Cleaning robot

Abstract

The present application is applicable to the field of robots, and discloses a cleaning robot. The cleaning robot comprises a main body, a water guide groove, a driving mechanism, and a collecting mechanism. The water guide groove is through from front to back in a movement direction of the main body, the water guide groove is arranged in the main body and has a bottom surface, and the bottom surface is located below a water surface. The driving mechanism is installed on the main body and used for driving the main body to move. The collecting mechanism is installed on the main body, and the collecting mechanism is at least partially located in the water guide groove so as to collect waste carried by water flow in the water guide groove. According to the cleaning robot of the present application, by means of the water guide groove, it can be ensured that the waste carried in the water flow is rapidly collected, so that the cleaning efficiency of the cleaning robot is improved.

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 2024103446380, and the invention name “Cleaning Robot”, the entire contents of which are incorporated by reference into this application; this application also claims priority to the Chinese patent application filed with the China Patent Office on March 25, 2024, with application number 2024206117094, and the invention name “Collection Chamber, Collection Mechanism and 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. However, when using existing robots to clean pools, the water's erratic flow can also cause debris to move freely, resulting in low cleaning efficiency and a tendency for waste to be missed or leaked again. Summary of the Invention

[0004] The purpose of this application is to provide a cleaning robot, which aims to solve the technical problem of low cleaning efficiency of the cleaning robot when cleaning a pool.

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

[0006] main body;

[0007] a water guide trough, which is continuous in the front and back direction of the main body, is provided on the main body and has a bottom surface, and the bottom surface is located below the water surface;

[0008] A driving mechanism, mounted on the main body, for driving the main body to move forward;

[0009] A collecting mechanism is installed on the main body, and at least a part of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel.

[0010] In the cleaning robot provided by the present application, the bottom surface of the water guide trough is always located below the water surface during the cleaning robot's movement in the pool. The water flow can flow relative to the cleaning robot and along the water guide trough. The garbage in the water flow flows with the water flow and can be collected by the collection mechanism when passing through the collection mechanism in the water guide trough. In the present application, the water guide trough can limit the flow direction of the water flow relative to the cleaning robot, preventing the water flow from flowing arbitrarily, and allowing the water flow to flow in a concentrated manner into the water guide trough. The garbage carried by the water flow will also flow in a concentrated manner into the water guide trough, ensuring that the garbage carried by the water flow can be quickly collected, thereby improving the cleaning efficiency of the cleaning robot. In addition, because the collection mechanism is located in the water guide trough, the water flow flowing into the water guide trough will inevitably pass through the collection mechanism, which can prevent the water flow from bypassing the collection mechanism, thereby reducing the possibility of garbage being missed. The water guide trough can limit the flow direction of the water flow, preventing the water flow from fluctuating arbitrarily and preventing the garbage from leaking out again. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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.

[0012] FIG1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0013] FIG2 is a cross-sectional view of a cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0014] FIG3 is a schematic structural diagram of the cleaning robot provided in an embodiment of the present application during underwater cleaning;

[0015] FIG4 is a cross-sectional view of a cleaning robot provided by an embodiment of the present application during underwater cleaning;

[0016] FIG5 is a schematic structural diagram of the cleaning robot provided in an embodiment of the present application without a collection mechanism installed;

[0017] FIG6 is a schematic structural diagram of a chassis of a cleaning robot provided in an embodiment of the present application;

[0018] FIG7 is a schematic structural diagram of a transmission mechanism of a cleaning robot provided in an embodiment of the present application;

[0019] FIG8 is a schematic structural diagram of a second transmission member of a cleaning robot provided in an embodiment of the present application;

[0020] FIG9 is a schematic diagram of the cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0021] FIG10 is a schematic diagram showing the position of a first rotating member of a cleaning robot provided in an embodiment of the present application;

[0022] FIG11 is a second schematic diagram of the position of the first rotating member of the cleaning robot provided in an embodiment of the present application;

[0023] FIG12 is a schematic diagram of a collection chamber of a cleaning robot according to an embodiment of the present application;

[0024] FIG13 is a second schematic diagram of the collection chamber of the cleaning robot provided in an embodiment of the present application;

[0025] FIG14 is a schematic diagram of a collection mechanism of a cleaning robot according to an embodiment of the present application;

[0026] FIG15 is a second schematic diagram of the collection mechanism of the cleaning robot provided in an embodiment of the present application;

[0027] FIG16 is a third schematic diagram of the collection mechanism of the cleaning robot provided in an embodiment of the present application;

[0028] FIG17 is a fourth schematic diagram of the collection mechanism of the cleaning robot provided in an embodiment of the present application;

[0029] FIG18 is a schematic structural diagram of a collection chamber of a cleaning robot provided in an embodiment of the present application;

[0030] FIG19 is a cross-sectional view of a collection chamber of a cleaning robot according to an embodiment of the present application;

[0031] FIG20 is a second cross-sectional view of the cleaning robot provided in an embodiment of the present application during underwater cleaning;

[0032] FIG21 is a second cross-sectional view of the cleaning robot provided in an embodiment of the present application when cleaning the water surface.

[0033] Explanation of the accompanying drawings: a: first direction; b: second direction; 100: cleaning robot; 10: main body; 102: semicircular portion; 10a: water guide groove; 11: top shell; 12: bottom plate; 121: mounting member; 123: protrusion; 124: first stopper; 125: second stopper; 20: collection chamber; 21: first cavity; 22: second cavity; 221: first part; 222: second part; 23: connecting portion; 231: first open surface; 232: second open surface; 30: collection mechanism; 31: first collection basket; 31a: first collection port; 31b: first filter port; 32: second collection basket; 32a: second collection port; 32b: Second filter port; 32c: third filter port; 33: composite collection basket; 33a: underwater collection port; 33b: surface collection port; 331: underwater collection area; 332: surface collection area; 30: driving mechanism; 40: first rotating member; 41: first rotating shaft; 42: cleaning brush; 50: second rotating member; 51: second rotating shaft; 52: paddle; 60: crawler track; 70: transmission mechanism; 71: front annular gear; 72: rear annular gear; 73: first rotating gear; 74: second rotating gear; 75: intermediate transmission member; 76: driving gear; 80: suction mechanism; 90: buoyancy device. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The cleaning robot can collect garbage in the pool through the garbage collection port to keep the pool clean and hygienic. Different from cleaning on the ground, the garbage in the pool will flow freely under the influence of the water flow. In particular, when the cleaning robot moves in the water, it will also disturb the water flow, causing the garbage to flow freely. Therefore, the cleaning robot will not be able to collect garbage in a concentrated manner, making it difficult to collect garbage and the cleaning efficiency is low. When collecting garbage through the garbage collection port, the water flow can easily bypass the garbage collection port, and the garbage carried in the water flow will also bypass the garbage collection port, thus missing the garbage. Moreover, even after the garbage enters the garbage collection port, the fluctuation of the water flow will cause the garbage that has entered the garbage collection port to leak out again, making secondary leakage prone.

[0039] To this end, an embodiment of the present application provides a cleaning robot that can ensure that garbage carried in the water flow can be quickly collected through a water guide trough, thereby improving the cleaning efficiency of the cleaning robot.

[0040] 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.

[0041] As shown in FIG. 1 to FIG. 4 , an embodiment of the present application provides a cleaning robot 100 , which includes a main body 10 , a water guide trough 10 a , a driving mechanism 30 , and a collecting mechanism 30 .

[0042] The water channel 10a extends forward and backward along the direction of travel of the main body 10. The water channel 10a is disposed on the main body 10 and has a bottom surface located below the water surface. A drive mechanism 30 is mounted on the main body 10 to drive the main body 10. A collection mechanism 30 is mounted on the main body 10 and is at least partially located within the water channel 10a to collect trash carried by the water flow within the water channel 10a.

[0043] In some embodiments, when the main body 10 is moving, the water flow will flow in the opposite direction of the moving direction of the cleaning robot 100. Since the water guide groove 10a is connected from front to back along the moving direction of the main body 10, the water flow will flow along the water guide groove 10a. The water guide groove 10a will also limit the flow direction of the water flow to prevent the water from flowing randomly.

[0044] In some embodiments, the driving mechanism 30 can drive the main body 10 to move, for example, the main body 10 can be driven to move underwater, or the main body 10 can be driven to move on the water surface. Through the movement of the main body 10, garbage on the route of the cleaning robot 100 can be collected to achieve automated cleaning.

[0045] In some embodiments, the collection mechanism 30 can collect garbage. It can collect garbage through the natural flow of water. Of course, it can also accelerate garbage collection through negative pressure suction, without limitation.

[0046] In some embodiments, the cleaning robot 100 of this embodiment can clean both underwater and on the water surface. Regardless of whether it is cleaning the water surface or underwater, since the bottom surface of the water guide trough 10a is located below the water surface, the water flow can be limited by the water guide trough 10a to facilitate garbage collection.

[0047] In some embodiments, while the cleaning robot 100 is navigating the pool, the bottom surface of the water channel 10a remains below the water surface. Water can flow relative to the cleaning robot 100 and along the water channel 10a. Trash carried in the water follows the flow and is collected by the collection mechanism 30 within the water channel 10a. In this embodiment, the water channel 10a can define the direction of the water flow relative to the cleaning robot 100, preventing the water from flowing haphazardly and concentrating the water flow toward the water channel 10a. Trash carried in the water flow is also concentrated toward the water channel 10a, ensuring that the trash carried in the water flow is quickly collected, thereby improving the cleaning efficiency of the cleaning robot 100. Furthermore, because the collection mechanism 30 is located within the water channel 10a, water flowing into the water channel 10a inevitably passes through the collection mechanism 30, preventing the water from bypassing the collection mechanism 30 and thereby reducing the risk of trash being missed. The water guide trough 10a can limit the flow direction of the water flow, avoid the water flow from fluctuating randomly, and prevent the garbage from leaking out again.

