Cleaning robot

Abstract

The present application is applied to the field of robots. Disclosed is a cleaning robot. The cleaning robot comprises a robot body (10) and two density adjusting devices (90). A bottom surface of the robot body (10) is provided with a communication portion (101), the communication portion (101) being configured to collect garbage. The two density adjusting devices (90) are respectively arranged on two sides of the robot body (10), and the density adjusting devices (90) are at least partially received on sides of the robot body (10). The density of the cleaning robot is changed by adjusting the densities of the two density adjusting devices (90). When the density of the cleaning robot is adjusted to be larger than that of water by means of the two density adjusting devices (90), the bottom surface of the robot body (10) faces a pool wall, and the communication portion (101) is configured to clean up garbage under water. When the density of the cleaning robot is adjusted to be smaller than that of the water by means of the two density adjusting devices (90), the bottom surface of the robot body (10) faces upwards, and the communication portion (101) is configured to clean up garbage on a water surface. The cleaning robot of the present application can greatly reduce the size of the cleaning robot, thereby improving the flexibility of the cleaning robot, and further improving the cleaning efficiency of the cleaning robot.

Description

cleaning robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 25, 2024, with application number 202410344654X and invention name “Cleaning Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0003] With the rapid development of the world, robots are increasingly being used for automated cleaning to improve efficiency and reduce manpower. For example, robots can be used to clean pools to maintain a clean and hygienic environment. When cleaning the water surface, robots require additional buoyancy structures to increase their buoyancy, allowing them to float on the surface. However, this significantly increases the size of the robot, reducing its flexibility and cleaning efficiency. Summary of the Invention

[0004] The purpose of the present application is to provide a cleaning robot, which aims to solve the technical problem that adding a buoyancy structure to the cleaning robot will greatly increase the volume of the robot.

[0005] To achieve the above objectives, the present application provides a cleaning robot, comprising:

[0006] A body, wherein a connecting portion is provided on the bottom surface of the body, and the connecting portion is used to collect garbage;

[0007] Two density adjusting devices are respectively arranged on both sides of the body, and the density adjusting devices are at least partially accommodated in the side of the body. The two density adjusting devices change the density of the cleaning robot by adjusting their own density. When the two density adjusting devices are adjusted to make the density of the cleaning robot greater than the water body, the bottom surface of the body faces the pool wall, and the connecting part is used to clean up underwater garbage. When the two density adjusting devices are adjusted to make the density of the cleaning robot less than the water body, the bottom surface of the body faces upward, and the connecting part is used to clean up garbage on the water surface.

[0008] The cleaning robot provided by the present application has two density adjustment devices that can change the density of the cleaning robot by adjusting its own density. When the density of the cleaning robot is greater than that of the water body, the cleaning robot can be immersed below the water surface, with the bottom surface of the body facing the pool wall, so as to clean the underwater through the connecting part. Alternatively, when the density of the cleaning robot is less than that of the water body, the cleaning robot needs to be turned over with the bottom surface of the body facing upwards, so as to clean the water surface through the connecting part. In this way, a variety of cleaning methods can be achieved. When cleaning the water surface, since the body uses the connecting part on the bottom surface to clean the garbage on the water surface, most of the body below the bottom surface will be immersed in water. The part immersed in water itself can also increase the drainage volume of the cleaning robot, thereby providing more buoyancy to the cleaning robot. In this way, the buoyancy provided by the density adjustment device can be reduced, that is, the size of the density adjustment device can be reduced. In this way, the volume of the cleaning robot can be greatly reduced to improve the flexibility of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0010] FIG1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

[0011] FIG2 is a schematic diagram of a structure of a density adjustment device according to an embodiment of the present application;

[0012] FIG3 is one of the exploded schematic diagrams of the density adjustment device provided in an embodiment of the present application;

[0013] FIG4 is a second structural diagram of the density adjustment device provided in an embodiment of the present application;

[0014] FIG5 is a second exploded schematic diagram of the density adjustment device provided in an embodiment of the present application;

[0015] FIG6 is an exploded schematic diagram of a cleaning robot provided in an embodiment of the present application;

[0016] FIG7 is a cross-sectional view of the cleaning robot provided in an embodiment of the present application during underwater cleaning;

[0017] FIG8 is a schematic structural diagram of the cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0018] FIG9 is a cross-sectional view of the cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0019] FIG10 is a schematic structural diagram of a chassis of a cleaning robot provided in an embodiment of the present application;

[0020] FIG11 is a schematic diagram showing the position of a first rotating member of a cleaning robot according to an embodiment of the present application;

[0021] FIG12 is a second schematic diagram of the position of the first rotating part of the cleaning robot provided in an embodiment of the present application. 100: Cleaning robot; 10: Body; 101: Connecting portion; 102: Semicircular portion; 10a: Water guide groove; 11: Top housing; 12: Chassis; 20: Collection device; 21: First collection basket; 21a: First sewage suction port; 21b: First filter port; 21c: Second filter port; 22: Second collection basket; 22a: Second sewage suction port; 22b: Third filter port; 30: Drive structure; 31: Transmission unit; 311: Drive side housing; 312: Drive gear; 313: Track; 314: First rotating gear; 315: Second rotating gear; 316: Active gear; 317: First connecting portion; 318: Second connecting portion; 32: Drive motor; 40: First rotating member; 41: First rotating shaft; 42: Cleaning brush; 50: Second rotating member; 51: Second rotating shaft; 52: Paddle; 80: Suction device; 90: density adjustment device; 90a: water inlet; 90b: air inlet; 91: float chamber; 911: first float chamber; 912: second float chamber; 913: third float chamber; 92: first fixing part. DETAILED DESCRIPTION

[0022] 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 only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of 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.

[0023] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship and movement status between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0024] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0025] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0026] A cleaning robot can be used for mobile cleaning in a pool to keep the pool clean and hygienic. In order to enable the cleaning robot to clean the water surface, it is necessary to make the cleaning robot float on the water surface. Therefore, it is necessary to increase the buoyancy of the cleaning robot by adding a buoyancy structure. At present, the buoyancy structure is generally mounted on the outside of the cleaning robot, for example, mounted on the bottom of the cleaning robot, or mounted on both sides of the cleaning robot. In order to ensure that the buoyancy structure can provide a larger buoyancy, the volume of the buoyancy structure itself is larger. After it is mounted on the cleaning robot, it will undoubtedly greatly increase the volume of the cleaning robot. For example, the buoyancy structure mounted on the bottom of the cleaning robot will greatly thicken the cleaning robot as a whole, and the buoyancy structure mounted on both sides of the cleaning robot will greatly widen the cleaning robot as a whole. Since the volume of the cleaning robot becomes larger when cleaning on the water surface, it is easy to cause its flexibility to deteriorate, and the cleaning efficiency during mobile cleaning will also be reduced.

[0027] To this end, an embodiment of the present application provides a cleaning robot that can greatly reduce the size of the cleaning robot to improve the flexibility of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot.

[0028] 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.

[0029] As shown in FIG. 1 and FIG. 7 , an embodiment of the present application provides a cleaning robot 100 , which includes a body 10 and two density adjustment devices 90 .

