and 6 , in one embodiment, the front wheels are provided with first outer teeth 1411 and center teeth 1414. The drive motor 143 transmits power via a drive gear 1431 meshing with the center teeth 1414 on the first front wheel. The first roller brush 151 rotates via a first roller brush gear 1511 provided on the rotating shaft meshing with the center teeth 1414 on the second front wheel. Second roller brush gears 1521 are provided at each end of the rotating shaft of the second roller brush. The two sections of the second roller brush gear 1521 are connected to the center teeth 1414 of the first and second front wheels, respectively, via a transition gear. In another embodiment, the front wheels are provided with first external teeth 1411, second external teeth 1412, and internal teeth 1413. The drive motor 143 transmits power via a drive gear 1431 meshing with the external or internal teeth 1413 of the first front wheel. The first roller brush 151 rotates via a first roller brush gear 1511 provided on the rotating shaft meshing with the external or internal teeth 1413 of the second front wheel. The second roller brush is provided with second roller brush gears 1521 at each end of the rotating shaft. The two second roller brush gears 1521 respectively mesh with the internal or external teeth 1413 of the first and second front wheels for transmission. Of course, the rear wheels are provided with at least first external teeth 1411. The front and rear wheels transmit power via their respective first external teeth 1411 meshing with the tooth grooves 1421 on the track.

[0067] Furthermore, there are various methods for relatively fixedly connecting the first roller brush 151 and the drive motor 143. For example, the output shaft of the drive motor 143 can be connected to the rotating shaft of the first roller brush 151 by a shaft connection, a key connection, or a coupling. Similarly, there are various methods for relatively rotationally connecting the first roller brush 151 and the drive motor 143. For example, the output shaft of the drive motor 143 can be connected to the rotating shaft of the first roller brush 151 by a bearing.

[0068] The embodiment of the present disclosure drives the front wheel on one side of the walking mechanism to rotate and drive one of the roller brushes to rotate by arranging the drive motor 143 inside the roller brush, so that one of the roller brushes drives the front wheel on the other side to rotate and drives the other roller brush to rotate. This not only realizes the walking drive on both sides of the walking mechanism and the opposite rotation of the two roller brushes, but also installs the drive motor 143 inside the roller brush, reduces the occupation of the internal space of the body, and frees up more useful space for the body, so as to make the filter box volume larger and improve the cleaning ability of the cleaning equipment.

[0069] In some embodiments, in combination with Figures 2 and 9, the drive motor 143 is set in one of the roller brushes. The drive motor 143 itself can be a waterproof motor with a sleeve on the outside that runs across the entire roller brush, and the motor is fixed in the sleeve; or the drive motor 143 itself is not waterproof, and is fixedly set in the sleeve, and both ends of the sleeve are waterproofed; the motor sleeve can be set on the body, that is, fixedly connected to the body through one end or both ends of the sleeve, and the first roller brush 151 is sleeved outside the motor sleeve and can rotate relatively.

[0070] In addition, the driving motor 143 may also be disposed in the second roller brush. The implementation is the same as that of disposing the driving motor 143 in the first roller brush 151 , so it will not be described again here.

[0071] In conjunction with Figures 2-10, in some embodiments, the number of drive motors 143 is two, and the two drive motors 143 are correspondingly arranged in the two roller brushes, that is, the drive motor 143 includes a first drive motor 143 and a second drive motor 143, the first drive motor 143 is arranged in the first roller brush 151, and the second drive motor 143 is arranged in the second roller brush.

[0072] In one embodiment, the two roller brushes are driven by a drive motor 143 and a front wheel. In conjunction with Figure 10, the first roller brush 151 is coaxially fixedly connected to the first drive motor 143, and the second roller brush is coaxially movably connected to the second drive motor 143. The first roller brush 151 rotates together with the first drive motor 143. The first drive motor 143 is transmission-connected to the first front wheel, one end of the rotating shaft of the second roller brush is transmission-connected to the first front wheel, and the second drive motor 143 is transmission-connected to the second front wheel at the other end of the rotating shaft of the second roller brush. When the first drive motor 143 rotates, it drives the first roller brush 151 and the first front wheel to rotate. The rotation of the first front wheel drives the second roller brush to rotate, and at the same time drives the first track and the first rear wheel to rotate. The second front wheel is driven to rotate by the second drive motor 143, and the rotation of the second front wheel drives the second track and the second rear wheel to rotate together.

