Cleaning robot

Abstract

The present application is applicable to the field of robots, and discloses a cleaning robot, applied to a pool cleaning robot. The cleaning robot is provided with a cavity and an exchange port, and the cavity is communicated with the outside by means of the exchange port. The cleaning robot has a first plane perpendicular to the traveling direction, the cavity is partially located on the front side of the first plane facing the cleaning robot, and the exchange port is located on the rear side of the first plane facing the cleaning robot. When the cleaning robot cleans the side wall of a pool, the first plane is located below the water surface. According to the cleaning robot in the present application, it can be ensured that the exchange port is always below the water surface, preventing water in the cavity from being discharged by means of the exchange port and air from entering by means of the exchange port; thus, the cleaning robot can stably move along the side wall of a pool, thereby ensuring the effective cleaning of the side wall of the pool and the cleaning efficiency.

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 2024205951337, and 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 2024206106526, and invention name “Storage Device 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, more and more applications are adopting robots for automated cleaning to improve work efficiency and reduce manpower. For example, robots can be used to clean pools to maintain cleanliness and hygiene. However, when cleaning the pool walls, robots may sometimes emerge from the water. This can cause them to float, rendering the cleaning process ineffective and preventing them from cleaning the pool walls, thus affecting cleaning efficiency. Summary of the Invention

[0004] The purpose of the present application is to provide a cleaning robot, which aims to solve the technical problem that the cleaning robot is prone to cleaning failure during the process of cleaning the side wall of the pool.

[0005] To achieve the above-mentioned object, the present application provides a cleaning robot, which is applied to a pool cleaning robot. The cleaning robot is provided with a cavity and an exchange port, and the cavity is connected to the outside world through the exchange port;

[0006] The cleaning robot has a first plane perpendicular to the traveling direction, the cavity portion is located on the front side of the first plane facing the cleaning robot, and the exchange port is located on the rear side of the first plane facing the cleaning robot;

[0007] When the cleaning robot cleans the side wall of the pool, the first plane is located below the water surface.

[0008] The cleaning robot provided by the present application can allow water to enter the cavity through the exchange port when the cleaning robot is cleaning underwater, thereby adding additional weight to the cleaning robot's own weight, allowing the cleaning robot to maintain stable movement underwater without floating up and causing underwater cleaning failure. When cleaning the sidewalls of a pool, the cleaning robot will move along the sidewalls of the pool to clean. Since the first plane of the cleaning robot does not exceed the water surface, the exchange port can be ensured to be always below the water surface. This can prevent the water in the cavity from being discharged from the exchange port and the air from being entered from the exchange port. The water can always add additional weight to the cleaning robot to ensure the cleaning robot's stable movement along the sidewalls of the pool, thereby ensuring effective cleaning and cleaning efficiency of the sidewalls of the pool. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0010] FIG1 is a schematic diagram of the position of a first plane of a cleaning robot provided by an embodiment of the present application;

[0011] FIG2 is a schematic diagram of the cleaning robot provided in an embodiment of the present application when cleaning the side wall of a pool and in a balanced state;

[0012] FIG3 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application during underwater cleaning;

[0013] FIG4 is a cross-sectional view of the cleaning robot provided in an embodiment of the present application during underwater cleaning;

[0014] FIG5 is a schematic structural diagram of the cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0015] FIG6 is a cross-sectional view of the cleaning robot provided in an embodiment of the present application when cleaning a water surface;

[0016] FIG7 is a schematic structural diagram of a chassis of a cleaning robot provided in an embodiment of the present application;

[0017] FIG8 is a schematic diagram of the structure of the transmission mechanism of the cleaning robot provided in an embodiment of the present application

[0018] FIG9 is a schematic diagram showing the position of a first rotating member of a cleaning robot according to an embodiment of the present application;

[0019] FIG10 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;

[0020] FIG11 is a schematic structural diagram of a storage device provided in an embodiment of the present application;

[0021] FIG12 is a cross-sectional view of a storage device provided in an embodiment of the present application;

[0022] FIG13 is a schematic diagram of water flow when the suction port of the storage device provided in an embodiment of the present application is not exposed to the water surface;

[0023] FIG14 is a schematic diagram of water flow when the suction port of the storage device provided in an embodiment of the present application is exposed to the water surface;

[0024] FIG15 is a schematic structural diagram of a storage device in an open state according to an embodiment of the present application;

[0025] FIG16 is a schematic structural diagram of the main body of the cleaning robot provided in an embodiment of the present application. 100: Cleaning robot; 100a: First plane; 10: Main body; 102: Semicircular portion; 10a: Water guide groove; 10b: First cavity; 10c: Second cavity; 11: Top shell; 12: Bottom plate; 121: Mounting member; 123: Protrusion; 124: First stopper; 125: Second stopper; 20: Collection device; 20a: Sewage suction port; 201: Stopper; 21: First collection basket; 21a: First sewage suction port; 21b: First filter port; 21c: Second filter port; 22: Storage device; 221: First housing; 2211: Block; 222: Second housing; 2221: Elastic buckle; 23: First storage box; 23a: First storage cavity; 23b: Suction port; 23c: Negative pressure port; 23d: Negative pressure tank; 231: Negative pressure stopper; 232: Second filter screen; 2331: First baffle; 2332: Second baffle; 234: Suction channel; 235: Suction baffle; 24: Second storage box; 24a: Second storage chamber; 24b: Third filter port; 241: First filter screen; 25: Handle; 26: Locking mechanism; 261: Unlocking portion; 262: Lock tongue; 263: Elastic member; 30: Driving device; 40: First rotating member; 41: First rotating shaft; 42: Cleaning brush; 50: Second rotating member; 51: Second rotating shaft; 52: Paddle; 60: Track; 70: Transmission mechanism; 71: Front ring gear; 72: Rear ring gear; 73: First rotating gear; 74: Second rotating gear; 75: Intermediate transmission member; 76: Driving gear; 80: Water pump; 80a: Water outlet; 90: buoyancy device; 90a: exchange port; 91a: water port; 92a: air port. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] The cleaning robot can move around the pool to clean and keep it clean. For example, the cleaning robot can move around the bottom and side walls of the pool to clean the bottom and side walls of the pool. It should be noted that when the cleaning robot moves underwater to clean, it needs to use additional weight to keep the cleaning robot immersed in the water to ensure stable and effective cleaning. However, when the cleaning robot is cleaning the side walls of the pool, it may be exposed to the water surface, which may easily cause the extra weight of the cleaning robot to disappear. For example, the extra weight added by the water body is discharged, and the cleaning robot may easily float up, causing the cleaning to fail and no longer be able to clean the side walls of the pool, affecting the cleaning efficiency of the side walls of the pool.