[0048] As shown in Figures 1 and 6, in some embodiments, the main body 10 includes a chassis 12 and a top shell 11. The side of the chassis 12 away from the top shell 11 is provided with two mounting members 121 protruding relative to the chassis 12. The two mounting members 121 are spaced apart and extend along the direction of travel of the main body 10. The chassis 12 and the two mounting members 121 enclose and form a water guide trough 10a. The chassis 12 is constructed to form the bottom surface of the water guide trough 10a, and the two mounting members 121 are constructed to form the two side walls of the water guide trough 10a. It can be understood from the description that the water guide trough 10a provided in this embodiment is formed by the main body 10. In this way, the space of the main body 10 can be fully utilized, making the cleaning robot 100 more streamlined as a whole. Furthermore, because the water channel 10a is located on the side of the chassis 12 away from the top housing 11, that is, the water channel 10a is open toward the bottom side of the main body 10, the cleaning robot 100 can keep the water channel 10a in close contact with the pool wall when cleaning underwater, and the collection mechanism 30 can also stably clean the garbage on the pool wall. In other embodiments, the water channel 10a can also be formed by the top housing 11 and the chassis 12, with the water channel 10a being a channel open at the front and back, and the collection mechanism 30 collecting garbage carried by the water flow in the water channel 10a.

[0049] Of course, in other embodiments, the cleaning robot 100 further includes a water guide member, which is mounted on the bottom of the main body 10 and has a water guide groove 10a. In this embodiment, the water guide member is an accessory that can be installed as needed. Installing the water guide member can facilitate garbage collection, and not installing the water guide member can also make the cleaning robot 100 more portable.

[0050] As shown in Figures 1 to 4, in some embodiments, in the surface cleaning mode, the cleaning robot 100 is placed upside down on the water surface, and in the underwater cleaning mode, the cleaning robot 100 is placed upright underwater. In both cleaning modes, the sewage suction port of the collection mechanism 30 is located at the bottom of the main body 10. The sewage suction port of the collection mechanism 30 can be used to allow water to enter, so that garbage carried by the water flow can enter the collection mechanism 30 through the sewage suction port. In this embodiment, whether underwater cleaning or surface cleaning, garbage can be collected through the sewage suction port of the collection mechanism 30. Compared to other cleaning robots 100 that require multiple collection mechanisms 30, the collection mechanism 30 of the cleaning robot 100 of this embodiment can occupy less space, thereby greatly reducing the overall volume of the cleaning robot 100, facilitating the flexible movement of the cleaning robot 100 and facilitating cleaning.

[0051] As shown in Figures 1, 2, and 9, in some embodiments, the cleaning robot 100 is placed upside down on the water surface. When performing water surface cleaning, the bottom surface of the water trough 10a is located below the water surface and faces upward. The sidewalls on both sides of the water trough 10a are at least partially exposed above the water surface. The water flow at the water surface will flow along the water trough 10a, and the garbage on the water surface can flow along the water trough 10a with the water flow and flow into the collection mechanism 30 through the sewage suction port. When the cleaning robot 100 is placed upright underwater, when performing underwater cleaning, the bottom surface of the water trough 10a is also located below the water surface and faces downward. The water flow underwater will flow along the water trough 10a, and the garbage underwater can flow along the water trough 10a with the water flow and flow into the collection mechanism 30 through the sewage suction port.

[0052] Illustratively, the cleaning robot 100 is placed upside down on the water surface to perform water surface cleaning, with the chassis 12 located below the water surface and the two mounting members 121 at least partially exposed above the water surface.

[0053] As shown in Figure 5, in some embodiments, the sidewalls on both sides of the water channel 10a are perpendicular to the bottom surface. For example, the opposing sides of the two mounting members 121 are perpendicular to the side of the chassis 12 facing away from the top shell 11. This structure facilitates mold formation of the water channel 10a and facilitates manufacturing. Of course, in other embodiments, the sidewalls on both sides of the water channel 10a may also form acute or obtuse angles with the bottom surface.

[0054] As shown in FIG5 , in some embodiments, the sidewalls on both sides of the water channel 10a are planar and parallel. For example, the opposing sides of the two mounting members 121 are planar and parallel. This prevents the sidewalls from interfering with the flow of water within the water channel 10a, ensuring unimpeded flow within the water channel 10a and enabling waste carried by the water flow to be quickly collected by the collection mechanism 30.

[0055] As shown in Figures 1 to 5, 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 is provided at the front end of the main body 10 and is located in the water guide groove 10a, and is at least used to move garbage. The second rotating member 50 is provided at the rear end of the main body 10 and is located in the water guide groove 10a, and is at least used to move the water flow. It should be noted that the front end and rear end of the main body 10 mentioned here are relative to the direction of travel of the main body 10. The front end of the main body 10 is the front end of the direction of travel of the main body 10, and the rear end of the main body 10 is the rear end of the direction of travel of the main body 10. The first rotating member 40 is located at the front end of the main body 10. Compared with the collection mechanism 30, it can first contact the water flow. The first rotating member 40 can quickly move the garbage carried by the water flow to the sewage suction port of the collection mechanism 30 by moving the garbage, thereby improving the cleaning efficiency, or wipe the pool wall to improve the cleaning effect. For example, during underwater cleaning, the first rotating member 40 can contact the pool wall to wipe it or remove debris carried by the water flow. The second rotating member 50 can accelerate the flow of water along the water channel 10a by moving the water flow, thereby improving cleaning efficiency. It can also drive the cleaning robot 100 to move. For example, it can drive the cleaning robot 100 to move on the water surface to achieve water surface cleaning.

[0056] As shown in Figures 1 to 5, 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, / or, the second rotating member 50 can also be used to clean the pool walls. For example, during underwater cleaning, it can contact the pool walls, thereby further cleaning the pool walls in conjunction with the first rotating member 40, improving the cleaning effect.

[0057] As shown in Figures 1 to 5, 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 along the water channel 10a, 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 mechanism 30, and the second rotating member 50 can at least follow the flow to speed up the flow rate of the water in the water channel 10a. The first rotating member 40 and the second rotating member 50 have the same rotation direction, which can ensure that when the cleaning robot 100 is moving, both can rotate along the direction of rotation along the flow of the water, 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 usage of the cleaning robot 100.

[0058] In some embodiments, the first rotating member 40, the second rotating member 50 and the bottom surface of the water guide trough 10a are spaced apart so that the water flow can at least flow along the water guide trough 10a through the space, thereby avoiding the obstruction of the first rotating member 40 or the second rotating member 50 and affecting the flow rate of the water flow, which is beneficial for the collection mechanism 30 to collect garbage carried in the water flow.

[0059] As shown in Figures 5 and 7, in some embodiments, the cleaning robot 100 further includes a transmission mechanism 70 provided on the main body 10. The transmission mechanism 70 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 mechanism 70 is in operation, it can simultaneously drive the first rotating member 40 and the second rotating member 50 to rotate. The two must rotate in the same direction at the same time, or stop at the same time, to ensure that the first rotating member 40 and the second rotating member 50 can both 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 the situation where one of the first rotating member 40 and the second rotating member 50 rotates while the other stops.

[0060] As shown in FIG. 6 and FIG. 7 , in some embodiments, the transmission mechanism 70 may be provided on either side of the main body 10 , or the transmission mechanism 70 may be provided on both sides of the main body 10 .

[0061] As shown in Figures 5 and 7, in some embodiments, the transmission mechanism 70 includes a front annular gear 71, a rear annular gear 72, an intermediate transmission member 75, a first rotating gear 73, and a second rotating gear 74. The front annular gear 71 and the first rotating gear 73 are located at the front end of the main body 10, and the rear annular gear 72 and the second rotating gear 74 are located at the rear end of the main body 10. The inner side of the front annular gear 71 meshes with the first rotating gear 73, and the first rotating gear 73 is connected to the first rotating member 40. The inner side of the rear annular gear 72 meshes with the second rotating gear 74, and the second rotating gear 74 is connected to the second rotating member 50. The front annular gear 71 and the rear annular gear 72 are connected to each other through the intermediate transmission member 75. The transmission of the intermediate transmission member 75 causes the front annular gear 71 and the rear annular gear 72 to rotate in the same direction, thereby achieving the same-direction rotation of the first rotating member 40 and the second rotating member 50 through the transmission mechanism 70. Exemplarily, the intermediate transmission member 75 is a transmission belt that surrounds and meshes with the front annular gear 71 and the rear annular gear 72. In other examples, the intermediate transmission member 75 may also be an even number of gears that are sequentially meshed with the outer sides of the front annular teeth 71 and the outer sides of the rear annular teeth 72 .

[0062] 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 mechanism 70. 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.

[0063] In addition, in this embodiment, the transmission ratio between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission ratio between the first rotating gear 73 and the front annular gear 71 is set to be the same as the transmission ratio between the second rotating gear 74 and the rear annular gear 72. In this way, the first rotating member 40 and the second rotating member 50 can achieve the same rotational speed. For example, the front annular gear 71 and the rear annular gear 72 have the same number of teeth on the inner and outer sides, and the first rotating gear 73 and the second rotating gear 74 have the same number of teeth.

[0064] 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.

[0065] In addition, in this embodiment, the transmission ratio between the front annular gear 71 and the rear annular gear 72 can be set to 1:1, and the transmission coefficient between the first rotating gear 73 and the front annular gear 71 is smaller than the transmission coefficient between the second rotating gear 74 and the rear annular gear 72. 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 front annular gear 71 and the rear annular gear 72 is the same, and the number of teeth on the first rotating gear 73 is smaller than that on the second rotating gear 74.

