Water cleaning robot

Abstract

A water cleaning robot, comprising a main body (1), wherein a detritus discharge flow channel is provided inside the main body (1), a negative-pressure generation device (66) is provided in the detritus discharge flow channel, a detritus suction port (12) disposed at the bottom of the main body (1) is provided at one end of the detritus discharge flow channel, and a discharge port (101) disposed at the top of the main body (1) is provided at the other end of the detritus discharge flow channel; and the main body (1) further comprises, at the bottom, traveling wheels (8), elastic pressing assemblies (81) that keep pressing down on the traveling wheels (8), and sensors for detecting the motion state of the traveling wheels (8). The water cleaning robot controls a cleaning strategy on the basis of the running state of the traveling wheels and changes a cleaning route, thereby realizing a safer and more efficient cleaning operation.

Description

Water cleaning robot Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a water cleaning robot. Background Art

[0002] In the prior art, water cleaning robots used for pool cleaning generally only use a filter basket to filter out sucked-in garbage and dirt. If the filter basket's pores are designed to be small, this can ensure that smaller impurities and dirt are filtered out, making the cleaning effect more thorough. However, some large-sized garbage can easily clog the filter basket, thereby creating a large resistance to the water path and requiring frequent cleaning. This is not only inconvenient but also has low cleaning efficiency. If the filter basket's pores are designed to be large, the cleaning effect cannot be guaranteed. In addition, existing filter baskets and other filtering devices have the disadvantages of being difficult to clean. Therefore, it is necessary to improve the existing water cleaning robots, such as low cleaning efficiency, poor cleaning effect, and the need to frequently disassemble and clean the filter basket.

[0003] Summary of the Invention

[0004] In order to solve the technical problems in the prior art such as low cleaning efficiency of water cleaning robots, the present invention proposes a water cleaning robot with multi-stage filtration.

[0005] The technical solution adopted by the present invention is a water cleaning robot, which includes a main body, a sewage discharge channel is provided inside the main body, a negative pressure generating device is provided in the sewage discharge channel, one end of the sewage discharge channel is a sewage suction port provided at the bottom of the main body, and the other end of the sewage discharge channel is a discharge port provided at the top of the main body. The bottom of the main body also includes a walking wheel, a spring-pressing component that keeps the walking wheel pressed down, and a sensor for detecting the movement state of the walking wheel.

[0006] Compared with the prior art, the present invention has the following beneficial effects: the obstacle monitoring mechanism is applicable to various types of adaptive cleaning equipment including cleaning robots. The obstacle monitoring mechanism is used to sense whether an obstacle is encountered or a wall is touched. Combined with the detection results of the obstacle monitoring mechanism sensor, the intelligent path planning of the cleaning robot is realized, so that the cleaning robot can perceive the surrounding environment in all directions, improve the accuracy and reliability of obstacle detection, and thus achieve safer and more efficient cleaning operations; the roller brush cleaning mechanism can better lift dirt, garbage, etc. on the surface to be cleaned, and rely on a smooth suction path to quickly suck in these dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The present invention is described in detail below with reference to the embodiments and accompanying drawings, in which:

[0008] FIG1 is a schematic diagram of the three-dimensional structure of the water cleaning robot when viewed from above;

[0009] FIG2 is a schematic diagram of the three-dimensional structure of the water cleaning robot when viewed from above;

[0010] FIG3 is a schematic diagram of the exploded structure of the water cleaning robot;

[0011] FIG4 is a schematic diagram of the structure of the water cleaning robot with the top shell omitted;

[0012] FIG5 is a schematic diagram of the three-dimensional structure of the filtering device;

[0013] FIG6 is a schematic diagram of the exploded structure of the filter device in the rearward direction;

[0014] FIG7 is a schematic diagram of the explosion structure of the filtering device in the main viewing direction;

[0015] FIG8 is a schematic diagram of the installation structure of the handle and the flip cover in another embodiment;

[0016] FIG9 is a perspective schematic diagram of a cover buckle module;

[0017] FIG10 is a schematic diagram of the cross-sectional structure of the water cleaning robot in the main viewing direction;

[0018] FIG11 is a schematic diagram of the transmission structure of the roller brush and the drive device on one side of the gear set;

[0019] FIG12 is a schematic diagram of the explosion structure of the driving device and the negative pressure generating device;

[0020] FIG13 is a schematic diagram of the exploded structure of the impeller and guide vanes;

[0021] FIG14 is a schematic diagram of the exploded structure of the bottom shell and the travel wheels viewed from above;

[0022] FIG15 is a schematic diagram of the relative positions of the driving device and the traveling wheels from one viewing angle;

[0023] FIG16 is a schematic diagram of the relative positions of the driving device and the traveling wheels from another perspective;

[0024] FIG17 is a schematic diagram of a partial explosion structure of the bottom shell and the running wheels in a top view;

[0025] FIG18 is a schematic diagram of the top structure of the bottom shell;

[0026] FIG19 is a schematic cross-sectional view of the structure taken along the AA direction in FIG18 ;

[0027] FIG20 is a schematic structural diagram of an embodiment of a traveling wheel as a driven wheel;

[0028] FIG21 is a schematic diagram of the transmission structure of the driving device on the side of the traveling wheel in an exploded state;

[0029] FIG22 is a schematic diagram of the explosion structure of the roller brush in one direction;

[0030] FIG23 is a schematic diagram of the cross-sectional structure of the water cleaning robot as viewed from the side;

[0031] FIG24 is an exploded schematic diagram of the transmission relationship among the driving device, the driving wheel and the roller brush;

[0032] FIG25 is a schematic diagram of the explosion structure of the roller brush in another direction. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the accompanying drawings, wherein the same reference numerals throughout represent the same components or components having the same functions. The embodiments described below with reference to the accompanying drawings are illustrative and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0034] The present invention proposes a water cleaning robot, as shown in Figures 1 to 3, the water cleaning robot mainly includes a main body 1, a filtering mechanism, an obstacle monitoring mechanism and a roller brush cleaning mechanism. The filtering mechanism is arranged inside the main body 1. The filtering mechanism includes a sewage flow channel, and a negative pressure generating device 66 is provided in the sewage flow channel. One end of the sewage flow channel is a sewage suction port 12, and the other end of the sewage flow channel is a discharge port 101. Multiple stages of filtering devices are sequentially provided in the sewage flow channel near the sewage suction port 12. The negative pressure generating device 66 is used to generate negative pressure to suck water containing garbage and dirt into the sewage flow channel, and the garbage and dirt are trapped inside the robot. , the clean water is discharged, so as to achieve the purpose of water cleaning; the obstacle monitoring mechanism is suitable for various adaptive cleaning equipment including cleaning robots. The obstacle monitoring mechanism is used to sense whether it encounters obstacles or touches the wall. Combined with the detection results of the obstacle monitoring mechanism sensor, the intelligent path planning of the cleaning robot is realized, so that the cleaning robot can perceive the surrounding environment in all directions, improve the accuracy and reliability of obstacle detection, and thus achieve safer and more efficient cleaning operations; the roller brush cleaning mechanism can better lift dirt, garbage, etc. on the surface to be cleaned, and rely on a smooth suction path to quickly suck in these pollutants.

