Cleaning robot

Abstract

The present application relates to the field of robots, and in particular to a cleaning robot. The cleaning robot comprises a main body, a first rotating part, a second rotating part and a collecting mechanism. The first rotating part is rotatably arranged at one end of the bottom of the main body and at least used for collecting garbage. The second rotating part is rotatably arranged at the other end of the bottom of the main body, the second rotating part and the first rotating part are arranged one after the other in a traveling direction of the cleaning robot, and the second rotating part is at least used for stirring water flow. The collecting mechanism is located between the first rotating part and the second rotating part and is used for collecting garbage. When performing water surface cleaning, the cleaning robot further comprises a buoyancy device, so that the first rotating part and the second rotating part are partially immersed in water, and the depth of the first rotating part immersed under the water surface is smaller than the depth of the second rotating part immersed under the water surface, thereby increasing the water flow speed in an area to be cleaned, causing garbage on the water surface to be carried into the collecting mechanism under the action of rapid flowing water, and improving the cleaning efficiency of the cleaning robot.

Description

cleaning robots

[0001] The present invention claims priority of the Chinese invention patents filed on March 25, 2024 (patent number 202410344623.4, patent name: Cleaning robot; patent number 202410344631.9, patent name: Cleaning robot; and patent number 202410344620.0, patent name: Cleaning robot). Technical Field

[0002] The present application relates to the field of robotics, and in particular to a cleaning robot. Background Art

[0003] As people's living standards improve and they pursue a higher quality of life, swimming pools have become popular destinations for leisure and entertainment. Whether it's a private or public pool, water cleanliness is a primary concern. However, when cleaning robots collect garbage from the water surface, their collection mechanism relies solely on the robot's propulsion during movement. This not only limits the cleaning range but also reduces cleaning efficiency. Summary of the Invention

[0004] The present application provides a cleaning robot that can move the water flow through a second rotating part so that the garbage on the water surface can be carried into the collection mechanism under the action of the water flow, thereby realizing the collection of the garbage on the water surface and further improving the garbage cleaning efficiency of the cleaning robot.

[0005] According to a first aspect of the present application, the present application provides a cleaning robot, comprising:

[0006] main body;

[0007] A first rotating member is rotatably provided at one end of the bottom of the main body and is at least used for sweeping and collecting garbage;

[0008] a second rotating member rotatably disposed at the other end of the bottom of the main body, the second rotating member and the first rotating member being arranged in front and behind each other along the travel direction of the cleaning robot, the second rotating member being at least used to move the water flow;

[0009] a collecting mechanism, located between the first rotating member and the second rotating member, for collecting garbage;

[0010] When cleaning the water surface, the cleaning robot further includes a buoyancy device so that both the first rotating member and the second rotating member are partially immersed in water, and the depth of the first rotating member immersed in the water surface is less than the depth of the second rotating member immersed in the water surface.

[0011] According to a second aspect of the present application, the present application further provides a cleaning robot, comprising:

[0012] main body;

[0013] A first rotating member is rotatably disposed at the front end of the bottom of the main body and is at least used for sweeping and collecting garbage;

[0014] A second rotating member is rotatably disposed at the rear end of the bottom of the main body and is at least used to move the water flow;

[0015] a collecting mechanism, located between the first rotating member and the second rotating member, for collecting garbage;

[0016] Among them, when cleaning the water surface, the cleaning robot also includes a buoyancy device, which is used to make the first rotating part and the second rotating part partially immersed in water. The center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot.

[0017] According to a third aspect of the present application, the present application further provides a cleaning robot, comprising:

[0018] a main body, the bottom of which is formed with a cleaning surface;

[0019] a water guide groove extending along the front-to-back direction of the main body, the water guide groove being provided at the bottom of the main body, the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the front end being greater than the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the rear end, and the slope of the bottom surface being greater than or equal to 0 and less than or equal to 1 when the cleaning robot is in an upright position;

[0020] a buoyancy device, provided on the main body, for making the cleaning robot float on the water surface during water surface cleaning;

[0021] a collecting mechanism mounted on the main body, wherein at least a portion of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel;

[0022] The sealing box is provided on the main body and is located in the rear end area thereof, and is used for accommodating electrical components.

[0023] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0024] When the cleaning robot is cleaning the water surface, the first rotating part rotates to sweep the garbage in the direction of travel of the cleaning robot toward the collection mechanism. In addition, the first rotating part can also play the role of shifting the water flow to cooperate with the second rotating part to generate a water flow with a preset direction. The preset flow direction is the direction of flow from the first rotating part toward the second rotating part, so that the garbage on the water surface is carried into the collection mechanism under the action of the water flow, thereby realizing the collection of garbage on the water surface.

[0025] It should be noted that the primary function of the first rotating member is to sweep up trash on the water surface. That is, the first rotating member is immersed in the water at a relatively shallow depth. It only needs to ensure that the first rotating member can contact the trash on the water surface during rotation, thereby ensuring that the first rotating member can push the trash toward the collection mechanism during surface cleaning. In contrast, the primary function of the second rotating member is to accelerate the water flow velocity in the area to be cleaned so that surface trash is carried into the collection mechanism by the fast-flowing water. To do this, it is necessary to ensure that the second rotating member is immersed in the water as much as possible under the circumstances. That is, the second rotating member is immersed in the water at a relatively deep depth. Under the action of the first and second rotating members, the cleaning robot can quickly recycle surface trash into the collection mechanism during surface cleaning, thereby improving the cleaning robot's surface cleaning efficiency. It should be understood that the above general description and the detailed descriptions that follow are merely exemplary and explanatory and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] FIG1 is a schematic structural diagram of a cleaning robot in an upright position provided by an embodiment of the present application;

[0028] FIG2 is a schematic structural diagram of the cleaning robot in FIG1 in an inverted state;

[0029] FIG3 is a cross-sectional schematic diagram of the cleaning robot in FIG1 in an upright state;

[0030] FIG4 is a cross-sectional schematic diagram of the cleaning robot in FIG1 in an inverted state;

[0031] FIG5 is a cross-sectional schematic diagram of the cleaning robot in FIG1 floating on the water surface;

[0032] FIG6 is an exploded schematic diagram of a portion of the structure of the cleaning robot in FIG1 ;

[0033] FIG7 is a schematic diagram of a structure of the buoyancy device in FIG6 ;

[0034] FIG8 is a schematic diagram of the buoyancy device in FIG7 at another angle;

[0035] FIG9 is an exploded schematic diagram of the buoyancy device in FIG7 ;

[0036] FIG10 is another schematic structural diagram of the buoyancy device in FIG6;

[0037] FIG11 is a schematic structural diagram of the buoyancy device in FIG10;

[0038] FIG12 is a schematic diagram of a portion of the structure of the cleaning robot in FIG6 ;

[0039] FIG13 is a schematic diagram of a partial structure of the cleaning robot in FIG12;

[0040] FIG14 is a schematic diagram of a partial structure of the main body in FIG12;

[0041] FIG15 is a schematic structural diagram of the first collecting mechanism in FIG12;

[0042] FIG16 is a schematic diagram of another state of the first collecting mechanism in FIG12;

[0043] FIG17 is a schematic structural diagram of the second collecting mechanism in FIG1 ;

[0044] FIG18 is a schematic diagram of another state of the second collecting mechanism in FIG1;

[0045] FIG19 is a schematic structural diagram of the second rotating member in FIG1 .

[0046] Explanation of Reference Numerals: 10, main body; 10a, cleaning surface; 11, handle; 12, water guide groove; 12a, installation space; 13, protrusion; 14, collection chamber; 15, sealing box; 16, inlet; 20, buoyancy device; 20a, first float; 20b, second float; 21, housing; 21a, side plate; 21b, first protrusion; 21c, second protrusion; 21d, shaft protrusion; 211, inner plate; 212, outer plate; 22, cavity; 221, first cavity portion; 222, second cavity portion; 23, air port structure; 24, water port structure; 30, first rotating member; 31, first rotating shaft; 32, cleaning brush; 33, first gear; 40, second rotating member; 41, second rotating shaft; 42, blade; 43, second gear; 50, track assembly; 60. Transmission mechanism; 61. First ring gear; 62. Second ring gear; 63. Annular outer teeth; 70. First motor; 71. Driving gear; 80. Collection mechanism; 81. First collection mechanism; 811. First frame body; 812. First cover plate; 82. Second collection mechanism; 821. Second cover plate; 8211. Snap-fit ​​structure; 822. Second frame body; 8221. Slot structure; 823. Sealing cover; 83. Collection space; 85. Collection port; 86. Drain port. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0050] As shown in Figures 1 and 2, the present application provides a cleaning robot comprising a main body 10, a collection mechanism 80, and a buoyancy device 20. The buoyancy device 20 is disposed on the main body 10 and is used to keep the cleaning robot afloat during surface cleaning, providing the cleaning robot with stable buoyancy, enabling the cleaning robot to float on the water surface and perform surface cleaning operations. The collection mechanism 80 is capable of collecting garbage while the main body 10 is performing surface and / or underwater cleaning operations, transferring garbage floating on the water surface or dirt on the pool bottom and walls to the collection mechanism 80, thereby achieving pool cleaning. The robot has a simple structure and excellent underwater and surface cleaning performance.