[0066] As shown in Figures 2 and 4, in some embodiments, the first rotating member 40 at least partially protrudes from the bottom of the main body 10 to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member 50 is located in the installation space defined by the bottom of the main 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 main body 10. The second rotating member 50 will not contact the surface of the area to be cleaned, and therefore will 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 inside the water guide groove 10a and partially located outside the water guide groove 10a, and the second rotating member 50 is entirely located inside the water guide groove 10a. In this embodiment, during underwater cleaning, when the first rotating member 40 rotates, the first rotating member 40 moves away from the rotation tangent of one end of the bottom surface of the water guide groove 10a in the opposite direction of the moving direction of the main body 10, and the first rotating member 40 moves toward the rotation tangent of one end of the bottom surface of the water guide groove 10a in the direction of the moving direction of the main body 10. In this way, the first rotating member 40 can move the wiped or moved garbage toward the collection mechanism 30, which is beneficial for the collection mechanism 30 to collect garbage.

[0067] As shown in FIG10 , in some embodiments, the first rotating member 40 also at least partially protrudes from the front end of the main 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 wall and the side wall of the pool, so as to fully wipe the bottom wall and the side wall of the pool. The A1 area in FIG10 is the cleaning blind spot where the first rotating member 40 protrudes from the front end of the main body 10 when cleaning the bottom wall and the side wall of the pool. The A2 area in FIG11 is the cleaning blind spot where the first rotating member 40 does not protrude from the front end of the main body 10 when cleaning the bottom wall and the side wall of the pool. It can be seen that this embodiment can reduce cleaning 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 main body 10 contacting the side wall before the first rotating member 40. In addition, the main body 10 can be prevented from directly hitting the side wall of the pool, which can provide a certain degree of protection for the main body 10.

[0068] As shown in Figure 10, 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. By way of example, the radius of the semicircular portion 102 corresponds to the semicircle surrounded by the track 60 provided on the outer surface of the front annular gear 71. The center of the circle of the projection of the first rotating member 40 on the semicircular portion 102 is O1, and the center of the semicircular portion is O2. O1 is located at the front side and bottom side of the cleaning robot 100 facing O2. When cleaning the underwater horizontal surface, the angle between the line connecting O1 and O2 and the horizontal plane is 40-50°, by way of example, 45°. In this way, the amount of contact between the first rotating member 40 and the side wall can be consistent with the amount of contact between the first rotating member 40 and the bottom wall, minimizing the cleaning blind spot. 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 in the pool and improve the cleaning effect of the pool.

[0069] As shown in Figure 9, in some embodiments, during water 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 within the water channel 10a to be partially above and partially below the water surface. Thus, during water surface cleaning, the first rotating member 40 can move trash at 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 along the water channel 10a. During water surface cleaning, the first rotating member 40 rotates with the tangent of its rotation away from the bottom surface of the water channel 10a oriented in the direction of travel of the main body 10, while the tangent of its rotation toward the bottom surface of the water channel 10a oriented in the opposite direction of travel of the main body 10. This allows the first rotating member 40 to move trash toward the collection mechanism 30, facilitating collection by the collection mechanism 30.

[0070] As shown in Figures 2 and 4, in some embodiments, the first rotating member 40 includes a first rotating shaft 41 and a cleaning brush 42. The two ends of the first rotating shaft 41 are rotatably mounted on both sides of the main body 10. The cleaning brush 42 is arranged on the first rotating shaft 41 and extends along the axis of the first rotating shaft 41, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to collect garbage during surface cleaning. When the cleaning robot 100 is moving for cleaning, the first rotating shaft 41 can rotate relative to the main body 10, thereby driving the cleaning brush 42 to rotate around the axis of the first rotating shaft 41, so that the surface of the area to be cleaned can be wiped and garbage can be moved during underwater cleaning, and garbage can be moved to facilitate quick garbage collection during surface cleaning. In this embodiment, the cleaning brush 42 extends along the axis of the first rotating shaft 41, which allows the cleaning brush 42 to cover a wider area, thereby increasing the wiping area and the area for moving garbage, which is beneficial to the cleaning of the cleaning robot 100. Exemplarily, the first rotating shaft 41 includes two sections, the end of each section is passed through the side wall of one side of the water guide groove 10a, and is connected to the first rotating tooth 73 of the transmission mechanism 70 in the mounting member 121. The transmission mechanism 70 in the two mounting members 121 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.

[0071] As shown in FIG10 , 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 main body 10, that is, greater than the length of the line connecting O1 to K shown in FIG10 , 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 main 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.

[0072] As shown in Figures 2 and 4, 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 main body 10 and are connected to the driving mechanism 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 mechanism 30 can drive the second rotating shaft 51 to rotate, thereby driving the plurality of paddles 52 to rotate, thereby driving 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 the side wall of one side of the water guide groove 10a, and is connected to the second rotating tooth 74 of the transmission mechanism 70 in the mounting member 121. The driving mechanism 30 includes two motors and is connected to the transmission mechanism 70 in the two mounting members 121. The transmission mechanism 70 in the two mounting members 121 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.

[0073] As shown in Figures 2, 4, and 8, 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 away from one end of the bottom surface of the water guide groove 10a is directed toward the direction of travel of the main body 10, and the rotation tangent of the first rotating member 40 toward one end of the bottom surface of the water guide groove 10a is directed in the opposite direction of the direction of travel of the main 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 away from one end of the bottom surface of the water guide groove 10a is directed in the opposite direction of the direction of travel of the main body 10, and the rotation tangent of the first rotating member 40 toward one end of the bottom surface of the water guide groove 10a is directed toward the direction of travel of the main 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.

[0074] As shown in Figures 1 to 4, in some embodiments, the driving mechanism 30 includes two driving motors, and the transmission mechanism 70 further includes driving teeth 76, which are engaged with the front annular teeth 71 or the rear annular teeth 72. The two driving motors are respectively connected to the driving teeth 76 of the transmission mechanism 70 on both sides, so as to drive the two transmission mechanisms 70 to operate through the two driving motors, thereby driving the first rotating member 40 or the second rotating member 50 to rotate. Exemplarily, the driving mechanism 30 is arranged in a space formed by the top shell 11 and the chassis 12. By respectively driving the two sections of the second rotating member 50 to rotate by the two driving motors, the rotation speeds of the two sections of the second rotating member 50 can be different by controlling the different torques output by the two driving motors, thereby realizing the steering of the cleaning robot 100, so as to facilitate the mobile cleaning of the cleaning robot 100 on the water surface.

[0075] As shown in Figures 1 to 4, in some embodiments, a track 60 is provided at the bottom of the main body 10. When cleaning and wiping the surface of the area to be cleaned underwater, the bottom of the main body 10 faces the surface of the area to be cleaned, and the cleaning robot 100 is driven to move forward by the rolling of the track 60. During the movement of the cleaning robot 100, the first rotating member 40 can be used to wipe the surface of the area to be cleaned. For example, the track 60 is the transmission belt of the aforementioned transmission mechanism 70. In this way, the transmission mechanism 70 can be driven by two drive motors to operate, thereby realizing the rolling of the two tracks 60, and the operation of the first rotating member 40 and the second rotating member 50 can be driven at the same time to meet the different working mode requirements of the cleaning robot 100. By driving the two tracks 60 to roll respectively by two drive motors, the rolling speeds of the two tracks 60 can be different by controlling the different torques output by the two drive motors, thereby realizing the steering of the cleaning robot 100, so as to facilitate the mobile cleaning of the cleaning robot 100 under water.

[0076] As shown in Figures 2 and 4, in some embodiments, an inlet is formed between the first rotating member 40 and the water channel 10a. A protrusion 123 is provided directly below the first rotating member 40 for narrowing the inlet. Protrusion 123 is mounted on the bottom surface of the water channel 10a. As water flows along the water channel 10a, it first enters the water channel 10a from the inlet. The protrusion 123 narrows the inlet, thereby accelerating the flow of water along the water channel 10a, improving waste collection efficiency, and facilitating the centralized flow of water into the collection mechanism 30. For example, the front end of protrusion 123 gradually thickens along the direction of water flow to gradually narrow the inlet. Thus, the inlet gradually narrows after a larger amount of water enters, allowing it to receive more water and the waste it carries, thereby improving waste collection efficiency.

[0077] As shown in Figures 1 and 2, in some embodiments, the collection mechanism 30 includes a second collection basket 32 ​​having a second collection port 32a and a second filter port 32b. The second collection port 32a faces the front end of the main body 10, and the second filter port 32b faces the rear end of the main body 10. As water flows along the water channel 10a, it enters the second collection basket 32 ​​through the second collection port 32a. The second collection basket 32 ​​then collects the waste carried by the water. The water then flows out of the second collection basket 32 ​​through the second filter port 32b. Furthermore, the two sides of the second collection basket 32 ​​are connected to the two sides of the water channel 10a. This ensures that the water flowing through the water channel 10a will pass through the second collection basket 32, preventing waste from being missed.

[0078] As shown in Figures 1, 2, and 9, in some embodiments, the second collection basket 32 ​​further includes a third filter opening 32c facing into the main body 10. A suction mechanism 80 is provided within the main body 10 and communicates with the third filter opening 32c. As water flows along the water channel 10a, it is drawn by the suction mechanism 80, allowing it to flow out of the second collection basket 32 ​​through the third filter opening 32c. The suction mechanism 80 accelerates the flow of water, improving waste collection efficiency.

[0079] In some embodiments, the second collection basket 32 ​​is mainly used to collect garbage when the cleaning robot 100 is cleaning the water surface. By setting the second collection basket 32, the water surface cleaning efficiency can be greatly improved. For example, when cleaning the water surface, the second collection port 32a is located at the water surface.