[0035] In a specific embodiment, the main body 1 includes a bottom shell 1.1 and a top shell 1.2. The bottom shell 1.1 and the top shell 1.2 are assembled and fixed to form a shell (i.e., the main body 1) that is hollow inside and sealed outside. A sewage suction port 12 is reserved at the bottom of the bottom shell 1.1, and a discharge port 101 is reserved at the top of the top shell 1.2. The interior of the main body 1 is divided into two chambers, namely a first mounting groove 19 and a second mounting groove 20. The two chambers are separated by a partition 102, and a through opening is provided on the partition 102 to connect the two chambers. A sewage suction port 12 is provided at the bottom of the first mounting groove 19, and a discharge port 101 is provided at the top of the second mounting groove 20. The flow path from the first mounting groove 19 to the second mounting groove 20 forms a sewage discharge channel.

[0036] As shown in Figures 5 to 7, the filter device 7 includes two major components: a filter basket 71 and a flip cover 72. The filter basket 71 is a basket for filtering. An inlet 713 is provided on the filter basket 71, and a filter screen is provided on the surface of the filter basket 71. The fluid that may carry dirt enters the interior of the filter basket 71 from the inlet 713, and the filter screen intercepts the dirt and the like in the filter basket 71, and the fluid flows out of the filter basket 71; one surface of the filter basket 71 has an opening 712, and the flip cover 72 is provided at the opening 712 to cover the opening 712. The flip cover 72 is opened to facilitate cleaning of the dirt inside the filter basket 71, and the flip cover 72 and the filter basket 71 are pivoted and locked by a rotating lock structure.

[0037] In one embodiment, the present invention is provided with a baffle 77 at the inlet 713. The baffle 77 is arranged on the inner side of the inlet 713. The baffle 77 is hinged to the filter basket 71 and abuts against the inlet 713. The baffle 77 serves as a gate plate of the inlet 713. Since the baffle 77 is blocked on the inner side of the inlet 713, the baffle 77 can only be opened toward the inner side of the filter basket 71. An elastic reset member 78 is also provided between the baffle 77 and the filter basket 71. The elastic reset member 78 includes but The baffle 77 is not limited to a torsion spring or a spring. One end of the elastic return member 78 is connected to the bottom of the filter basket 71, and the other end is connected to the baffle 77. The elasticity of the elastic return member 78 acts on the baffle 77 to abut against the direction of the inlet 713. Therefore, under normal conditions, the inlet 713 is in a closed state. Only when negative pressure is generated will the baffle 77 flip inward and open. After the negative pressure disappears, the elastic return member 78 acts to press the baffle 77 against the inner side of the inlet 713 to prevent dirt from flowing back.

[0038] In one embodiment, the rotary lock structure includes a detachable lock module 73, which is used to assist in the assembly between the flip cover 72 and the filter basket 71. Specifically, a pair of shaft holes 714 are provided on one side of the opening 712 of the filter basket 71, and the two shaft holes 714 remain coaxial. A rotating shaft 722 is provided on one side of the flip cover 72, and the rotating shaft 722 and the flip cover 72 are integrally formed. When installing the flip cover 72, the rotating shaft 722 of the flip cover 72 is pre-assembled with the shaft hole 714 (this assembly only positions the flip cover 72 and the shaft hole 714, and the assembly relationship is not stable), and the rotating shaft 722 can be detached from the shaft hole 714. When the locking cam 73 is in the state of being tightened, the locking cam 73 is tightened and the locking cam 73 is tightened, thereby loosening the locking cam 73 and loosening the locking cam 73. When the locking cam 73 is in the state of being tightened, the locking cam 73 is tightened and the loose cam 73 is tightened.

[0039] When the lock body 71 is in the state of being fully energized, the locking cam 731 is tightened to the locking cam 711 so that the lock body 71 can be tightened to the locking cam 711 by tightening the first engaging portion 79 of the lock body 731 and the first engaging portion 711.

[0040] Specifically, a cylindrical protrusion 723 is provided at the end of the rotating shaft 722. The size of the protrusion 723 is smaller than that of the rotating shaft 722. The protrusion 723 is adapted to the shaft hole 714, thereby limiting the relative position of the locking module 73 on the rotating shaft 722, ensuring that the locking module 73 is aligned with the first slot 711 without the need for excessive adjustment.

[0041] An optional method in the first embodiment is: the filter basket 71 is provided with a locking module 73, and the limiting block 732 of the locking module 73 is provided with an axial hole 714, and the filter basket 71 body is provided with another axial hole 714, so that during installation, it is only necessary to align the rotating shaft 722 with the axial hole 714 of the filter basket 71 body, and then install the locking module 73 on the other end of the rotating shaft 722 to ensure the rotational connection between the rotating shaft 722 and the axial hole 714, and then insert the locking module 73 into the first slot 711 and fix it, so that the locking module 73 is fixed to the filter basket 71.

[0042] Another optional method in the first embodiment is: two locking modules 73 are provided on the filter basket 71, and an axial hole 714 is provided on the limit block 732 of each locking module 73, and the axial hole 714 is no longer provided on the filter basket 71 body. During installation, the two locking modules 73 need to be respectively installed on the two ends of the rotating shaft 722, and then the locking modules 73 are respectively installed in the first card slots 711 corresponding to the filter basket 71 to achieve quick installation of the filter basket 71 and the flip cover 72.

[0043] In the second embodiment, the locking module 73 also includes a first latch 731 and a limiting block 732. A first slot 711 is provided on the filter basket 71. The first slot 711 and the first latch 731 are adapted to each other. That is, when installing, the first latch 731 is inserted into the first slot 711, and the assembly is completed by engaging the engaging portion 79 provided on the first latch 731 with the first slot 711. Different from the first embodiment, in this embodiment, the limiting block A semicircular groove is correspondingly provided on 732, and a semicircular groove is also provided on the filter basket 71. The two semicircular grooves are relative to each other to form a complete shaft hole 714. The limit block 732 uses a pressing method to limit the rotating shaft 722 in the shaft hole 714. The rotating shaft 722 needs to be installed in half of the groove of the filter basket 71 first, and then the locking module 73 is fixed to the filter basket 71 through the first buckle 731. In this way, the rotating shaft 722 is fixed on the filter basket 71.