[0030] In some embodiments, a connecting portion 101 is provided on the bottom surface of the body 10, and the connecting portion 101 is used to collect garbage. Two density adjustment devices 90 are provided on either side of the body 10, and the density adjustment devices 90 are at least partially housed in the side of the body 10. The two density adjustment devices 90 change the density of the cleaning robot 100 by adjusting their own density. When the two density adjustment devices 90 adjust the density of the cleaning robot 100 to be greater than that of the water, the bottom surface of the body 10 faces the pool wall, and the connecting portion 101 is used to clean underwater garbage. When the two density adjustment devices 90 adjust the density of the cleaning robot 100 to be less than that of the water, the bottom surface of the body 10 faces upward, and the connecting portion 101 is used to clean garbage on the water surface.

[0031] In some embodiments, the density adjustment device 90 can adjust its own density according to the cleaning needs of the cleaning robot 100, changing the overall density of the cleaning robot 100 so that the cleaning robot 100 can float on the water surface when cleaning on the surface, and can be immersed underwater when cleaning underwater. The density adjustment device 90 can at least partially occupy the size of the body 10 itself, thereby avoiding adding excessive volume to the body 10 as much as possible. In addition, because the connecting portion 101 is located on the bottom surface of the body 10, the density adjustment devices 90 on both sides will not affect the effective cleaning of the cleaning robot 100.

[0032] In some embodiments, the connecting portion 101 can receive garbage through the bottom surface or through the front side facing the direction of travel of the cleaning robot 100 to achieve garbage collection. For example, when cleaning underwater, the connecting portion 101 can receive garbage through the bottom surface facing the pool wall, and when cleaning on the surface of the water, the connecting portion 101 can collect garbage through the front side to speed up garbage collection efficiency.

[0033] In some embodiments, the connecting portion 101 of the cleaning robot 100 is located on the bottom surface when cleaning underwater or on the surface, so different cleaning requirements can be achieved by simply flipping the robot. However, when cleaning on the surface of water, the bottom surface of the existing cleaning robot 100 faces downward, with most of the body above the water surface, requiring relatively large buoyancy. Consequently, the density adjustment device 90 is also relatively large.

[0034] In some embodiments, the two density adjustment devices 90 of the cleaning robot 100 can change the density of the cleaning robot 100 by adjusting their own density. When the density of the cleaning robot 100 is greater than that of the water, the cleaning robot 100 can be immersed below the water surface, with the bottom surface of the body 10 facing the pool wall, so as to clean the underwater part through the connecting portion 101. Alternatively, when the density of the cleaning robot 100 is less than that of the water, the cleaning robot 100 needs to be flipped over, with the bottom surface of the body 10 facing upward, so as to clean the water surface through the connecting portion 101. In this way, a variety of cleaning methods can be achieved. When cleaning the water surface, since the body 10 uses the connecting portion 101 on the bottom surface to remove garbage from the water surface, most of the body 10 below the bottom surface will be immersed in the water. The immersed portion itself can also increase the drainage volume of the cleaning robot 100, thereby providing more buoyancy to the cleaning robot 100. In this way, the buoyancy provided by the density adjustment device 90 can be reduced, that is, the size of the density adjustment device 90 can be reduced. In this way, the volume of the cleaning robot 100 can be greatly reduced, thereby improving the flexibility of the cleaning robot 100 and further improving the cleaning efficiency of the cleaning robot 100.

[0035] In addition, the installed density adjustment device 90 is at least partially housed on the side of the body 10, and the lateral space occupied by the density adjustment device 90 is small, which prevents the density adjustment device 90 from adding too much lateral size to the body 10. In this way, the volume of the cleaning robot 100 can be further reduced, thereby improving the flexibility of the cleaning robot 100 and further improving the cleaning efficiency of the cleaning robot 100. When cleaning underwater or on the surface of the water, the cleaning robot 100 collects garbage through the connecting portion 101 on the bottom surface of the body 10. The positions for underwater and surface cleaning are both located in the same place. Compared with other cleaning robots 100 that collect garbage at different positions for underwater and surface cleaning, the cleaning robot 100 of this embodiment can minimize the volume of the cleaning robot 100 and streamline the structure of the cleaning robot 100. For example, the underwater cleaning position of other cleaning robots 100 is located at the bottom, and the surface cleaning position is located at the top. The cleaning robot 100 of this embodiment can reduce the height of the cleaning robot 100. In this way, the cleaning robot 100 can perform cleaning more flexibly, which is more conducive to underwater and surface cleaning.

[0036] In addition, the connecting portion 101 is arranged on the bottom surface of the body 10, and the two density adjustment devices 90 are arranged on both sides of the body 10, which can facilitate a more reasonable arrangement of the cleaning structure. It should be noted that if multiple connecting portions 101 are provided to collect garbage, if the garbage is accommodated in the body 10 through the same cavity, then the multiple connecting portions 101 are actually in a connected state. When collecting garbage through one of the connecting portions 101, the other connected connecting portions 101 will cause the suction channel of the connecting portion 101 to be poorly sealed, affecting the efficiency of garbage collection, especially the underwater cleaning effect. If a corresponding structure is provided to ensure the sealing of each connecting portion 101, the internal structure of the body 10 will be too complicated and prone to internal blockage. If different cavities are provided to accommodate garbage, although the connecting portions 101 are not connected to each other, the accommodation space of each cavity becomes smaller. During cleaning, it is necessary to frequently clean the accommodated garbage, which is not conducive to use. If different cavities are enlarged to accommodate garbage, the body 10 will be too large, which is not conducive to mobile cleaning. Therefore, in some embodiments, garbage is cleaned through the same connecting portion 101 in different cleaning modes, avoiding the situation where the internal suction channel of the cleaning robot 100 is poorly sealed due to the provision of multiple connecting portions 101, resulting in internal blockage of the cleaning robot 100 and poor underwater cleaning effect.

[0037] As shown in FIG1 , in some embodiments, a drive structure 30 is provided on each side of the body 10, and two density adjustment devices 90 correspond to the drive structures 30 on each side, respectively. The density adjustment device 90 is at least partially located in the projection area of ​​the drive structure 30 in the direction of travel of the body 10, and / or the density adjustment device 90 is at least partially located in the projection area of ​​the drive structure 30 in the bottom to top direction of the body 10. It is understood that the drive structure 30 can drive the cleaning robot 100 to move, for example, it can drive the cleaning robot 100 to move underwater, or it can also drive the cleaning robot 100 to move on the water surface to achieve underwater or surface mobile cleaning. It should be noted that the drive structure 30 is necessary to enable the cleaning robot 100 to move, but the drive structure 30 generally only occupies part of the side of the body 10. In this embodiment, the density adjustment device 90 is at least partially accommodated in the projection area of ​​the drive structure 30 in the front and back and / or up and down directions, which can fully utilize the space on the side of the body 10 and avoid the density adjustment device 90 adding too much lateral size to the body 10. In addition, in further embodiments, the portion of the body 10 between the two drive structures 30 may also be provided with an unused space, and the density adjustment device 90 may be partially located within this space, so as to further fully utilize the space occupied by the body 10 itself, without causing the cleaning robot 100 to increase its size, thereby facilitating the mobile cleaning of the cleaning robot 100. Of course, in other embodiments, the drive structures 30 are not provided on both sides of the body 10. For example, the drive structure 30 may also be provided in the middle of the body 10, and the density adjustment device 90 may occupy the unused space on the side of the body 10 so as to be accommodated on the side of the body 10.