[0080] As shown in Figures 3 and 4, in some embodiments, the collection mechanism 30 further includes a first collection basket 31 having a first collection port 31a and a first filter port 31b. The first collection port 31a faces the bottom of the main body 10, while the first filter port 31b faces the interior of the main body 10. The suction mechanism 80 is connected to the first filter port 31b. As water flows along the water channel 10a, it passes through the first collection port 31a. Through suction from the suction mechanism 80, the first collection port 31a draws the water into the first collection basket 31, which then collects any waste carried by the water. The water then flows out of the first collection basket 31 through the first filter port 31b. Furthermore, the two sides of the first collection basket 31 are connected to the two sides of the water channel 10a. This ensures that water flowing through the water channel 10a will pass through the first collection basket 31, preventing waste from being missed.

[0081] In some embodiments, the first collecting basket 31 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 difficult to clean.

[0082] In some embodiments, the second collecting basket 32 ​​and the first collecting basket 31 can be used selectively or simultaneously without limitation.

[0083] As shown in Figures 1 and 3, in some embodiments, the cleaning robot 100 further includes a buoyancy device 90. The buoyancy device 90 is provided on the left and right sides of the main body 10, and is used to make the cleaning robot 100 at least partially float on the water surface during water surface cleaning. It should be noted that the buoyancy device 90 can change the overall density of the cleaning robot 100 according to the cleaning needs of the cleaning robot 100, so that the cleaning robot 100 can float on the water surface when cleaning the water surface, and can be immersed in the water when cleaning underwater. In this way, the different working modes of the cleaning robot 100 can be freely switched according to the needs of the user, which is convenient to use. For example, the two buoyancy devices 90 are respectively connected to the outside of the two mounting parts 121.

[0084] In some embodiments, existing upright surface cleaning robots maintain a large portion of their main body above the water surface during surface cleaning, requiring significant buoyancy and, consequently, a relatively large buoyancy device. In contrast, in this embodiment, when the cleaning robot 100 is inverted in water, the majority of its main body 10 is submerged. Since this submerged portion itself provides a certain amount of buoyancy for the cleaning robot 100, the buoyancy provided by the buoyancy device 90 can be reduced. This reduces the size of the buoyancy device 90, thereby reducing its cost and, consequently, the manufacturing cost of the cleaning robot 100. Furthermore, the size of the cleaning robot 100 can be further reduced, facilitating both underwater and surface cleaning.

[0085] In some embodiments, the buoyancy device 90 includes a buoyancy chamber and a water inlet and an air inlet communicating with the buoyancy chamber. During underwater cleaning, the buoyancy chamber receives water through the water inlet and discharges air through the air inlet, resulting in the cleaning robot 100's gravity being greater than its buoyancy. During surface cleaning, the buoyancy chamber discharges water through the water inlet and receives air through the air inlet, resulting in the cleaning robot 100's gravity being equal to its buoyancy. The buoyancy device 90 changes its density by receiving water or air, thereby adjusting the overall density of the cleaning robot 100 to achieve underwater or surface cleaning as needed. During underwater cleaning, water can be poured into the water inlet, which enters the buoyancy chamber and displaces air from the chamber, which is then discharged through the air inlet. While underwater, the water inlet is connected to the external water, ensuring consistent air pressure inside and outside the buoyancy chamber. This allows the buoyancy device 90 to maintain the cleaning robot 100 submerged, facilitating stable cleaning. When cleaning the water surface, the water in the float cavity can be discharged through the water outlet, and the external air enters the float cavity to provide buoyancy for the cleaning robot 100, so that the cleaning robot 100 can float on the water surface.

[0086] In some embodiments, the air inlet and the water inlet are located on opposite sides of the buoyancy device 90, so that when the water inlet on one side allows water to flow in, the air inlet on the other side allows air to flow out, or when the water inlet on one side allows water to flow out, the air inlet on the other side allows air to flow in. For example, the air inlet and the water inlet are located on opposite sides of the buoyancy device 90 along the direction from the top to the bottom of the main body 10.

[0087] In some embodiments, during water surface cleaning, the water inlet is located above the water surface, which can prevent water from entering the float chamber during water surface cleaning and affecting the water surface cleaning of the cleaning robot 100.

[0088] As shown in Figures 2 and 4, in some embodiments, the center of gravity of the cleaning robot 100 is located in the rear area of ​​the main body 10, and the front end of the cleaning robot 100 is tilted at a preset angle due to the center of gravity and the center of buoyancy of the cleaning robot 100. Specifically, when cleaning the water surface, the front end of the cleaning robot 100 is facing upward and the rear end is tilted downward, so that the front end of the bottom surface of the water guide trough 10a is facing upward and the rear end is tilted downward. When cleaning the water surface, the bottom surface of the water guide trough 10a is away from the direction of travel of the cleaning robot 100, which can prevent the cleaning surface from generating resistance to the travel of the cleaning robot 100, and is conducive to the mobile cleaning of the cleaning robot 100. In addition, since the front end of the water surface and the cleaning surface are narrowed, the water flow to the collection mechanism 30 can be accelerated, and the collection mechanism 30 collects garbage carried in the water flow, thereby improving the cleaning efficiency of the cleaning robot 100. Moreover, when cleaning the water surface, the first rotating member 40 can be raised so that the draft of the first rotating member 40 is shallower, which is conducive to moving the garbage on the water surface to the collection mechanism 30, while the draft of the second rotating member 50 is deeper, which is conducive to driving the cleaning robot 100 to move.

[0089] As shown in Figures 2 and 4, in some embodiments, the heavier structure provided in the main body 10 can be arranged at the rear side of the main body 10 to make the center of gravity of the cleaning robot 100 relatively backward. For example, the drive device can be arranged at the rear side of the main body 10.

[0090] In some embodiments, the cleaning robot 100 has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot 100 are distributed on both sides of the center line of the cleaning robot 100 along the front-to-back direction of the main body 10, and the center of buoyancy is located between the first rotating member 40 and the center line, and the center of gravity is located between the second rotating member 50 and the center line. It should be noted that in this state, the cleaning robot 100 is not yet in a balanced state when it is inverted and laid flat on the water surface. The center of gravity of the cleaning robot 100 is located behind the center of buoyancy. Since the center of gravity and the center of buoyancy are not on the same vertical line, torque will be generated, causing the front end of the cleaning robot 100 to tilt at a preset angle, and eventually achieve balance. In this embodiment, in the first state, the center of buoyancy is positioned between the second rotating member 50 and the centerline, thereby preventing the front end of the cleaning robot 100 from tilting too high and ensuring that the first rotating member 40 has sufficient draft. The center of gravity is positioned between the second rotating member 50 and the centerline, thereby preventing the rear end of the cleaning robot 100 from being excessively submerged, allowing the second rotating member 50 to be at least partially above the water surface, thereby preventing water from rolling. Furthermore, this ensures that the water flows stably along the water channel 10a, thereby improving the efficiency of water surface cleaning.

[0091] As shown in FIG9 , in some embodiments, the cleaning robot 100 has a second state in which it is balanced when cleaning a water surface. In this second state, the center of gravity and the center of buoyancy of the cleaning robot 100 are aligned vertically, and the center of gravity is located below the center of buoyancy. It should be noted that this state is when the cleaning robot 100 is inverted and floating on the water surface, and the cleaning robot 100 is in a balanced state. If the cleaning robot 100 moves or water flow disturbances cause the cleaning robot 100 to tilt or rise, the center of gravity of the cleaning robot 100 remains unchanged, while the center of buoyancy shifts. However, since the center of buoyancy is located above the center of gravity in the balanced state, even if the cleaning robot 100 tilts or rises significantly, the center of buoyancy will shift in the direction of the tilt or rise. The upward torque caused by the buoyancy will gradually return the cleaning robot 100 to the second state. Therefore, this arrangement can further prevent the cleaning robot 100 from tipping over, ensuring that the cleaning robot 100 can perform stable surface cleaning. Moreover, compared to other cleaning robots 100, even if the lateral dimensions of the cleaning robot 100 are reduced, the cleaning robot 100 is less likely to overturn. Therefore, the cleaning robot 100 provided in this embodiment can reduce the lateral dimensions to a certain extent, which is beneficial for the mobile cleaning of the cleaning robot 100. Of course, in other embodiments, when the cleaning surface is in a balanced state, the center of gravity and the center of buoyancy may also be at the same height.

[0092] As shown in Figures 12 and 13, in some embodiments, the collection chamber 20 is located on the cleaning robot 100 and communicates with the external space of the cleaning robot 100. The collection chamber 20 serves as a space for retaining underwater and above-water garbage. The collection chamber 20 includes a first cavity 21 and a second cavity 22 that are interconnected. The first cavity 21 and the second cavity 22 are arranged in sequence along a first direction a. The first direction a is from the top to the bottom of the cleaning robot 100.

[0093] In some embodiments, the cleaning robot 100 can be immersed in water to collect underwater garbage and retain the underwater garbage in the collection chamber 20. The cleaning robot 100 can also float on the water to collect garbage on the water surface and retain the garbage on the water surface in the collection chamber 20.

[0094] In some embodiments, garbage can be collected by the collection chamber 20 itself, or by loading other structures in the collection chamber 20, for example, installing a collection mechanism 30 to collect garbage, without limitation.

[0095] In some embodiments, the collection chamber 20 can be connected to the external space to allow underwater and surface garbage to enter the collection chamber 20 and be retained in the collection chamber 20, thereby realizing the collection of garbage above and below the water. Both the above-water and underwater garbage can be accommodated by the collection chamber 20. Compared with the cleaning robot 100 that needs to set up different chambers or collection baskets to collect above-water and underwater garbage respectively, the collection chamber 20 provided in this embodiment can achieve multiple uses in one chamber. On the one hand, it can greatly simplify the structure of the cleaning robot 100. On the other hand, there is no need for the cleaning robot 100 to set up additional chambers or collection baskets, reducing the volume of the cleaning robot 100, thereby enhancing the flexibility of the cleaning robot 100 and improving the cleaning efficiency of the cleaning robot 100.