[0044] When the latch is in the closed position, the latch 73 is in the closed position, and the first latch 731 is in the open position, so that the latch 73 is in the open position, and the first latch 731 is in the open position, so that the latch 73 is in the open position, and the first latch 731 is in the open position, so that the latch 73 is in the open position, and the first latch 731 is in the open position, so that the latch 73 is in the open position, and the first latch 731 is in the open position, so that the latch 73 is in the open position, and the first latch 731 is in the open position, so that the latch

[0045] Furthermore, a detachable handle 74 is provided on the top of the flip cover 72, which facilitates the removal of the filter device 7 from the cleaning robot; and a recess 75 is provided on the flip cover 72 in the opposite direction of the handle 74. The setting of the recess 75 can provide a certain avoidance for the handle 74, making it convenient to hold the handle 74.

[0046] To facilitate the fitting and installation between the handle 74 and the flip cover 72, slots 751 are provided at both ends of the recess 75, and corresponding inserts 741 are provided at both ends of the handle 74. The inserts 741 and the slots 751 are clamped and fixed to achieve quick installation of the handle 74 and the flip cover 72. The clamping and fixing of the inserts 741 and the slots 751 by two optional embodiments, namely, the first clamping component or the second clamping component, avoids additional parts and reduces the installation steps.

[0047] As a possible embodiment of the handle 74: as shown in Figures 5 and 6, an elastic card plate 742 is provided on the insert 741, and the elastic card plate 742 is clamped on the other side of the flip cover 72 relative to the handle 74, that is, the insert 741 is clamped and fixed to the back of the flip cover 72, and one end of the elastic card plate 742 is fixedly connected to the insert 741, and the elasticity forms an inclined shape with the insert 741. When the insert 741 is inserted into the slot 751, the elastic card plate 742 needs to be compressed and deformed. After the insert 741 is fully inserted into the slot 751, the elastic card plate 742 is quickly reset and clamped on one side of the flip cover 72.

[0048] As another possible embodiment of the handle 74: as shown in Figure 8, a locking hole 743 is provided on the insert 741, and a locking column 724 is provided on the other side of the flip cover 72 relative to the handle 74. After the insert 741 is inserted into the slot 751, the locking column 724 is provided in the locking hole 743 to lock and fix the handle 74 on the flip cover 72.

[0049] Furthermore, in combination with Figures 7 and 9, the primary filter device 7 also includes a cover buckle module 76 to prevent the flip cover 72 from automatically flipping open, wherein the cover buckle module 76 is arranged on the other side of the opening 712 of the filter basket 71 opposite to the shaft hole 714 (or the rotating shaft 722), and a snap portion 721 is provided on the flip cover 72, and the snap portion 721 is kept in engagement with the cover buckle module 76, thereby snapping and fixing the filter basket 71 and the flip cover 72.

[0050] When the locking cam 721 is unlocked, the locking cam 722 is unlocked, and the lock cam 722 is unlocked, so that the lock cam 722 can be unlocked, and the lock cam 722 can be unlocked, so that the lock cam 722 can be unlocked.

[0051] The cam 762 is in the process of being clamped in the locking cam 721, and the cam 763 is in the process of being clamped in the locking cam 721. The cam 763 is in the process of being clamped in the locking cam 721, and the cam 763 is in the process of being clamped in the locking cam 721. The cam 763 is in the process of being clamped in the locking cam 721, and the cam 763 is in the process of being clamped in the locking cam 721.

[0052] When the second locking mechanism 761 is unlocked, the locking mechanism 762 is unlocked, and the closure 72 is unlocked. When the second locking mechanism 761 is unlocked, the closure 72 is unlocked. When the second locking mechanism 761 is unlocked, the locking mechanism 76 is unlocked.

[0053] The filter device in the present invention is a quick-release structure, and the filter basket 71 and the flip cover 72 can be quickly disassembled and assembled together through a locking module 73. The cover buckle module 76 is fixed to the filter basket 71 by snapping it in place, and the flip cover 72 is fixed to the filter basket 71 by snapping it in place with the cover buckle module 76. These components all achieve modular installation of the filter device. At the same time, the locking module 73 and the cover buckle module 76 are both made of non-metallic materials. At the same time, there is no need to configure various metal parts between the filter basket 71 and the flip cover 72 for fixation, which can avoid the problem of rust caused by the use of metal parts and make the disassembly and assembly process very simple. At the same time, modularization also makes the filter device more convenient during production and processing, and the filter device can be disassembled into modules and then transported, thereby achieving the effect of convenient transportation and saving transportation costs.

[0054] Furthermore, as shown in Figure 1, wheels are provided at the bottom of the main body 1, which are used to drive the main body 1 to walk. The wheels specifically include a driving wheel 61 and a driven wheel 65. The driving wheel 61 is arranged in the rear half of the main body 1, and the driven wheel 65 is arranged in the front half of the main body 1. A driving device 6 is provided at the rear half of the main body 1. The driving device 6 is arranged inside the second mounting groove 20, and a driving motor is provided inside the driving device 6. The driving wheel 61 is driven to rotate by the driving device 6. Specifically, the wheels include two driving wheels 61 and two driven wheels 65, so that the main body 1 is driven to walk by the driving wheel 61 during walking. The walking wheel 8 does not bear the walking drive work of the cleaning robot, and the walking wheel 8 is arranged between the two driving wheels 61. This arrangement is because the driving wheel 61 is arranged in the rear half of the main body 1, and the corresponding driving device 6 is also arranged in the rear half of the main body 1. The driving device 6 is arranged opposite to the driving wheel 61, which makes the rear half of the main body 1 relatively heavy and not easily affected by buoyancy.

[0055] As shown in Figures 1, 2, 3, 11, 12 and 13, the negative pressure generating device 66 includes a guide cover 661, an impeller 662 and a guide vane 663. The guide cover 661 is installed in the middle of the driving device 6, and the upper end of the guide cover 661 is connected to the discharge port 101, or the upper end of the guide cover 661 is used as the discharge port 101. The lower end of the guide cover 661 is connected to the negative pressure generating device 66, and the upper end of the guide cover 661 is directly bolted to the top shell 1.2. The impeller 662 is arranged in the middle of the guide cover 661, and the impeller 662 is connected to the output shaft 67 of the rotating motor. The water flow filtered by the multi-stage filtering device is driven by the impeller 662 to enter the guide cover 661 and be discharged from the discharge port 101.

