Garbage collection device and cleaning robot

Abstract

The present application relates to the field of robots, and specifically to a garbage collection device and a cleaning robot. A body is internally provided with a cavity configured to accommodate garbage, and a wall surface of the body enclosing the cavity comprises a first side wall and two second side walls, wherein the first side wall of the body is provided with an opening penetrating through the cavity, to allow the garbage to enter the cavity from the opening; the first side wall further comprises a first sub-wall and a second sub-wall, wherein the first sub-wall and the second sub-wall are located at two ends of the opening in a height direction of the body, respectively; and the two second side walls are located on two sides of the first side wall and are respectively connected to the first side wall. A rotating member is located in the cavity and adjacent to the opening, two opposite ends of the rotating member are rotationally connected to the two second side walls, respectively, and the rotating member is configured to move garbage on a water surface. A driving assembly is arranged on the body, is in transmission connection with the rotating member, and is configured to drive the rotating member to rotate, and the garbage on the water surface is moved into the cavity of the body during rotation of the rotating member, thus effectively collecting the garbage.

Description

Garbage collection devices and cleaning robots

[0001] This application claims priority to a Chinese patent application filed with the Patent Office of China on March 25, 2024, with application number 2024206074830 and utility model name “Garbage Collection Device and Cleaning Robot,” the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] After long-term use, various dirt and garbage float on the surface of pools, swimming pools, and lakes. Dirt and garbage also accumulate at the bottom of the pool, seriously polluting the water quality and affecting its appearance. Therefore, both surface and underwater cleaning are necessary. In this water surface cleaning scenario, how to provide a garbage collection device that can effectively collect surface garbage has become a technical problem that needs to be solved. Summary of the Invention

[0004] The present application provides a garbage collection device for effectively collecting garbage on a water surface and a cleaning robot having the garbage collection device.

[0005] In a first aspect, the present application provides a garbage collection device for a cleaning robot, the garbage collection device comprising:

[0006] A body, wherein the interior of the body has a cavity for accommodating garbage, and the wall surface of the body enclosing the cavity includes a first side wall and two second side walls, the first side wall is located on the traveling side of the cleaning robot, and the first side wall of the body is configured with an opening that passes through the cavity to allow garbage to enter the cavity from the opening, the first side wall also includes a first sub-wall and a second sub-wall, the first sub-wall and the second sub-wall are respectively located at both ends of the opening along the height direction of the body; the two second side walls are located on both sides of the first side wall and are respectively connected to the first side wall;

[0007] a rotating member, the rotating member being located in the cavity and disposed adjacent to the opening, the opposite ends of the rotating member being rotatably connected to the two second side walls, respectively, and the rotating member being used to move garbage on the water surface; and

[0008] The driving assembly is arranged on the main body and is in transmission connection with the rotating member, and is used for driving the rotating member to rotate.

[0009] In an optional embodiment, in the height direction of the main body, the space in the cavity corresponding to the first sub-wall is a garbage collection cavity, and the highest point of the rotating part along the height direction of the main body is higher than the edge of the second sub-wall used to enclose the opening; the lowest point of the rotating part along the height direction of the main body is higher than the edge of the first sub-wall used to enclose the opening.

[0010] In an optional embodiment, the driving assembly includes a rotating gear, which is arranged on the outer sides of the two second side walls of the body, and is coaxially connected to the rotating member, and is used to drive the rotating member to rotate.

[0011] In an optional embodiment, the drive assembly further includes at least one transmission gear, which is disposed on the outer side of the two second side walls of the main body and is meshed with the rotating gear, and the axis of the transmission gear is located between the axis of the rotating gear and the bottom wall of the garbage collection device.

[0012] In an optional embodiment, drive receiving grooves are respectively provided on the outer sides of the two second side walls of the body, and the drive receiving grooves are used to receive at least part of the drive assembly.

[0013] In an optional embodiment, the wall surface on the main body that encloses the cavity also includes a third side wall and a bottom wall, the third side wall is arranged opposite to the first side wall and connected between the two second side walls, one side of the first side wall, one side of the third side wall and one side of a pair of second side walls are surrounded by the peripheral side of the bottom wall, and the other side of the first side wall, the other side of the third side wall and the other side of a pair of second side walls are surrounded to form a top opening; in the moving direction of the cleaning robot, the top opening size of the garbage collection device is larger than the bottom wall size of the garbage collection device, and the first side wall of the garbage collection device also includes an arc surface located between the first sub-wall and the second sub-wall, and the opening is arranged on the arc surface.