[0038] As shown in Figures 1, 4, and 5, in some embodiments, the density adjustment device 90 includes a float chamber 91 for holding or draining water to adjust its density. During underwater cleaning, water can be added to the float chamber 91. The water enters the float chamber 91 and displaces the air within it, increasing the density of the density adjustment device 90 and thereby increasing the overall density of the cleaning robot 100, allowing the cleaning robot 100 to remain submerged and perform cleaning operations. During surface cleaning, the water in the float chamber 91 can be drained, allowing external air to enter the float chamber 91, thereby decreasing the density of the density adjustment device 90 and thereby reducing the overall density of the cleaning robot 100, allowing the cleaning robot 100 to float and perform cleaning operations. Of course, in other embodiments, the density adjustment device 90 may also include a loading chamber, which allows for the placement and removal of weights to adjust its density.

[0039] As shown in Figures 1, 4, and 5, in some embodiments, the density adjustment device 90 further includes a water inlet 90a and an air inlet 90b. The water inlet 90a and the air inlet 90b are located on opposite sides of the density adjustment device 90 and connected to the float chamber 91. The water inlet 90a allows for water exchange, and the air inlet 90b allows for gas exchange. In this embodiment, when water is injected into the float chamber 91 and gas is discharged, the water inlet 90a on one side of the density adjustment device 90 allows water to flow in, while the air inlet 90b on the other side allows gas to flow out. This allows water to quickly and smoothly enter the float chamber 91. When gas is injected into the float chamber 91 and gas is discharged, the water inlet 90a on one side of the density adjustment device 90 allows water to flow out, while the air inlet 90b on the other side allows gas to flow in. This allows water to quickly and smoothly drain out, while also allowing gas to enter the float chamber 91. This density adjustment device 90 allows for rapid water or gas injection, facilitating user operation.

[0040] As shown in Figures 1, 4, and 5, in some embodiments, the water inlet 90a is located on the bottom surface of the density adjustment device 90, and the air inlet 90b is located on the top surface of the density adjustment device 90. During underwater cleaning, the cleaning robot 100 is placed upright in the water. Water from the pool can enter the float chamber 91 from the bottom surface of the density adjustment device 90, while air in the float chamber 91 is discharged from the top surface of the density adjustment device 90. This allows the float chamber 91 of the cleaning robot 100 to quickly absorb water, ensuring stable underwater cleaning. When the cleaning robot 100 is removed from the water, gravity forces air into the float chamber 91 from the top air inlet 90b, while water in the float chamber 91 is quickly discharged through the bottom water inlet 90a, greatly simplifying the use of the cleaning robot 100. Furthermore, during surface cleaning, the cleaning robot 100 is placed upside down in the water, floating on the surface. The water inlet 90a is located above the surface, preventing water from entering the float chamber 91, ensuring stable surface cleaning.

[0041] As shown in Figures 1, 4, and 5, in some embodiments, the water inlet 90a is provided with a filter. When water enters the float chamber 91 from the water inlet 90a, the filter can block garbage, preventing it from entering the float chamber 91 along with the water. This facilitates water inflow and outflow into the float chamber 91, and facilitates switching between various cleaning modes of the cleaning robot 100.

[0042] In some embodiments, the air port 90b is provided with one of a waterproof breathable membrane, a push-button switch, and a solenoid valve to limit the passage of gas through the air port 90b. The waterproof breathable membrane allows small molecules such as gas to enter and exit, but does not allow large molecules such as water to enter and exit, thereby restricting the entry and exit of water. The push-button switch and the solenoid valve can open the air port 90b when exhausting, and close the air port 90b when exhausting is not required to prevent water from entering and exiting at will. In this way, water can be prevented from entering and exiting the air port 90b. For example, when the water surface is clean, the air port 92a is located below the water surface. Such a setting can ensure that the float chamber 91 always contains gas. Of course, in other embodiments, a detachable cover can also be provided to cover the air port 90b to limit the passage of gas through the air port 90b.

[0043] As shown in Figures 2, 3, and 6, in some embodiments, the drive structure 30 includes a displaceable transmission portion 31, and a distance is provided between the float chamber 91 and the transmission portion 31. Due to the distance between the transmission portion 31 and the float chamber 91, the transmission portion 31 will not be disturbed by the float chamber 91 during operation, thereby ensuring the stable operation of the drive structure 30 and achieving stable movement of the cleaning robot 100. In some embodiments, the drive structure 30 may further include a displacement member, for example, a roller, a track 313, or a drive paddle, and the float chamber 91 may also be spaced apart from the displacement member to ensure that the operation of the displacement member is not affected, thereby ensuring the stable movement of the cleaning robot 100.

[0044] As shown in Figures 2 to 5, in some embodiments, the float chamber 91 includes a first float chamber 911. The first float chamber 911 is opposite the drive structure 30 and is located on the side of the drive structure 30 away from the middle of the body 10. The drive structure 30 is provided with a first mounting groove opening away from the middle of the body 10, and a portion of the first float chamber 911 is adapted and placed in the first mounting groove. The first float chamber 911 partially occupies part of the space of the lateral opening of the drive structure 30, which can avoid occupying additional lateral space and thus reduce the size of the cleaning robot 100. In this embodiment, a portion of the first float chamber 911 is adapted to the first mounting groove, which can fully utilize the space within the first mounting groove and improve space utilization. For example, another portion of the first float chamber 911 is located on the outside of the drive structure 30 away from the middle of the body 10.

[0045] As shown in Figures 2 to 5, in some embodiments, the float chamber 91 further includes a second float chamber 912, which protrudes from the first float chamber 911 toward one side of the body 10. The drive structure 30 is provided with a second mounting slot, opening away from the center of the body 10. The second mounting slot is located at the bottom of the first mounting slot, and the second float chamber 912 fits within the second mounting slot. The second float chamber 912 can be completely accommodated within the second mounting slot, eliminating the need for additional space, thereby reducing the size of the cleaning robot 100. In this embodiment, the second float chamber 912 fits within the second mounting slot, further utilizing the space within the second mounting slot and improving space efficiency. For example, the second mounting slot is located in the middle of the first mounting slot along the direction of travel, and the second float chamber 912 is also located in the middle of the first float chamber 911 along the direction of travel. After the first float chamber 911 is partially fitted and placed within the first mounting slot, the second float chamber 912 also fits within the second mounting slot, making it easier to install the density adjustment device 90.

[0046] As shown in Figures 2 to 5, in some embodiments, the float chamber 91 includes a third float chamber 913, which is located on the side of the drive structure 30 facing the top or bottom of the body 10. The third float chamber 913 is located outside the drive structure 30, specifically, in the projection area of ​​the drive structure 30 from the bottom to the top of the body 10. This can fully utilize the redundant space on the side of the body 10 excluding the drive structure 30, thereby reducing the size of the cleaning robot 100. For example, the body 10 has redundant space at the top of the drive structure 30, for example, the redundant space is located on both sides of the upward protrusion in the middle of the body 10. The middle of the body 10 is located between the two drive structures 30. The upward protrusion can be used to install various structures, such as the suction device 80, the control structure, and the drive motor 32. In other examples, the body 10 has redundant space at the bottom of the drive structure 30. For example, the redundant space is on both sides of the downward protrusion in the middle of the body 10. In this example, since the drive structure 30 is not placed at the bottom, it can be used to make reasonable use of the space when the cleaning robot 100 is inverted for water surface cleaning.