[0056] Furthermore, the guide vane 663 is arranged inside the guide cover 661, and the guide vane 663 is located at the discharge port 101 at the upper end of the impeller 662. The guide vane 663 includes a central axis 6631 and a plurality of ribs 6632. The central axis 6631 is designed to be bullet-shaped toward the discharge port 101, and the ribs 6632 are connected between the central axis 6631 and the inner wall of the guide cover 661. This design helps the pumped water to flow vertically upward, avoiding the escape of water around, thereby reducing the disturbance of the surrounding water during the cleaning process. The cleaning robot can clean the target surface of the water more concentratedly, thereby improving the cleaning efficiency.

[0057] In the present invention, in combination with Figures 1 and 14, the obstacle monitoring mechanism includes a main body 1, a walking wheel 8, a spring-pressing assembly 81 and a sensor. The main body 1 includes a bottom shell 1.1. The walking wheel 8 is arranged at the bottom of the bottom shell 1.1 of the main body 1. In order to install the walking wheel 8, it is necessary to open a accommodating space 84 at the bottom of the bottom shell 1.1. The walking wheel 8 is rotatably installed in the accommodating space 84. The function of the walking wheel 8 is to form rolling contact with the ground as the cleaning robot walks on the ground, and the walking wheel 8 always maintains contact with the ground under the action of the spring-pressing assembly 81. The spring-pressing assembly 81 can be composed of a spring, a pneumatic buffer device or other similar structures to ensure that the walking wheel 8 can flexibly adapt to the height difference and unevenness of the ground. The type of sensor may include contact sensors, photoelectric sensors, ultrasonic sensors, etc., which are used to monitor the movement state of the walking wheel 8, including information such as rotation speed, direction and whether it is blocked. The sensor transmits real-time movement state data to the control system of the cleaning robot so as to timely identify and respond to obstacles.

[0058] Specifically, in combination with Figures 14 to 17, the spring-pressing assembly 81 includes a rocker arm 811 and an elastic device 812. The rocker arm 811 is also installed in the accommodating space 84. The accommodating space 84 has a certain depth. The rocker arm 811 and the main body 1 are hinged by a pin 82, so that the rocker arm 811 can rotate around the hinge point; the walking wheel 8 is rotatably installed on the rocker arm 811 through an axis, and the axial direction of the pin 82 is roughly parallel to the axial direction of the walking wheel 8. The rocker arm 811 rotates around the pin 82 while driving the walking wheel 8 to move up and down. The elastic device 812 is connected between the rocker arm 811 and the main body 1, so that the elastic device 812 can generate an elastic force on the rocker arm 811. The elastic force abuts against the rocker arm 811 to provide a downward pressing action on the rocker arm 811. At this time, the rocker arm 811 rotates around the pin 82, causing the part of the rocker arm 811 where the walking wheel 8 is installed to rotate downward, and the walking wheel 8 maintains continuous contact with the ground.

[0059] In a preferred embodiment, one end of the rocker arm 811 is hinged and fixed to the main body 1 through a pin 82, and a walking wheel 8 is installed at the other end of the rocker arm 811. A mounting portion for installing an elastic device 812 is provided in the middle of the rocker arm 811. The mounting portion is provided on the upper side of the rocker arm 811. One end of the elastic device 812 is installed on the mounting portion, and the other end is connected to the main body 1. The elastic device 812 provides an elastic force toward the rocker arm 811 to ensure that the walking wheel 8 is given a continuous downward pressure.

[0060] In other embodiments, the hinged and fixed position between the rocker arm 811 and the main body 1 can be close to the middle of the rocker arm 811, the walking wheel 8 is also arranged at the end position of the rocker arm 811, and the mounting portion is arranged at the other end of the rocker arm 811 relative to the walking wheel 8. The mounting portion is located on the lower side of the rocker arm 811, and the elastic device 812 is also connected between the mounting portion and the main body 1 to provide a downward pressing action on the walking wheel 8 end of the rocker arm 811.

[0061] After the rocker arm 811 connected to the running wheel 8 is installed in the accommodating space 84, the accommodating space 84 is covered with a cover 85 on the installation opening of the accommodating space 84, but the cover 85 only partially covers it, and part of the running wheel 8 can still extend from the bottom of the accommodating space 84.

[0062] As shown in Figures 17-19, to provide space for the upward movement of the running wheels 8 and prevent them from interfering with the rest of the structure within the main body 1 when encountering undulating terrain, a clearance space 83 is provided on the main body 1. The clearance space 83 is provided in the upward direction of the running wheels 8 to provide a clearance, thereby resolving the problem of the running wheels getting stuck when the robot traverses obstacles. The location of the clearance space 83 can be adjusted based on the internal structure of the main body 1. When the accommodation space 84 is configured as an internally enclosed structure, the clearance space 83 is provided within the accommodation space 84. In this embodiment, the accommodation space 84 is open to the interior of the main body 1, meaning that the running wheels 8 can move into the interior of the main body 1. Within the main body 1 is a drive device 6 corresponding to the running wheels 8. To provide sufficient clearance for the running wheels 8, the clearance space 83 is provided on the drive device 6.

[0063] The elastic device 812 includes but is not limited to springs, torsion springs, pneumatic buffer devices, hydraulic buffer devices and other similar structures. In order to save costs as much as possible, the elastic device 812 in this embodiment is a spring, and the corresponding mounting seat 813 is a cross boss. The spring is directly mounted on the mounting seat 813. A circular through groove 86 is provided on the main body 1. The circular through groove 86 is connected to the accommodating space 84, and the spring is installed in the circular through groove 86 to ensure the stable operation of the elastic device 812.

[0064] A driving wheel is also provided at the bottom of the main body 1, which is used to drive the main body 1 to move. A negative pressure generating device and a sewage discharge channel are provided inside the main body 1. The negative pressure generating device is provided in the sewage discharge channel. A sewage suction port 12 is provided at the bottom of the main body 1. The sewage suction port 12 is provided at one end of the sewage discharge channel, and the other end of the sewage discharge channel is a discharge port. The discharge port is provided on the surface of the main body 1, and at least one group of filtering devices is provided in the sewage discharge channel, so that when the cleaning robot is running, the dirt on the cleaning surface can be sucked into the sewage discharge channel through the sewage suction port 12, and the dirt is intercepted inside the main body 1 through the filtering device, and the clean fluid is discharged from the discharge port.