[0014] In an optional embodiment, the third side wall, the bottom wall, and at least one of the two second side walls are provided with a hollow portion and a filter covering the hollow portion, and the filter is used to filter out water in the garbage collection device.

[0015] In an optional embodiment, the third side wall of the garbage collection device also includes a sensing element, which is configured to be arranged adjacent to a sensor in the sealed shell part of the cleaning robot when the garbage collection device is installed in the storage shell part of the cleaning robot, and the sensor is used to output a signal indicating a cleaning mode after sensing the signal of the sensing element.

[0016] In the second aspect, an embodiment of the present application provides a cleaning robot, comprising the above-mentioned garbage collection device and a driving device, wherein the driving device comprises a first traveling wheel, the inner ring of the first traveling wheel having a first annular tooth, the first annular tooth being transmission-connected to the driving assembly, and the first traveling wheel being configured to drive the driving assembly to rotate in the same direction.

[0017] In an optional embodiment, the driving device further includes a first gear and a second gear, wherein the first gear is disposed in a space surrounded by the first annular tooth and is meshed with the first annular tooth, and the second gear is coaxially disposed with the first gear, and is configured to be meshed with the gear in the driving assembly.

[0018] In an optional embodiment, the driving device also includes a second traveling wheel, a transmission member and a driving motor. The second traveling wheel is spaced apart from the first traveling wheel along the traveling direction through the transmission member. The transmission member is arranged around the outer ring of the first traveling wheel and the second traveling wheel. The driving motor is configured to drive the second traveling wheel to rotate, and the second traveling wheel drives the first traveling wheel to rotate synchronously through the transmission member.

[0019] In an optional embodiment, the driving device also includes a driving gear, a driving paddle gear and a driving paddle, and the driving gear is coaxially connected to the driving motor; the inner ring of the second traveling wheel has a second annular tooth, and the second annular tooth is transmission-connected to the driving gear; the driving paddle gear is arranged in the space surrounded by the second annular tooth of the second traveling wheel and is meshed with the second annular tooth, the driving paddle gear is coaxially connected to the driving paddle, and the driving paddle rotates in the same direction as the second traveling wheel.

[0020] The present application provides a garbage collection device and a cleaning robot. The body is designed to have a cavity for accommodating garbage. The wall surface of the body that encloses the cavity includes a first side wall and two second side walls. The first side wall is located on the traveling side of the cleaning robot. The first side wall of the body is configured with an opening that passes through the cavity to allow garbage to enter the cavity from the opening. The first side wall also includes a first sub-wall and a second sub-wall. The first sub-wall and the second sub-wall are respectively located at both ends of the opening along the height direction of the body; the two second side walls are located on both sides of the first side wall and are respectively connected to the first side wall; a rotating member is located in the cavity and is arranged adjacent to the opening. The opposite ends of the rotating member are respectively rotatably connected to the two second side walls. The rotating member is used to move garbage on the water surface; a driving assembly is provided on the body and is transmission-connected to the rotating member for driving the rotating member to rotate. By providing an opening on the traveling side of the body and providing the rotating member in the body, the driving assembly drives the rotating member to rotate. The rotating member is used to move garbage on the water surface during rotation and move the garbage on the water surface into the cavity of the body, thereby effectively collecting garbage on the water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments.

[0022] FIG1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

[0023] FIG2 is a perspective schematic diagram of a garbage collection device provided in an embodiment of the present application;

[0024] FIG3 is a front view of a garbage collection device provided in an embodiment of the present application;

[0025] FIG4 is a schematic cross-sectional view of a garbage collection device provided in an embodiment of the present application along the Y-axis direction;

[0026] FIG5 is a bottom view of a garbage collection device provided in an embodiment of the present application;

[0027] FIG6 is a schematic cross-sectional view of a cleaning robot along the Y-axis provided in an embodiment of the present application;

[0028] FIG7 is a partially exploded schematic diagram of a driving device of a cleaning robot provided in an embodiment of the present application;

[0029] FIG8 is a first cross-sectional schematic diagram of a driving device of a cleaning robot provided in an embodiment of the present application along the Y-axis direction;

[0030] FIG9 is a second cross-sectional schematic diagram of a driving device of a cleaning robot provided in an embodiment of the present application along the Y-axis direction;

[0031] FIG10 is a schematic structural diagram of a cleaning robot with a buoyancy structure provided in an embodiment of the present application.