[0047] As shown in Figures 4 and 5, in a further embodiment, the third float chamber 913 is located in the middle of the body 10 in the direction of travel. The third float chamber 913 is also set in the middle, which can correspond to the protruding part of the middle part of the body 10, so as to make more reasonable use of redundant space. In addition, such a setting can also make the float chamber 91 balanced in the direction of travel of the cleaning robot 100, and will not cause the front float chamber 91 to have too much volume or the rear float chamber 91 to have too much volume, which is beneficial for the cleaning robot 100 to maintain balance in its direction of travel when cleaning the water surface. Exemplarily, the third float chamber 913 is located on the side of the drive structure 30 facing the top of the body 10, and is located in the middle of the direction of travel of the body 10.

[0048] As shown in Figures 2 and 3, in other embodiments, the third float chamber 913 is located on the rear side of the body 10 in the direction of travel. The third float chamber 913 is arranged on the rear side so as to correspond to the protruding portion of the middle part of the body 10, so as to make more reasonable use of redundant space. Specifically, the rear side of the middle part of the body 10 protrudes more and accommodates more structures, which can make the center of gravity of the cleaning robot 100 lean back. When cleaning the water surface, the front side of the cleaning robot 100 can be tilted upward, and the bottom surface of the body 10 can be tilted upward in the direction of travel. When the water flows along the bottom surface of the body 10, the water flow can be accelerated, thereby increasing the garbage collection speed of the connecting part 101. Exemplarily, the third float chamber 913 is located on the side of the drive structure 30 facing the top of the body 10 and on the rear side of the body 10 in the direction of travel.

[0049] In yet other embodiments, the third float chamber 913 may also be located in front of the body 10 in the direction of travel. When cleaning a water surface, this can increase the buoyancy of the front side of the cleaning robot 100, causing the front side of the cleaning robot 100 to tilt upward, thereby causing the bottom surface of the body 10 to tilt upward in the direction of travel. This can accelerate the flow of water along the bottom surface of the body 10, increasing the rate of garbage collection in the connecting portion 101. In some embodiments, the position of the third float chamber 913 can be determined based on the specific structure of the body 10, so as to more rationally utilize the lateral space of the body 10 and meet the usage requirements of the cleaning robot 100. This is not a limitation.

[0050] In some embodiments, the float chamber 91 includes a fourth float chamber, which is located in front of or behind the drive structure 30 in the direction of travel of the body 10. The fourth float chamber is located outside the drive structure 30, specifically, in the projection area of ​​the drive structure 30 in the direction of travel of the body 10. This allows for full utilization of the redundant space on the sides of the body 10, excluding the drive structure 30, thereby reducing the size of the cleaning robot 100. For example, the body 10 has redundant space in front of the drive structure 30, for example, on either side of the central portion of the body 10 that protrudes forward. In other examples, the body 10 has redundant space behind the drive structure 30, for example, on either side of the central portion of the body 10 that protrudes backward. In this example, the fourth float chamber and the drive structure 30 are arranged side by side in the direction of travel of the body 10, without interfering with the operation of the drive structure 30, thereby facilitating the movement and cleaning of the cleaning robot 100.

[0051] In some embodiments, at least two drive structures 30 are provided on either side of the body 10, and two density adjustment devices 90 correspond one-to-one with the at least two drive structures 30 on each side. The float chamber 91 includes a fifth float chamber, which is located in the area between the at least two drive structures 30. It should be noted that the at least two drive structures 30 provided on each side of the body 10 can be disconnected and operate independently, or they can be connected via transmission components within the body 10 for coordinated operation. However, regardless of the operation method, a gap must exist between the at least two drive structures 30. In this embodiment, the fifth float chamber is located in the area between the at least two drive structures 30, which can fully utilize the redundant space on the side of the body 10, thereby reducing the size of the cleaning robot 100. For example, two drive wheels are provided on each side of the body 10, and the fifth float chamber is located in the area between the two drive wheels. Furthermore, the fifth float chamber is adapted to fit in the area between the at least two drive structures 30.

[0052] In some embodiments, one of the first float chamber 911, the second float chamber 912, the third float chamber 913, the fourth float chamber, and the fifth float chamber and a combination thereof can be set according to the specific structure of the body 10, so that the density adjustment device 90 can make full use of the lateral space of the body 10, avoid the density adjustment device 90 adding too large a lateral dimension to the body 10, improve the flexibility of the cleaning robot 100, and thereby improve the cleaning efficiency of the cleaning robot 100.

[0053] In some other embodiments, a receiving groove is provided at the bottom or top of the body 10 to accommodate part of the density adjustment device 90, so as to further make full use of the redundant space at the bottom or top of the cleaning robot 100, reduce the volume of the cleaning robot 100, and improve the flexibility of the cleaning robot 100. For example, a water guide groove 10a is provided at the bottom of the body 10 that runs through the direction of travel, and the connecting portion 101 is located in the water guide groove 10a. Part of the density adjustment device 90 can be accommodated in the water guide groove 10a to make full use of the space. For example, part of the density adjustment device 90 is accommodated in the front and / or rear side of the water guide groove 10a, and the connecting portion 101 is located in the middle to reduce the volume of the cleaning robot 100 loaded with the density adjustment device 90 while ensuring effective cleaning.

[0054] As shown in Figures 2, 3, and 6, in some embodiments, the float chamber 91 includes a first float chamber 911 and a second float chamber 912. The first float chamber 911 is adapted to be positioned within the first mounting slot, and the second float chamber 912 is adapted to be positioned within the second mounting slot. Specifically, the drive structure 30 includes a drive side housing 311, at least two drive teeth 312, and a track 313. The at least two drive teeth 312 and the track 313 are both located on a side of the drive side housing 311 facing away from the center of the machine body 10. The at least two drive teeth 312 are rotatably mounted on the drive side housing 311 and spaced apart along the travel direction of the machine body 10. The track 313 surrounds the at least two drive teeth 312, and the at least two drive teeth 312 are used to drive the track 313 to roll. The surfaces of the at least two drive teeth 312 and the track 313 together form a first mounting slot, and the space between the drive side housing 311, the at least two drive teeth 312, and the track 313 together form a second mounting slot. The two drive teeth 312 can drive the crawler 313 to roll, so that when cleaning underwater, the rolling of the crawler 313 can drive the cleaning robot 100 to move and clean in the direction of travel. It can be understood that the construction of the drive structure 30 will inevitably produce redundant space in the first mounting slot and the second mounting slot. The density adjustment device 90 can make full use of the redundant space of the body 10 to avoid occupying more lateral space, so as to reduce the size of the cleaning robot 100. In this embodiment, the two drive teeth 312 and the crawler 313 belong to the aforementioned transmission part 31. The first float chamber 911 and the second float chamber 912 and the two drive teeth 312 and the crawler 313 all have gaps to ensure that the drive mechanism can operate normally and avoid interference with it by the density adjustment device 90.