[0073] In another embodiment, the two roller brushes are driven by two drive motors 143. Referring to Figure 10, the first roller brush 151 is coaxially fixedly connected to the first drive motor 143, and the first roller brush 151 rotates together with the first drive motor 143. The second roller brush is coaxially fixedly connected to the second drive motor 143, and the second roller brush rotates together with the second drive motor 143. The first drive motor 143 is transmission-connected to the first front wheel at one end of the rotating shaft of the first roller brush 151, and the other end of the rotating shaft of the first roller brush 151 is connected to the second front wheel rotation support. The second drive motor 143 is transmission-connected to the second front wheel at one end of the rotating shaft of the second roller brush, and the other end of the rotating shaft of the second roller brush is connected to the first front wheel rotation support. When the first drive motor 143 rotates, it drives the first roller brush 151 and the first front wheel to rotate. The rotation of the first front wheel drives the first track and the first rear wheel to rotate together. When the second drive motor 143 rotates, it drives the second roller brush and the second front wheel to rotate. The rotation of the second front wheel drives the second track and the second rear wheel to rotate together.

[0074] Among them, the transmission connection method between the drive motor 143 and the front wheel is not unique. For example, in combination with Figures 3 and 4, in one embodiment, a first outer tooth 1411 and a center tooth 1414 are provided on the front wheel. If two drive motors 143 drive two roller brushes to rotate, then the first drive motor 143 is engaged with the center tooth 1414 on the first front wheel through the first drive gear 1431 for transmission, and the second drive motor 143 is engaged with the center tooth 1414 on the second front wheel through the second drive gear 1431 through the second transition gear for transmission; if one drive motor 143 and one front wheel drive two roller brushes to rotate, then the first drive motor 143 is engaged with the center tooth 1414 on the first front wheel through the first drive gear 1431 for transmission, and the second drive motor 143 is engaged with the center tooth 1414 on the second front wheel through the second drive gear 1431 through the second transition gear for transmission, a roller brush gear is provided on the rotating shaft of the second roller brush, and the roller brush gear is engaged with the center tooth 1414 of the first front wheel through the first transition gear for transmission. In another embodiment, the front wheel is provided with first external teeth 1411, second external teeth 1412, and internal teeth 1413. If two drive motors 143 are used to drive two roller brushes, the first drive motor 143 is driven by meshing the external or internal teeth 1413 on the first front wheel via a drive gear 1431, and the second drive motor 143 is driven by meshing the internal teeth 1413 or external teeth on the second front wheel via a second drive gear 1431. If one drive motor 143 and one front wheel are used to drive two roller brushes, the first drive motor 143 is driven by meshing the external or internal teeth 1413 on the first front wheel via a drive gear 1431, and the second drive motor 143 is driven by meshing the internal teeth 1413 or external teeth on the second front wheel via a second drive gear 1431. A roller brush gear is provided on the rotating shaft of the second roller brush, and the second roller brush is driven by meshing the roller brush gear on the rotating shaft with the internal teeth 1413 or external teeth on the first front wheel. Of course, at least the rear wheel is provided with a first external tooth 1411 , and the front wheel and the rear wheel are driven by engaging the respective first external teeth 1411 with the tooth grooves 1421 on the crawler track.

[0075] The embodiment of the present disclosure drives the walking mechanism to move on both sides by setting two drive motors 143 in two roller brushes, and the two roller brushes rotate in opposite directions. This not only reduces the space occupied by the drive motor 143, freeing up more space in the body for the cleaning equipment, so that the filter box can be made larger and the cleaning ability of the cleaning equipment can be improved; it also can realize differential walking drive on both sides of the walking mechanism, providing the equipment with a turning function on the bottom and wall of the pool, and has very comprehensive functions.