[0051] It should be noted that the buoyancy device 20 can be configured as shown in FIG1 . When the cleaning robot is placed upside down on the water surface, the buoyancy device 20 allows the cleaning robot to float and perform surface cleaning operations. Alternatively, when the cleaning robot is placed upright underwater, water can enter the cavity structure of the buoyancy device 20, allowing the cleaning robot to dive to the pool bottom for cleaning. Alternatively, the buoyancy device 20 can be a detachable structure provided on the bottom of the cleaning robot. When the cleaning robot needs to perform surface cleaning, the buoyancy device 20 is installed on the bottom of the cleaning robot, allowing the cleaning robot to float on the water surface. When the cleaning robot needs to perform underwater cleaning, the buoyancy device 20 is removed from the bottom of the cleaning robot, allowing the cleaning robot to dive underwater for underwater cleaning.

[0052] Furthermore, existing upright surface cleaning robots operate with the majority of their body above the water surface during surface cleaning, requiring a relatively large buoyancy force, and therefore, a relatively large buoyancy device. In contrast, in the present application, when the cleaning robot 100 is inverted in water and cleaning the surface, the majority of the main body 10 is submerged. Since the submerged portion itself provides a certain amount of buoyancy for the cleaning robot 100, this reduces the buoyancy provided by the buoyancy device 90. This reduces the size of the buoyancy device 90, thereby reducing its cost and further reducing the manufacturing cost of the cleaning robot 100. Furthermore, the volume of the cleaning robot 100 can be further reduced, facilitating both underwater and surface cleaning. In an optional embodiment, as shown in Figures 2, 14, and 15, the cleaning robot further comprises a first rotating member 30 and a second rotating member 40. The first rotating member 30 is used at least to sweep up garbage, and the second rotating member 40 is used at least to move the water flow. Among them, the first rotating member 30 is rotatably provided at one end of the bottom of the main body 10, and the second rotating member 40 is rotatably provided at the other end of the bottom of the main body 10, and the second rotating member 40 and the first rotating member 30 are arranged front and back along the moving direction of the cleaning robot, and the collecting mechanism 80 is located between the first rotating member 30 and the second rotating member 40, so that the garbage floating on the water surface can be swept by the first rotating member in the moving direction of the cleaning robot toward the collecting mechanism during the movement of the cleaning robot; at the same time, when the second rotating member 40 stirs the water flow, the garbage on the water surface is carried into the collecting mechanism under the action of the water flow, thereby realizing the collection of garbage on the water surface.

[0053] In an alternative embodiment, as shown in Figures 14 and 15, the collection mechanism 80 is provided with a drain port 86 to allow water to flow away while also blocking and collecting trash, thereby facilitating the cleaning robot's autonomous trash collection in the water. In one specific embodiment, a filter is provided at the drain port 86 to block trash carried by the water flow within the collection mechanism 80, while allowing the water to be discharged to the outside of the cleaning robot through the drain port 86.

[0054] In an optional embodiment, as shown in Figures 3 to 5, when the cleaning robot is performing water surface cleaning, the first rotating member 30 and the second rotating member 40 are both partially immersed in water, and the depth of the first rotating member 30 immersed in the water surface is less than the depth of the second rotating member 40 immersed in the water surface, so as to ensure that the second rotating member is immersed in the water as much as possible when allowed. This can increase the effective area of ​​the second rotating member 40 in moving the water flow, thereby accelerating the flow rate of the water flow, so that the garbage on the water surface can flow into the collection mechanism along with the water flow; at the same time, the main function of the first rotating member 30 is to sweep and collect garbage on the water surface, that is, the depth of the first rotating member 30 immersed in the water is relatively shallow, and it is only necessary to ensure that the first rotating member 30 can contact the garbage on the water surface during rotation. This can not only ensure that the first rotating member 30 can push the garbage into the collection mechanism 80 during water surface cleaning, but also ensure the interception height of the first rotating member 30, thereby improving the garbage collection efficiency of the first rotating member 30; it can also reduce the resistance encountered by the cleaning robot during driving, facilitate navigation, and thus greatly improve the water surface cleaning efficiency of the cleaning robot.

[0055] In addition, by controlling the first rotating member 30 to be in contact with the water surface or immersed in the water at a shallow depth, the water can be prevented from rolling when the first rotating member moves the garbage, thereby causing the garbage collected by the first rotating member to be thrown back onto the water surface, thereby improving the cleaning efficiency of the cleaning robot.

[0056] For example, when the cleaning robot is cleaning the water surface, the first rotating member 30 rotates to sweep the garbage in front of the cleaning robot's travel direction toward the collection mechanism. In addition, the first rotating member 30 can also play the role of shifting the water flow to cooperate with the second rotating member 40 to generate a water flow with a preset direction. The preset flow direction is the direction of flow from the first rotating member 30 toward the second rotating member 40, so that the garbage on the water surface is carried into the collection mechanism under the action of the water flow, thereby realizing the collection of garbage on the water surface.

[0057] It should be noted that the primary function of the first rotating member 30 is to sweep up garbage on the water surface. This means that the first rotating member 30 is immersed in the water at a relatively shallow depth. It is only necessary to ensure that the first rotating member 30 can contact the garbage on the water surface during rotation, thereby ensuring that the first rotating member 30 can push the garbage into the collection mechanism during surface cleaning. In contrast, the primary function of the second rotating member 40 is to accelerate the water flow in the area to be cleaned so that surface garbage is carried into the collection mechanism by the rapidly flowing water. To do this, it is necessary to ensure that the second rotating member 40 is immersed in the water as much as possible under permitted circumstances. This means that the second rotating member 40 is immersed in the water at a relatively deep depth. Under the action of the first and second rotating members 30, 40, the cleaning robot can quickly recycle surface garbage into the collection mechanism during surface cleaning, thereby improving the cleaning robot's surface cleaning efficiency.

[0058] In an optional embodiment, the line connecting the rotation centers of the first rotating member 30 and the second rotating member 40 is arranged at an angle to the water surface, and the rotation center of the first rotating member 30 is located below the rotation center of the second rotating member 40. This increases the effective area of ​​the second rotating member 40 in moving the water flow, thereby accelerating the flow rate of the water flow and allowing floating garbage on the water surface to flow into the collection mechanism. The primary function of the first rotating member is to sweep and collect garbage on the water surface, and it only needs to ensure that it can contact the garbage on the water surface during rotation.

[0059] In an optional embodiment, the first rotating member 30 rotates about a first rotating axis, and the second rotating member 40 rotates about a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the direction of travel of the cleaning robot, and the first rotating member 30 and the second rotating member 40 rotate in the same direction, so that the first rotating member 30 and the second rotating member 40 move the water flow in the same direction. As a result, when the cleaning robot is cleaning the water surface, the garbage around the cleaning robot can be quickly gathered to the first rotating member 30 along with the flow of water, and is not easily dispersed, so that the first rotating member 30 can push the garbage toward the collection mechanism, which is conducive to improving the cleaning efficiency of the water surface garbage. In addition, the second rotating member 40 can also provide a forward propulsion force while moving the water flow, thereby accelerating the cleaning efficiency of the cleaning robot for the garbage on the water surface.

[0060] In an optional embodiment, the cleaning robot further includes a transmission mechanism 60 provided on the main body 10, and the transmission mechanism 60 is respectively connected to the first rotating member 30 and the second rotating member 40 for driving the first rotating member 30 and the second rotating member 40 to rotate in the same direction. The structure is simple, and there is no need to set a power source for the first rotating member 30 and the second rotating member 40 respectively, and the manufacturing cost is low.

[0061] In an optional embodiment, a driving mechanism is provided on the main body, and the driving mechanism is at least used to drive the cleaning robot to move on the water surface and underwater.