[0055] As shown in Figures 2, 3, and 6, in some embodiments, the float chamber 91 further includes a third float chamber 913, located in the projection area of ​​the drive structure 30 toward the top of the machine body 10. Specifically, the third float chamber 913 is located on top of the first float chamber 911 outside the drive structure 30 and above the track 313. Furthermore, in this embodiment, to avoid obstructing the rolling motion of the track 313, a clearance space is provided between the portion of the first float chamber 911 positioned within the first mounting slot and the third float chamber 913.

[0056] As shown in FIG. 2 to FIG. 5 , in some embodiments, the second float chamber 912 and the third float chamber 913 are both connected to the first float chamber 911 so as to accommodate water and gas through the same water inlet 90 a and gas inlet 90 b .

[0057] As shown in FIG6 , in some embodiments, two density adjustment devices 90 are detachably mounted on either side of the housing 10. This allows the user to remove and replace the density adjustment device 90 as needed for easy cleaning. Furthermore, since the density adjustment device 90 is partially housed within the drive structure 30, its removal exposes the drive structure 30 for easy maintenance. Of course, in other embodiments, the density adjustment device 90 may also be integral with the housing 10.

[0058] As shown in Figures 2, 3 and 6, in some embodiments, at least two first connecting parts 317 are respectively provided on both sides of the body 10, and at least two first fixing parts 92 are provided on the surface of the density adjustment device 90, and the at least two first fixing parts 92 are respectively detachably connected to the at least two first connecting parts 317. In this way, the density adjustment device 90 can be directly disassembled and assembled along the side, which is simple to disassemble and replace and convenient for users. For example, the drive side shell 311 is provided with two first connecting parts 317, and the two driving teeth 312 are respectively rotatably provided on the two first connecting parts 317. In this way, the density adjustment device 90 is directly connected to the two first connecting parts 317 through the two first fixing parts 92 to fix the density adjustment device 90, which does not affect the operation of the drive structure 30 and can limit the two driving teeth 312 to ensure the stable operation of the drive mechanism. Specifically, a plurality of protrusions are provided around the end of the first connecting portion 317, and a plurality of limiting grooves are provided around the end of the first fixing portion 92. The protrusions engage with the limiting grooves to achieve a secure connection between the first connecting portion 317 and the first fixing portion 92. Furthermore, the driving tooth 312 is rotatably mounted on the first connecting portion 317. The limiting ribs around the first connecting portion 317 and the first fixing portion 92 constrain the position of the driving tooth 312, ensuring stable rotation of the driving tooth 312.

[0059] As shown in Figures 2, 3, and 6, in some embodiments, the driving-side housing 311 is further provided with a second connecting portion 318 at the bottom of the second mounting slot, and a second fixing portion is further provided at the bottom of the second float chamber 912. The second float chamber 912 is positioned within the second mounting slot, and the second fixing portion is connected to the second connecting portion 318 to further stabilize the density adjustment device 90. For example, screws can be inserted through the bottom of the driving-side housing 311 to securely connect the second connecting portion 318 and the second fixing portion.

[0060] As shown in Figures 1 and 10, in some embodiments, the body 10 includes a chassis 12 and a top shell 11, and the two driving side shells 311 protrude from the side of the chassis 12 away from the top shell 11. The two driving side shells 311 are spaced apart and extend along the moving direction of the body 10. A water guide groove 10a is formed between the bottom plate and the two driving side shells 311, and the connecting part 101 is located in the water guide groove 10a. The water guide groove 10a can ensure that the garbage carried in the water flow can be quickly collected to improve the cleaning efficiency of the cleaning robot 100.

[0061] As shown in Figures 8 and 9, in some embodiments, the cleaning robot 100 further includes a collection device 20. The collection device 20 has a sewage suction port connected to the connecting portion 101. The collection device 20 includes a first collection basket 21. The first collection basket 21 has a first sewage suction port 21a and a first filter port 21b. The first sewage suction port 21a faces the front end of the body 10 and is connected to the front side of the connecting portion 101, and the first filter port 21b faces the rear end of the body 10. When water flows along the water guide trough 10a, it enters the first collection basket 21 through the first sewage suction port 21a. The first collection basket 21 then collects garbage carried in the water flow, and the water flows out of the first collection basket 21 through the first filter port 21b.

[0062] In some embodiments, the first collection basket 21 further includes a second filter opening 21c facing into the housing 10. A suction device 80 within the housing 10 is connected to the second filter opening 21c. As water flows along the water channel 10a, it is drawn by the suction device 80, allowing it to flow out of the first collection basket 21 through the second filter opening 21c. The suction device 80 accelerates the flow of water, improving waste collection efficiency.

[0063] In some embodiments, the first collection basket 21 is mainly used to collect garbage when the cleaning robot 100 is cleaning the water surface. By setting the first collection basket 21, the water surface cleaning efficiency can be greatly accelerated. For example, when cleaning the water surface, the first sewage suction port 21a is located at the water surface.

[0064] As shown in FIG7 , in some embodiments, the collection device 20 further includes a second collection basket 22 having a second sewage suction port 22a and a third filter port 22b. The second sewage suction port 22a faces the bottom surface of the housing 10 and communicates with the bottom surface of the connecting portion 101. The third filter port 22b faces the interior of the housing 10. The suction device 80 is connected to the third filter port 22b. As water flows, it passes through the second sewage suction port 22a. Through suction from the suction device 80, the second sewage suction port 22a draws the water in, causing it to flow into the second collection basket 22. The second collection basket 22 then collects the waste carried by the water. The water then flows out of the second collection basket 22 through the third filter port 22b.

[0065] In some embodiments, the second collecting basket 22 is mainly used for collecting garbage when the cleaning robot 100 is cleaning underwater, especially when cleaning the pool wall, and can suck out stains and garbage on the pool wall that are more difficult to clean.

[0066] In some embodiments, the first collecting basket 21 and the second collecting basket 22 can be used selectively or simultaneously without limitation.

[0067] As shown in Figures 7 to 9, in some embodiments, the cleaning robot 100 further includes a first rotating member 40 and a second rotating member 50. The first rotating member 40 and the second rotating member 50 are respectively located in front of and behind the collection device 20 in the direction of travel of the cleaning robot 100. The first rotating member 40 is located on the front side of the body 10. Compared to the collection device 20, it can first contact the water flow. The first rotating member 40 can move garbage carried by the water flow to the connecting portion 101 by moving it, thereby improving cleaning efficiency, or it can wipe the pool wall to improve cleaning effect. For example, when cleaning underwater, the first rotating member 40 can contact the pool wall to wipe the pool wall or move garbage carried by the water flow. The second rotating member 50 can increase the flow rate of the water flow by moving the water flow, thereby improving cleaning efficiency, and can also drive the movement of the cleaning robot 100. For example, it can drive the cleaning robot 100 to move on the water surface to achieve surface cleaning. Exemplarily, the first rotating member 40 and the second rotating member 50 are both located in the water guide groove 10 a.