[0032] The figures in the specification are as follows: 100, cleaning robot; 10, body; 111, sealing shell portion; 112, storage shell portion; 20, garbage collection device; 21, body; 21a, cavity; 211, first side wall; 212, second side wall; 213, opening; 211a, first sub-wall; 211b, second sub-wall; 214, third side wall; 215, bottom wall; 216, top opening; 217, curved surface; 218, hollowing portion; 219, filter; 21b, garbage collection chamber; 21d, drive receiving groove; 22, rotating part; 23, driving assembly; 231, rotating gear Wheel; 232, transmission gear; 24, driving device; 241, first traveling wheel; 241a, first annular gear; 242, first gear; 243, second gear; 244, second traveling wheel; 244a, second annular gear; 245, transmission member; 246, driving motor; 247, driving gear; 248, driving paddle gear; 249, driving paddle; 30, sensing member; 120, sensor; 120a, Hall sensor; 40, buoyancy device. DETAILED DESCRIPTION

[0033] The technical solution of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described in this application are only some embodiments, not all embodiments. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0034] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it necessarily refer to mutually exclusive, independent, or alternative embodiments to other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0035] The terms "first," "second," and so on, in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a component or device comprising one or more parts is not limited to the one or more parts listed, but may optionally include one or more parts that are not listed but are inherent to the illustrated product, or one or more parts that should be present based on the described functionality.

[0036] Please refer to FIG. 1 , which shows a garbage collection device 20 of a cleaning robot 100 according to an embodiment of the present application.

[0037] Referring to FIG. 2 , the garbage collection device 20 includes a body 21 , a rotating member 22 , and a driving assembly 23 .

[0038] 2 , the body 21 has a cavity 21 a for accommodating garbage. The walls of the body 21 that enclose the cavity 21 a include a first side wall 211 and two second side walls 212 .

[0039] Referring to Figure 2 , the first sidewall 211 of the main body 21 is configured with an opening 213 extending through the cavity 21a to allow garbage to enter the cavity 21a through the opening 213. When the cleaning robot 100 floats on the water surface M (see Figure 4 ), the opening 213 of the main body 21 is partially underwater and partially above water, allowing surface garbage to enter the garbage collection device 20 through the opening 213. The first sidewall 211 is located on the side of the cleaning robot 100 that is traveling. The opening 213 is provided on the first sidewall 211 to facilitate the collection of garbage by the cleaning robot 100 as it moves forward.

[0040] 3 and 4 , the first sidewall 211 further includes a first sub-wall 211a and a second sub-wall 211b. The first sub-wall 211a and the second sub-wall 211b are located at opposite ends of the opening 213 along the height direction Z of the body 21. The two second sidewalls 212 are located on either side of the first sidewall 211 and are connected to the first sidewall 211.

[0041] Please refer to Figures 3 and 4. The rotating member 22 is located in the cavity 21a of the main body 21 and is arranged adjacent to the opening 213. The opposite ends of the rotating member 22 are rotatably connected to the two second side walls 212. When the cleaning robot 100 floats on the water surface M (please refer to Figure 4), the bottom of the rotating member 22 is located underwater, and the top of the rotating member 22 is located above the water, so that the garbage on the water surface can be brought into the main body 21 during the rolling process. The rotating member 22 is used to move the garbage on the water surface M during the rotation process, and move the garbage on the water surface M into the cavity 21a of the main body 21. Among them, the height direction Z direction is the direction from the bottom to the top.

[0042] Optionally, the rotating member 22 includes but is not limited to a roller brush, etc.

[0043] The driving assembly 23 is provided on the body 21 and is in transmission connection with the rotating member 22, and is used to drive the rotating member 22 to rotate. The driving assembly 23 includes but is not limited to an active drive or a gear transmission structure.

[0044] The present application provides a garbage collection device 20 and a cleaning robot 100. The body 21 is designed to have a cavity 21a for accommodating garbage. The wall surface of the body 21 that encloses the cavity 21a includes a first side wall 211 and two second side walls 212. The first side wall 211 is located on the traveling side of the cleaning robot 100. The first side wall 211 of the body 21 is configured with an opening 213 that passes through the cavity 21a to allow garbage to enter the cavity 21a from the opening 213. The first side wall 211 also includes a first sub-wall 211a and a second sub-wall 211b. The first sub-wall 211a and the second sub-wall 211b are respectively located at both ends of the opening 213 along the height direction Z of the body 21; the two second side walls 212 are located at the two ends of the opening 213. 12 is located on both sides of the first side wall 211 and is respectively connected to the first side wall 211; the rotating member 22 is located in the cavity 21a and is arranged adjacent to the opening 213. The opposite ends of the rotating member 22 are respectively rotatably connected to the two second side walls 212, and the rotating member 22 is used to move garbage on the water surface; the driving component 23 is provided on the main body 21 and is transmission-connected to the rotating member 22, and is used to drive the rotating member 22 to rotate. By providing an opening 213 on the moving side of the main body 21 and providing the rotating member 22 in the main body 21, the driving component 23 drives the rotating member 22 to rotate. The rotating member 22 is used to move garbage on the water surface during the rotation process, and move the garbage on the water surface into the cavity 21a of the main body 21, thereby effectively collecting garbage on the water surface.