[0031] To this end, an embodiment of the present application provides a cleaning robot that can ensure that the exchange port is always located below the water surface, preventing water in the cavity from being discharged from the exchange port and air from entering the exchange port, so that the cleaning robot can move stably on the side wall of the pool, thereby ensuring effective cleaning and cleaning efficiency of the side wall of the pool.

[0032] 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.

[0033] As shown in Figures 1 and 2, the present application provides an embodiment of a cleaning robot 100, which is applied to a pool cleaning robot 100. The cleaning robot 100 is provided with a cavity and an exchange port 90a, and the cavity is connected to the outside world through the exchange port 90a. The cleaning robot 100 has a first plane 100a perpendicular to the direction of travel, the cavity portion is located on the front side of the first plane 100a facing the cleaning robot 100, and the exchange port 90a is located on the rear side of the first plane 100a facing the cleaning robot 100. When the cleaning robot 100 cleans the side wall of the pool, the first plane 100a is located below the water surface.

[0034] In some embodiments, the first plane 100a of the cleaning robot 100 can be set by a program. For example, when the first plane 100a of the cleaning robot 100 reaches the water surface, the program controls the cleaning robot 100 to stop moving so as to keep the first plane 100a below the water surface. Alternatively, it can be achieved through a physical structure. For example, when the first plane 100a of the cleaning robot 100 reaches the water surface, the cleaning robot 100 will be in a balanced state and can no longer move upward to keep the first plane 100a below the water surface.

[0035] In some embodiments, the cavity of the cleaning robot 100 can be used for water to enter. Since the exchange port 90a is connected to the cavity, water and gas can enter and exit the cavity through the exchange port 90a. Generally, the density of the cleaning robot 100 itself is less than the density of the water. When the cleaning robot 100 is completely underwater, the weight Fg1 of the cleaning robot 100 is less than the buoyancy Ff1 of the cleaning robot 100. When the cleaning robot 100 is cleaning underwater, the cavity contains water, which can add an additional weight Fg 水 , so that Fg1+Fg 水 The F float 1 ensures that the cleaning robot 100 does not float, thereby facilitating stable underwater cleaning. Furthermore, even if the portion of the cleaning robot 100 located above the first plane 100a is exposed to the water surface, the exchange port 90a is located below the first plane 100a, so that water in the cavity will not be discharged and air will not enter, thereby ensuring stable underwater cleaning.

[0036] In some embodiments, when the cleaning robot 100 is cleaning underwater, water can enter the cavity through the exchange port 90a, thereby adding additional weight to the cleaning robot 100's own weight, so that the cleaning robot 100 can maintain stable movement underwater without floating upside down and failing to clean underwater. When cleaning the side wall of the pool, the cleaning robot 100 will move along the side wall of the pool to clean. Since the first plane 100a of the cleaning robot 100 will not exceed the water surface, the exchange port 90a can be ensured to be always below the water surface. This can prevent the water in the cavity from being discharged from the exchange port 90a and the air from entering from the exchange port 90a. The water can always add additional weight to the cleaning robot 100, so that the cleaning robot 100 can move stably on the side wall of the pool, thereby ensuring effective cleaning and cleaning efficiency of the side wall of the pool.

[0037] As shown in Figures 1 and 2, in some embodiments, the position of the first plane 100a can be ensured by the physical structure of the cleaning robot 100. Specifically, when the cleaning robot 100 cleans the side wall of the pool and the front end is exposed to the water surface, the cleaning robot 100 is in a balanced state. In the balanced state, the buoyancy generated by the unexposed part of the cleaning robot 100 is Fbu2, Fbu2 < Fbu1, and the static friction force of the cleaning robot 100 on the side wall of the pool is f, Fg1 + Fg 水 =Ffloat2+f, at this time, the plane where the cleaning robot 100 is located on the water surface is the first plane 100a. If the first plane 100a of the cleaning robot 100 is located below the water surface, the buoyancy Ffloat will be greater than Ffloat2, and the cleaning robot 100 can easily overcome the static friction f by driving and move upward. If the cleaning robot 100 moves to the point where the first plane 100a is located above the water surface, the buoyancy Ffloat will be less than Ffloat2. Since Fg1+Fg 水 >Ffloat+f, which will eventually cause the cleaning robot 100 to fall back until it is below the equilibrium state.

[0038] Of course, in other embodiments, the first plane 100a of the cleaning robot 100 can be set by a program. Specifically, a water level sensor can be installed at the position of the first plane 100a of the cleaning robot 100. When the cleaning robot 100 moves to the point where the first plane 100a crosses the water surface, the water level sensor can detect the water level change and transmit the information to the control end. The control end controls the cleaning robot 100 to stop moving upward to ensure that the first plane 100a is always below the water surface.