[0068] In some embodiments, the first rotating member 40 can also be used to manipulate the water flow. For example, during surface cleaning or underwater cleaning, the first rotating member 40 can be at least partially submerged below the water surface to manipulate the water flow. This can also accelerate the flow of water. Furthermore, the second rotating member 50 can also be used to clean the pool walls. For example, during underwater cleaning, the second rotating member 50 can contact the pool walls, further cleaning the pool walls in conjunction with the first rotating member 40, thereby enhancing cleaning effectiveness.

[0069] As shown in Figures 7 to 9, in some embodiments, the first rotating member 40 rotates about a first rotation axis, and the second rotating member 50 rotates about a second rotation axis. The first rotation axis and the second rotation axis are both perpendicular to the direction of travel of the cleaning robot 100, and the first rotating member 40 and the second rotating member 50 rotate in the same direction. When water flows, the first rotating member 40 and the second rotating member 50 rotate along the direction of the water flow, so that the first rotating member 40 can at least follow the flow to move the garbage to the collection device 20, and the second rotating member 50 can at least follow the flow to increase the flow rate of the water flow. The same rotation direction of the first rotating member 40 and the second rotating member 50 ensures that the cleaning robot 100 can both rotate in the direction of the water flow when moving, avoiding movement resistance caused by their different rotation directions. It should be noted that the first rotating member 40 and the second rotating member 50 of this embodiment can rotate in the same direction clockwise or counterclockwise, depending on the specific use of the cleaning robot 100.

[0070] As shown in Figures 7 to 9, in some embodiments, the first rotating member 40, the second rotating member 50 and the bottom surface of the water guide groove 10a all have a spacing so that the water flow can at least flow through the spacing, avoiding the obstruction of the first rotating member 40 or the second rotating member 50, which affects the flow rate of the water flow, and is beneficial for the connecting part 101 to collect garbage carried in the water flow.

[0071] As shown in Figures 6 to 9, in some embodiments, the transmission portion 31 is respectively connected to the first rotating member 40 and the second rotating member 50 to drive the first rotating member 40 and the second rotating member 50 to rotate in the same direction. When the transmission portion 31 is in operation, it can simultaneously drive the first rotating member 40 and the second rotating member 50 to rotate. Both of them must rotate in the same direction at the same time or stop at the same time, ensuring that the first rotating member 40 and the second rotating member 50 can rotate in the same direction along the flow of water. This can avoid the situation where the first rotating member 40 and the second rotating member 50 rotate in opposite directions, or one of the first rotating member 40 and the second rotating member 50 rotates while the other stops.

[0072] As shown in FIG6 , in some embodiments, the transmission portion 31 further includes a first rotating tooth 314 and a second rotating tooth 315. The first rotating tooth 314 is located at the front end of the machine body 10, and the second rotating tooth 315 is located at the rear end of the machine body 10. The inner side of one driving tooth 312 meshes with the first rotating tooth 314, which is connected to the first rotating member 40. The inner side of another driving tooth 312 meshes with the second rotating tooth 315, which is connected to the second rotating member 50. The two driving teeth 312 are connected by a crawler belt 313. Engaging the first rotating tooth 314 with the inner side of the driving tooth 312 and the second rotating tooth 315 with the inner side of the driving tooth 312 can fully utilize the space of the driving structure 30, so that there is sufficient redundant space to accommodate the density adjustment device 90.

[0073] In some embodiments, the first rotating member 40 and the second rotating member 50 rotate at the same speed. It should be noted that during underwater cleaning, the rotational speed of the rotating member is positively correlated with the resistance of the cleaning robot 100 during underwater travel. During surface cleaning, a faster rotating member rotation is more likely to cause water swirl, which is detrimental to surface cleaning. In this embodiment, the diameters of the first rotating member 40 and the second rotating member 50 can be set to be different, so that one has a higher linear velocity to facilitate the removal of trash, while the other's rotational speed does not increase due to excessive speed, causing water swirl or increasing resistance. For example, the diameter of the first rotating member 40 is larger than that of the second rotating member 50. When the two rotate at the same speed, the first rotating member 40 can have a higher linear velocity, allowing for faster removal of trash and improving cleaning efficiency. The second rotating member 50 does not increase the travel resistance of the cleaning robot 100 when moving water during underwater cleaning, and is less likely to cause water swirl when moving water during surface cleaning. In this way, setting the rotation speed of the first rotating member 40 and the second rotating member 50 to be the same can facilitate the setting of the transmission coefficient of each transmission member in the transmission part 31. The use requirements can be met by simply adjusting the diameter of the first rotating member 40 and the second rotating member 50, which is beneficial for the cleaning robot 100 to clean underwater and on the water surface.

[0074] In addition, in this embodiment, the transmission ratio between the two driving teeth 312 can be set to 1:1, and the transmission ratio between the first rotating tooth 314 and the driving tooth 312 is set to be the same as the transmission ratio between the second rotating tooth 315 and the driving tooth 312. In this way, the first rotating member 40 and the second rotating member 50 can achieve the same rotational speed. For example, the number of teeth on the inner and outer sides of the two driving teeth 312 is the same, and the number of teeth on the first rotating tooth 314 and the second rotating tooth 315 is the same.

[0075] In other embodiments, the rotation speeds of the first rotating member 40 and the second rotating member 50 are different. In this embodiment, by setting the rotation speeds of the first rotating member 40 and the second rotating member 50 to be different, one of them has a higher rotation speed, which is convenient for moving garbage, and the rotation speed of the other will not be too fast, causing water rolling or increasing resistance. For example, the rotation speed of the first rotating member 40 can be set to be greater than that of the second rotating member 50. The first rotating member 40 has a higher rotation speed so that it can quickly move garbage and improve the cleaning effect. The rotation speed of the second rotating member 50 is lower, and when the water flow is moved during underwater cleaning, it will not increase the travel resistance of the cleaning robot 100, and when the water flow is moved during surface cleaning, it will not easily cause water rolling. In this way, setting the rotation speeds of the first rotating member 40 and the second rotating member 50 to be different can facilitate the cleaning of the cleaning robot 100 underwater and on the surface of the water.

[0076] In addition, in this embodiment, the transmission ratio between the two driving teeth 312 can be set to 1:1, and the transmission coefficient between the first rotating tooth 314 and the driving tooth 312 is smaller than the transmission coefficient between the second rotating tooth 315 and the driving tooth 312. In this way, the rotation speed of the first rotating member 40 can be greater than that of the second rotating member 50. For example, the number of teeth on the inner and outer sides of the two driving teeth 312 is the same, and the number of teeth of the first rotating tooth 314 is smaller than that of the second rotating tooth 315.