[0096] In some embodiments, the various mechanisms within the cleaning robot 100 are generally relatively concentrated. For example, the drive mechanism 30, the suction device 80, and the control structure are all relatively concentrated. Given that the cleaning robot 100 requires a certain length and width to ensure its stable operation underwater and on the surface, the cleaning robot 100 generally has a large amount of unused longitudinal space, except for the parts where the various structures are installed. Therefore, arranging the first cavity 21 and the second cavity 22 along the first direction a can effectively and fully utilize the longitudinal space of the cleaning robot 100, thereby maximizing the volume of the collection chamber 20, accommodating more garbage, and facilitating user use. If the first cavity 21 and the second cavity 22 are arranged horizontally, the cleaning robot 100 has less space available, and the volume of the collection chamber 20 is also smaller. Increasing the volume of the collection chamber 20 will increase the size of the cleaning robot 100.

[0097] As shown in Figures 12 and 13, in some embodiments, the collection chamber 20 further includes a connecting portion 23, which connects the collection chamber 20 to the external space of the cleaning robot 100 through the connecting portion 23. The connecting portion 23 includes a first open surface 231 and a second open surface 232, which are angled with each other. The first open surface 231 and the second open surface 232 are used to collect garbage. In this embodiment, the collection chamber 20 collects garbage both underwater and on the surface of the water through the connecting portion 23. Compared to the cleaning robot 100 that needs to collect garbage from different locations, the size of the cleaning robot 100 can be reduced, thereby enhancing the flexibility of the cleaning robot 100 and improving the cleaning efficiency of the cleaning robot 100. In addition, the first open surface 231 and the second open surface 232 are angled with each other, so that garbage can be collected through the first open surface 231 or the second open surface 232 according to the cleaning method of the cleaning robot 100, thereby improving its garbage collection efficiency. Of course, in other embodiments, the garbage on the water surface and the garbage above the water can also enter the collection chamber 20 through the same open surface. For example, the garbage on the water surface and the garbage above the water both enter the collection chamber 20 from the bottom surface of the cleaning robot 100.

[0098] As shown in Figures 12 and 13, in some embodiments, the first open surface 231 and the second open surface 232 are perpendicular to each other. It should be noted that if the angle between the first open surface 231 and the second open surface 232 is small, the first open surface 231 and the second open surface 232 will tend to face the same plane, reducing the area of ​​the connection portion available for garbage to enter. However, if the first open surface 231 and the second open surface 232 are perpendicular to each other, the area of ​​the connection portion available for garbage to enter can be maximized. Therefore, the user can select the first open surface 231 or the second open surface 232 or a better position between the two for garbage to enter according to the cleaning method of the cleaning robot 100, thereby improving the cleaning effect and cleaning efficiency of garbage under various cleaning methods. For example, the first open surface 231 is used to collect underwater garbage, and the second open surface 232 is used to collect garbage on the water surface. The first open surface 231 is located on the bottom surface of the cleaning robot 100 so that it can effectively collect garbage on the pool wall. The second open surface 232 is located on the front side of the cleaning robot 100 along the second direction b so that when the cleaning robot 100 moves, it can efficiently collect garbage carried in the water flow on the water surface. The second direction b is the moving direction of the cleaning robot 100.

[0099] As shown in Figures 12 and 13, in some embodiments, the first open surface 231 and the second open surface 232 are adjacent. This allows the cleaning robot 100 to collect garbage at similar locations when cleaning underwater and on the surface, reducing the size of the cleaning robot 100, enhancing its flexibility, and improving its cleaning efficiency. Of course, in other embodiments, the first open surface 231 and the second open surface 232 can also be spaced apart.

[0100] As shown in Figures 12 and 13, in some embodiments, the connecting portion is located at the bottom of the cleaning robot 100. When cleaning underwater, the cleaning robot 100 is placed upright in the water and can collect underwater garbage through the first open surface 231 located on the bottom of the cleaning robot 100. When cleaning above water, the cleaning robot 100 is placed upside down in the water and can collect surface garbage through the second open surface 232 facing the second direction b.

[0101] As shown in Figures 12 and 13, in some embodiments, the first cavity 21 extends along the first direction a, and the second cavity 22 extends along the second direction b. Extending the first cavity 21 along the first direction a can make full use of the longitudinal space of the cleaning robot 100, and extending the second cavity 22 along the second direction b can make full use of the lateral space of the cleaning robot 100. In this way, the volume of the collection chamber 20 is increased as much as possible to accommodate more garbage and facilitate user use. Exemplarily, the bottom of the cleaning robot 100 is provided with a water guide groove 10a that runs through the second direction b. 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. The second cavity 22 is located in the water guide groove 10a.

[0102] As shown in Figure 12, in some embodiments, the second cavity 22 includes a first portion 221 and a second portion 222. The first portion 221 communicates with the first cavity 21, and the second portion 222 is located in front of the first portion 221 along the second direction b. During underwater cleaning, waste first enters the second portion 222 and then flows into the second portion 222 and the first cavity 21, or alternatively, first enters the first portion 221 and then flows into the first cavity 21. During surface cleaning, waste enters the second portion 222, or enters the second portion 222 and then flows into the first portion 221. This arrangement facilitates waste collection in various cleaning modes and prevents waste from being collected in a particular cleaning mode. For example, during surface cleaning, waste is not blocked by the first portion 221, preventing the second portion 222 from collecting waste. As shown in Figure 13, in other embodiments, the second portion 222 may be located behind the first portion 221 along the second direction b.

[0103] As shown in Figures 18 and 19, in some embodiments, the cleaning robot 100 is provided with a main body 10, the main body 10 having a bottom plate, the first cavity 21 being located on the inner side of the bottom plate facing the main body 10, and the second cavity 22 being located on the outer side of the bottom plate away from the main body 10. It should be noted that the internal structure of the cleaning robot 100 is generally concentrated on the inner side of the bottom plate facing the main body 10. By arranging the first cavity 21 on the inner side of the bottom plate facing the main body 10, the unused space in the main body 10 can be fully utilized, and by arranging the second cavity 22 on the outer side of the bottom plate away from the main body 10, an increase in the thickness of the cleaning robot 100 can be avoided. Therefore, in this embodiment, while ensuring that the volume of the cleaning robot 100 is not increased, the volume of the collection chamber 20 can be increased as much as possible to accommodate more garbage and facilitate user use.

[0104] As shown in Figures 18, 19 and 21, in some embodiments, the main body 10 includes a chassis 12 and a top shell 11. The side of the bottom plate away from the main body 10 is constructed to form a bottom plate. The bottom plate is provided with two mounting members 121 protruding relative to the bottom plate. The two mounting members 121 are spaced apart and extend along the moving direction of the main body 10. A water guide groove 10a is formed between the bottom plate and the two mounting members 121, and the second cavity 22 is located in the water guide groove 10a.

[0105] As shown in Figures 18, 19, and 21, in some embodiments, a second stopper 125 and a first stopper 124 are provided within the water channel 10a, spaced apart along a first direction a. The first and second stops 124, 125, and the mounting members 121 on either side enclose a second cavity 22. It should be noted that the first stopper 124 is located in front of the second stopper 125. The first and second stops 124, 125 do not block the water channel 10a, ensuring that water flows along the water channel 10a and is collected by the garbage. The bottom surface of the water channel 10a is located within the main body 10, forming the first cavity 21.

[0106] As shown in FIG. 14 to FIG. 17 , in some embodiments, a collection mechanism 30 is further provided and applied to the cleaning robot 100 . The collection mechanism 30 is installed on the cleaning robot 100 and is used to collect underwater and surface garbage.

[0107] In some embodiments, the collection mechanism 30 can be installed outside the cleaning robot 100 or inside the cleaning robot 100 , for example, inside the collection chamber 20 , without limitation.

[0108] In some embodiments, the collection mechanism 30 can collect underwater garbage and surface garbage at the same time. Compared with the cleaning robot 100 that needs to set up different chambers or collection baskets to collect surface garbage and underwater garbage respectively, the collection mechanism 30 provided in this embodiment can greatly simplify the structure of the cleaning robot 100. In addition, there is no need for the cleaning robot 100 to set up additional chambers or collection baskets, thereby reducing the volume of the cleaning robot 100, thereby enhancing the flexibility of the cleaning robot 100 and improving the cleaning efficiency of the cleaning robot 100.

[0109] As shown in Figures 14 to 16, in some embodiments, the collection mechanism 30 includes a first collection basket 31 and a second collection basket 32. The first collection basket 31 has a first collection opening 31a, and the second collection basket 32 ​​has a second collection opening 32a. In this embodiment, the first collection basket 31 can collect underwater trash through the first collection opening 31a, while the second collection basket 32 ​​can collect trash on the surface of the water through the second collection opening 32a. Separating the collection baskets for underwater and surface cleaning allows for better adaptation to the respective collection methods, thereby improving cleaning effectiveness and efficiency. For example, the first collection opening 31a of the first collection basket 31 faces the bottom surface of the cleaning robot 100 to enhance the underwater cleaning effect and efficiency of the pool walls. The second collection opening 32a of the second collection basket 32 ​​faces the second direction b to allow water to quickly enter the second collection basket 32 ​​when the cleaning robot 100 moves, allowing trash carried in the water to quickly enter the second collection basket 32, thereby improving the cleaning effect and efficiency of the water surface.