[0065] In other embodiments, as shown in Figures 1 and 20, the driving wheel specifically includes a driving wheel 61 and a driven wheel 65. The driving wheel 61 is arranged in the rear half of the main body 1, and the driven wheel 65 is arranged in the front half of the main body 1. A driving device 6 is provided in the rear half of the main body 1. The driving device 6 has a driving motor inside. The driving wheel 61 is driven to rotate by the driving device 6. Specifically, the driving wheel includes two driving wheels 61 and two driven wheels 65, so that the main body 1 is driven by the driving wheel 61 during walking. The walking wheel 8 does not bear the walking drive work of the cleaning robot, and the walking wheel 8 is arranged between the two driving wheels 61. This is because the driving wheel 61 is arranged in the rear half of the main body 1, and the corresponding driving device 6 is also arranged in the rear half of the main body 1. The driving device 6 is arranged opposite to the driving wheel 61, which makes the rear half of the main body 1 relatively heavy and not easily affected by buoyancy. This part of the main body 1 is always kept in contact with the ground, and the walking wheel 8 will accordingly always be in stable contact with the ground to ensure the detection effect of obstacles or wall touches.

[0066] The number of driving wheels can be set as needed, and is not limited to having both active wheels and driven wheels. In actual use, the driving wheel can also be only one of the active wheels or the driven wheels, and the walking wheel 8 is set near any driving wheel.

[0067] Preferably, the obstacle monitoring mechanism in the present invention uses a Hall sensor and a design scheme in which a magnetic component is provided on the walking wheel 8, allowing the Hall sensor to determine whether the walking wheel 8 is rotating by sensing the magnetic component on the walking wheel 8. The Hall sensor is a sensor that can detect changes in the magnetic field, usually composed of a Hall element and a signal processing circuit. When the magnetic component moves with the rotation of the walking wheel 8, the Hall sensor can sense the change in the magnetic field and generate a corresponding electrical signal accordingly. By monitoring and analyzing these electrical signals, the system can determine whether the walking wheel 8 is rotating. This design can realize real-time monitoring of the rotation state of the walking wheel 8, thereby helping the cleaning robot to identify obstacles or other abnormal motion states, and make corresponding controls and adjustments to ensure the safety and normal operation of the cleaning robot. This method can effectively realize the monitoring of the rotation state of the walking wheel 8, and improve the intelligence and reliability of the obstacle monitoring mechanism.

[0068] When performing obstacle monitoring tasks, the running wheels 8 of the present invention are always in contact with the ground and rotate accordingly. Even when encountering large fluctuations in the ground, the main body 1 can continue to move forward and the running wheels 8 will not stop rotating. The running status of the running wheels 8 is continuously monitored by the sensor until it encounters an obstacle or touches a wall. The main body 1 stops moving and the running wheels 8 stop rotating. At this time, it is judged that an obstacle has been encountered or a wall has been touched. This avoids the use of touch sensors, ultrasonic or infrared sensors, etc., which will give inaccurate measurement results under extreme lighting or sound wave reflection conditions, resulting in unstable navigation of the robot. It is less affected by environmental conditions, making obstacle monitoring more stable and efficient. At the same time, the obstacle monitoring mechanism of the present invention also has the advantages of simple structure and easy installation, and is not easily triggered or damaged by mistake.

[0069] In one embodiment, the obstacle signal output by the obstacle monitoring mechanism can control one or more of the driving and water spraying amount of the cleaning robot.

[0070] This design structure enables the cleaning robot to perceive the surrounding environment in real time according to the sensor signal, and to intelligently control the rotation of the driving wheel 61 through the control module to adapt to various work scenarios and task requirements. At the same time, through the signal connection between the control module and the drive device 6, the cleaning robot can achieve precise direction of travel control and flexible mobile operation, which improves the movement performance and operation intelligence level of the cleaning robot. A receiving groove 11 with a length is also provided at the bottom of the main body 1. The receiving groove 11 is recessed to a certain depth toward the inside of the main body 1. The receiving groove 11 is adjacent to the sewage suction port 12 in spatial layout, and the sewage suction port 12 and the receiving groove 11 are separated by a certain distance. A roller brush 2 is installed inside the receiving groove 11. The two ends of the roller brush 2 are required to rotatably pass through the two ends of the length direction of the receiving groove 11, and are transmitted to the roller brush 2 by the drive device 6. The roller brush 2 rotates continuously during operation to lift the dirt on the cleaning surface. After the dirt is lifted, due to the setting of the receiving groove 11, The dirt will temporarily enter the holding tank 11, which provides a certain amount of space for storing dirt, thereby preventing the dirt from remaining in place or overflowing due to not being promptly extracted by the sewage suction port 12. A first guide surface 13 is provided between the notch of the holding tank 11 and the sewage suction port 12. The first guide surface 13 is a streamlined surface from the notch of the holding tank 11 to the sewage suction port 12. The streamlined shape meets the requirements of fluid flow and enables the fluid to enter the sewage suction port 12 from the holding tank 11 with minimal resistance, thereby guiding the fluid to flow into the sewage suction port 12 and achieving a convergence effect.

[0071] Furthermore, in combination with the above structure, in some optional embodiments, an optimization scheme is also designed at the bottom of the main body 1. In order to facilitate cleaning of the cleaning robot that moves in both directions forward and backward, a first oncoming side 14 and a second oncoming side 15 are provided at the bottom of the main body 1. The first oncoming side 14 and the second oncoming side 15 are respectively provided on one side and the other side of the moving direction of the main body 1. The first oncoming side 14 and the second oncoming side 15 are relative, wherein the first oncoming side 14 is close to the receiving groove 11, and the second oncoming side 15 is close to the sewage suction port 12. A second guide surface 16 is provided between the first oncoming side 14 and the receiving groove 11, and a third guide surface 17 is provided between the second oncoming side 15 and the sewage suction port 12. The second guide surface 16 and the third guide surface 17 are both streamlined. This arrangement is so as to reduce the resistance of the robot's two-way forward movement and make it easier to suck out dirt.