[0045] Optionally, referring to Figures 3 and 4 , the walls of the body 21 that enclose the cavity 21a further include a third sidewall 214 and a bottom wall 215. The third sidewall 214 is disposed opposite the first sidewall 211 and connected between the two second sidewalls 212. One side of the first sidewall 211, one side of the third sidewall 214, and one side of the pair of second sidewalls 212 are connected to the periphery of the bottom wall 215.

[0046] Optionally, referring to Figure 4 , the space within the cavity 21a corresponding to the first sub-wall 211a in the height direction Z of the main body 21 constitutes the waste collection chamber 21b. In other words, the first sub-wall 211a, portions of the two second side walls 212, a portion of the third side wall 214, and the bottom wall 215 enclose and form the waste collection chamber 21b. The height of the first sub-wall 211a is equal to the depth of the waste collection chamber 21b. The formation of the waste collection chamber 21b or the installation of the first sub-wall 211a allows waste to be collected within the waste collection chamber 21b, and the first sub-wall 211a prevents waste from overflowing from the chamber 21b.

[0047] Referring to Figure 4 , the highest point of the rotating member 22 along the height Z direction of the main body 21 is higher than the edge 211c of the second sub-wall 211b (i.e., the lower edge of the second sub-wall 211b) that encloses the opening 213. In other words, the second sub-wall 211b blocks the front side of the top end of the rotating member 22 to prevent garbage in the inner cavity from being dislodged during the rotation of the rotating member 22.

[0048] Referring to Figure 4 , the lowest point of the rotating member 22 along the height direction Z of the main body 21 is higher than the edge 211d of the first sub-wall 211a (i.e., the upper edge of the first sub-wall 211a) that encloses the opening 213. In other words, the rotating member 22 is spaced apart from the edge 211d of the first sub-wall 211a (i.e., the upper edge of the first sub-wall 211a) that encloses the opening 213, forming a garbage collection channel. This allows garbage to be carried into the garbage collection device 20 by the rotating rotating member 22 through the garbage collection channel.

[0049] Referring to Figure 2 , the drive assembly 23 includes a rotating gear 231. The rotating gear 231 is disposed outside the two second side walls 212 of the body 21 and is coaxially connected to the rotating member 22. The rotating gear 231 is configured to rotate the rotating member 22. Optionally, the rotating gear 231 is configured to rotate the rotating member 22 under the action of the driving device of the cleaning robot 100, thereby collecting surface debris into the body 21 through the opening 213.

[0050] Optionally, the rotating gears 231 form a group, that is, there are two rotating gears 231 , and the two rotating gears 231 are respectively located on both sides of the cleaning robot 100 along the width direction X. The two rotating gears 231 are respectively coaxially connected to the two ends of the rotating member 22 .

[0051] Optionally, referring to FIG2 , the drive assembly 23 further includes at least one transmission gear 232. The transmission gear 232 is disposed on the outer sides of the two second side walls 212 of the body 21 and is meshed with the rotating gear 231. The transmission gear 232 is configured to be transmission-connected to the drive device 24 of the cleaning robot 100 so that the drive device 24 of the cleaning robot 100 drives the rotating member 22 in the body 21 to roll via the transmission gear 232. The axis of the transmission gear 232 is located between the axis of the rotating gear 231 and the bottom wall 215 of the garbage collection device 20. The axis of the transmission gear 232 is located between the axis of the rotating gear 231 and the bottom wall 215 of the garbage collection device 20.

[0052] Optionally, the transmission gears 232 form a group, that is, there are two transmission gears 232 , and the two transmission gears 232 are respectively located on both sides of the cleaning robot 100 along the width direction X.

[0053] When the cleaning robot 100 is cleaning a water surface, the rotating member 22 has a shallow draft due to its relatively top position. The main structure of the drive unit 24 has a deeper draft. Therefore, the axis of the transmission gear 232 is located between the axis of the rotating gear 231 and the bottom wall 215 of the garbage collection device 20, facilitating transmission connection between the transmission gear 232 and the drive unit 24.