[0110] As shown in Figures 14 and 15, in some embodiments, the first collection basket 31 includes a first collection portion and a second collection portion that are connected. The first collection portion extends along a first direction a, the second collection portion extends along a second direction b, and the second collection basket 32 ​​extends along the second direction b. The first collection basket 31 or the second collection basket 32 ​​is installed on the cleaning robot 100. In this embodiment, the user can choose to install the first collection basket 31 or the second collection basket 32 ​​according to cleaning needs, so that in various cleaning modes, the collection basket can have a larger space to collect garbage, reducing the frequency of garbage cleaning in the collection mechanism 30 and making it more convenient for users.

[0111] As shown in Figure 16, in other embodiments, the first collection basket 31 extends along the first direction a, the second collection basket 32 ​​is located on the front side of the first collection basket 31 along the second direction b, the second collection port 32a opens toward the second direction b, and the first collection basket 31 and the second collection basket 32 ​​are both installed on the cleaning robot 100. In this embodiment, the user can choose to install the first collection basket 31 and the second collection basket 32 ​​at the same time according to cleaning needs, or can also choose to install the first collection basket 31 and the second collection basket 32. Since the installation of the first collection basket 31 and the second collection basket 32 ​​does not affect each other, there is no need to replace the collection basket when performing different cleaning needs, which is convenient for users. In addition, since the second collection basket 32 ​​is located on the front side of the first collection basket 31 along the second direction b, it can ensure that the first collection basket 31 and the second collection basket 32 ​​can both effectively collect garbage without affecting each other.

[0112] In some embodiments, the first collection basket 31 is installed on the cleaning robot 100 from the top or bottom of the cleaning robot 100. It should be noted that no matter how the first collection basket 31 is installed, the first collection port 31a of the first collection basket 31 ultimately needs to be located on the bottom surface of the cleaning robot 100, so that underwater cleaning can be facilitated. In this embodiment, installing the first collection basket 31 from the bottom of the cleaning robot 100 can ensure that the first collection port 31a of the first collection basket 31 is facing the bottom surface of the cleaning robot 100, so as to facilitate underwater garbage collection. When the first collection basket 31 is installed from the top of the cleaning robot 100, the first collection basket 31 actually runs vertically through the cleaning robot 100, which allows the first collection basket 31 to utilize more longitudinal space of the cleaning robot 100, so that the first collection basket 31 can be as large as possible, which is conducive to garbage collection. As shown in Figure 14, for example, the first collection basket 31 is installed in the aforementioned collection chamber 20 from the bottom of the cleaning robot 100.

[0113] As shown in FIG15 , in some embodiments, the second collection basket 32 ​​is mounted on the bottom of the self-cleaning robot 100. Since the second collection basket 32 ​​extends along the second direction b, mounting the second collection basket 32 ​​on the bottom of the self-cleaning robot 100 allows the second collection basket 32 ​​to be placed on the bottom of the cleaning robot 100, thereby enabling quick installation of the second collection basket 32. When cleaning a water surface, the cleaning robot 100 is placed upside down on the water surface, with the second collection port 32a of the second collection basket 32 ​​facing the second direction b to collect garbage carried in the water flow. Exemplarily, the second collection basket 32 ​​is mounted on the bottom of the self-cleaning robot 100 within the aforementioned collection chamber 20.

[0114] As shown in Figure 17, in some embodiments, the collection mechanism 30 includes a composite collection basket 33. The composite collection basket 33 is provided with an underwater collection area 331 and a surface collection area 332. The underwater collection area 331 is used to collect underwater garbage, while the surface collection area 332 is used to collect garbage on the surface. The composite collection basket 33 also has an underwater collection port 33a and a surface collection port 33b. The underwater collection port 33a is connected to the underwater collection area 331, while the surface collection port 33b is connected to the surface collection area 332. It should be noted that the composite collection basket 33, as a whole, can collect both surface and underwater garbage. In this embodiment, the separate collection areas for underwater and surface cleaning can enhance the cleaning effect and improve cleaning efficiency. Furthermore, when using the composite collection basket 33 for garbage collection, there is no need to change the collection basket when different cleaning needs are met, which is convenient for users. Exemplarily, the underwater collecting port 33a is located on the bottom surface of the cleaning robot 100, and the water surface collecting port 33b opens toward the second direction b.

[0115] As shown in Figure 17, in some embodiments, underwater collection area 331 extends along a first direction a, surface collection area 332 is located in front of underwater collection area 331 along a second direction b, and surface collection port 33b opens in the second direction b. In this embodiment, surface collection area 332 is located within underwater collection area 331, ensuring that both underwater collection area 331 and surface collection area 332 can effectively collect garbage without interfering with each other.

[0116] As shown in Figure 17, in some embodiments, the composite collection basket 33 is installed on the cleaning robot 100 from the bottom of the self-cleaning robot 100. It should be noted that the underwater collection port 33a needs to be located at the bottom surface of the cleaning robot 100, so that underwater cleaning can be facilitated. The composite collection basket 33 is installed at the bottom of the self-cleaning robot 100, and the underwater collection port 33a is located at the bottom surface of the cleaning robot 100 to facilitate underwater cleaning. The water surface collection area 332 is placed at the bottom of the cleaning robot 100. When performing water surface cleaning, the cleaning robot 100 is inverted on the water surface, and the water surface collection port 33b of the water surface collection area 332 faces the second direction b to collect garbage carried in the water flow. Exemplarily, the composite collection basket 33 is installed in the aforementioned collection chamber 20 from the bottom of the self-cleaning robot 100.

[0117] As shown in Figures 14 to 17, some embodiments further provide a cleaning robot 100, comprising a main body 10 and a collection mechanism 30. The main body 10 is configured to enclose a collection chamber 20. The collection mechanism 30 is mounted within the collection chamber 20. The collection mechanism 30 is mounted within the collection chamber 20 to collect garbage, making it easier for users to clean up garbage without causing difficulty in cleaning up garbage, thereby facilitating user use.

[0118] In some embodiments, the collection mechanism 30 is installed in the collection chamber 20, and garbage under the water and on the water surface can be collected by the collection mechanism 30. Both the garbage above and below the water can be accommodated by the collection mechanism 30. Compared with the cleaning robot 100 that needs to be provided with different chambers or collection baskets to collect garbage above and below the water respectively, the cleaning robot 100 provided in this embodiment can greatly simplify the structure of the cleaning robot 100, reduce the size of the cleaning robot 100, thereby enhancing the flexibility of the cleaning robot 100 and improving the cleaning efficiency of the cleaning robot 100.

[0119] As shown in Figures 18 to 20, in some embodiments, the collection mechanism 30 is removably mounted to the collection chamber 20. This allows the user to remove and replace the collection mechanism 30 at any time as needed. This allows for different cleaning needs, such as switching between the first collection basket 31 and the second collection basket 32 ​​for underwater and surface cleaning. Furthermore, after the collection mechanism 30 collects garbage, it can be removed and the garbage inside can be cleaned for continued use. For example, the first collection basket 31 is removably mounted to the collection chamber 20, the second collection basket 32 ​​is removably mounted to the collection chamber 20, and the composite collection basket 33 is removably mounted to the collection chamber 20.

[0120] As shown in Figures 18 to 20, in some embodiments, the collection mechanism 30 is provided with a snap-fit ​​structure, and a snap-fit ​​hole is provided on the side wall of the collection chamber 20. Through the cooperation of the snap-fit ​​structure and the snap-fit ​​hole, the collection mechanism 30 can be firmly installed in the collection chamber 20. For example, the snap-fit ​​structure includes a retractable card block and a spring. The card block is applied with an outward force by the spring installed in the collection mechanism 30 so that the card block can protrude from the collection mechanism 30. The card block is embedded in the snap-fit ​​hole to achieve a stable installation fit. Furthermore, the collection mechanism 30 is also provided with a toggle member, which is connected to the card block. By moving the toggle member, the card block can be accommodated in the collection mechanism 30. The card block is disengaged from the card hole, and the collection mechanism 30 can then be removed from the collection chamber 20.

[0121] As shown in Figures 12, 14, and 15, in some embodiments, the collection mechanism 30 includes a first collection basket 31 and a second collection basket 32. The first collection basket 31 is used to collect underwater trash, and the second collection basket 32 ​​is used to collect surface trash. The first collection basket 31 is installed in the first cavity 21 and the second cavity 22, or the second collection basket 32 ​​is installed in the second cavity 22. It should be noted that since both the first collection basket 31 and the second collection basket 32 ​​need to be installed in the second cavity 22, in this embodiment, only one of the first collection basket 31 or the second collection basket 32 ​​can be installed. The user can choose to install the first collection basket 31 or the second collection basket 32 ​​according to cleaning needs. In this embodiment, the collection baskets for underwater cleaning and surface cleaning are separated, which can make the collection baskets for underwater cleaning and surface cleaning more adaptable to their respective collection methods, thereby improving cleaning effects and efficiency. Furthermore, the first collecting basket 31 or the second collecting basket 32 ​​that is selectively installed can occupy a larger space in the collecting chamber 20, so that there is a larger space to collect garbage in various cleaning modes, reducing the frequency of garbage cleaning in the collecting mechanism 30 and making it more convenient for users to use.

[0122] As shown in Figures 12, 14, and 15, in this embodiment, when installing the first collection basket 31, the first collection portion of the first collection basket 31 is placed in the first cavity 21, the second collection portion is placed in the second cavity 22, the bottom surface of the water channel 10a abuts the top surface of the second collection portion, the mounting members 121 on both sides abut the sides of the second collection portion, and the first and second stops 124, 125 abut the front and rear sides of the second collection portion to securely mount the first collection basket 31. When installing the second collection basket 32, the second collection basket 32 ​​is placed in the second cavity 22, the bottom surface of the water channel 10a abuts the top surface of the second collection basket 32, the mounting members 121 on both sides abut the sides of the second collection basket 32, and the first and second stops 124, 125 abut the front and rear sides of the second collection basket 32, ensuring that water can flow along the water channel 10a, retaining garbage in the second collection basket 32 ​​and securing the second collection basket 32.