[0077] As shown in Figures 11 and 12, in some embodiments, the first rotating member 40 at least partially protrudes from the bottom of the body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 50 is located in the installation space defined by the bottom of the body 10. During underwater cleaning, the first rotating member 40 can wipe the surface of the area to be cleaned by rotating to improve the cleaning effect, and the second rotating member 50 is located in the installation space defined by the bottom of the body 10. The second rotating member 50 does not contact the surface of the area to be cleaned, and therefore does not hinder the movement of the cleaning robot 100, which is conducive to the cleaning robot 100 moving and cleaning underwater. Exemplarily, the first rotating member 40 is partially located within the water guide groove 10a and partially located outside the water guide groove 10a, and the second rotating member 50 is entirely located within the water guide groove 10a. In this embodiment, during underwater cleaning, when the first rotating member 40 rotates, the rotation tangent of the first rotating member 40 at one end of the bottom surface away from the water guide groove 10a is opposite to the direction of travel of the machine body 10, and the rotation tangent of the first rotating member 40 at one end of the bottom surface toward the water guide groove 10a is toward the direction of travel of the machine body 10. In this way, the first rotating member 40 can move the wiped or moved garbage toward the collection device 20, which is beneficial for the collection device 20 to collect garbage.

[0078] As shown in FIG11 , in some embodiments, the first rotating member 40 further at least partially protrudes from the front end of the body 10. During underwater cleaning, and when the cleaning robot 100 moves from the bottom wall of the pool to the side wall, the first rotating member 40 protruding from the front end and the bottom can simultaneously wipe the bottom and side walls of the pool, so as to fully wipe the bottom and side walls of the pool. The A1 area in FIG11 is a blind spot where the first rotating member 40 protrudes from the front end of the body 10 when cleaning the bottom and side walls of the pool. The A2 area in FIG12 is a blind spot where the first rotating member 40 does not protrude from the front end of the body 10 when cleaning the bottom and side walls of the pool. It can be seen that this embodiment can reduce blind spots and improve the cleaning effect of the pool. Furthermore, when cleaning the water surface, when the cleaning robot 100 reaches the side wall of the pool, the first rotating member 40 may also first contact the side wall of the pool. This can, on the one hand, wipe and clean the side wall of the pool to a certain extent, and on the other hand, ensure that the cleaning robot 100 can completely clean the water surface. In other words, there will be no problem of the water surface between the first rotating member 40 and the side wall not being cleaned due to the body 10 contacting the side wall before the first rotating member 40. In addition, the body 10 can be prevented from directly hitting the side wall of the pool, thereby providing a certain degree of protection for the body 10.

[0079] As shown in Figure 11, in some embodiments, the front end of the cleaning robot 100 located on the side wall of the water guide trough 10a has a semicircular portion 102, and illustratively, the radius of the semicircular portion 102 corresponds to the semicircle surrounded by the crawler 313 provided on the front annular gear outer shell. The center of the circle of the first rotating member 40 projected on the semicircular portion 102 is O1, and the center of the circle of the semicircular portion 102 is O2. O1 is located at O2 toward the front side and bottom side of the cleaning robot 100. When cleaning the underwater horizontal surface, the angle between the line connecting O1 and O2 and the horizontal plane is 40-50 degrees, illustratively, 45 degrees. In this way, the contact amount between the first rotating member 40 and the side wall can be consistent with the contact amount between the first rotating member 40 and the bottom wall, and the cleaning blind spot is minimized. Moreover, when the cleaning robot 100 moves toward the side wall, that is, when it contacts the side wall, tilts toward the side wall, and moves against the side wall, the first rotating part 40 can wipe from the bottom wall to the side wall, and from the side wall from bottom to top, so as to fully clean the blind spots of the pool and improve the cleaning effect of the pool.

[0080] As shown in Figures 8 and 9, in some embodiments, during surface cleaning, the distance between the bottom surface of the water channel 10a and the water surface is 2 cm to 10 cm. This allows the first rotating member 40 and the second rotating member 50 to be located partially above and partially below the water surface. Thus, during surface cleaning, the first rotating member 40 can move trash on the water surface for rapid collection. The second rotating member 50, with its portion located above the water surface, can prevent water from rolling around, facilitating water flow. During surface cleaning, the first rotating member 40 rotates with the tangent of the first rotating member 40 at the end of the bottom surface of the water channel 10a oriented in the direction of travel of the machine body 10, while the tangent of the first rotating member 40 at the end of the bottom surface of the water channel 10a oriented in the opposite direction of travel of the machine body 10. This allows the first rotating member 40 to move trash toward the collection device 20, facilitating collection by the collection device 20.

[0081] As shown in Figures 7 to 9, in some embodiments, the first rotating member 40 includes a first rotating shaft 41 and a cleaning brush 42. The ends of the first rotating shaft 41 are rotatably mounted on both sides of the body 10. The cleaning brush 42 is disposed on the first rotating shaft 41 and extends along the axis of the first rotating shaft 41. It 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 100 is moving and cleaning, the first rotating shaft 41 can rotate relative to the body 10, thereby driving the cleaning brush 42 to rotate about the axis of the first rotating shaft 41. This allows the cleaning brush 42 to wipe the surface of the area to be cleaned and move garbage during underwater cleaning, and to move garbage for quick garbage collection during surface cleaning. In this embodiment, the cleaning brush 42 extends along the axis of the first rotating shaft 41, allowing the cleaning brush 42 to cover a wider area, thereby increasing the area for wiping and moving garbage, which is beneficial for the cleaning efficiency of the cleaning robot 100. Exemplarily, the first rotating shaft 41 includes two sections, the end of each section is passed through a driving side shell 311, and is connected to the first rotating tooth 314 of the transmission part 31 in the driving structure 30. The transmission parts 31 in the two driving structures 30 can respectively drive the two ends of the first rotating shaft 41 to rotate. Since the first rotating shaft 41 is segmented, the rotation of the two sections does not affect each other, which can facilitate the stable rotation of the first rotating member 40.

[0082] As shown in FIG11 , in some embodiments, the distance between the center of the first rotating member 40 and the end of the cleaning brush 42 is greater than the distance between the center of the first rotating member 40 and the intersection of the vertical surface at the front end and the bottom plane of the body 10, that is, greater than the length of the line connecting O1 to K shown in FIG11 , and the radius of the first rotating shaft 41 is less than the distance from the center of the first rotating member 40 to the bottom or front end of the body 10. It should be noted that the cleaning brush 42 is flexible and can be deformed and bent when it contacts the wall of the pool. In this way, when cleaning underwater, and when the cleaning robot 100 moves from the bottom wall of the pool to the side wall, the cleaning brush 42 can brush the corner of the bottom wall and the side wall of the pool, and the first rotating shaft 41 will not affect the movement of the cleaning robot 100, which can further fully clean the blind spots of the pool and improve the cleaning effect of the pool.

[0083] As shown in Figures 7 to 9, in some embodiments, the second rotating member 50 includes a second rotating shaft 51 and a plurality of paddles 52. The two ends of the second rotating shaft 51 are rotatably mounted on both sides of the body 10 and are connected to the driving structure 30. The plurality of paddles 52 are evenly arranged along the outer circumference of the second rotating shaft 51 and are used to drive the cleaning robot 100 to move when the cleaning robot 100 is performing water surface cleaning. During water surface cleaning, the driving structure 30 can drive the second rotating shaft 51 to rotate, thereby driving the plurality of paddles 52 to rotate, so as to drive the movement of the cleaning robot 100 by stirring the water flow. Exemplarily, the second rotating shaft 51 includes two sections, the end of each section is passed through a driving side shell 311, and is connected to the second rotating tooth 315 of the transmission part 31 in the driving structure 30. The driving structure 30 includes two driving motors 32 and is connected to the transmission parts 31 in the two driving structures 30. The transmission parts 31 in the two driving structures 30 can respectively drive the two ends of the second rotating shaft 51 to rotate. Since the second rotating shaft 51 is segmented, the rotation of the two sections does not affect each other, which can facilitate the stable rotation of the second rotating member 50.