[0054] Please refer to Figure 2. The outer sides of the two second side walls 212 of the body 21 are respectively provided with drive receiving grooves 21d. The drive receiving grooves 21d are used to accommodate at least part of the drive assembly 23. Furthermore, the drive receiving grooves 21d are used to accommodate a rotating gear 231 and at least one transmission gear 232. Since the garbage collection device 20 can be installed on the body 10 of the cleaning robot 100 from the height direction Z downward, by arranging the rotating gear 231 and at least one transmission gear 232 in the drive receiving grooves 21d, it is prevented that the rotating gear 231 and at least one transmission gear 232 hinder the installation of the garbage collection device 20, and it is also beneficial for the transmission gear 232 to be meshed and connected with the second gear in the subsequent drive device 24, thereby realizing a transmission connection between the drive assembly 23 and the drive device 24.

[0055] Furthermore, referring to Figure 4 , the walls of the body 21 that enclose the cavity 21a also include a bottom wall 215. One side of the first sidewall 211, one side of the third sidewall 214, and one side of the pair of second sidewalls 212 are all connected to the periphery of the bottom wall 215. The other side of the first sidewall 211, the other side of the third sidewall 214, and the other side of the pair of second sidewalls 212 surround and form a top opening 216. The bottom wall 215 and the top opening 216 are located opposite each other. The height direction Z is the direction from the bottom to the top.

[0056] Referring to FIG. 4 , in the Y direction of travel of the cleaning robot 100, the top opening 216 of the waste collection device 20 is larger than the bottom wall 215 of the waste collection device 20. The first sidewall 211 further includes a curved surface 217 located between the first sub-wall 211a and the second sub-wall 211b. The opening 213 is located on the curved surface 217.

[0057] In this embodiment, the top opening 216 of the waste collection device 20 is designed to be larger than the bottom wall 215 of the waste collection device 20, resulting in a structure with a longer top (in the Y direction of travel) and a shorter bottom. When the rotating member 22 is located at the top, the longer top provides space for the rotating member 22. Because the rotating member 22 occupies a position slightly forward of the top of the waste collection device 20, the waste collection device 20 still has a relatively large space even after the rotating member 22 is installed. The orthographic projection of the rotating member 22 in the Z direction is located outside the area where the waste collection device 20 is located. Therefore, the rotating member 22 can cause the water entering the opening 213 to ripple, thereby drawing surface debris into the waste collection device 20. Furthermore, because the first sidewall 211 forms a curved surface 217 and the opening 213 is located on the curved surface 217, this embodiment can create a larger opening 213 compared to a surface parallel to the third sidewall 214, thereby more effectively collecting surface debris. The top opening 216 is large, the bottom wall 215 is small, and the first side wall 211 forms an arc surface 217. The connecting shaft between the two first traveling wheels of the cleaning robot 100 (the first traveling wheels will be described in detail later) can be arranged below the arc surface 217, so that the shaft of the first traveling wheel and the garbage collection device 20 are compactly arranged, so that the size of the cleaning robot 100 in the traveling direction Y direction is smaller, and the transmission ratio between the first traveling wheel and the transmission gear 232 is increased.

[0058] Optionally, referring to FIG5 , the third sidewall 214, the bottom wall 215, or at least one of the two second sidewalls 212 of the waste collection device 20 may be provided with a hollow portion 218 and a filter 219 covering the hollow portion 218. The filter 219 is used to filter water within the waste collection device 20. Optionally, both the bottom wall 215 and the third sidewall 214 may be provided with a hollow portion 218 and a filter 219 covering the hollow portion 218.

[0059] Optionally, please refer to Figure 5, the bottom wall 215 of the garbage collection device 20 is provided with a filter 219 to facilitate the water in the garbage collection device 20 to leak out through the filter 219 of the bottom wall 215, thereby reducing the water in the garbage collection device 20, allowing the garbage collection device 20 to collect more garbage, and also reducing the weight of the garbage collection device 20, which is conducive to the cleaning robot 100 floating on the water surface.

[0060] Optionally, as shown in FIG5 , a filter screen 219 is provided on the third side wall 214 of the garbage collection device 20 to facilitate the leakage of water within the garbage collection device 20 through the filter screen 219 on the bottom wall 215. The water filtered out of the filter screen 219 on the third side wall 214 of the garbage collection device 20 flows toward the rear end of the cleaning robot 100, forming a water flow from the front to the rear end. The reaction force formed by the water flow resistance can help propel the cleaning robot 100 forward.