[0039] As shown in Figures 1 and 2, in some embodiments, the cleaning robot 100 is provided with a sewage suction port 20a on its bottom surface. The suction port 20a is located on the rear side of the first plane 100a, facing the cleaning robot 100. The cleaning robot 100 can collect waste from the water through the suction port 20a. It should be noted that the suction port 20a must remain submerged when collecting waste from the water. If it is exposed above the water surface, cleaning will be ineffective. In this embodiment, when the cleaning robot 100 is cleaning the pool wall, the bottom surface of the cleaning robot 100 faces the pool wall. The suction port 20a located on the bottom surface of the cleaning robot 100 facilitates cleaning of the pool wall. Furthermore, when cleaning the side walls of the pool, since the first plane 100a of the cleaning robot 100 does not extend above the water surface, the suction port 20a is always below the water surface, allowing the cleaning robot 100 to clean the pool through the suction port 20a. This ensures effective and efficient cleaning of the pool wall. It should be noted that the sewage suction port 20a can collect garbage in the water flow through the natural flow of the water flow, and can also collect garbage in the water flow by sucking the water flow with negative pressure.

[0040] As shown in Figures 1 and 2, in some embodiments, a baffle 201 is provided on the bottom surface of the cleaning robot 100. The baffle 201 is positioned around the sewage suction port 20a, facing the front of the cleaning robot 100, and is located on the first plane 100a, facing the rear of the cleaning robot 100. When the cleaning robot 100 is moving and cleaning, the baffle 201 can divert the water flow forward. Since the baffle 201 is positioned around the sewage suction port 20a, facing the front, the baffle 201 can divert the water flow to the sewage suction port 20a, allowing the suction port 20a to collect waste carried by the water flow. The baffle 201 can also partially clean the pool walls, improving the cleaning effect. Furthermore, since the baffle 201 is located on the first plane 100a, facing the rear of the cleaning robot 100, the first plane 100a of the cleaning robot 100 does not rise above the water surface, ensuring that the baffle 201 remains below the water surface, effectively diverting the water flow for centralized collection at the sewage suction port 20a.

[0041] In some embodiments, the baffle 201 includes a first baffle 2331 and two second baffles 2332. The two second baffles 2332 are respectively connected to the ends of the first baffle 2331. The first baffle 2331 extends perpendicular to the direction of travel of the cleaning robot 100. The first baffle 2331 is located behind the sewage suction port 20a in the direction of travel of the cleaning robot 100. The two second baffles 2332 extend obliquely from the ends of the first baffle 2331 in the direction of travel of the cleaning robot 100. It should be noted that the ends of the two second baffles 2332 are also located on the rear side of the first plane 100a toward the cleaning robot 100. This ensures that water flow is always maintained within the area enclosed by the baffle 201, thereby ensuring effective cleaning of the pool sidewalls and ensuring cleaning efficiency. For example, the first baffle 2331 and the second baffle 2332 are both flexible sheets so that they can bend and deform when they contact the pool wall, preventing them from interfering with the movement of the cleaning robot 100.

[0042] As shown in Figures 1 and 2, in some embodiments, the cleaning robot 100 is further provided with a water pump 80 and a water outlet 80a. The water pump 80 is used to pump water and discharge it from the water outlet 80a. The water outlet 80a is located on the side of the cleaning robot 100 that is away from the bottom surface. The water pump 80 can pump water from the water and discharge it from the water outlet 80a. Since the water outlet 91a is located on the side of the cleaning robot 100 that is away from the bottom surface, the water outlet 80a can apply a reaction force to the cleaning robot 100 when draining water, so as to apply pressure to the cleaning robot 100 toward the pool wall when cleaning the pool wall, ensuring that the cleaning robot 100 can move and clean stably. In particular, when cleaning the side wall of the pool, the cleaning robot 100 can be stably attached to the side wall of the pool and not easily fall off, ensuring that the cleaning robot 100 can stably move and clean on the side wall of the pool. Of course, in other embodiments, the bottom surface of the cleaning robot 100 can be placed against the pool wall under negative pressure to ensure that the cleaning robot 100 moves stably along the pool wall.

[0043] As shown in Figures 1 and 2, in some embodiments, the water pump 80 is connected to the sewage suction port 20a. It is understandable that the water pump 80 can suck water through the sewage suction port 20a and discharge it through the water outlet 80a. The sewage suction port 20a sucks water, which can speed up the collection of garbage in the water flow, and can simultaneously provide water to the water pump 80 for discharge through the water outlet 80a. It should be noted that when the sewage suction port 20a sucks water, it can form a negative pressure on the bottom surface of the cleaning robot 100. The negative pressure can apply pressure to the cleaning robot 100 toward the wall of the pool to a certain extent. Combined with the reaction pressure applied to the cleaning robot 100 when the water outlet 80a drains water, it can further ensure that the cleaning robot 100 can move and clean stably, especially when cleaning the side walls of the pool. In this embodiment, when the position of the first plane 100a is determined by the physical structure of the cleaning robot 100, the factors affecting the static friction force f are the pressure applied to the cleaning robot 100 when the water outlet 80a drains and the sewage suction port 20a sucks water, as well as the friction coefficient between the cleaning robot 100 and the sidewall of the pool. Based on the factors affecting the static friction force f, the position of the first plane 100a of the cleaning robot 100 can be determined, and the structure of the cleaning robot 100 can be determined so that the cleaning robot 100 can stably clean the sidewall of the pool. Of course, in other embodiments, the water pump 80 can also be disconnected from the sewage suction port 20a and the water flow can be sucked through the other water suction port 91a.