[0084] In some embodiments, the blades 52 are tilted relative to the axial centerline of the second rotating shaft 51. This facilitates water flow, thereby providing stable propulsion for the cleaning robot 100 during surface cleaning. Specifically, in this embodiment, the blades 52 are tilted toward the direction of rotation of the second rotating shaft 51 during surface cleaning. During surface cleaning, the rotation tangent of the second rotating member 50 at one end away from the bottom surface of the water guide groove 10a is oriented in the direction of travel of the body 10, and the rotation tangent of the first rotating member 40 at one end toward the bottom surface of the water guide groove 10a is oriented in the opposite direction of the travel of the body 10. The blade surface of the paddle 52 can efficiently shift the water flow according to the above-mentioned inclined direction, so as to facilitate the movement of the cleaning robot 100 on the water surface; and during underwater cleaning, the rotation tangent of the first rotating member 40 at one end away from the bottom surface of the water guide groove 10a is oriented in the opposite direction of the travel of the body 10, and the rotation tangent of the first rotating member 40 at one end toward the bottom surface of the water guide groove 10a is oriented in the direction of travel of the body 10. The blade surface of the paddle 52 can reduce the resistance when shifting the water flow according to the above-mentioned inclined direction, which is conducive to the underwater movement of the cleaning robot 100. For example, the blade surface of the paddle 52 is perpendicular to the radial direction of the second rotating shaft 51.

[0085] As shown in Figures 7 to 9, in some embodiments, the drive structure 30 further includes two drive motors 32, and the transmission part 31 further includes an active tooth 316, the active tooth 316 and one of the two drive teeth 312 are meshed, and the two drive motors 32 are respectively connected to the active teeth 316 of the transmission part 31 on both sides, so as to drive the two transmission parts 31 to operate through the two drive motors 32, thereby driving the first rotating member 40 or the second rotating member 50 to rotate. Exemplarily, the drive structure 30 is arranged in a space formed by the top shell 11 and the chassis 12. The two drive motors 32 are used to drive the two sections of the second rotating member 50 to rotate respectively. By controlling the different torques output by the two drive motors 32, the rotation speeds of the two sections of the second rotating member 50 can be different, thereby realizing the steering of the cleaning robot 100, so as to facilitate the movement and cleaning of the cleaning robot 100 on the water surface.

[0086] As shown in Figures 7 to 9, in some embodiments, when cleaning underwater, the cleaning robot 100 can be driven to move by the rolling of the tracks 313. During the movement of the cleaning robot 100, the surface of the area to be cleaned can be wiped by the first rotating member 40. The two drive motors 32 can be used to drive the transmission part 31 to operate, thereby realizing the rolling of the two tracks 313, and the first rotating member 40 and the second rotating member 50 can be driven to work at the same time to meet the different working mode requirements of the cleaning robot 100. The two drive motors 32 drive the two tracks 313 to roll respectively. By controlling the different torques output by the two drive motors 32, the rolling speeds of the two tracks 313 can be different, thereby realizing the steering of the cleaning robot 100, so as to facilitate the mobile cleaning of the cleaning robot 100 underwater.

[0087] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A cleaning robot, wherein: include: A body, wherein a connecting portion is provided on the bottom surface of the body, and the connecting portion is used to collect garbage; Two density adjusting devices are respectively arranged on both sides of the body, and the density adjusting devices are at least partially accommodated in the side of the body. The two density adjusting devices change the density of the cleaning robot by adjusting their own density. When the two density adjusting devices are adjusted to make the density of the cleaning robot greater than the water body, the bottom surface of the body faces the pool wall, and the connecting part is used to clean up underwater garbage. When the two density adjusting devices are adjusted to make the density of the cleaning robot less than the water body, the bottom surface of the body faces upward, and the connecting part is used to clean up garbage on the water surface.

2. The cleaning robot according to claim 1, wherein: A driving structure is provided on both sides of the body, and the two density adjustment devices correspond one-to-one to the driving structures on both sides respectively. The density adjustment device is at least partially located in the projection area of ​​the driving structure in the direction of travel of the body, and / or the density adjustment device is at least partially located in the projection area of ​​the driving structure in the direction from the bottom to the top of the body.

3. The cleaning robot according to claim 2, wherein: The density adjustment device is provided with a float chamber, which is used to contain water or discharge water to adjust its own density.

4. The cleaning robot according to claim 3, wherein: The driving structure includes a transmission part that can be displaced, and a distance is set between the floating cavity and the transmission part.

5. The cleaning robot according to claim 3, wherein: The float cavity includes a first float cavity, which is opposite to the drive structure and located on the side of the drive structure away from the middle of the body. The drive structure is provided with a first mounting groove opening away from the middle of the body, and a portion of the first float cavity is adapted and placed in the first mounting groove.

6. The cleaning robot according to claim 5, wherein: The float cavity also includes a second float cavity, which protrudes from the first float cavity toward one side of the body. The drive structure is provided with a second mounting groove facing away from the middle opening of the body. The second mounting groove is located at the bottom of the first mounting groove, and the second float cavity is adapted and placed in the second mounting groove.

7. The cleaning robot according to claim 3, wherein: The float chamber includes a third float chamber, and the third float chamber is located on a side of the driving structure facing the top or bottom of the machine body.

8. The cleaning robot according to claim 7, wherein: The third float chamber is located in the middle of the machine body in the direction of travel. Alternatively, the third float chamber is located at the rear side of the machine body in the direction of travel.

9. The cleaning robot according to claim 3, wherein: The float chamber includes a fourth float chamber, and the fourth float chamber is located at a front side or a rear side of the driving structure in a direction in which the driving structure moves toward the machine body.

10. The cleaning robot according to claim 3, wherein: At least two driving structures are provided on both sides of the machine body, and the two density adjustment devices correspond one-to-one to the at least two driving structures on both sides. The float chamber includes a fifth float chamber, and the fifth float chamber is located in the area between the at least two driving structures.

11. The cleaning robot according to claim 6, wherein: The driving structure includes a driving side shell, at least two driving teeth and a crawler belt. The at least two driving teeth and the crawler belt are located on the side of the driving side shell away from the middle of the machine body. The at least two driving teeth are rotatably provided on the driving side shell and are spaced apart along the traveling direction of the machine body. The crawler belt is surrounded by the at least two driving teeth, and the at least two driving teeth are used to drive the crawler belt to roll; the surfaces of the at least two driving teeth and the crawler belt form the first mounting groove, and the driving side shell, the at least two driving teeth and the crawler belt form the second mounting groove.

12. The cleaning robot according to claim 1, wherein: The two density adjustment devices are detachably arranged on both sides of the machine body.

13. The cleaning robot according to claim 11, wherein: At least two first connecting parts are respectively provided on both sides of the machine body, and at least two first fixing parts are respectively provided on the surface of the density adjustment device. The at least two first fixing parts are detachably connected to the at least two first connecting parts.

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