[0062] In an optional embodiment, the driving mechanism includes a first motor 70, and the transmission mechanism 60 includes a first ring gear 61 and a second ring gear 62. The first motor 70 is connected to the second rotating member 40 through the first ring gear 61, the first ring gear 61 is connected to the second ring gear 62, and the second ring gear 62 is connected to the first rotating member 30, so that the first motor 70 can drive the first rotating member 30 and the second rotating member 40 to rotate in the same direction through the first ring gear 61 and the second ring gear 62.

[0063] In an optional embodiment, a driving gear 71 is installed on the output shaft of the first motor 70, a first gear 33 is provided on the first rotating shaft 31, and a second gear 43 is installed on the second rotating shaft 41. The driving gear 71 is transmission-connected to the first ring gear 61, the first ring gear 61 is transmission-connected to the second gear 43, and the second ring gear 62 is transmission-connected to the first gear 33, so that the first motor 70 can drive the first rotating member 30 and the second rotating member 40 to rotate in the same direction.

[0064] In an optional embodiment, the driving gear 71 and the second gear 43 are both arranged on the inner side of the first ring gear 61 and meshed with the first ring gear 61, and the first ring gear 61 is rotatably installed at a position near the rear end of the main body 10, and the first gear 33 is arranged on the inner side of the second ring gear 62 and meshed or transmission connected with the second ring gear 62, and the second ring gear 62 is rotatably installed at a position near the front end of the main body 10.

[0065] In an optional embodiment, the cleaning robot further includes a track assembly 50 , which is disposed on both sides of the main body 10 and is transmission-connected to the driving mechanism for driving the cleaning robot to move for underwater cleaning.

[0066] In an alternative embodiment, the outer sides of the first and second ring gears 61 and 62 are each provided with an annular outer tooth 63. The track assembly 50 is mounted on the outer sides of the first and second ring gears 61 and 62 and meshes with the annular outer tooth 63. When the cleaning robot is cleaning underwater, the first motor 70 can drive the cleaning robot via the track assembly 50. During movement, the first rotating member 30 generates rolling friction with the bottom wall or side wall, thereby scrubbing away dirt on the bottom wall or side wall, thereby fully cleaning the pool and achieving high cleaning efficiency. When cleaning the surface of the pool, the first motor 70 can drive the first and second rotating members 30 and 40 to rotate. The second rotating member 40 can accelerate the water flow in the area to be cleaned, so that surface garbage is carried into the collection mechanism by the fast-flowing water flow. The first rotating member 30 can then push the garbage toward the collection mechanism. This allows a single drive motor to be used both underwater and above water, providing the driving power for the first and second rotating members 30, 40, and track assembly 50. No separate power structure is required, resulting in a relatively simple overall structure and ease of use for the cleaning robot.

[0067] In an optional embodiment, the cleaning robot further includes a sealing box 15 , which is provided on the main body 10 and located in the rear end area of ​​the main body 10 for accommodating electrical components.

[0068] After adopting the above technical solution, the cleaning robot has many electrical components, which are not only difficult to assemble, but also require each electrical component to be individually sealed to prevent the electrical components from coming into contact with water when the cleaning robot is cleaning on the surface or underwater. Therefore, the present application seals the electrical components of the cleaning robot in a sealed box and then installs it to the rear end area of ​​the main body 10, which not only has a high degree of integration but also a simpler structure.

[0069] In an optional embodiment, the electrical component includes at least the first motor 70 and / or a battery, and the battery is at least used to provide electrical energy to the first motor 70 .

[0070] In an optional embodiment, the driving mechanism further includes a second motor, which is used to drive a water pump disposed outside the sealing box 15. A drain port connected to the outside is provided in the main body 10, so that when the cleaning robot is cleaning underwater, the water pump operates to draw water directly from the sewage suction port into the collection mechanism 80, where it is filtered by the collection mechanism 80 and then ejected from the drain port. This not only enables the cleaning robot to perform underwater cleaning, but also allows the recoil force of the water ejected from the drain port to allow the cleaning robot to adhere to the surface of the area to be cleaned, thereby ensuring the cleaning robot maintains its posture during underwater cleaning.

[0071] In an optional embodiment, as shown in Figures 1 to 5, the cleaning robot has a surface cleaning mode and an underwater cleaning mode. In the surface cleaning mode, the cleaning robot is upside down on the water surface, and in the underwater cleaning mode, the cleaning robot is placed underwater. In both cleaning modes, the sewage suction port of the cleaning robot is located at the bottom of the cleaning robot. There is no need to set another sewage suction port on the top or other positions of the cleaning robot. When the cleaning robot is performing underwater and surface cleaning, the cleaning mode of the cleaning robot can be switched through the different placement states of the cleaning robot. Compared with other cleaning methods that require multiple sewage suction ports, the cleaning robot of the present application can use less space occupied by the sewage suction port, thereby greatly reducing the overall volume of the cleaning robot. There is no need to add complex structures, which is conducive to large-scale market production and application; it also facilitates the flexible movement of the cleaning robot, which is conducive to cleaning.

[0072] It should be noted that when the cleaning robot is inverted on the water surface, it means that the bottom of the cleaning robot is facing one side of the water surface and is above the water surface, so that the cleaning robot can float on the water surface to perform water surface cleaning operations (as shown in Figures 4 and 5); when the cleaning robot is placed upright underwater, it means that the bottom of the cleaning robot is facing the bottom wall or side wall of the swimming pool and is below the water surface, so that the cleaning robot can clean along the bottom wall and side wall of the swimming pool (as shown in Figure 3).

[0073] In an optional embodiment, a cleaning surface 10a is formed at the bottom of the main body 10. The distance between the rotation center of the first rotating member 30 and the cleaning surface 10a is L1, and the distance between the rotation center of the second rotating member 40 and the cleaning surface 10a is L2. L1 is less than L2. This ensures that the second rotating member 40 is immersed in the water in the area to be cleaned, so that it has a larger area to move the water flow, thereby improving the efficiency of moving the water flow and accelerating the flow of water. It also ensures that the first rotating member 30 can maintain a certain height while contacting the water surface to intercept garbage, so that garbage on the water surface can be collected by the first rotating member 30 into the collection mechanism 80, accelerating garbage collection and improving cleaning efficiency. In addition, the second rotating member 40 can also drive the cleaning robot forward, so that the cleaning robot obtains a sufficiently large effective driving force.

[0074] In an optional embodiment, the first rotating member 30 at least partially protrudes from the bottom of the main body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 40 is located within the installation space 12a defined by the bottom of the main body 10. This prevents the second rotating member 40 from colliding with the bottom wall or side wall of the swimming pool when the cleaning robot is in underwater cleaning mode, ensuring that the cleaning robot can move smoothly along the bottom wall or side wall of the swimming pool while wiping the surface of the area to be cleaned on the bottom wall or side wall of the swimming pool. In addition, when the cleaning robot is performing surface cleaning, the second rotating member 40 is confined within the installation space 12a defined by the bottom of the main body 10 to ensure the draft of the second rotating member 40, so that the second rotating member can accelerate the flow rate of the water in the area to be cleaned as much as possible; alternatively, the second rotating member can also provide the cleaning robot with sufficient driving force, thereby improving the cleaning robot's surface cleaning efficiency.

[0075] Illustratively, the diameter of the circle formed by the rotation of the first rotating member 30 is greater than the diameter of the circle formed by the rotation of the second rotating member 40, so as to ensure that at least part of the first rotating member 30 can protrude from the bottom of the main body 10, while ensuring that the second rotating member 40 does not protrude from the bottom of the main body 10, and when the cleaning robot performs water surface cleaning, the first rotating member 30 can at least contact the water surface, and the second rotating member 40 can be used to stir the water flow, and / or provide forward propulsion for the cleaning robot.

[0076] In an optional embodiment, the first rotating member 30 is immersed in the water to a depth of 3-20MM, ensuring that the first rotating member can contact the water surface when rotating, so that the garbage on the water surface can enter the collection mechanism 80 through the first rotating member 30; at the same time, it can also prevent the first rotating member 30 from rolling water when stirring the water flow, and can pull the incoming water closer and quickly introduce it into the collection mechanism 80, avoiding throwing the garbage back onto the water surface, thereby improving the cleaning efficiency of the cleaning robot.

[0077] In an optional embodiment, the second rotating member 40 is immersed in the water surface at a depth of 10-40MM to ensure the draft of the second rotating member 40 and prevent water from being rolled up when the second rotating member 40 stirs the water flow, so that the water flowing in from the side of the first rotating member 30 can be quickly discharged, and the second rotating member can accelerate the flow speed of the water flow in the area to be cleaned as much as possible; or, the second rotating member can also provide the cleaning robot with sufficiently large traveling power, thereby improving the water surface cleaning efficiency of the cleaning robot.