[0044] As shown in Figures 1 and 2, in some embodiments, the water outlet 80a is located on the rear side of the first plane 100a toward the cleaning robot 100. It should be noted that once the water outlet 80a is exposed to the water surface, on the one hand, the water pump 80 needs to have a large pressure to discharge the water body, and on the other hand, the reaction force generated when the water body is discharged is also small, which cannot ensure that the cleaning robot 100 is attached to the pool wall. In this embodiment, since the first plane 100a of the cleaning robot 100 will not exceed the water surface, it can be ensured that the water outlet 80a is always located below the water surface. Pumping and draining water is a continuous fluid transmission process, ensuring a stable pumping and draining cycle of the water pump 80. At the same time, draining water through the water outlet 80a can apply stable pressure to the cleaning robot 100 toward the pool wall, thereby ensuring that the cleaning robot 100 can move and clean the side wall of the pool stably.

[0045] As shown in Figures 1 and 2, in some embodiments, a storage chamber and a filter port are provided within the cleaning robot 100. The storage chamber is connected to the sewage suction port 20a and the filter port. A filter screen is provided at the filter port, which is connected to the water pump 80. When the water pump 80 draws water through the sewage suction port 20a, the water and the garbage carried therein enter the storage chamber along the sewage suction port 20a. Then, when the water flows through the filter port, the garbage is blocked by the filter screen and collected in the storage chamber. The water is then discharged from the water outlet 80a through the water pump 80. In this way, the water flow and the garbage in the water flow can be separated, thereby speeding up garbage collection.

[0046] As shown in FIGS. 3 to 6, in some embodiments, during underwater cleaning, the cavity receives water body through the exchange port 90a and discharges gas. During surface cleaning, the cavity receives gas through the exchange port 90a and discharges water body. During underwater cleaning, the water body in the cavity adds additional gravity to the cleaning robot 100, increasing the density of the cleaning robot 100 and making it greater than the water body, so that the cleaning robot 100 can be immersed below the water surface for underwater cleaning. For example, the pool wall can be cleaned. During surface cleaning, gas is received in the cavity, reducing the density of the cleaning robot 100 and making it less than the water body, so that the cleaning robot 100 can float on the water surface for surface cleaning. By receiving water body or gas in the cavity, the overall density of the cleaning robot 100 can be adjusted to achieve underwater cleaning or surface cleaning as needed, making the cleaning method of the cleaning robot 100 diversified and enabling comprehensive cleaning of the pool. Specifically, during underwater cleaning, Fg1+Fg 水 >F buoyancy 1, while during surface cleaning, part of the cleaning robot 100 is exposed above the water surface. The buoyancy generated by the part of the cleaning robot 100 below the water surface is F buoyancy 3, and Fg1 = F buoyancy 3, enabling the cleaning robot 100 to float stably on the water surface and clean the water surface.

[0047] As shown in FIGS. 3 to 6, in some embodiments, during underwater cleaning, the cleaning robot 100 is placed upright in water with its bottom surface facing the underwater surface to be cleaned. During surface cleaning, the cleaning robot 100 is placed upside down in water with its bottom surface facing the water surface to be cleaned. When the cleaning robot 100 cleans underwater or on the water surface, it collects garbage through the sewage suction port 20a on the bottom surface. The positions during underwater and surface cleaning are at the same place. Compared with other cleaning robots 100, the volume of the cleaning robot 100 can be minimized as much as possible, and the structure of the cleaning robot 100 can be streamlined, enabling the cleaning robot 100 to clean more flexibly and being more conducive to underwater and surface cleaning.

[0048] In some embodiments, the cavity includes a main cavity and a sub-cavity, the main cavity being located in the middle of the cleaning robot 100 in the direction of travel, and the sub-cavity being located at the front side of the cleaning robot 100 in the direction of travel. It is understood that since the sub-cavity is located at the front side, when cleaning the sidewall of the pool and the front part of the cleaning robot 100 is exposed to the water surface, the sub-cavity is exposed first. This allows the buoyancy of the cleaning robot 100 below the water surface to be quickly reduced. When the position of the first plane 100a is determined by the physical structure of the cleaning robot 100, the length of the portion of the cleaning robot 100 located at the rear side of the first plane 100a can be increased as much as possible so that the exchange port 90a can have more space to be set up, for example, it can be close to the front side of the cleaning robot 100. Similarly, the aforementioned sewage suction port 20a and water outlet 80a can also have more space to be set up. In this way, the structure of the cleaning robot 100 can be more reasonably set up. Of course, in other embodiments, the cavity can also be a one-piece cavity, with the front end of the cavity having a larger volume than the rear end.

[0049] As shown in Figures 3 to 6, in some embodiments, the cleaning robot 100 includes a main body 10 and two buoyancy devices 90. The two buoyancy devices 90 are located on either side of the main body 10. Each buoyancy device 90 has a cavity and an exchange port 90a. The cavities within each buoyancy device 90 can accommodate water or gas through the exchange port 90a. In this embodiment, the two buoyancy devices 90 are located on either side of the main body 10 to ensure the overall balance of the cleaning robot 100. For example, when cleaning the surface of a water body, the two sides are balanced to prevent tipping over. When cleaning the sidewalls of a pool, the front end of the cleaning robot 100 can also be kept facing upward. For example, the sewage suction port 20a, water pump 80, and water outlet 80a are all located on the main body 10 and between the two buoyancy devices 90. Of course, in other embodiments, two buoyancy devices 90 are provided, or the two buoyancy devices 90 can be located on either side of the main body 10 along the direction of travel of the cleaning robot 100. Alternatively, only one buoyancy device 90 may be provided, and the buoyancy device 90 is disposed at the bottom of the main body 10 .

[0050] As shown in Figures 3, 5 and 7, in some embodiments, the main body 10 includes a chassis 12 and a top shell 11. Two mounting members 121 protruding relative to the chassis 12 are provided on the side of the chassis 12 away from the top shell 11. The two mounting members 121 are spaced apart and extend along the moving direction of the main body 10. The two buoyancy devices 90 are respectively connected to the outer sides of the two mounting members 121. A water guide groove 10a is formed between the bottom plate and the two mounting members 121. The sewage suction port 20a is located in the water guide groove 10a. The water guide groove 10a can ensure that the garbage carried in the water flow can be quickly collected to improve the cleaning efficiency of the cleaning robot 100.