[0076] With reference to Figure 11, in some embodiments, the first roller brush 151 and the second roller brush 152 each include a rotating shaft 153, a sleeve 154, and blades 155. The sleeve 154 is mounted on the rotating shaft 153, and there are multiple blades 155. Each blade 155 has one end circumferentially connected to the sleeve 154 and the other end is free. Alternatively, the blades 155 are formed on a base that is arranged around the sleeve or the rotating shaft 153 to form an axial roller brush configuration. When the first roller brush 151 and the second roller brush 152 rotate, the blades 155 on the two rollers do not interfere with each other, or they do interfere with each other. In one embodiment, when the first roller brush 151 and the second roller brush 152 rotate, the blades 155 on the two rollers interfere with each other, so that the suction pressure generated by the fluid pumping device 130 can be better concentrated in the area between the two roller brushes, thereby increasing the suction force. At the same time, for large particles of garbage, the interference of the roller brush blades can also enhance the garbage lifting capacity, thereby effectively sucking in the water flow near the water inlet 111 for filtration, thereby improving the cleaning ability of the cleaning device 100; in another embodiment, the blades 155 on the two rollers do not interfere with each other, which can reduce working noise and save energy.

[0077] Referring to Figure 12 , the distance between the closest points of the two roller brush sleeves 154 is L, and the lengths of the two roller brush blades 155 are d1 and d2, respectively. Assuming the gap between the two roller brush blades 155 is g, then g = L - d1 - d2. It can be seen that when g < 0, the blades 155 on the two rollers interfere with each other; when g ≥ 0, the blades 155 on the two rollers do not interfere with each other.

[0078] In one embodiment, assuming that the width of the water inlet 111 is G, generally G>g, because a smaller g can ensure the negative pressure between the two roller brushes, and a larger G can ensure that larger garbage can be sucked in normally.

[0079] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A cleaning device, comprising a body, a filter cartridge, a fluid pumping device, a traveling mechanism, and a cleaning mechanism. The body is provided with a water inlet and a water outlet. The filter cartridge is in fluid communication with the water inlet. The fluid pumping device is configured to pump water flow from the water inlet to the water outlet. It is characterized in that: The traveling mechanism includes: traveling wheels, a crawler belt, and a driving motor. The traveling wheels at least include a first rear wheel, a second rear wheel, a first front wheel, and a second front wheel. A first crawler belt is sleeved on the outer peripheries of the first front wheel and the first rear wheel. A second crawler belt is sleeved on the outer peripheries of the second front wheel and the second rear wheel. The number of the driving motors is at least one, and at least one of the driving motors is in transmission connection with at least one of the traveling wheels; The cleaning mechanism at least includes: a first rotary brush and a second rotary brush. The first rotary brush and the second rotary brush are arranged in parallel and at intervals between the first and second front wheels; the first rotary brush and the second rotary brush are driven independently by the first front wheel, or the first or second rotary brush is driven by the first or second front wheel respectively; the first and second rotary brushes rotate towards each other.

2. The cleaning device according to claim 1, wherein, A water inlet is provided on the bottom shell corresponding to the axes of the first rotary brush and the second rotary brush.

3. The cleaning device according to claim 1, wherein, Along the traveling direction of the device, the second rotary brush is in front of the first rotary brush, and the second rotary brush slightly protrudes from the foremost end of the bottom shell.

4. The cleaning device according to claim 1, characterized in that, The rotary brush includes a rotating shaft, a shaft sleeve, and blades. The shaft sleeve is sleeved on the rotating shaft. The number of the blades is multiple, and one end of each blade is circumferentially connected to the shaft sleeve; or the blades are formed on a base that surrounds the shaft sleeve or the rotating shaft to form an axial rotary brush configuration; wherein when the first and second rotary brushes rotate, the blades on the two rollers do not interfere with each other, or interfere with each other.

5. The cleaning device according to claim 1, wherein, When the first rotary brush and the second rotary brush are driven independently by the first front wheel, a central gear that rotates coaxially is provided on the first front wheel. A first rotary brush gear is provided on one side of the first rotary brush, and a second rotary brush gear is provided on one side of the second rotary brush. The first rotary brush gear and the second rotary brush gear are respectively in transmission connection with the central gear on the first front wheel. Among them, the first rotary brush is in transmission connection with the central gear of the first front wheel through a first intermediate gear, or the second rotary brush gear is in transmission connection with the central gear of the first front wheel through a second intermediate gear. The first and second intermediate gears are provided alternatively; A driving motor is in meshing transmission with the central gear, internal gear, or external gear of the first rear wheel through a driving gear. The rotation of the first rear wheel drives the first crawler belt to roll. The rolling of the first crawler belt drives the first front wheel to rotate. When the first front wheel rotates, it drives the first and second rotary brushes to rotate towards each other.