[0123] In addition, in this embodiment, the first collection basket 31 and the second collection basket 32 ​​are both provided with a snap-fit ​​structure and are securely connected to the snap-fit ​​holes of the first stopper 124 and / or the second stopper 125 to ensure secure installation of the first collection basket 31 and the second collection basket 32. For example, the snap-fit ​​structures of the first collection basket 31 and the second collection basket 32 ​​cooperate with the snap-fit ​​holes of the second stopper 125.

[0124] As shown in Figure 20, in some embodiments, the first collection basket 31 has a first collection port 31a and a first filter port 31b. The first collection port 31a is located on the bottom surface of the main body 10, while the first filter port 31b faces inward. The suction device 80 within the main body 10 is connected to the first filter port 31b. As water flows, it passes through the first collection port 31a. Through suction from the suction device 80 within the main body 10, the first collection port 31a draws the water in, causing it to flow into the first collection basket 31. The first collection basket 31 then collects trash carried in the water, and the water then flows out of the first collection basket 31 through the first filter port 31b. The suction from the suction device 80 accelerates the flow of water and absorbs trash, facilitating underwater cleaning and improving cleaning efficiency.

[0125] As shown in FIG20 , in some embodiments, the second collection basket 32 ​​further includes a second filter port 32 b, with the second collection port 32 a facing the front end of the main body 10 and the second filter port 32 b facing the rear end of the main body 10. As water flows along the water channel 10 a, it enters the second collection basket 32 ​​through the second collection port 32 a. The second collection basket 32 ​​then collects the trash carried along by the water flow, and the water then flows out of the second collection basket 32 ​​through the second filter port 32 b.

[0126] In some embodiments, the second collection basket 32 ​​further includes a third filter opening 32c facing into the main body 10. A suction device 80 within the main body 10 is connected to the third filter opening 32c. As water flows along the water channel 10a, it is drawn by the suction device 80 within the main body 10, causing it to flow out of the second collection basket 32 ​​through the third filter opening 32c. The suction device 80 accelerates the flow of water, improving waste collection efficiency.

[0127] As shown in Figures 12 and 16 , in yet other embodiments, the collection mechanism 30 includes a first collection basket 31 and a second collection basket 32. The first collection basket 31 is used to collect underwater trash, while the second collection basket 32 ​​is used to collect surface trash. The first collection basket 31 is mounted to a portion of the first cavity 21 and the second cavity 22, while the second collection basket 32 ​​is mounted to another portion of the second cavity 22. It should be noted that the first collection basket 31 and the second collection basket 32 ​​are mounted in different areas of the collection chamber 20. Therefore, the user can choose to install both the first collection basket 31 and the second collection basket 32 ​​simultaneously, or alternatively, install one or the other, depending on their cleaning needs. In this embodiment, the separate collection baskets for underwater and surface cleaning allow for better adaptation to the respective collection methods, thereby improving cleaning effectiveness and efficiency. Furthermore, since the first collection basket 31 and the second collection basket 32 ​​can be installed independently of each other, there is no need to switch collection baskets when performing different cleaning operations, which is convenient for the user. For example, the first collection basket 31 is mounted on the first cavity 21 and the first portion 221. The first collection opening 31a of the first collection basket 31 is located on the bottom surface of the cleaning robot 100 to improve the cleaning effect of the underwater pool wall and improve cleaning efficiency. The second collection basket 32 ​​is mounted on the second portion 222. The second collection opening 32a of the second collection basket 32 ​​faces the second direction b. This allows the water flow to quickly enter the second collection basket 32 ​​when the cleaning robot 100 moves, and the garbage carried by the water flow can also quickly enter the second collection basket 32, thereby improving the cleaning effect of the water surface and improving cleaning efficiency. In this example, the second portion 222 is located in front of the first portion 221, ensuring that the first collection basket 31 and the second collection basket 32 ​​can both effectively collect garbage without interfering with each other.

[0128] In this embodiment, when the first collection basket 31 and the second collection basket 32 ​​are installed, the top of the first collection basket 31 is placed on the first cavity 21, and the bottom is placed on the first part 221 of the second cavity 22. The second collection basket 32 ​​is placed in the second part 222 of the second cavity 22. The bottom surface of the water guide trough 10a abuts against the top surface of the second collection basket 32. The mounting pieces 121 on both sides abut against the bottom of the first collection basket 31 and the two sides of the second collection basket 32. The first collection basket 31 and the second collection basket 32 ​​abut against each other. The first stopper 124 abuts against the front side of the second collection basket 32, and the second stopper 125 abuts against the rear side of the bottom of the first collection basket 31 to firmly install the first collection basket 31 and the second collection basket 32.

[0129] In addition, in this embodiment, the first collection basket 31 and the second collection basket 32 ​​are both provided with a snap-on structure. The snap-on structure of the first collection basket 31 cooperates with the snap-on hole of the second stop block 125, and the snap-on structure of the second collection basket 32 ​​cooperates with the snap-on hole of the first stop block 124 to ensure the secure installation of the first collection basket 31 and the second collection basket 32.

[0130] As shown in Figures 12 and 17, in some other embodiments, the collection mechanism 30 includes a composite collection basket 33, which is provided with an underwater collection area 331 and a surface collection area 332. The composite collection basket 33 is installed in the first cavity 21 and the second cavity 22, so that the underwater collection area 331 is placed in a part of the first cavity 21 and the second cavity 22, and the surface collection area 332 is placed in another part of the second cavity 22. It should be noted that the composite collection basket 33 as a whole can meet the needs of both surface garbage collection and underwater garbage collection. In this embodiment, the collection areas for underwater cleaning and surface cleaning are separated, which can make the cleaning effects of underwater cleaning and surface cleaning better and improve cleaning efficiency. In addition, when using the composite collection basket 33 for garbage collection, there is no need to replace the collection basket when different cleaning needs are met, which is convenient for users. Exemplarily, the underwater collection area 331 is located between the first cavity 21 and the first portion 221. The underwater collection port 33a of the composite collection basket 33 is located on the bottom surface of the cleaning robot 100 to improve the cleaning effect of the underwater pool wall and improve cleaning efficiency. The water surface collection area 332 is installed on the second portion 222. The water surface collection port 33b of the composite collection basket 33 faces the second direction b. This allows the water flow to quickly enter the water surface collection area 332 when the cleaning robot 100 moves, and garbage carried in the water flow can also quickly enter the water surface collection area 332, thereby improving the cleaning effect of the water surface and improving cleaning efficiency. In this example, the second portion 222 is located in front of the first portion 221, which ensures that both the underwater collection area 331 and the water surface collection area 332 can effectively collect garbage without affecting each other.

[0131] In this embodiment, when installing the composite collecting basket 33, the top of the underwater collecting area 331 is placed on the first cavity 21, the bottom is placed on the first part 221 of the second cavity 22, the water surface collecting area 332 is placed on the second part 222 of the second cavity 22, the bottom surface of the water guide groove 10a abuts against the top surface of the water surface collecting area 332, the mounting parts 121 on both sides abut against the two sides of the composite collecting basket 33, and the first stop block 124 and the second stop block 125 abut against the front and rear sides of the composite collecting basket 33 to firmly install the first collecting basket 31 and the second collecting basket 32.

[0132] In addition, in this embodiment, the composite collection basket 33 is provided with a snap-fit ​​structure and is securely connected to the snap-fit ​​holes of the first stopper 124 and / or the second stopper 125 to ensure secure installation of the composite collection basket 33. For example, the snap-fit ​​structure of the composite collection basket 33 cooperates with the snap-fit ​​hole of the second stopper 125.

[0133] In some embodiments, the water inlet is located on the bottom surface of the buoyancy device 40, and the air inlet is located on the top surface of the buoyancy device 40. During underwater cleaning, the cleaning robot 100 is placed upright in the water. Water from the pool can enter the float chamber from the bottom surface of the buoyancy device 40, while air in the float chamber is discharged from the top surface of the buoyancy device 40. This allows the float chamber 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 from the air inlet on the top surface, and water in the float chamber can also be quickly discharged through the water inlet on the bottom surface, greatly simplifying the use of the cleaning robot 100. Additionally, when cleaning on the surface of water, the cleaning robot 100 is placed upside down in the water, floating on the surface. The water inlet is located above the surface, preventing water from entering the float chamber, ensuring stable surface cleaning.

[0134] In some embodiments, the water inlet is provided with a filter. When water enters the float chamber from the water inlet, the filter can block garbage and prevent garbage from entering the float chamber with the water, thereby facilitating water inflow or outflow into the float chamber and facilitating switching between various cleaning modes of the cleaning robot 100.

[0135] In some embodiments, the air port 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. 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, thus restricting the entry and exit of water. The push-button switch and the solenoid valve can open the air port when exhausting, and close the air port 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. For example, when the water surface is clean, the air port is located below the water surface. Such a setting can ensure that the float chamber always contains gas. Of course, in other embodiments, a detachable cover can also be provided to cover the air port to limit the passage of gas through the air port.

[0136] 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: main body; a water guide trough, which is continuous in the front and back direction of the main body, is provided on the main body and has a bottom surface, and the bottom surface is located below the water surface; A driving mechanism, mounted on the main body, for driving the main body to move forward; A collecting mechanism is installed on the main body, and at least a part of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel.