[0051] As shown in Figures 1 to 3, in some embodiments, the exchange port 90a includes a water port 91a and an air port 92a, which are located on opposite sides of the buoyancy device 90. The water port 91a can be used for water exchange, and the air port 92a can be used for gas exchange. In this embodiment, when water is injected into the cavity and gas is discharged, the water port 91a on one side of the buoyancy device 90 allows water to flow in, while the air port 92a on the other side allows gas to flow out. This allows water to quickly and smoothly enter the cavity. When gas is injected into the cavity and gas is discharged, the water port 91a on one side of the buoyancy device 90 allows water to flow out, while the air port 92a on the other side allows gas to flow in. This allows water to quickly and smoothly discharge, and allows gas to enter the cavity. Such a buoyancy device 90 can be quickly filled with water or gas, which is convenient for user operation. It should be noted that the water inlet 91a and the air inlet 92a are both located on the rear side of the first plane 100a facing the cleaning robot 100, so that when cleaning the side walls of the pool, water will not be drained through the water inlet 91a or air will be taken in through the air inlet 92a, ensuring that the cavity is always filled with water. Of course, in other embodiments, the exchange port 90a only includes one water inlet 91a, through which water and air can enter and exit.

[0052] As shown in Figures 1 to 3, in some embodiments, the water inlet 91a is located on the bottom surface of the buoyancy device 90, and the air inlet 92a is located on the top surface of the buoyancy device 90. During underwater cleaning, the cleaning robot 100 is placed upright in the water. Water from the pool can enter the cavity from the bottom surface of the buoyancy device 90, while air in the cavity is discharged from the top surface of the buoyancy device 90. This allows the cavity 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 cavity from the top air inlet 92a, while water in the cavity is quickly discharged through the bottom water inlet 91a, greatly simplifying the use of the cleaning robot 100. Furthermore, 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 91a is located above the surface, preventing water from entering the cavity and ensuring stable surface cleaning.

[0053] In some embodiments, the water inlet 91a is provided with a filter. When water enters the cavity from the water inlet 91a, the filter can block garbage and prevent garbage from entering the cavity with the water, thereby facilitating water inflow or outflow into the cavity and facilitating switching between various cleaning modes of the cleaning robot 100.

[0054] In some embodiments, the air port 92a 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 92a. The waterproof breathable membrane allows small molecules such as gas to enter and exit, but does not allow large molecules such as water to enter and exit, thereby restricting the entry and exit of water. The push-button switch and the solenoid valve can open the air port 92a when exhausting, and close the air port 92a 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 92a. For example, when the water surface is clean, the air port 92a is located below the water surface. Such a setting can ensure that the gas is always contained in the cavity. Of course, in other embodiments, a detachable cover can also be provided to cover the air port 92a to limit the passage of gas through the air port 92a.

[0055] As shown in Figures 3 and 4, in some embodiments, the cleaning robot 100 further includes a collection device 20, which is provided with a sewage suction port 20a. The collection device 20 includes a first collection basket 21, which has a first sewage suction port 21a and a first filter port 21b. The first sewage suction port 21a faces the front end of the main body 10, and the first filter port 21b faces the rear end of the main body 10. When water flows along the water guide trough 10a, it enters the first collection basket 21 through the first sewage suction port 21a. The first collection basket 21 then collects garbage carried in the water flow, and the water flows out of the first collection basket 21 through the first filter port 21b.

[0056] In some embodiments, the first collection basket 21 further includes a second filter opening 21c facing into the main body 10, and the water pump 80 is connected to the second filter opening 21c. As the water flows along the water channel 10a, it is also pumped by the water pump 80, causing the water to flow out of the first collection basket 21 through the second filter opening 21c. This suction structure can accelerate the flow of water and improve waste collection efficiency.

[0057] In some embodiments, the first collection basket 21 is mainly used to collect garbage when the cleaning robot 100 is cleaning the water surface. By setting the first collection basket 21, the water surface cleaning efficiency can be greatly improved. For example, when cleaning the water surface, the first sewage suction port 21a is located at the water surface.

[0058] As shown in Figures 5 and 6, in some embodiments, the collection device 20 further includes a storage device 22 having a suction port 23b and a third filter port 24b. The suction port 23b faces the bottom surface of the main body 10, while the third filter port 24b faces the interior of the main body 10. The water pump 80 is connected to the third filter port 24b. As water flows, it passes through the suction port 23b. Through the suction of the water pump 80, the suction port 23b can draw the water, causing it to flow into the storage device 22. The storage device 22 then collects the garbage carried by the water. The water then flows out of the storage device 22 through the third filter port 24b. For example, a baffle 201 is provided on the bottom surface of the storage device 22.

[0059] In some embodiments, the storage device 22 is mainly used for collecting garbage when the cleaning robot 100 is cleaning underwater, especially when cleaning the pool wall, and can suck out stains and garbage on the pool wall that are difficult to clean.

[0060] In some embodiments, the first collecting basket 21 and the storage device 22 may be used selectively or simultaneously without limitation.

[0061] As shown in Figures 1 to 3, in some embodiments, the bottom surface of the cleaning robot 100 is provided with a track 60, which is used to abut against the pool wall to drive the cleaning robot 100 to move. Through the rolling of the track 60, the cleaning robot 100 can be stably placed on the pool wall to move, so as to facilitate mobile cleaning. In addition, when cleaning the sidewall of the pool, the track 60 can provide an upward driving force to the cleaning robot 100 to overcome static friction and move upward to clean. Of course, in other embodiments, the cleaning robot 100 can also be provided with rollers to perform mobile cleaning on the pool wall.