[0061] Optionally, a filter screen 219 is provided on the second side wall 212 of the garbage collection device 20 to facilitate the leakage of water in the garbage collection device 20 through the filter screen 219 on the side wall. During the forward movement of the cleaning robot 100, garbage may be carried by the water flow and block the filter screens 219 on the third side wall 214 and the bottom wall 215. By providing the filter screen 219 on the second side wall 212 of the garbage collection device 20, water can still leak out even when the filter screen 219 on the third side wall 214 of the garbage collection device 20 is blocked, thereby avoiding the situation where the water in the garbage collection device 20 cannot be filtered out due to the filter screen 219 on the third side wall 214 and the bottom wall 215 being blocked.

[0062] Optionally, referring to Figures 4 and 6 , the third sidewall 214 of the waste collection device 20 further includes a sensing member 30, which includes, but is not limited to, a magnet. The sensing member 30 is configured to be positioned adjacent to a sensor 120 in the sealed housing portion 111 of the cleaning robot 100 when the waste collection device 20 is mounted on the storage housing portion 112 of the cleaning robot 100. The sensor 120 is configured to output a signal indicating a cleaning mode upon sensing a signal from the sensing member 30.

[0063] 4 and 6 , the sensor 120 includes but is not limited to a Hall sensor 120 a. The Hall sensor 120 a is configured to output a signal indicating successful installation and / or a signal indicating a water surface cleaning mode when the garbage collection device 20 is installed in the storage housing 112 of the cleaning robot 100 .

[0064] Specifically, the garbage collection device 20 is provided in the housing portion 112 of the cleaning robot 100. The magnet (sensing element 30) of the garbage collection device 20 is located within the sensing range of the Hall sensor 120a. Optionally, the magnet and the Hall sensor 120a are disposed adjacent to each other. Furthermore, the magnet and the Hall sensor 120a are disposed at least partially opposite each other. In other words, the Hall sensor 120a is used to detect the presence of the magnet, and thereby detect the presence of the garbage collection device 20.

[0065] The controller determines that the garbage collection device 20 is successfully installed based on whether the Hall sensor 120a outputs a signal indicating successful installation. The controller can also automatically identify that the working mode of the cleaning robot 100 is the water surface cleaning mode after the cleaning robot 100 is turned on.

[0066] 7 , the present application provides a cleaning robot 100, comprising a body 10, a garbage collection device 20 as described in any of the above embodiments, and a drive device 24. Optionally, there are two drive devices 24, one located on each side of the cleaning robot 100 along the width direction X.

[0067] 7 , the driving device 24 includes a first traveling wheel 241. The first traveling wheel 241 is annular and serves as a front traveling wheel.

[0068] Please refer to Figure 7. The inner ring of the first traveling wheel 241 has a first annular tooth 241a. The first annular tooth 241a is transmission-connected to the rotating gear 231 of the driving assembly 23. Specifically, the first annular tooth 241a is directly or indirectly meshed with the rotating gear 231. The first annular tooth 241a of the rotating gear 231 is meshed with the side close to the rear end. In this way, the position of the garbage collection device 20 is relatively retracted, leaving space for the front end of the cleaning robot 100. The positive projection of the rotating gear 231 in the width direction X of the cleaning robot 100 is located in the space surrounded by the first annular tooth 241a. The first traveling wheel 241 is configured to drive the rotating gear 231 to rotate in the same direction while rotating, and the rotating member 22 rolls in a linkage manner with the first traveling wheel 241.

[0069] Referring to Figures 8 and 9, the driving device 24 also includes a first gear 242 and a second gear 243. The first gear 242 is arranged in the space surrounded by the first annular teeth 241a and is meshed with the first annular teeth 241a. The second gear 243 is coaxially arranged with the first gear 242. The second gear 243 is configured to be meshed with the gear in the driving assembly 23. Furthermore, the second gear 243 is configured to be meshed with the rotating gear 231 through the transmission gear 232. Of course, the first gear 242 and the second gear 243 are also combined into the same gear. The combined gear is relatively long in the axial direction and is meshed with both the first annular teeth 241a and the transmission gear 232 in the axial direction.

[0070] Since the first gear 242 is disposed in the space surrounded by the first annular teeth 241a and is meshed with the first annular teeth 241a, the first gear 242 rotates in the same direction as the first traveling wheel 241. The second gear 243 is coaxially disposed with the first gear 242, so the second gear 243 rotates in the same direction as the first gear 242. The second gear 243 meshes with the rotating gear 231 through the transmission gear 232. In this way, the rotating gear 231, the rotating member 22, and the first traveling wheel 241 rotate in the same direction, so that the rotating member 22 is driven to rotate during the rotation of the first traveling wheel 241. The rotating member 22 for garbage collection does not require an additional drive structure. In this embodiment, the cleaning robot 100 advances and collects garbage simultaneously.