2. The cleaning robot according to claim 1, wherein: The main body includes a chassis and a top shell. Two mounting parts protruding relative to the chassis are provided on the side of the chassis away from the top shell. The two mounting parts are distributed at intervals and extend along the moving direction of the main body. The chassis and the two mounting parts enclose the water guide groove.

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

4. The cleaning robot according to claim 1, wherein: Also includes: A first rotating member is provided at the front end of the main body and is located in the water guide groove, and is at least used to move the garbage; The second rotating member is arranged at the rear end of the main body and located in the water guide groove, and is at least used for moving the water flow.

5. The cleaning robot according to claim 4, wherein: The first rotating member rotates around a first rotating axis, and the second rotating member rotates around a second rotating axis. The first rotating axis and the second rotating axis are both perpendicular to the moving direction of the cleaning robot, and the first rotating member and the second rotating member have the same rotation direction.

6. The cleaning robot according to claim 5, wherein: The cleaning robot further includes a transmission mechanism disposed on the main body, wherein the transmission mechanism is respectively connected to the first rotating member and the second rotating member to drive the first rotating member and the second rotating member to rotate in the same direction.

7. The cleaning robot according to any one of claims 4 to 6, wherein: The first rotating member and the second rotating member have the same rotation speed, or the first rotating member and the second rotating member have different rotation speeds.

8. The cleaning robot according to claim 4, wherein: The first rotating member at least partially protrudes from the bottom of the main body to wipe the surface of the area to be cleaned during underwater cleaning, and the second rotating member is located in an installation space defined by the bottom of the main body.

9. The cleaning robot according to claim 8, wherein: The first rotating member comprises: a first rotating shaft, both ends of which are rotatably mounted on both sides of the main body; The cleaning brush is arranged on the first rotating shaft and extends along the axial direction of the first rotating shaft, and is used for wiping the surface of the area to be cleaned during underwater cleaning and collecting garbage during water surface cleaning.

10. The cleaning robot according to claim 8, wherein: The second rotating member comprises: a second rotating shaft, both ends of which are rotatably mounted on both sides of the main body and connected to the driving mechanism; A plurality of paddles are evenly arranged along the outer circumference of the second rotating shaft, and are used to drive the cleaning robot to move when the cleaning robot is cleaning the water surface.

11. The cleaning robot according to claim 10, wherein: The blade surface of the blade is tilted relative to the axial center line of the second rotating shaft.

12. The cleaning robot according to claim 4, wherein: An inlet is formed between the first rotating member and the water guide groove. A protruding member for reducing the size of the inlet is provided directly below the first rotating member. The protruding member is installed on the bottom surface of the water guide groove.

13. The cleaning robot according to claim 1, wherein: Also includes: The buoyancy device is arranged on the left and right sides of the main body and is used to make the cleaning robot at least partially float on the water surface when cleaning the water surface.

14. The cleaning robot according to claim 3, wherein: The center of gravity of the cleaning robot is located in the rear area of ​​the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the buoyancy center of the cleaning robot.

15. The cleaning robot according to claim 14, wherein: The cleaning robot has a first state in which it tends to be balanced when cleaning the water surface. In the first state, the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the center line of the cleaning robot along the front-to-back direction of the main body, and the center of buoyancy is located between the first rotating member and the center line, and the center of gravity is located between the second rotating member and the center line.

16. The cleaning robot according to claim 14 or 15, wherein: The cleaning robot has a second state in which it is in balance when cleaning the water surface. In the second state, the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy.

17. The cleaning robot according to claim 1, wherein: The main body is arranged to form a collection chamber; The collection mechanism is installed in the collection chamber; the collection chamber is connected to the external space of the cleaning robot, and the collection chamber serves as a space for retaining underwater and above-water garbage; the collection chamber includes a first cavity and a second cavity that are connected to each other, and the first cavity and the second cavity are arranged in sequence along a first direction; The first direction is from the top to the bottom of the cleaning robot.

18. The cleaning robot according to claim 17, wherein: The collection chamber also includes a connecting portion, through which the collection chamber is connected to the external space of the cleaning robot. The connecting portion includes a first open surface and a second open surface. There is an angle between the first open surface and the second open surface, and the first open surface and the second open surface are used to collect garbage.

19. The cleaning robot according to claim 18, wherein: The first open surface and the second open surface are perpendicular to each other.

20. The cleaning robot according to claim 17, wherein: The first cavity extends along the first direction, and the second cavity extends along the second direction; Wherein, the second direction is the moving direction of the cleaning robot.

21. The cleaning robot according to claim 20, wherein: The second cavity includes a first portion and a second portion, the first portion is communicated with the first cavity, and the second portion is located at the front side of the first portion along the second direction.

22. The cleaning robot according to claim 17, wherein: The main body has a bottom plate, the first cavity is located on an inner side of the bottom plate facing the main body, and the second cavity is located on an outer side of the bottom plate away from the main body.

23. The cleaning robot according to claim 17, wherein: The collection mechanism includes a first collection basket and a second collection basket. The first collection basket is used to collect underwater garbage, and the second collection basket is used to collect garbage on the water surface. The first collection basket is installed in the first cavity and the second cavity, or the second collection basket is installed in the second cavity.

24. The cleaning robot according to claim 17, wherein: The collection mechanism includes a first collection basket and a second collection basket. The first collection basket is used to collect underwater garbage, and the second collection basket is used to collect garbage on the water surface. The first collection basket is installed in the first cavity and a part of the second cavity, and the second collection basket is installed in the other part of the second cavity.

25. The cleaning robot according to claim 17, wherein: The collection mechanism includes a composite collection basket, which is provided with an underwater collection area and a water surface collection area. The composite collection basket is installed in the first cavity and the second cavity so that the underwater collection area is placed in a part of the first cavity and the second cavity, and the water surface collection area is placed in another part of the second cavity.

26. The cleaning robot according to claim 1, wherein: The collecting mechanism is used to collect underwater and surface garbage.

27. The cleaning robot according to claim 26, wherein: The collecting mechanism includes a first collecting basket and a second collecting basket, the first collecting basket is used to collect underwater garbage, the second collecting basket is used to collect garbage on the water surface, the first collecting basket is provided with a first collecting port, and the second collecting basket is provided with a second collecting port.

28. The cleaning robot according to claim 27, wherein: The first collecting basket includes a first collecting portion and a second collecting portion connected to each other, the first collecting portion extends along a first direction, the second collecting portion extends along a second direction, and the second collecting basket extends along the second direction, and the first collecting basket or the second collecting basket is installed on the cleaning robot; Alternatively, the first collecting basket extends along a first direction, the second collecting basket is located in front of the first collecting basket along a second direction, the second collecting opening opens toward the second direction, and both the first collecting basket and the second collecting basket are mounted on the cleaning robot; The first direction is the direction from the top to the bottom of the cleaning robot, and the second direction is the moving direction of the cleaning robot.

29. The cleaning robot according to claim 27, wherein: The first collecting basket is mounted on the cleaning robot from the top or bottom of the cleaning robot.

30. The cleaning robot according to claim 27, wherein: The second collecting basket is installed on the cleaning robot from the bottom of the cleaning robot.

31. The cleaning robot according to claim 26, wherein: The collection mechanism includes a composite collection basket, which is provided with an underwater collection area and a water surface collection area. The underwater collection area is used to collect underwater garbage, and the water surface collection area is used to collect garbage on the water surface. The composite collection basket is also provided with an underwater collection port and a water surface collection port. The underwater collection port is connected to the underwater collection area, and the water surface collection port is connected to the water surface collection area.

32. The cleaning robot according to claim 31, wherein: The underwater collection area extends along a first direction, the water surface collection area is located in front of the underwater collection area along a second direction, and the water surface collection port opens toward the second direction; The first direction is the direction from the top to the bottom of the cleaning robot, and the second direction is the moving direction of the cleaning robot.

33. The cleaning robot according to claim 31, wherein: The composite collecting basket is installed on the cleaning robot from the bottom of the cleaning robot.

34. The cleaning robot according to claim 26, wherein: The main body is surrounded to form a collection chamber, and the collection mechanism is installed in the collection chamber.

35. The cleaning robot according to claim 34, wherein: The collecting mechanism is detachably mounted on the collecting chamber.

36. The cleaning robot according to claim 34, wherein: The collection mechanism includes a first collection basket and a second collection basket, the first collection basket is used to collect underwater garbage, and the second collection basket is used to collect garbage on the water surface, the collection chamber includes a first cavity and a second cavity that are connected, the first cavity and the second cavity are arranged in sequence along a first direction, the first collection basket is installed in the first cavity and the second cavity, or the second collection basket is installed in the second cavity; The first direction is from the top to the bottom of the cleaning robot.

37. The cleaning robot according to claim 34, wherein: The collection mechanism includes a first collection basket and a second collection basket, the first collection basket is used to collect underwater garbage, and the second collection basket is used to collect garbage on the water surface. The collection chamber includes a first cavity and a second cavity that are connected to each other. The first cavity and the second cavity are arranged in sequence along a first direction. The first collection basket is installed in a part of the first cavity and the second cavity, and the second collection basket is installed in another part of the second cavity. The first direction is from the top to the bottom of the cleaning robot.

38. The cleaning robot according to claim 34, wherein: The collection mechanism includes a composite collection basket, which is provided with an underwater collection area and a surface collection area, wherein the underwater collection area is used to collect underwater garbage, and the surface collection area is used to collect surface garbage, and the collection chamber includes a first cavity and a second cavity that are connected, wherein the first cavity and the second cavity are sequentially arranged along a first direction, and the composite collection basket is installed in the first cavity and the second cavity so that the underwater collection area is located in a part of the first cavity and the second cavity, and the surface collection area is located in another part of the second cavity; The first direction is from the top to the bottom of the cleaning robot.

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