[0078] In an optional embodiment, as shown in Figures 3 to 5, the cleaning robot further includes a water channel 12, which extends along the front-to-back direction of the main body 10. The first rotating member 30 and the second rotating member 40 are both located in the water channel 12, and an inlet 16 is formed between the first rotating member 30 and the water channel 12, so that when the cleaning robot is cleaning the water surface, garbage floating on the water surface can enter the collection mechanism 80 through the inlet 16. At the same time, the second rotating member 40 is disposed in the water channel 12, and can accelerate the flow rate of the water along the water channel 12 by shifting the water flow to improve cleaning efficiency, and can also drive the movement of the cleaning robot. For example, the cleaning robot can be driven to move on the water surface to achieve water surface cleaning.

[0079] For example, when water flows along the water channel 12, the first rotating member 30 and the second rotating member 40 will both rotate along the flow direction of the water flow, so that the first rotating member 30 can at least move the garbage to the collection mechanism 80, and the second rotating member 40 can at least move the water flow along the flow direction to speed up the flow rate of the water flow in the water channel 12. Among them, the rotation direction of the first rotating member 30 and the second rotating member 40 are the same, which can ensure that when the cleaning robot is moving, both can rotate along the flow direction of the water flow, avoiding movement resistance caused by their different rotation directions. It should be noted that the first rotating member 30 and the second rotating member 40 of the present application can rotate in the same direction clockwise or counterclockwise, depending on the specific use of the cleaning robot.

[0080] In an optional embodiment, the first rotating member 30 and the second rotating member 40 are spaced apart from the bottom surface of the water channel 12 so that the water flow can at least flow along the water channel 12 through the space, thereby avoiding the obstruction of the first rotating member 30 or the second rotating member 40 and affecting the flow rate of the water flow, which is beneficial for the collection mechanism 80 to collect garbage carried in the water flow.

[0081] In an optional embodiment, the water guide groove 12 is arranged at the bottom of the main body 10, and the vertical distance between the bottom surface of the water guide groove 12 and the cleaning surface 10a at the front end is greater than the vertical distance at the rear end, so that the rear end area of ​​the main body 10 has sufficient space for installing the sealing box 15, and it is also convenient for all electrical components to be sealed in the rear end area of ​​the main body 10 through the sealing box, with high integration.

[0082] In an optional embodiment, when the cleaning robot is upright, the slope of the bottom surface of the water channel 12 is greater than or equal to 0 and less than or equal to 1, so that the bottom surface of the water channel 12 can form a flat surface, which is conducive to reducing the water resistance of the water flow in the water channel 12, increasing the water flow rate, and thus improving the cleaning efficiency. In particular, the side walls on both sides of the water channel 12 are flat and parallel, which can prevent the side walls from affecting the flow of water in the water channel 10a, ensuring that the flow of water in the water channel 12 is unobstructed, so that the garbage carried by the water flow can be quickly collected by the collection mechanism 20.

[0083] In an optional embodiment, when the cleaning robot is cleaning the water surface, the bottom surface of the water guide trough 12 is roughly parallel to the water surface, ensuring that the flow of water in the water guide trough 12 is unobstructed, so that the water flow can flow smoothly from the first rotating member 30 to the second rotating member 40, so that the garbage carried by the water flow can be quickly collected by the collection mechanism 20; at the same time, it can also reduce the resistance encountered by the cleaning robot during driving, facilitate navigation, and thus greatly improve the water surface cleaning efficiency of the cleaning robot.

[0084] In an optional embodiment, as shown in Figures 4 to 6, the distance between the bottom surface of the water trough 12 and the cleaning surface 10a gradually decreases from the front end to the rear end of the water trough 12, so that the water on the bottom surface of the water trough 12 is not easily obstructed when flowing, thereby reducing the obstruction to the water flow; it is also beneficial to reduce the resistance encountered by the cleaning robot when cleaning the water surface, and thus helps to reduce the energy consumption of the cleaning robot, so that the cleaning robot can maintain garbage cleaning for a long time when sailing, further improving the cleaning efficiency of garbage on the water surface.

[0085] In an optional embodiment, as shown in Figures 3 to 5, a protrusion 13 is provided directly below the first rotating member 30. The protrusion 13 is installed on the bottom surface of the water guide groove 12. The protrusion 13 is used to narrow the inlet, so that the flow rate of the inlet is increased, so that the surface garbage can be quickly collected to the inlet as the cleaning robot moves forward, and it is not easy to disperse. In addition, the surface garbage can be quickly collected to the collection mechanism 80 for recycling, which is beneficial to improving the cleaning efficiency of the surface garbage.

[0086] For example, when water flows along the water channel 12, it will first enter the water channel 12 from the water inlet. The raised part 13 can narrow the inlet 16 so as to speed up the flow rate of the water, improve the garbage collection efficiency, and facilitate the water flow to flow into the collection mechanism 80.

[0087] Exemplarily, the front end of the protrusion 13 gradually thickens along the direction of water flow to gradually narrow the inlet 16. In this way, the inlet gradually shrinks after more water flows in, and can receive more water and the garbage carried therein, thereby improving garbage collection efficiency.

[0088] Exemplarily, the front end surface of the protrusion 13 is tilted toward the inlet 16 , and the tilted front end surface of the protrusion 13 serves as a guide, so that surface garbage can smoothly enter the inlet 16 .

[0089] In an optional embodiment, the water guide trough 12 has a water inlet and a water outlet. When the cleaning robot is cleaning the water surface, the water flow rate at the water inlet is greater than the water flow rate at the water outlet, so that the water flow can generate suction at the water inlet for collecting surface garbage. The surface garbage is not easily dispersed under the suction, so that the surface garbage can be quickly gathered at the water inlet for collection, which is beneficial to improve the cleaning efficiency of the surface garbage.

[0090] For example, when the cleaning robot is moving, water flows into the water inlet and is discharged through the water outlet, and the depth of the water guide trough 12 immersed in the water surface at the water outlet is less than the depth of the water guide trough 12 immersed in the water surface at the water outlet, and the width of the water guide trough 12 at the water inlet is roughly the same as the width at the water outlet. According to the flow calculation formula, the flow velocity relationship of the water guide trough 12 at the water inlet and the water outlet can be obtained, that is, when the cleaning robot is moving, the flow velocity of the water flow at the water inlet is greater than the flow velocity of the water outlet, so that the water flow can generate suction at the water inlet for collecting surface garbage. The surface garbage is not easily dispersed under the suction, and the surface garbage can be quickly gathered to the water inlet for collection, which is beneficial to improving the cleaning efficiency of the surface garbage.

[0091] In an optional embodiment, the first rotating member 30 is rotatably disposed at the water inlet or at one end of the water channel 12 near the water inlet, and the second rotating member 40 is rotatably disposed at the water outlet or at one end of the water channel 12 near the water outlet. When the cleaning robot is cleaning the water surface, the second rotating member 40 shifts the water flow, and the water flow generates a driving force in the direction of travel, so that the water flow in the water channel 12 can be concentrated and flowed from the water inlet to the water outlet. In this way, garbage on the water surface can be driven by the water flow in the water channel 12 and enter the collection mechanism 80 more quickly and in a concentrated manner, thereby achieving the effect of cleaning the swimming pool.

[0092] In an optional embodiment, as shown in Figures 4 and 5, the first rotating member 30 includes a first rotating shaft 31 and a cleaning brush 32. The two ends of the first rotating shaft 31 are rotatably mounted on both sides of the main body 10 and are connected to the driving mechanism; the cleaning brush 32 is arranged on the first rotating shaft 31 and extends along the axial direction of the first rotating shaft 31, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to sweep up garbage during water surface cleaning.

[0093] Exemplarily, the two ends of the first rotating shaft 31 are rotatably mounted on both sides of the main body 10, and the cleaning brush 32 is arranged on the first rotating shaft 31 and extends along the axis direction of the first rotating shaft 31, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to collect garbage during surface cleaning. When the cleaning robot is moving for cleaning, the first rotating shaft 31 can rotate relative to the main body 10, thereby driving the cleaning brush 32 to rotate around the axis of the first rotating shaft 31, so that the surface of the area to be cleaned can be wiped and garbage can be moved when cleaning underwater, and garbage can be moved when cleaning on the surface of the water to facilitate rapid garbage collection. In this embodiment, the cleaning brush 32 extends along the axis direction of the first rotating shaft 31, so that the cleaning brush 32 can cover a wider area, thereby increasing the wiping area and the area for moving garbage, which is beneficial to the cleaning of the cleaning robot.