[0071] 7 to 9 , the driving device 24 further includes a second traveling wheel 244 , a transmission member 245 , and a driving motor 246 . The second traveling wheel 244 is a rear traveling wheel. It should be noted that the structure between the first traveling wheel 241 and the second traveling wheel 244 is not shown in FIG. 8 and FIG. 9 .

[0072] The second traveling wheel 244 is spaced apart from the first traveling wheel 241 along the travel direction Y via a transmission member 245. The transmission member 245 surrounds the outer rings of the first and second traveling wheels 241, 244, causing the first and second traveling wheels 241, 244 to move synchronously. The transmission member 245 includes, but is not limited to, a synchronous belt or a crawler track.

[0073] The driving motor 246 is configured to drive the second traveling wheel 244 to rotate. The second traveling wheel 244 drives the first traveling wheel 241 to rotate synchronously through the transmission member 245.

[0074] In this embodiment, the cleaning robot 100 drives the second traveling wheel 244 to rotate through the driving motor 246, and drives the first traveling wheel 241 to rotate synchronously through the transmission member 245. The first traveling wheel 241 drives the rotating member 22 to rotate through the first gear 242, the second gear 243, and the transmission gear 232, so as to realize the rotation of the rotating member 22 during the rotation of the first traveling wheel 241. The rotating member 22 used for garbage collection does not require an additional driving structure.

[0075] Optionally, referring to Figures 7 to 9, the drive device 24 further includes a drive gear 247, a drive paddle gear 248, and a drive paddle 249. The drive gear 247 is coaxially connected to the drive motor 246. The inner ring of the second traveling wheel 244 has a second annular tooth 244a. The second annular tooth 244a is in transmission connection with the drive gear 247. The drive paddle gear 248 is disposed within the space enclosed by the second annular tooth 244a of the second traveling wheel 244 and meshes with the second annular tooth 244a. The drive paddle gear 248 is coaxially connected to the drive paddle 249. The drive paddle 249 rotates in the same direction as the second traveling wheel 244.

[0076] In this embodiment, the drive motor 246 drives the drive paddle 249 to rotate via the second travel wheel 244. In a water surface cleaning scenario, a portion of the drive paddle 249 is disposed underwater. During the rotation of the drive paddle 249, the water is pushed toward the rear end. The reaction force formed by the water resistance forms a driving force to propel the cleaning robot 100 forward.

[0077] In this embodiment, the drive paddle gear 248 is disposed within the space surrounded by the second annular teeth 244a of the second traveling wheel 244 and is meshed with the second annular teeth 244a. The rotating shaft of the drive paddle 249 is located between a group of second annular teeth 244a. In other words, the axis of the drive paddle 249 is located in the area where the second traveling wheel 244 is located. The drive paddle 249 is located in the area between a group of second traveling wheels 244. This increases the compactness of the layout of the drive paddle 249 and the second traveling wheel 244, reduces the size of the cleaning robot 100 in the Y direction of travel, and avoids the problem of poor appearance consistency caused by the drive paddle 249 protruding from the rear end of the second traveling wheel 244. The drive paddle gear 248 is meshed with the second annular teeth 244a to drive the drive paddle 249 to rotate. In this way, the drive device 24 can not only enable the rotating member 22 at the front end of the cleaning robot 100 to roll to achieve garbage collection, but also drive the drive paddle 249 to rotate to drive the cleaning robot 100 forward.

[0078] Optionally, the driving paddle 249, the first traveling wheel 241, the second traveling wheel 244, and the rotating member 22 rotate in the same direction.

[0079] Alternatively, the driving gear 247 can be directly meshed with the second annular gear 244 a. In this way, the driving motor 246 is located between a group of second traveling wheels 244.

[0080] Alternatively, the drive gear 247 can be indirectly meshed with the second annular gear 244a through a multi-stage gear. In this way, the drive motor 246 is arranged between the second traveling wheel 244 and the first traveling wheel 241 in the direction of travel Y. The above design allows the drive motor 246 to drive the second traveling wheel 244 while also being located in front of the second traveling wheel 244. The weight of the drive motor 246 is relatively heavy. Therefore, by arranging the position of the drive motor 246 between the second traveling wheel 244 and the first traveling wheel 241, the overall center of gravity of the cleaning robot 100 is moved forward, the center of gravity of the cleaning robot 100 is stabilized, the stability of the cleaning robot 100 is increased, and the center of gravity is prevented from being shifted backward, which causes the cleaning robot 100 to be unstable during the process of moving forward on the water surface or underwater, and more space is reserved at the rear end of the cleaning robot 100.