6. The cleaning device according to claim 1, wherein When the first rotary brush and the second rotary brush are driven independently by the first front wheel, internal teeth and external teeth are provided on the first front wheel. A first rotary brush gear is provided on one side of the first rotary brush, and a second rotary brush gear is provided on one side of the second rotary brush. The first rotary brush is in transmission connection with the internal teeth of the first front wheel, and the second rotary brush gear is in transmission connection with the external teeth of the first front wheel; or the first rotary brush is in transmission connection with the external teeth on the first front wheel, and the second rotary brush gear is in transmission connection with the internal teeth on the first front wheel; A driving motor is engaged with the central tooth, inner tooth or outer tooth of the first rear wheel through a driving gear for transmission. The rotation of the first rear wheel drives the first crawler to roll, and the rolling of the first crawler drives the first front wheel to rotate. When the first front wheel rotates, it drives the first and second brush rollers to rotate towards each other.

7. The cleaning device according to claim 5 or 6, characterized in that, Another driving motor is engaged with the central tooth, inner tooth or outer tooth of the second rear wheel through another driving gear for transmission. The rotation of the second rear wheel drives the second crawler to roll, and the rolling of the second crawler drives the second front wheel to rotate; Alternatively, a third brush roller gear is provided on the other side of the first brush roller or the second brush roller, and an outer tooth, inner tooth or central tooth engaged with the third brush roller gear is provided on the second front wheel. When the first or second brush roller rotates, it drives the second front wheel to rotate, and the rotation of the second front wheel drives the second crawler and the second rear wheel to rotate.

8. The cleaning device according to claim 1, characterized in that, When the first or second brush roller is driven by the first or second front wheel, the first brush roller and the second brush roller are each divided into a first section and a second section, and the first sections of the first and second brush rollers are located on the same side; The front wheel is provided with a coaxial rotating central tooth. The first brush roller is provided with a first brush roller on each of the two sections, and the second brush roller is provided with a second brush roller gear on each of the two sections. The first brush roller and the second brush roller gear are respectively in transmission connection with the central tooth on the front wheel. Among them, the first brush roller is in transmission connection with the central tooth on the front wheel through a first intermediate gear, or the second brush roller gear is in transmission connection with the central tooth on the front wheel through a second intermediate gear. The first and second intermediate gears are provided alternatively; At least one driving motor drives the rear wheel by engaging a driving gear with the central tooth, inner tooth or outer tooth of the rear wheel. The rotation of the rear wheel drives the crawler to roll, and then drives the front wheel to rotate. The rear wheel includes a first rear wheel and a second rear wheel, and the front wheel includes a first front wheel and a second front wheel. When the first front wheel rotates, it drives the first sections of the first and second brush rollers to rotate towards each other; when the second front wheel rotates, it drives the second sections of the first and second brush rollers to rotate towards each other.

9. The cleaning device according to claim 1, wherein, When the first or second brush roller is driven by the first or second front wheel, the first brush roller and the second brush roller are each divided into a first section and a second section, and the first sections of the first and second brush rollers are located on the same side; The front wheel is provided with an inner tooth and an outer tooth. The first brush roller is provided with a first brush roller on each of the two sections, and the second brush roller is provided with a second brush roller gear on each of the two sections. The first brush roller is in transmission connection with the inner tooth on the front wheel, and the second brush roller gear is in transmission connection with the outer tooth on the front wheel; or the first brush roller is in transmission connection with the outer tooth on the front wheel, and the second brush roller gear is in transmission connection with the inner tooth on the front wheel; At least one driving motor drives the rear wheel by engaging a driving gear with the central tooth, inner tooth or outer tooth of the rear wheel. The rotation of the rear wheel drives the crawler to roll, and then drives the front wheel to rotate. The rear wheel includes a first rear wheel and a second rear wheel, and the front wheel includes the first front wheel and the second front wheel. When the first front wheel rotates, it drives the first sections of the first and second brush rollers to rotate towards each other; when the second front wheel rotates, it drives the second sections of the first and second brush rollers to rotate towards each other.