[0094] For example, the first rotating shaft 31 comprises two sections, each of which extends through the sidewall of the water channel 12 and is connected to the transmission mechanism 60 via the first gear 33, allowing the transmission mechanism 60 to drive the rotation of both ends of the first rotating shaft 31. The drive mechanism comprises two first motors 70, which are respectively connected to the ends of the first rotating shaft 31 via the transmission mechanism 60 on either side of the main body. Since the first rotating shaft 31 is segmented, the rotation of the two sections does not affect each other, facilitating stable rotation of the first rotating member 30.

[0095] In an alternative embodiment, as shown in Figures 4, 5, and 18, the second rotating member 40 includes a second rotating shaft 41 and a plurality of paddles 42. The ends of the second rotating shaft 41 are rotatably mounted on either side of the main body 10 and connected to a drive mechanism. The plurality of paddles 42 are evenly arranged along the outer circumference of the second rotating shaft 41 and are used to drive the cleaning robot when cleaning a water surface. During water surface cleaning, the drive mechanism can rotate the second rotating shaft 41, thereby driving the plurality of paddles 42 to rotate, thereby moving the cleaning robot by shifting the water flow.

[0096] For example, the second rotating shaft 41 comprises two sections, each of which is inserted into the sidewall of the water channel 12 and connected to the transmission mechanism 60 via a second gear 43, so that the transmission mechanism 60 can drive the rotation of both ends of the second rotating shaft 41. The driving mechanism includes two first motors 70, which are respectively connected to the ends of the second rotating shaft 41 via the transmission mechanism 60 on both sides of the main body. Since the second rotating shaft 41 is segmented, the rotation of the two sections does not affect each other, which facilitates the stable rotation of the second rotating member 40.

[0097] For example, when the cleaning robot is performing surface cleaning, it is placed upside down on the water surface. The drive mechanism drives the first rotating member 30 and the second rotating member 40. As the paddles 42 rotate, a pressure difference is generated between the front and rear of the paddles 42, generating a water flow. This causes debris surrounding the cleaning robot to flow toward the first rotating member 30. The inlet 16 formed between the first rotating member 30 and the water channel 12 directs the debris into the collection mechanism 80 for collection. Increasing the number of paddles 42 ensures that the cleaning robot has sufficient surface area to move the water flow, enabling the cleaning robot to obtain a sufficiently large effective driving force. When the cleaning robot is performing underwater cleaning, the cleaning surface 10a of the cleaning robot faces the bottom or side wall of the pool and is below the water surface. The cleaning robot moves along the bottom or side wall of the pool. The cleaning brush 32 wipes the surface of the area to be cleaned during movement. The suction force of the water pump then automatically collects debris that settles on the bottom or side wall, thereby completing the pool cleaning.

[0098] In an optional embodiment, as shown in FIG18 , the blade surface of the paddle 42 is tilted relative to the axial center line of the second rotating shaft 41 , which can facilitate the movement of the water flow so as to stably push the cleaning robot to move when cleaning the water surface.

[0099] Specifically, when cleaning the water surface, the blade surface of the paddle 42 is tilted toward the rotation direction of the second rotating shaft 41. When cleaning the water surface, the rotation tangent of the second rotating member 40 away from the cleaning surface 10a is toward the direction of travel of the main body 10, and the rotation tangent of the first rotating member 30 toward the cleaning surface 10a is in the opposite direction of the travel of the main body 10. The blade surface of the paddle 42 can efficiently move the water flow according to the above-mentioned tilting direction, so as to propel the cleaning robot to move on the water surface; when cleaning underwater, the rotation tangent of the first rotating member 30 away from the cleaning surface 10a is in the opposite direction of the travel of the main body 10, and the rotation tangent of the first rotating member 30 toward the cleaning surface 10a is in the direction of travel of the main body 10. The blade surface of the paddle 42 can reduce the resistance when moving the water flow according to the above-mentioned tilting direction, which is beneficial to the underwater movement of the cleaning robot.

[0100] Exemplarily, the blade surface of the blade 42 is perpendicular to the radial direction of the second rotating shaft 41, so as to increase the area of ​​the water flow moved by the blade 42 and ensure the acceleration efficiency of the water flow by the blade 42.

[0101] In an optional embodiment, a first angle β is formed between a connecting surface of a center connecting line between the blade 42 and the second rotating shaft 41 and the axial center line and an extension surface of the blade 42 , and the first angle β is greater than or equal to 90 degrees.

[0102] In an optional embodiment, the collection mechanism 80 is at least partially located in the water channel 12 to collect garbage carried by the water flow in the water channel 12, thereby realizing automatic garbage collection by the cleaning robot without manpower, simple structure and low cost.

[0103] In an optional embodiment, as shown in Figures 13 to 16 , the collection mechanism 80 includes a first collection mechanism 81, which is used to collect trash from the water surface during water surface cleaning. The main body 10 is provided with a collection chamber 14, which is located between the first rotating member 30 and the second rotating member 40. The first collection mechanism 81 is detachably mounted in the collection chamber 14, so that when the first collection mechanism 81 is full of trash, it can be removed from the main body 10 for cleaning.

[0104] In an optional embodiment, the collecting chamber 14 includes a first collecting chamber 14 , the first collecting chamber 14 is disposed in the water guide groove 12 , and the first collecting mechanism 81 is detachably installed in the first collecting chamber 14 .

[0105] In an optional embodiment, the first collecting mechanism 81 has a collecting space 83 and a collecting port 85 connected to the collecting space 83 , and the collecting port 85 faces the first rotating member 30 , so that the garbage collected by the first rotating member 30 can enter the collecting space 83 through the collecting port 85 .

[0106] In an optional embodiment, the first collection mechanism 81 includes a first frame 811 and a first cover 812. The first frame 811 is hollow, and the first cover 812 is rotatably mounted on the side of the first frame 811 facing away from the collection port 85. A drain port 86 is provided on the first cover 812, allowing the first cover 812 to block and collect garbage while facilitating the drainage of water within the first frame 811.

[0107] In an optional embodiment, as shown in Figures 13, 17, and 18, the collection mechanism 80 includes a second collection mechanism 82, which is used to recover underwater garbage during underwater cleaning. The collection chamber 14 includes a second collection chamber 14, which is at least partially disposed within the water channel 12, with another portion of the second collection chamber 14 disposed at the bottom of the water channel 12. The second collection mechanism 82 is detachably mounted within the second collection chamber 14.

[0108] In an optional embodiment, the second collection mechanism 82 includes a second frame body 822 and a second cover plate 821 , a collection space 83 is formed in the second frame body 822 , and the second cover plate 821 is rotatably installed in the second frame body 822 so that it can be opened to clean the garbage in the garbage collection space 83 .

[0109] In an optional embodiment, one of the second frame body 822 and the second cover plate 821 is provided with a snap-fit ​​structure 8211, and the other of the second frame body 822 and the second cover plate 821 is provided with a slot structure 8221. The snap-fit ​​structure 8211 cooperates with the slot structure 8221 so that the second cover plate 821 can be covered on the second frame body 822.

[0110] In an optional embodiment, the second collection mechanism 82 includes a sealing cover 823, and the collection port 85 is arranged on the second cover plate 821. The sealing cover 823 is arranged at the collection port 85 and can be opened under the suction of the water pump to allow garbage to enter the collection space 83. At the same time, the collection port 85 is closed when the water pump stops working to prevent the garbage in the collection space 83 from being poured out from the collection port 85.

[0111] In an optional embodiment, the drain port 86 is provided on the second frame body 822 , so that the second frame body 822 can block and collect garbage while facilitating the discharge of water in the second frame body 822 .

[0112] In an optional embodiment, the first collecting mechanism 81 and the second collecting mechanism 82 are both provided with a handle 84 so that the first collecting mechanism 81 and the second collecting mechanism 82 can be taken out from the main body 10 for garbage cleaning.

[0113] In an optional embodiment, as shown in Figures 3 to 5, the buoyancy device 20 is arranged at the bottom and / or both sides of the main body 10 to maintain the posture of the cleaning robot when cleaning on the water surface, so that the cleaning robot can float on the water surface with the help of the buoyancy of the water on the buoyancy device 20.

[0114] For example, as shown in Figures 1 to 3, the buoyancy device 20 includes a first float 20a and a second float 20b, which are respectively connected to the two sides of the main body 10. At least part of the buoyancy device 20 is located outside the track assembly 50. This allows the overall density of the cleaning robot to be adjusted according to the cleaning needs of the cleaning robot, so that the cleaning robot can float on the water surface when cleaning on the surface, and can be submerged when cleaning underwater. In this way, the cleaning robot can freely switch between different operating modes according to the user's needs, making it convenient to use.