[0081] In the height Z direction of the cleaning robot 100, the axis of the driving paddle gear 248 is located between the axis of the second traveling wheel 244 and the top cover of the cleaning robot 100. In other words, the driving paddle 249 is located relatively close to the top of the cleaning robot 100, so that in the water surface cleaning mode, a portion of the driving paddle 249 is located on the water surface, and the driving paddle 249 propels the cleaning robot 100 forward during rotation.

[0082] Optionally, in the height direction Z of the cleaning robot 100, the axis of the rotating member 22 is higher than the axis of the driving paddle gear 248. When on the water surface, the draft of the driving paddle 249 is greater than the draft of the rotating member 22, so that the driving paddle 249 generates a greater force when rolling to drive the cleaning robot 100 forward. The draft of the rotating member 22 is shallow, so that garbage on the water surface can be brought into the water surface garbage collection device 20.

[0083] Optionally, referring to Figure 10, the cleaning robot 100 further includes a buoyancy device 40, which is disposed at the bottom of the body 10. Before the cleaning robot 100 operates in the surface cleaning mode, the buoyancy device 40 is installed at the bottom of the body 10 so that the cleaning robot 100 can float on the water surface.

[0084] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A garbage collection device for a cleaning robot, characterized in that: include: A body, wherein the interior of the body has a cavity for accommodating garbage, and a first side wall of the body is configured with an opening penetrating the cavity so that the garbage can enter the cavity through the opening; a rotating member, the rotating member being located in the cavity and adjacent to the opening, the opposite ends of the rotating member being rotatably connected to the two second side walls of the body, the two second side walls being located on both sides of the first side wall and respectively connected to the first side wall, and the first side wall being located on the traveling side of the cleaning robot; The driving assembly is arranged on the main body and is in transmission connection with the rotating member to drive the rotating member to rotate.

2. The garbage collection device according to claim 1, characterized in that The driving assembly includes a rotating gear, which is arranged on the outer side of the second side wall and is coaxially connected to the rotating member. The rotating gear is used to drive the rotating member to rotate.

3. The garbage collection device according to claim 2, characterized in that The driving assembly further includes at least one transmission gear, which is disposed on the outer side of the second side wall and meshed with the rotating gear. The axis of the transmission gear is located between the axis of the rotating gear and the bottom wall of the garbage collection device.

4. The garbage collection device according to claim 1, characterized in that A drive receiving groove is provided on the outer side of the second side wall, and the drive assembly is at least partially located in the drive receiving groove.

5. The garbage collection device according to claim 1, characterized in that: The first side wall includes a first sub-wall and a second sub-wall, and the first sub-wall and the second sub-wall are respectively located on both sides of the opening along the height direction of the body.

6. The garbage collection device according to claim 5, characterized in that: The highest point of the rotating member along the height direction of the body is higher than the edge of the second sub-wall used to enclose the opening, and the lowest point of the rotating member along the height direction of the body is higher than the edge of the first sub-wall used to enclose the opening.

7. The garbage collection device according to claim 1, characterized in that The third side wall of the body, the bottom wall of the body and at least one of the two second side walls are provided with a hollow portion and a filter covering the hollow portion, and the filter is used to filter out water in the garbage collection device.

8. The garbage collection device according to claim 1, characterized in that: The garbage collection device also includes a sensing element, which is configured to be arranged adjacent to a sensor in the sealed shell part of the cleaning robot when the garbage collection device is installed on the storage shell part of the cleaning robot. The sensor is used to output a signal indicating a cleaning mode after sensing the signal of the sensing element.

9. A cleaning robot, characterized in that: A garbage collection device comprising the garbage collection device according to any one of claims 1 to 8.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot also includes a driving device, which includes a first traveling wheel. The inner ring of the first traveling wheel has a first annular tooth. The first annular tooth is transmission-connected to the driving assembly. The first traveling wheel is configured to drive the driving assembly to rotate in the same direction.

11. The cleaning robot according to claim 10, characterized in that: The driving device also includes a first gear and a second gear. The first gear is arranged in a space surrounded by the first annular teeth and is meshed with the first annular teeth. The second gear is coaxially arranged with the first gear and is configured to be meshed with the gear in the driving assembly.

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