[0062] As shown in Figures 4 and 6, in some embodiments, the cleaning robot 100 further includes a driving device 30 and a rotating member. The driving device 30 is provided on the main body 10, and the rotating member is rotatably provided at the bottom of the main body 10. The driving device 30 is transmission-connected to the rotating member to drive the rotating member to rotate along the direction of travel of the main body 10. The rotating member can be used to move water or garbage to facilitate the surface movement of the cleaning robot 100, or the garbage can be moved to speed up the garbage collection speed and improve the cleaning efficiency.

[0063] As shown in Figures 4 and 6, in some embodiments, the rotating member includes at least a first rotating member 40 and a second rotating member 50. The first rotating member 40 and the second rotating member 50 are respectively located in front of and behind the collection device 20 in the direction of travel of the cleaning robot 100. The first rotating member 40 is located in front of the main body 10. Compared to the collection device 20, it can be exposed to the water flow first. The first rotating member 40 can move garbage carried by the water flow to the sewage suction port 20a by moving it, thereby improving cleaning efficiency, or it can wipe the pool wall to improve cleaning results. For example, during underwater cleaning, the first rotating member 40 can contact the pool wall to wipe the pool wall or move garbage carried by the water flow. The second rotating member 50 can increase the flow rate of the water flow by moving the water flow, thereby improving cleaning efficiency, and can also drive the movement of the cleaning robot 100. For example, it can drive the cleaning robot 100 to move on the water surface to achieve surface cleaning. Exemplarily, the first rotating member 40 and the second rotating member 50 are both located in the water guide groove 10 a.

[0064] In some embodiments, the first rotating member 40 can also be used to manipulate the water flow. For example, during surface cleaning or underwater cleaning, the first rotating member 40 can be at least partially submerged below the water surface to manipulate the water flow. This can also accelerate the flow of water. Furthermore, the second rotating member 50 can also be used to clean the pool walls. For example, during underwater cleaning, the second rotating member 50 can contact the pool walls, further cleaning the pool walls in conjunction with the first rotating member 40, thereby enhancing cleaning effectiveness.

[0065] As shown in Figures 4 and 6, 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 the water flows, the first rotating member 40 and the second rotating member 50 will both rotate along the direction of the water flow, so that the first rotating member 40 can at least follow the flow to move the garbage to the collection device 20, and the second rotating member 50 can at least follow the flow to speed up the flow of the water. 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 in the direction of rotation along the flow of the water flow, avoiding movement resistance caused by the different rotation directions of the two. It should be noted that the first rotating member 40 and the second rotating member 50 of the present application can rotate in the same direction clockwise or counterclockwise, depending on the specific use of the cleaning robot 100.

[0066] In some embodiments, the first rotating member 40 and the second rotating member 50 are spaced apart from the cleaning surface so that the water flow can at least flow 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 sewage suction port 20a to collect garbage carried in the water flow.

[0067] As shown in Figures 4, 6, and 8, 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.

[0068] 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 .

[0069] As shown in FIG8 , 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 enabling the transmission mechanism 70 to achieve the same-direction rotation of the first rotating member 40 and the second rotating member 50. 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 .

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] As shown in Figures 9 and 10, 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 does not contact the surface of the area to be cleaned, and therefore does not hinder the movement of the cleaning robot 100, which is conducive to the cleaning robot 100 moving and cleaning underwater. Exemplarily, the first rotating member 40 is partially located 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 rotation tangent of the first rotating member 40 away from the cleaning surface is in the opposite direction of the moving direction of the main body 10, and the rotation tangent of the first rotating member 40 toward the cleaning surface is 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 device 20, which is beneficial for the collection device 20 to collect garbage.

[0075] As shown in FIG9 , 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 FIG9 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 FIG10 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, thereby providing a certain degree of protection for the main body 10.

[0076] As shown in Figure 9, in some embodiments, the front end of the cleaning robot 100 located at the side wall of the water guide trough 10a has a semicircular portion 102, and illustratively, the radius of the semicircular portion 102 corresponds to the semicircle surrounded by the crawler 60 provided on the outer surface of the front annular gear 71. The center of the circle of the first rotating member 40 projected on the semicircular portion 102 is O1, and the center of the circle of the semicircular portion 102 is O2. O1 is located at O2 toward the front side and bottom side of the cleaning robot 100. When cleaning the underwater horizontal surface, the angle between the line connecting O1 and O2 and the horizontal plane is 40 ° -50 °, illustratively, 45 °. In this way, the contact amount between the first rotating member 40 and the side wall can be consistent with the contact amount between the first rotating member 40 and the bottom wall, and the cleaning blind spot is minimized. Moreover, when the cleaning robot 100 moves toward the side wall, that is, when it contacts the side wall, tilts toward the side wall, and moves against the side wall, the first rotating part 40 can wipe from the bottom wall to the side wall, and from the side wall from bottom to top, so as to fully clean the blind spots of the pool and improve the cleaning effect of the pool.

[0077] As shown in FIG6 , in some embodiments, when the water surface is cleaned, the distance between the cleaning surface and the water surface is 2 cm to 10 cm. In this way, the first rotating member 40 and the second rotating member 50 can be partially located above the water surface and partially located below the water surface. In this way, when the water surface is cleaned, the first rotating member 40 can move the garbage on the water surface so that the garbage can be collected quickly. Since the second rotating member 50 has a portion located above the water surface, it can avoid the occurrence of water rolling, which is conducive to the flow of water. When the water surface is cleaned, when the first rotating member 40 rotates, the rotation tangent of the first rotating member 40 away from the cleaning surface is in the direction of travel of the main body 10, and the rotation tangent of the first rotating member 40 toward the cleaning surface is in the opposite direction of the direction of travel of the main body 10. In this way, the first rotating member 40 can move the garbage toward the collection device 20, which is conducive to the collection device 20 collecting garbage.