[0072] Furthermore, in combination with the above structure, in some optional embodiments, a plurality of grating plates 18 can be provided on the first guide surface 13, the second guide surface 16 and the third guide surface 17. The length direction of the grating plates 18 extends from the first oncoming side 14 to the second oncoming side 15. Such arrangement of the grating plates 18 will not hinder the movement of the robot. At the same time, guide channels will be formed between these grating plates 18, which can guide the fluid (such as air) to the sewage suction port 12, increase the cleaning effect, reduce resistance, and improve the operation efficiency of the robot; at the same time, for the water cleaning robot, the grating plates 18 can also leave a gap between the bottom wall and the pool wall, avoiding the problem that the machine is adsorbed by the pool and cannot move when it is at the water outlet of the pool, greatly reducing the energy consumption and waste of the machine and improving the cleaning efficiency.

[0073] The relevant structure of the roller brush 2 is already relatively common in the prior art, and the present invention further provides a unique design for the roller brush 2 , which will be described in detail below through several embodiments of the roller brush 2 .

[0074] An example of a basic implementation plan of a roller brush: As shown in Figures 21 to 25, the roller brush 2 includes a rotating shaft 21, a brush cover 22, a rotating end cover 23 and a transmission end cover 24. The rotating shaft 21 is an elongated shaft for supporting and fixing other components of the roller brush 2. The brush cover 22 is mounted on the rotating shaft 21. The brush cover 22 can be made of soft silicone, rubber, polyamide fiber and other materials. Bristles 25 are provided on the surface of the brush cover 22. The bristles 25 are used for cleaning. The rotating end cover 23 is installed inside the main body 1, and the rotating end cover 23 is opposite to the end of the accommodating groove 11. The rotating end cover 23 is installed at one end of the rotating shaft 21 for supporting the rotation of the rotating shaft 21. The transmission end cover 24 is also installed inside the main body 1. The other end of the rotating shaft 21 is fixedly connected to the transmission end cover 24. The transmission end cover 24 is also connected to the driving device 6 for transmission. The driving device 6 is used to provide rotational force and transmit power to the roller brush 2 to make it rotate. The bristles 25 on the brush cover 22 contact the ground or other surfaces during rotation, thereby playing a cleaning role.

[0075] The advantage of this design is that the design of the rotating end sleeve 23 and the transmission end sleeve 24 enables the roller brush 2 to rotate stably and is not prone to shaking or jamming. The roller brush 2 can maintain a stable cleaning effect during operation, avoiding loopholes and dead corners. The transmission connection between the transmission end sleeve 24 and the drive device 6 effectively transmits power to the roller brush 2, thereby improving the transmission efficiency. In addition, in this embodiment, the rotating shaft 21 and the brush sleeve 22 are installed in the accommodating groove 11, and the transmission end sleeve 24 and the drive device 6 are both located inside the main body 1, which effectively isolates the brush sleeve 22 from the transmission structure, prevents the bristles 25 from being entangled or wound, and other problems, thereby reducing the risk of damage to the roller brush 2 or the cleaning robot.

[0076] An example of a further optimized implementation plan for the roller brush: The roller brush of the cleaning robot needs to be cleaned and maintained regularly in actual applications to ensure its normal operation. Based on the technical solution of Example 1, the roller brush 2 structure is quickly disassembled in this embodiment. The specific implementation method is: the rotating end sleeve 23 includes a shaft support 231 and a retaining ring 232. The shaft support 231 is a cylinder. The shaft support 231 passes through the side wall of the main body 1 and extends into the end direction of the accommodating groove 11. The retaining ring 232 is stuck in the inside of the main body 1. A circular rotating groove 233 is opened on the shaft support 231 for inserting the rotating shaft 21. The insertion of the rotating shaft 21 enables the rolling end sleeve to be quickly connected to the rotating shaft 21, and the circular rotating groove 233 can provide the rotating shaft 21 with good support and rotation function.

[0077] The retaining ring 232 is fixed to the inner wall of the main body 1 by an elastic connection, and the direction of this elastic connection is consistent with the axial direction of the rotating shaft 21, so that the rotating end sleeve 23 can be compressed a certain distance toward the inside of the main body 1, providing sufficient space for the installation of the rotating shaft 21, and the other end of the rotating shaft 21 and the transmission end sleeve 24 are fixed in a detachable manner (such as snap connection, threaded connection, pin connection, etc.), and the rotating shaft 21 and the transmission end sleeve 24 can be quickly disassembled and assembled by compressing and resetting the rotating end sleeve 23.

[0078] Specifically, an elastic telescopic member 3 and a pressure cover 4 are further provided inside the main body 1. The pressure cover 4 is fixedly connected to the inner wall of the main body 1 by pins to ensure the stability of the overall structure of the robot. The elastic telescopic member 3 is connected between the pressure cover 4 and the rotating end sleeve 23 to play an elastic adjustment role. Correspondingly, a positioning structure for limiting the spring is provided on the pressure cover 4 and / or the rotating end sleeve 23, such as a protrusion 41 or a groove 26. The purpose of these positioning structures is to ensure that the spring can be limited in the appropriate position, thereby ensuring that the connection between the rotating end sleeve 23 and the spring is stable and reliable. In this embodiment, a cross-shaped protrusion 41 is provided on the pressure cover 4, and a groove 26 is provided on the rotating end sleeve 23. It can be understood that providing a groove 26 on the pressure cover 4 and a cross-shaped protrusion 41 on the rotating end sleeve 23 can achieve a similar effect, which will not be repeated here.

[0079] In addition, an extended plate 41 is provided on the pressure cover 4, and the plate 41 is used to adapt to the pin 82 of the rocker arm 811. Specifically, the plate 42 abuts against the end of the pin 82, thereby preventing the pin 82 from being dislocated.

[0080] It should be noted that, in other embodiments, there are countless ways to implement the rotating end sleeve 23 in the accommodating groove 11 in an elastically telescopic manner in the axial direction of the rotating shaft 21, and it is impossible to list them all here. All existing elastic telescopic structures (for example: elastic metal pressing plates, torsion springs, etc.) that can be directly used for the elastic connection between the rotating end sleeve 23 and the inner wall of the main body 1 should be included in the scheme of this embodiment.

[0081] An example of a further optimized implementation plan for the roller brush: During actual use, the cleaning robot needs to drive the driving wheel to move. The methods of driving the driving wheel include but are not limited to transmission mechanisms such as belts, gears, and chains. The driving motor is used to directly drive the rotation of the driving wheel through the transmission mechanism. In this embodiment, a synchronous drive method is adopted. While the driving motor controls the rotation of the driving wheel, it also synchronously drives the roller brush 2 to rotate. The use of a one-to-two method can greatly improve work efficiency, reduce the cost of the robot, and improve space utilization.