[0115] For example, the buoyancy device 20 is detachably mounted on the bottom of the main body 10. When the cleaning robot needs to perform surface cleaning, the buoyancy device 20 is attached to the bottom of the cleaning robot, allowing the cleaning robot to float on the water surface. When the cleaning robot needs to perform underwater cleaning, the buoyancy device 20 is removed from the bottom of the cleaning robot, allowing the cleaning robot to dive underwater for underwater cleaning. The ends of the buoyancy device 20 may also extend to both sides of the main body 10, or at least a portion of the structure may extend to both sides of the main body 10, without limitation in this application.

[0116] In an optional embodiment, as shown in Figures 6 to 11, the buoyancy device 20 includes a shell 21, a water inlet structure 24 and an air inlet structure 23. A cavity 22 is formed in the shell 21. The water inlet structure 24 is used to exchange liquid between the cavity and the outside world. The air inlet structure 23 cooperates to exchange gas between the cavity 22 and the outside world when the cavity 22 exchanges liquid with the outside world, and the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the shell 21. When the cleaning robot is in the water surface cleaning mode, the shell 21 is at least partially above the water surface, the water inlet structure 24 is above the water surface, and the air inlet structure 23 is below the water surface, thereby preventing liquid from entering the cavity, so that the cleaning robot has an upward buoyancy, so that the cleaning robot can float on the water surface to clean garbage; at the same time, when the cleaning robot is in the underwater cleaning mode, the liquid outside the shell can enter the cavity through the water inlet structure and discharge the gas through the air inlet structure, so that the gravity of the cleaning robot is greater than the buoyancy of the buoyancy device, so that it can dive underwater for cleaning. Among them, the concentration of gas is lower than that of water, and it can be introduced through the air port structure 23 and fill the cavity 22; the concentration of liquid is not lower than that of water, and it can be introduced through the water port structure 24 and fill the cavity 22. In the process of introducing liquid into the cavity 22, the gas in the cavity 22 is discharged through the air port structure 23.

[0117] In an optional embodiment, the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the cavity 22. When the cleaning robot performs water surface cleaning, the air inlet structure 23 is located on the side close to the water surface, and the water inlet structure 24 is located on the side away from the water surface.

[0118] Exemplarily, the gas can be air and the liquid can be water. Since the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the cavity 22, in the water surface cleaning mode, the cleaning robot is inverted on the water surface, and the water inlet structure 24 is located on the side away from the water surface. Water cannot enter the cavity 22 through the water inlet structure 24, while the air inlet structure 23 can prevent water from entering the cavity 22, so that the buoyancy device 20 can provide buoyancy for the cleaning robot to rise, so that the gravity of the cleaning robot is equal to the buoyancy, so that the cleaning robot can perform water surface cleaning; in the underwater cleaning mode, the cleaning robot is placed underwater, and the water inlet structure 24 is located on the side close to the water surface. Water can enter the cavity 22 from the water inlet structure 24, and discharge the gas in the cavity 22 through the air inlet structure 23, so that the gravity of the cleaning robot is greater than the buoyancy, so that the cleaning robot can sink underwater and perform underwater cleaning, which is low in cost, highly practical and adaptable.

[0119] In an optional embodiment, as shown in Figures 6 to 11, the water inlet structure 24 is arranged at the bottom of the cleaning robot or on a side close to the bottom, and the air inlet structure 23 is arranged at the top of the cleaning robot or on a side close to the top. When the cleaning robot is cleaning on the water surface, the cleaning robot is inverted on the water surface. At this time, the position of the water inlet structure 24 is higher than the water surface, and water cannot enter the cavity 22 from the water inlet structure 24. The air inlet structure 23 below the water surface can prevent water from entering the cavity 22, so that the cleaning robot can float on the water surface with the help of the buoyancy of the buoyancy device 20, so that the water surface cleaning can be performed. When the cleaning robot is cleaning underwater, the cleaning robot is placed underwater. At this time, the position of the air inlet structure 23 is higher than the water surface, and the position of the water inlet structure 24 is lower than the water surface. Water enters the cavity 22 through the water inlet structure 24, and the gas in the cavity 22 is discharged through the air inlet structure 23, which is used to weaken or balance the buoyancy acting on the buoyancy device 20. When the cavity 22 is filled with water, the buoyancy of the buoyancy device 20 is not greater than the gravity of the cleaning robot, so that the cleaning robot can dive underwater and thus perform water surface cleaning.

[0120] In an optional embodiment, a water guide is further provided in the buoyancy device 20, one end of which is connected to the air outlet structure 23, and the other end of which extends to the water outlet structure 24, so that the water in the cavity 22 can be quickly discharged after the buoyancy device 20 leaves the water surface.

[0121] In an optional embodiment, the water guide member includes a water guide channel that is curved in an arc shape from the water inlet structure 24 to the air outlet structure 23. The water guide channel is formed by bulging outward relative to the inclined connection line between the water inlet structure 24 and the air outlet structure 23, so that the water guide channel can better drain water at the position of the water inlet structure 24, avoiding water accumulation at the water inlet structure 24. At the same time, the outward convex arc structure can reduce the accumulation of water in the water guide channel, and when the buoyancy device 20 is tilted downward and taken out of the water, the water guide channel can form an effect of guiding the flow of water, thereby accelerating the drainage effect of the water guide channel.

[0122] Exemplarily, the water guide channel is an outwardly convex arc structure. Since the aperture of the air outlet structure 23 is smaller than the aperture of the water outlet structure 24, the aperture of the water guide channel decreases from large to small along the water outlet structure 24 to the air outlet structure 23, which can speed up the drainage effect of the water outlet structure 24 and utilize the arc structure to guide the flow of water, thereby avoiding water accumulation in the water guide channel.

[0123] In an optional embodiment, the cavity 22 includes a first cavity portion 221 and a second cavity portion 222 that are interconnected. The first cavity portion 221 and the second cavity portion 222 are arranged along the height direction of the shell 21. The water inlet structure 24 is connected to the first cavity portion 221 and is arranged on a side away from the second cavity portion 222. The air inlet structure 23 is connected to the second cavity portion 222 and is arranged on a side away from the first cavity portion 221, so that the buoyancy device 20 can reduce the width value of the cooperation with the main body 10 while providing buoyancy.

[0124] In an optional embodiment, the buoyancy device 20 includes a side panel 21a having at least a portion of a first cavity portion 221 formed therein and a first protrusion 21b having a second cavity portion 222 formed therein, and the first protrusion 21b extends in a height direction of the side panel 21a; alternatively, the first protrusion 21b extends along the side panel 21a toward a side close to the cleaning robot, so that the buoyancy device 20 can reduce a width value for cooperation with the main body 10 while providing buoyancy.

[0125] In an optional embodiment, the water outlet structure 24 is formed on the side edge of the side panel 21a; or, the water outlet structure 20 is formed on the side of the side panel 21a away from the first protrusion 21b, such as the bottom of the side panel 21a, to ensure that the position of the water outlet structure 20 can be higher than the water surface when the cleaning robot performs water surface cleaning.

[0126] In an optional embodiment, the air vent structure 23 is arranged on the side of the first protrusion 21b close to the handle 11 of the cleaning robot, so that when the cleaning robot is placed into the water surface through the handle 11, the position of the air vent structure 23 can always be maintained at a position far away from the water surface, which can prevent water from entering the cavity 22 from the air vent structure 23. When the cleaning robot is placed upright in the water, after water enters the cavity 22 from the water inlet structure 24, the gas in the cavity 22 can be discharged from the air vent structure 23.

[0127] In an optional embodiment, the first protrusion 21b has a free end away from the side panel 21a, and the cross-sectional size of the first protrusion 21b gradually decreases from the side panel 21a toward the free end, so that the first protrusion 21b can be embedded in the main body 10 when assembled with the main body 10, or the outer contour of the first protrusion 21b can be adapted to the outer contour of the main body 10, which will not affect the overall appearance of the cleaning robot, and achieves a smaller size and greater buoyancy.

[0128] In an optional embodiment, the housing 11 further includes a second protrusion 21c defining at least a portion of the first cavity 221. The second protrusion 21c is disposed on the side of the side panel 21a facing the cleaning robot, thereby ensuring the buoyancy of the buoyancy device 20 while reducing the width of the buoyancy device 20 mating with the main body 10. The second protrusion 21c can be embedded between the first ring gear 61 and the second ring gear 62 when the buoyancy device 20 is mated with the main body 10.