[0078] As shown in Figure 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 when cleaning underwater, and garbage can be moved when cleaning on the surface to facilitate quick garbage collection. In this embodiment, the cleaning brush 42 extends along the axis of the first rotating shaft 41, so that the cleaning brush 42 can cover a wider area, thereby increasing the wiping area and the area for moving garbage, which is beneficial to the cleaning of the cleaning robot 100. Exemplarily, the first rotating shaft 41 includes two sections, the end of each section is passed through a mounting member 121, 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.

[0079] As shown in FIG9 , 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 FIG9 , 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.

[0080] As shown in FIG6 , 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 device 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 device 30 can drive the second rotating shaft 51 to rotate, thereby driving the plurality of paddles 52 to rotate, thereby driving the cleaning robot 100 to move by stirring the water flow. Exemplarily, the second rotating shaft 51 includes two sections, the end of each section is passed through a mounting member 121, and is connected to the second rotating tooth 74 of the transmission mechanism 70 in the mounting member 121. The driving device 30 includes two driving 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.

[0081] 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 rotational tangent of the second rotating member 50 at the end away from the cleaning surface is oriented in the direction of travel of the main body 10, while the rotational tangent of the first rotating member 40 at the end toward the cleaning surface is oriented in the opposite direction of travel of the main body 10. The blades 52 are tilted in the above-mentioned direction to efficiently shift the water flow, thereby propelling the cleaning robot 100 to move on the water surface. During underwater cleaning, the rotational tangent of the first rotating member 40 at the end away from the cleaning surface is oriented in the opposite direction of travel of the main body 10, while the rotational tangent of the first rotating member 40 at the end toward the cleaning surface is oriented in the direction of travel of the main body 10. The blades 52 are tilted in the above-mentioned direction to reduce resistance when shifting the water flow, thereby facilitating underwater movement of the cleaning robot 100. For example, the blades 52 are perpendicular to the radial direction of the second rotating shaft 51.

[0082] As shown in Figures 4 and 6, in some embodiments, the driving device 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 device 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 through 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 movement and cleaning of the cleaning robot 100 on the water surface.

[0083] As shown in Figures 4 and 6, in some embodiments, when cleaning underwater, the cleaning robot 100 can be driven to move by the rolling of the crawler 60, and the cleaning robot 100 can wipe the surface of the area to be cleaned by the first rotating member 40 during the movement. For example, the crawler 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 crawlers 60, and the first rotating member 40 and the second rotating member 50 can be driven to work at the same time to meet the different working mode requirements of the cleaning robot 100. By driving the two crawlers 60 to roll respectively by two drive motors, the rolling speeds of the two crawlers 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 underwater.

[0084] As shown in Figures 4 and 6, in some embodiments, an inlet is formed between the first rotating member 40 and the bottom surface of the water channel 10a. A protrusion 123 is provided directly below the first rotating member 40 to reduce the size of 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 inlet through the inlet. The protrusion 123 reduces the size of the inlet, thereby increasing the flow rate of the water, improving waste collection efficiency, and facilitating the centralized flow of water into the collection device 20. For example, the front end of protrusion 123 gradually thickens along the direction of water flow to gradually reduce the size of the inlet. Thus, the inlet gradually reduces as more water enters, allowing it to receive more water and the waste it carries, thereby improving waste collection efficiency.

[0085] As shown in Figures 11 to 14, in some embodiments, the storage device 22 is applied to the cleaning robot 100, and a storage cavity is provided in the storage device 22. A suction port 23b and a negative pressure port 23c are provided at the bottom of the storage device 22. A third filter port 24b is provided at the top of the storage device 22. The suction port 23b, the third filter port 24b and the negative pressure port 23c are all connected to the storage cavity. The third filter port 24b is provided with a first filter screen 241. The negative pressure port 23c is located on one side outside the storage cavity and is provided with a swingable negative pressure baffle 231. The negative pressure baffle 231 can swing to cover the negative pressure port 23c, or open the negative pressure port 23c. The negative pressure port 23c is located on the rear side of the suction port 23b along the moving direction of the cleaning robot 100, and the negative pressure port 23c opens in the opposite direction of the moving direction of the cleaning robot 100; the bottom of the storage device 22 is used to face the pool wall, and the third filter port 24b is used to connect to the water pump 80 of the cleaning robot 100. The water pump 80 of the cleaning robot 100 draws water through the third filter port 24b to provide pressure to the cleaning robot 100 toward the pool wall.

[0086] In some embodiments, when cleaning the pool wall, the cleaning robot 100 can use the storage device 22 to clean the pool wall, for example, by sucking water through the suction port 23b to collect garbage carried in the water flow. Alternatively, other structures can be used to achieve the cleaning of the pool wall, without limitation.

[0087] In some embodiments, the direction of the water flow pumped by the water pump 80 is away from the bottom of the cleaning robot 100 so as to apply pressure to the cleaning robot 100 toward the pool wall. The spray direction can be perpendicular to the bottom of the cleaning robot 100 or at a certain angle, without limitation.

[0088] In some embodiments, when the cleaning robot 100 is moving to clean the side wall of the pool, when the suction port 23b is exposed above the water surface, for the cleaning robot 100 that is not equipped with the negative pressure port 23c and the negative pressure baffle 231, it can no longer suck water, the water pump 80 cannot suck the water, and can no longer provide pressure toward the pool wall to the cleaning robot 100 through the sucked water. The cleaning robot 100 will slip, resulting in cleaning failure.