[0082] Specifically, the transmission end sleeve 24 is further provided with a transmission gear 5 at the other end relative to the rotating shaft 21, which means that the transmission end sleeve 24 not only plays the role of rotation support, but also has the function of transmitting power. The rotating shaft 21, the transmission end sleeve 24 and the transmission gear 5 are fixedly connected to ensure that they can work together. In order to achieve a detachable connection, one side of the transmission end sleeve 24 is provided with a clamping body 241 (non-circular), and the end of the rotating shaft 21 is provided with a shaft end clamping groove 211 that matches the clamping body 241. This design enables the transmission end sleeve 24 to be fixed to the rotating shaft 21 by insertion and clamping, thereby achieving the effect of stable connection and transmission. The transmission end sleeve 24 on the other side is provided with a sleeve end clamping groove 242, and the transmission gear 5 is provided with a clamping column 51 (non-circular) that matches the sleeve end clamping groove 242. This design ensures that the connection between the transmission end sleeve 24 and the transmission gear 5 is tight and reliable.

[0083] A driving device 6 is provided in the main body 1. This driving device 6 provides power to the transmission part of the robot. In this embodiment, it is mainly used to provide rotation of the driving wheel and the roller brush 2. The driving wheel includes a driving wheel 61, which is responsible for providing traction and driving the movement of the robot. A driving gear 62 is provided at the output end of the driving device 6, and a driven gear 63 is provided on the driving wheel 61. The two gears are engaged with each other to achieve torque transmission and rotational power transmission.

[0084] At the same time, the driving gear 62 and the transmission gear 5 are also connected by a gear set 64. When the driving gear 62 rotates, the gear set 64 can transmit the force to the transmission gear 5, and then the transmission gear 5 drives the roller brush 2 to rotate. This transmission method can further increase the efficiency and reliability of the transmission, making the power transmission more stable and stable. The gear set 64 is composed of a number of gears of different sizes meshing to form a device similar to the function of a gearbox. After the power transmission of the gear set 64, the rotation speed of the transmission gear 5 can be changed to better match the rotation speed of the roller brush 2. In addition, the requirement of this embodiment is to rely on the power transmission of the gear set 64 to ensure that the driven gear 63 and the transmission gear 5 have the same direction of rotation, which means that their gear tooth profiles and rotation directions are consistent to ensure the correct operation of the transmission. Moreover, making the driven gear 63 and the transmission gear 5 rotate in the same direction can ensure that the roller brush 2 and the robot have the same moving direction. When the roller brush 2 and the robot have the same moving direction, the rotation of the roller brush 2 can be closely coordinated with the forward direction of the robot, thereby improving the cleaning effect or the movement efficiency of the robot. Moreover, when the roller brush 2 and the robot have the same moving direction, the robot will be more stable during the cleaning or moving process. The roller brush 2 and the robot work in coordination to prevent the rotation direction of the roller brush 2 from changing or flipping during movement, thereby increasing the stability and controllability of the robot.

[0085] The roller brush is projected in the horizontal direction and is located between the filtering device and the driving device.

[0086] It is understandable that the driving device can be a component that drives the driving wheel, a pumping component, or a battery pack. In short, the roller brush is arranged at a roughly middle position of the bottom of the main body (1).

[0087] In summary, the water cleaning robot is controlled to switch its travel direction by controlling the forward and reverse rotation of the driving device 6 through the control module. That is, when the cleaning robot encounters an obstacle or touches a wall during its walking process, the walking wheel 8 stops rotating. This signal is detected by the sensor, and the sensor transmits the signal to the control module in time. The control module sends a control instruction to the driving device 6 according to this signal, and the driving device 6 reverses according to the signal. At this time, the driven gear 63 reverses accordingly, and then the driving wheel 61 reverses. The robot changes its travel direction in time and continues to clean the rest of the place, avoiding inaccurate monitoring or misjudgment, thereby improving the operating efficiency of the cleaning robot.

[0088] At the same time, in an embodiment of the present invention, the rotation of the roller brush 2 is also driven by the driving device 6. Then, when the driving device 6 changes its direction of rotation, the roller brush 2 also changes its rotation direction synchronously, so that the driven gear 63 and the transmission gear 5 have the same direction of rotation, which can ensure that the roller brush 2 and the robot have the same moving direction. When the roller brush 2 and the robot have the same moving direction, the rotation of the roller brush 2 can be closely coordinated with the robot's forward direction, thereby improving the cleaning effect or the robot's movement efficiency, and when the roller brush 2 and the robot have the same moving direction, the robot will be more stable during cleaning or moving. The roller brush 2 and the robot work in coordination to prevent the roller brush 2 from changing its rotation direction or flipping during movement, thereby increasing the stability and controllability of the robot.

[0089] The present invention also proposes a new control method for a water cleaning robot. The core control method is that the sensor always monitors the movement state of the walking wheel 8. When the sensor detects that the walking wheel 8 stops rotating, the driving device 6 is controlled to reverse, so that the cleaning robot changes its direction of travel. The control module can also realize the steering of the robot by controlling the speed between the left and right driving wheels. For example, if the left driving wheel rotates at a low speed and the right driving wheel rotates at a high speed, the robot can turn left, and the same applies to turning right. This relies on the simple and efficient obstacle monitoring mechanism in the present invention to efficiently control the direction of travel of the water cleaning robot, with very few misjudgments, which greatly improves the cleaning efficiency of the robot.

[0090] In addition, the control device can not only control the forward and reverse rotation of the cleaning robot, but also change other working states of the cleaning robot. For example: a pumping device is also provided in the sewage flow channel in the main body 1, and a negative pressure is generated by the pumping device to make the water flow in the sewage flow channel. When the obstacle monitoring mechanism detects that the walking wheel 8 stops rotating, the control module can also control the pumping device to change the flow rate and / or discharge direction of the fluid at the discharge port. For specific control schemes, please refer to another patent application 202310173492.3. The control scheme of the flow rate and discharge direction of the discharge port of this patent is also the disclosure of the present invention and will not be repeated here. In summary, the sensor always monitors the motion state of the walking wheel 8. When the sensor detects that the walking wheel 8 stops rotating, the water cleaning robot responds to at least one of the following: I) changing the direction of travel, II) changing the flow rate of the fluid flowing out of the discharge port, and III) changing the outflow direction of the fluid at the discharge port.