[0129] In an optional embodiment, the water inlet structure 24 is formed on the side of the second protrusion 21c away from the first protrusion 21b, that is, the bottom of the second protrusion 21c, so that when the cleaning robot is placed upright in the water, water can enter the cavity 22 from the water inlet structure 24. At the same time, when the cleaning robot is placed upside down in the water, the water inlet structure 24 is at the highest position of the buoyancy device 20, that is, water cannot enter the cavity 22 through the water inlet structure 24.

[0130] In an optional embodiment, the side panel 21a includes an outer panel 212 and an inner panel 211 that interlock to form a cavity 22. This simplifies the manufacturing process of the buoyancy device 20 and significantly reduces the production cost of the buoyancy device 20. The first protrusion 21b and the second protrusion 21c are both provided on the inner panel 211.

[0131] In an optional embodiment, the water inlet structure 24 is formed on the side edge of the outer plate 212 to facilitate observation of water intake of the buoyancy device 20 .

[0132] In an alternative embodiment, a rotational axis protrusion 21d is provided on the inner plate 211, and at least a portion of the cavity 22 is formed within the rotational axis protrusion 21d. Two rotational axis protrusions 213 are spaced apart, and the positions of the two rotational axis protrusions 21d correspond to the positions of the rotational axis on the main body 10 for mounting the first ring gear 61 and the second ring gear 62, respectively, so that at least a portion of the rotational axis protrusion 21d can be inserted into the rotational axis holes of the first ring gear 61 and the second ring gear 62.

[0133] In an optional embodiment, an air permeable membrane, a one-way valve or a push switch is provided in the air port structure 23 to prevent water from entering the cavity 22 .

[0134] In an optional embodiment, the water outlet structure 24 includes multiple water outlets, and the multiple water outlets are arranged side by side along the lateral direction of the buoyancy device 20, so that when the cleaning robot is cleaning underwater, water can quickly enter the cavity 22 from the multiple water outlets, allowing the cleaning robot to quickly dive to the bottom of the water; at the same time, when the cleaning robot is taken out of the water, the water in the cavity 22 can be quickly discharged from the multiple water outlets.

[0135] In an optional embodiment, a filter is provided on the water inlet to prevent garbage from entering the water inlet, thereby affecting the drainage and water intake effects of the cavity 22 .

[0136] In an optional embodiment, a gravity baffle is provided on the water outlet, which can open and close the water outlet under the action of its own gravity. It can close the water outlet when the cleaning robot is inverted to prevent water from entering the cavity 22 from the water outlet; and open the closed water outlet when the cleaning robot is upright, so that water can enter the cavity 22 from the water outlet or the water in the cavity 22 can be quickly discharged from the water outlet.

[0137] In an optional embodiment, as shown in Figures 3 to 5, the center of gravity of the cleaning robot is located in the rear area of ​​the main body 10, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot to ensure the draft depth of the second rotating member 40, so that the second rotating member 40 can accelerate the flow speed of water in the area to be cleaned as much as possible; or, the second rotating member 40 can also provide the cleaning robot with sufficiently large traveling power, thereby improving the water surface cleaning efficiency of the cleaning robot.

[0138] Specifically, when cleaning the water surface, the front end of the cleaning robot faces upward, while the rear end tilts downward. This causes the front end of the bottom surface of the water channel 12 to face upward, while the rear end tilts downward. When cleaning the water surface, the bottom surface of the water channel 12 faces away from the direction of travel of the cleaning robot, preventing the cleaning surface from creating resistance to the robot's movement and facilitating the robot's movement and cleaning. Furthermore, because the front end of the water surface and the cleaning surface are narrowed, water flow is accelerated toward the collection mechanism 80, which collects waste carried in the water flow, thereby improving the cleaning efficiency of the cleaning robot. Furthermore, when cleaning the water surface, the first rotating member 30 can be raised, resulting in a shallower draft, which facilitates the movement of waste on the water surface to the collection mechanism 80. The second rotating member 40, however, has a deeper draft, which facilitates the movement of the cleaning robot and prevents waste from flowing back. This causes the water within the collection mechanism 80 to flow backward, subsequently moving the waste backward, significantly improving the efficiency of cleaning waste from the water surface.

[0139] In an optional embodiment, as shown in Figures 3 to 5, the preset tilting angle α of the cleaning robot is 0-5°, ensuring that the first rotating member 30 can contact the garbage on the water surface during rotation, avoiding the inlet 16 from being out of contact with the water surface, and making it impossible for the first rotating member 30 to push the garbage into the collection mechanism.

[0140] In an optional embodiment, as shown in FIG4 , the cleaning robot has a first state in which it tends to be balanced when cleaning a water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the centerline of the cleaning robot along the front-to-back direction of the main body 10, with the center of buoyancy located between the first rotating member 30 and the centerline, and the center of gravity located between the second rotating member 40 and the centerline. When the cleaning robot is placed in water, because the center of buoyancy and the center of gravity are not aligned on a vertical line, a restoring torque is generated on the cleaning robot, causing the end of the cleaning robot closer to the second rotating member 40 to sink and the end closer to the first rotating member 30 to tilt, gradually returning the cleaning robot to the first state in which it tends to be balanced. When the gravity and buoyancy acting on the cleaning robot are equal in magnitude, the center of buoyancy and the center of gravity are aligned on the same vertical line, the cleaning robot is in a balanced state, and the front end of the cleaning robot is slightly tilted upward, allowing the cleaning robot to move in a balanced state. This also reduces the resistance encountered by the cleaning robot during movement, thereby improving the cleaning robot's water surface cleaning efficiency.

[0141] It should be noted that in this state, when the cleaning robot is inverted and laid flat on the water surface, the cleaning robot is not yet in a balanced state. The center of gravity of the cleaning robot is located behind the center of buoyancy. Since the center of gravity and the center of buoyancy are not on the same vertical line, torque will be generated, causing the front end of the cleaning robot to tilt up to a preset angle, and eventually reach balance. In this embodiment, in the first state, the center of buoyancy is set between the second rotating member 40 and the center line, which can prevent the front end of the cleaning robot from tilting too high and ensure that the first rotating member 30 has sufficient draft. The center of gravity is set between the second rotating member 40 and the center line, which can prevent the rear end of the cleaning robot from being immersed too much, so that the second rotating member 40 can be at least partially located above the water surface, avoiding the phenomenon of water rolling. At the same time, it can also ensure that the water flow is stable along the water guide trough 12 to improve the water surface cleaning efficiency.

[0142] In an optional embodiment, as shown in Figure 5, the cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy, so that the cleaning robot can travel in a balanced state and prevent the cleaning robot from overturning during travel, thereby improving the stability of the cleaning robot.

[0143] It should be noted that this state is when the cleaning robot is inverted and floating on the water surface, and the cleaning robot is in a balanced state. When the cleaning robot moves or water disturbances cause the cleaning robot to tilt or tilt, the center of gravity of the cleaning robot remains unchanged, and the center of buoyancy shifts. However, because the center of buoyancy is located above the center of gravity in the balanced state, even if the cleaning robot tilts or tilts to a large extent, the center of buoyancy will shift in the direction of the tilt or tilt of the cleaning robot. The upward torque of the buoyancy will gradually return the cleaning robot to a balanced state. Therefore, the above-mentioned setting can further prevent the cleaning robot from tipping over, ensuring that the cleaning robot can stably perform water surface cleaning. Moreover, compared to other cleaning robots, even if the lateral size of the cleaning robot is reduced, it is not likely to cause the cleaning robot to tip over. Therefore, the cleaning robot provided in this application can reduce the lateral size to a certain extent, which is conducive to the mobile cleaning of the cleaning robot. Of course, in other embodiments, when the cleaning robot is in a balanced state on the water surface, the center of gravity can also be aligned with the height of the center of buoyancy.

[0144] After adopting the above technical solution, since the center of buoyancy provided by the buoyancy device 20 to the cleaning robot is located at a position higher than the center of gravity, the buoyancy generates a restoring force against the impact of the water flow, so that the cleaning robot can move without overturning in the undulating waves, so as to maintain the posture of the cleaning robot in the water.

[0145] In an optional embodiment, as shown in Figures 2, 3 and 8, a handle 11 is provided on the main body 10, and a nozzle structure 24 is located below the handle 11, so that water in the cavity 22 can be quickly discharged from the nozzle structure 24.

[0146] In an optional embodiment, the air port structure 23 is provided on a side close to the handle, so that when the cleaning robot is placed on the water surface, the position of the air port structure 23 can be maintained on a side away from the water surface.