10. The cleaning device according to claim 1, characterized in that, When the first or second rolling brush is correspondingly driven by the first or second front wheel, first rolling brush gears and first supporting members are respectively provided at two ends of the rotating shaft of the first rolling brush, and second rolling brush gears and second supporting members are respectively provided at two ends of the rotating shaft of the second rolling brush; the first rolling brush is in meshing transmission with the external teeth or internal teeth of the first front wheel, the first supporting member abuts against the outer ring or inner ring of the second front wheel, the second rolling brush gear is in meshing transmission with the internal teeth or external teeth of the second front wheel, and the second supporting member abuts against the inner ring or outer ring of the first front wheel; The rear wheels are driven by at least one driving motor in a gear driving manner. Central teeth or internal teeth or external teeth are provided on the rear wheels. The driving gear of the driving motor is in meshing transmission with the central teeth or internal teeth or external teeth of the rear wheels. The rotation of the rear wheels drives the rolling of the crawler tracks, and the rolling of the crawler tracks drives the rotation of the front wheels. The rear wheels include a first rear wheel and a second rear wheel, and the front wheels include a first front wheel and a second front wheel. When the first front wheel rotates, it drives the first rolling brush to rotate; when the second front wheel rotates, it drives the second rolling brush to rotate.

11. The cleaning device according to claim 1, characterized in that, There is one driving motor, which is arranged inside the first rolling brush. When the first rolling brush rotates together with the driving motor, the driving motor is in transmission connection with the first front wheel at one end of the rotating shaft of the first rolling brush. The two ends of the rotating shaft of the second rolling brush are respectively in transmission connection with the first rolling brush and the second rolling brush. When the driving motor rotates, it drives the first front wheel to rotate. The rotation of the first front wheel drives the second rolling brush to rotate and simultaneously drives the first crawler track and the first rear wheel to rotate. The rotation of the second rolling brush drives the rotation of the second front wheel, and the rotation of the second front wheel drives the second crawler track and the second rear wheel to rotate; when the first rolling brush rotates together with the driving motor, the other end of the rotating shaft of the first rolling brush is in transmission connection with the second front wheel, and the rotation of the second front wheel drives the first rolling brush to rotate.

12. The cleaning device according to claim 1, characterized in that The driving motor includes a first driving motor and a second driving motor. The first driving motor is arranged inside the first rolling brush, and the second driving motor is arranged inside the second rolling brush. When the first and second rolling brushes rotate together with the driving motor, the first driving motor is in transmission connection with the first front wheel at one end of the rotating shaft of the first rolling brush, and the second driving motor is in transmission connection with the second front wheel at one end of the rotating shaft of the second rolling brush. When the first driving motor rotates, it drives the first front wheel and the first rolling brush to rotate. The rotation of the first front wheel drives the first crawler track and the first rear wheel to rotate. When the second driving motor rotates, it drives the second rolling brush and the second front wheel to rotate. The rotation of the second front wheel drives the second crawler track and the second rear wheel to rotate; When the first or second rolling brush rotates together with the driving motor, the other end of the rotating shaft of the first or second rolling brush is in transmission connection with the second or first front wheel. When the second or first front wheel rotates, it drives the first or second rolling brush to rotate; When neither the first nor the second rolling brush rotates together with the driving motor, the other end of the rotating shaft of the first rolling brush is in transmission connection with the second front wheel, and the other end of the rotating shaft of the second rolling brush is in transmission connection with the first front wheel. When the first and second front wheels rotate, they respectively drive the second and first rolling brushes to rotate.

13. The cleaning device according to claim 1, 2, 3, 4, 5, 6, 8, 9, 10, 11 or 12, characterized in that at least a first external tooth is provided on the outer periphery of the running wheel, a tooth groove is provided on the crawler belt, the first external tooth is matched with the tooth groove, and when the crawler belt is sleeved on the running wheel, the first external tooth is embedded in the tooth groove.

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