[0091] The above description of the embodiments is to facilitate ordinary technicians in this technical field to understand and apply the technology of this case. People familiar with the technology in this field can obviously make various modifications to these examples easily and apply the general principles described here to other embodiments without having to go through creative work. Therefore, this case is not limited to the above embodiments. Modifications to the following situations should all be within the scope of protection of this case: ① A new technical solution implemented based on the technical solution of the present invention and combined with existing common knowledge, the technical effect produced by the new technical solution does not exceed the technical effect of the present invention; ② The equivalent replacement of some features of the technical solution of the present invention with the known technology, the technical effect produced is the same as the technical effect of the present invention; ③ The technical solution of the present invention is expandable, and the substantive content of the expanded technical solution does not exceed the technical solution of the present invention; ④ The equivalent transformation made by the content of the description and drawings of the present invention is directly or indirectly applied to other related technical fields.

Claims

1. A water cleaning robot, characterized in that, It includes a main body (1) with a sewage discharge channel provided inside. A negative pressure generating device (66) is provided in the sewage discharge channel. One end of the sewage discharge channel is a sewage suction port (12) provided at the bottom of the main body (1), and the other end of the sewage discharge channel is a discharge port (101) provided at the top of the main body (1). The bottom of the main body (1) further includes traveling wheels (8), a spring pressing assembly (81) for keeping the traveling wheels (8) pressed down, and a sensor for detecting the motion state of the traveling wheels (8).

2. The water cleaning robot according to claim 1, wherein It further includes a filter basket, and the filter basket includes: a filter basket body (71) having an opening (712); a flip cover (72), and the flip cover (72) is pivotally connected to the filter basket body (71) through a locking module (73), and the flip cover (72) is latched to the filter basket body (71) through a cover latching module (76).

3. The water cleaning robot according to claim 2, wherein The locking module (73) includes a first plug (731) and a limiting block (732). The limiting block (732) and the first plug are detachably installed on the filter basket body (71) together so that the locking module (73) is fixed relative to the filter basket body (71).

4. The water cleaning robot according to claim 2, wherein, The cover latching module (76) includes a second plug (761), a pressing plate (762) and a support plate (763). A latching portion (721) for latching and fixing with the cover latching module (76) is provided on the flip cover (72). The pressing plate (762) is latched with the latching portion (721), and the support plate (763) has elasticity and connects the second plug (761) and the pressing plate (762).

5. The water cleaning robot according to claim 2, wherein A detachable handle (74) is further provided at the top of the flip cover (72). The flip cover (72) has a recess (75) in the direction opposite to the handle (74). Slots (751) are provided at both ends of the recess (75), and insertion pieces (741) are provided at both ends of the handle (74). The insertion pieces (741) are latched and fixed with the slots (751).

6. The water cleaning robot according to claim 2, wherein, An inflow port (713) is further provided on the filter basket body. A baffle (77) is provided at the inflow port (713). The baffle (77) is hinged to the filter basket body (71) and abuts against the inner side of the inflow port (713). An elastic reset member (78) that elastically acts on the baffle (77) in the direction of abutting against the inflow port (713) is further provided between the baffle (77) and the filter basket body (71).

7. The water cleaning robot according to claim 1, wherein, At least two wheels are further provided at the bottom of the main body (1) to drive the main body to move. The traveling wheels (8) are provided between the two wheels; or at least one of the wheels is the traveling wheel (8).

8. The water cleaning robot according to claim 1, wherein, The spring pressing assembly (81) includes a rocker arm (811) and an elastic device (812). The rocker arm (811) is hinged and fixed to the main body (1). The traveling wheel (8) is rotatably arranged on the rocker arm (811). The elastic device (812) is used to provide a downward pressing force for the traveling wheel (8) to maintain. The two ends of the elastic device (812) abut against the rocker arm (811) and the main body (1) respectively.

9. The water cleaning robot according to claim 1, characterized in that, The sensor is a Hall sensor, a magnetic component is provided on the traveling wheel (8), and the Hall sensor senses whether the traveling wheel (8) rotates through the magnetic component.

10. The water cleaning robot according to claim 1, characterized in that, A receiving groove (11) and a dirt suction port (12) adjacent to each other are further formed at the bottom of the main body (1). A rotary brush (2) is provided in the receiving groove (11), and a streamline-shaped first guiding surface (13) is formed between the notch of the receiving groove (11) and the dirt suction port (12).

11. The water cleaning robot according to claim 10, characterized in that, The bottom of the main body (1) includes an opposite first flow-facing side (14) and a second flow-facing side (15). The first flow-facing side (14) is close to the receiving groove (11), and a streamline-shaped second guiding surface (16) is provided between the first flow-facing side (14) and the receiving groove (11); the second flow-facing side (15) is close to the dirt suction port (12), and a streamline-shaped third guiding surface (17) is provided between the second flow-facing side (15) and the dirt suction port (12).

12. The water cleaning robot according to claim 10, characterized in that, A plurality of grid plates (18) are provided on the first guiding surface (13) and / or the second guiding surface (16) and / or the third guiding surface (17), and the length direction of the grid plates (18) extends from the first flow-facing side (14) to the second flow-facing side (15).

13. The water cleaning robot according to claim 10, characterized in that, A plurality of grid plates (18) substantially perpendicular to the length direction of the dirt suction port are provided on the first guiding surface (13), and the ratio range of the distance between adjacent grid plates (18) to the length of the dirt suction port (12) is 0.15 - 0.

25.

14. The water cleaning robot according to claim 10, characterized in that, The receiving groove (11) houses the rotary brush (2). The rotary brush (2) includes a rotating shaft (21), a rotating end sleeve (23) and a transmission end sleeve (24). The rotating end sleeve (23) and the transmission end sleeve (24) are respectively arranged at two ends of the receiving groove (11). One end of the rotating shaft (21) is rotatably connected to the rotating end sleeve (23), and the other end of the rotating shaft (21) is fixedly connected to the transmission end sleeve (24).

15. The water cleaning robot according to claim 14, characterized in that, The rotating end sleeve (23) is elastically telescopic in the axial direction of the rotating shaft (21) and is arranged in the receiving groove (11), and the transmission end sleeve (24) is detachably and fixedly connected to the rotating shaft (21).

16. The water cleaning robot according to claim 14, characterized in that, A driving device (6) is provided in the main body (1). A transmission gear drivingly connected to the driving device (6) is further provided at the other end of the transmission end sleeve relative to the rotating shaft, and the rotating shaft, the transmission end sleeve and the transmission gear are fixedly connected.

17. The water cleaning robot according to claim 2, characterized in that, The latch module (73) and the cover latch module (76) are made of non-metallic materials.

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