[0147] In an optional embodiment, a handle 11 is provided on the main body 10 , and the level of the handle 11 is different from the level of the nozzle structure 24 , so that water in the cavity 22 can be quickly discharged from the nozzle structure 24 .

[0148] In an optional embodiment, when the cleaning robot is in an upright position, the height of the handle 11 is higher than the height of the water outlet structure 24 , so that the water in the cavity structure 25 can be quickly discharged from the water outlet structure 24 .

[0149] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0150] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0151] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0152] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A cleaning robot comprising: main body; A first rotating member is rotatably provided at one end of the bottom of the main body and is at least used for sweeping and collecting garbage; a second rotating member rotatably disposed at the other end of the bottom of the main body, the second rotating member and the first rotating member being arranged in front and behind each other along the travel direction of the cleaning robot, the second rotating member being at least used to move the water flow; a collecting mechanism, located between the first rotating member and the second rotating member, for collecting garbage; When cleaning the water surface, the cleaning robot further includes a buoyancy device so that both the first rotating member and the second rotating member are partially immersed in water, and the depth of the first rotating member immersed in the water surface is less than the depth of the second rotating member immersed in the water surface.

2. The cleaning robot according to claim 1, wherein: The first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the first rotating member and the second rotating member have the same rotation direction.

3. The cleaning robot according to claim 2, wherein: The cleaning robot further includes a transmission mechanism disposed on the main body, wherein the transmission mechanism is respectively connected to the first rotating member and the second rotating member to drive the first rotating member and the second rotating member to rotate in the same direction.

4. The cleaning robot according to claim 1, wherein: In the water surface cleaning mode, the cleaning robot is placed upside down on the water surface; in the underwater cleaning mode, the cleaning robot is placed underwater; and in both cleaning modes, the sewage suction port of the cleaning robot is located at the bottom of the cleaning robot.

5. The cleaning robot according to claim 4, wherein: A cleaning surface is formed at the bottom of the main body. The distance between the rotation center of the first rotating member and the cleaning surface is L1. The distance between the rotation center of the second rotating member and the cleaning surface is L2. L1 is smaller than L2.

6. The cleaning robot according to claim 1, wherein: The collection mechanism includes: A first collecting mechanism is used to collect garbage on the water surface during water surface cleaning; and / or, The second collecting mechanism is used to recycle underwater garbage during underwater cleaning.

7. The cleaning robot according to claim 1, wherein: The first rotating member is immersed in water to a depth of 3-20 mm; and / or the second rotating member is immersed in water to a depth of 10-40 mm.

8. The cleaning robot according to claim 1, wherein: A water guide groove is provided at the bottom of the main body, and the water guide groove runs through the main body in the front-to-back direction. The first rotating member and the second rotating member are both located in the water guide groove, and an inlet is formed between the first rotating member and the water guide groove.

9. The cleaning robot according to claim 8, wherein: A protruding piece is provided directly below the first rotating piece. The protruding piece is mounted on the bottom surface of the water guide groove and is used to reduce the size of the inlet.

10. The cleaning robot according to any one of claims 1 to 9, wherein: The main body is provided with a driving mechanism, and the driving mechanism is at least used to drive the cleaning robot to move on the water surface and underwater.

11. The cleaning robot according to claim 10, wherein: The first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in an installation space defined by the bottom of the main body.

12. The cleaning robot according to claim 11, wherein: The first rotating member comprises: a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body; The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and sweeping away garbage during surface cleaning.

13. The cleaning robot according to claim 11, wherein: The second rotating member includes: a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism; A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

14. The cleaning robot according to claim 13, wherein: The blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

15. The cleaning robot according to claim 1, wherein: The buoyancy device is arranged on the bottom and / or both sides of the main body.

16. A cleaning robot comprising: main body; A first rotating member is rotatably disposed at the front end of the bottom of the main body and is at least used for sweeping and collecting garbage; A second rotating member is rotatably disposed at the rear end of the bottom of the main body and is at least used to move the water flow; a collecting mechanism, located between the first rotating member and the second rotating member, for collecting garbage; Among them, when cleaning the water surface, the cleaning robot also includes a buoyancy device, which is used to make the first rotating part and the second rotating part partially immersed in water. The center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot.

17. The cleaning robot according to claim 16, wherein: In the water surface cleaning mode, the cleaning robot is placed upside down on the water surface; in the underwater cleaning mode, the cleaning robot is placed underwater; and in both cleaning modes, the sewage suction port of the cleaning robot is located at the bottom of the cleaning robot.

18. The cleaning robot according to claim 17, wherein: The cleaning robot has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the center line of the cleaning robot along the front-to-back direction of the main body, and the center of buoyancy is located between the first rotating member and the center line, and the center of gravity is located between the second rotating member and the center line.

19. The cleaning robot according to claim 17 or 18, wherein: The cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy.

20. The cleaning robot according to claim 16, wherein: The preset tilting angle of the cleaning robot is 0-5°.

21. The cleaning robot according to claim 16, wherein: A sealing box is provided in the main body at a rear area thereof, and the sealing box contains at least a first motor and / or a battery.

22. The cleaning robot according to claim 16, wherein: The first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the first rotating member and the second rotating member have the same rotation direction.

23. The cleaning robot according to any one of claims 16 to 22, wherein: The main body is provided with a driving mechanism, and the driving mechanism is at least used to drive the cleaning robot to move on the water surface and underwater.

24. The cleaning robot according to claim 23, wherein: The first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in an installation space defined by the bottom of the main body.

25. The cleaning robot according to claim 24, wherein: The first rotating member comprises: a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body; The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and collecting garbage during water surface cleaning.

26. The cleaning robot according to claim 24, wherein: The second rotating member includes: a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism; A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

27. The cleaning robot according to claim 26, wherein: The blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

28. The cleaning robot according to claim 16, wherein: The buoyancy device includes a first float and a second float, and the first float and the second float are symmetrically arranged on the left and right sides of the main body.

29. A cleaning robot comprising: a main body, the bottom of which is formed with a cleaning surface; a water guide groove extending along the front-to-back direction of the main body, the water guide groove being provided at the bottom of the main body, the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the front end being greater than the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the rear end, and the slope of the bottom surface being greater than or equal to 0 and less than or equal to 1 when the cleaning robot is in an upright position; a buoyancy device, provided on the main body, for making the cleaning robot float on the water surface during water surface cleaning; a collecting mechanism mounted on the main body, wherein at least a portion of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel; The sealing box is provided on the main body and is located in the rear end area thereof, and is used for accommodating electrical components.

30. The cleaning robot according to claim 29, wherein: In the water surface cleaning mode, the cleaning robot is placed upside down on the water surface; in the underwater cleaning mode, the cleaning robot is placed underwater; and in both cleaning modes, the sewage suction port of the cleaning robot is located at the bottom of the cleaning robot.

31. The cleaning robot according to claim 30, wherein: The distance between the bottom surface and the cleaning surface gradually decreases from the front end to the rear end of the water guide groove.

32. The cleaning robot according to claim 31, wherein: The center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the buoyancy center of the cleaning robot.

33. The cleaning robot according to claim 32, wherein: The sealed box at least contains a motor and / or a battery.

34. The cleaning robot according to claim 32, wherein: The cleaning robot has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the center line of the cleaning robot along the front-to-back direction of the main body, and the center of buoyancy is located between the front end of the cleaning robot and the center line, and the center of gravity is located between the rear end of the cleaning robot and the center line.

35. The cleaning robot according to claim 32 or 34, wherein: The cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy.

36. The cleaning robot according to claim 29, wherein: The main body is provided with a driving mechanism, and the driving mechanism is at least used to drive the cleaning robot to move on the water surface and underwater.

37. The cleaning robot according to claim 36, wherein: Also includes: A first rotating member is provided at the entrance of the water channel and is at least used to move the garbage; The second rotating member is arranged at the outlet of the water guide groove and is at least used to move the water flow.

38. The cleaning robot according to claim 37, wherein: The first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the first rotating member and the second rotating member have the same rotation direction.

39. The cleaning robot according to claim 37, wherein: The first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in an installation space defined by the bottom of the main body.

40. The cleaning robot according to claim 39, wherein: The first rotating member comprises: a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body; The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and collecting garbage during water surface cleaning.

41. The cleaning robot according to claim 39, wherein: The second rotating member includes: a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism; A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

42. The cleaning robot according to claim 41, wherein: The blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

43. The cleaning robot according to claim 29, wherein: The buoyancy device includes a first float and a second float, and the first float and the second float are symmetrically arranged on the left and right sides of the main body.

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