[0089] In some embodiments, when the suction port 23b is below the water surface, the suction port 23b can steadily draw water. At this point, the difference between the external water pressure on the negative pressure baffle 231 and the pressure within the receiving chamber is greater than the weight of the negative pressure baffle 231 itself, allowing the negative pressure baffle 231 to stably seal against the negative pressure port 23c. When the weight of the negative pressure baffle 231 itself is greater than the difference between the external water pressure on the negative pressure baffle 231 and the pressure within the receiving chamber, the negative pressure baffle 231 can swing downward, opening the negative pressure port 23c. Water can then flow along the negative pressure port 23c into the receiving chamber and be pumped out by the water pump 80.

[0090] In some embodiments, the storage device 22 is applied to the cleaning robot 100. When the cleaning robot 100 is cleaning the pool wall, the water pump 80 suctions, and negative pressure is formed in the storage chamber. The negative pressure baffle 231 swings to the cover negative pressure port 23c under the action of negative pressure, and the water flow can flow in from the suction port 23b and flow out through the third filter port 24b. The garbage is retained in the storage chamber due to the obstruction of the first filter net, and the water flow flowing out of the third filter port 24b can be pumped out by the water pump 80. The water flow pumped out by the water pump 80 can provide pressure to the cleaning robot 100 toward the pool wall, ensuring that the cleaning robot 100 can be attached to the pool wall and achieve stable cleaning of the pool wall. When the cleaning robot 100 moves to clean the side wall of the pool, it may be partially exposed above the water surface. When the suction port 23b is exposed above the water surface, the suction port 23b can no longer suck water, and the suction port 23b is connected to the outside air, causing the pressure in the storage chamber to increase. In this embodiment, since the negative pressure port 23c is located at the rear side of the suction port 23b, the negative pressure port 23c is still below the water surface. Due to the increase in pressure in the storage chamber, the negative pressure baffle 231 will swing to open the negative pressure port 23c under the action of gravity. When the water pump 80 sucks water, the water can flow in from the negative pressure port 23c and flow out through the third filter port 24b. The water pump 80 can still provide pressure toward the pool wall to the cleaning robot 100 through the sucked water, ensuring that the cleaning robot 100 can continue to stick to the side wall of the pool without slipping, and achieve stable cleaning of the pool wall. Therefore, the storage device 22 of this embodiment can ensure that the cleaning robot 100 can clean the pool wall stably, and cleaning failure is less likely to occur.

[0091] In addition, by setting up the negative pressure port 23c and the negative pressure baffle 231, the cleaning robot 100 can expose more areas when cleaning the side walls of the pool, thereby greatly increasing the effective cleaning area of ​​the cleaning robot 100 when cleaning the pool, so that the pool can be fully cleaned.

[0092] As shown in Figure 11, in some embodiments, the negative pressure baffle 231 can be a flexible sheet, one end of which is fixedly connected to a side of the negative pressure port 23c and the other end is a free end. The negative pressure baffle 231 can be deformed and swung relative to the negative pressure port 23c to open or seal the negative pressure port 23c. In other embodiments, the negative pressure baffle 231 can also be a rigid sheet, one end of which is rotatably connected to a side of the negative pressure port 23c and the other end is a free end. The negative pressure baffle 231 can be rotated and swung relative to the negative pressure port 23c to open or seal the negative pressure port 23c.

[0093] As shown in Figures 11 to 14, in some embodiments, the negative pressure port 23c is provided with a second filter screen 232. It is understandable that the second filter screen 232 can allow water to pass through and block the entry and exit of garbage. When the suction port 23b is underwater and sucks water, the water flow and the garbage carried in the water flow can be sucked into the storage chamber, and the garbage is retained in the storage chamber. After the negative pressure baffle 231 opens the negative pressure port 23c, the second filter screen 232 can block the garbage from flowing out of the negative pressure port 23c, ensuring reliable garbage collection by the cleaning robot 100. For example, when cleaning the side wall of the water pool, there is a situation where the garbage in the storage chamber flows to the position of the negative pressure port 23c. When the suction port 23b is exposed above the water surface, the negative pressure baffle 231 opens the negative pressure port 23c. Since the negative pressure port 23c is facing the rear side in the direction of travel of the cleaning robot 100, the negative pressure port 23c is downward, and the second filter screen 232 can block the garbage from flowing out. If the second filter screen 232 is not set, it may cause the garbage in the storage chamber to flow out. Of course, in other embodiments, the second filter 232 can be set in the storage chamber to divide the storage chamber into two areas, one side is the area connected to the suction port 23b, and the other side is the area connected to the negative pressure port 23c. On the one hand, it can prevent the garbage sucked into the storage chamber by the suction port 23b from flowing out from the negative pressure port 23c. On the other hand, when the water flow is sucked through the negative pressure port 23c, the garbage in the water flow can also be accommodated in the area connected to the negative pressure port 23c on the other side of the second filter 232. In this way, even if the suction port 23b is exposed above the water surface, the cleaning robot 100 can achieve a certain degree of garbage collection.

[0094] As shown in Figures 11 to 14, in some embodiments, the third filter port 24b is at least partially located behind the suction port 23b in the direction of travel of the cleaning robot 100. When the cleaning robot 100 is moving to clean the sidewall of the pool and the suction port 23b is above the water surface, because the third filter port 24b is at least partially located behind the suction port 23b, the third filter port 24b is at least partially submerged in the water. The third filter port 24b and the negative pressure port 23c are both located underwater. During suction, the water pump 80 can stably draw in water, thereby ensuring that the cleaning robot 100 applies stable pressure toward the sidewall of the pool. It is understood that the third filter port 24b may also be partially aligned with the position of the suction port 23b in the direction of travel of the cleaning robot 100, and / or the third filter port 24b may be partially located in front of the suction port 23b in the direction of travel of the cleaning robot 100.

[0095] As shown in Figure 11, in some embodiments, a baffle 201 is provided at the bottom of the storage device 22. The baffle 201 is located behind the suction port 23b along the direction of travel of the cleaning robot 100. When the cleaning robot 100 is moving and cleaning, the baffle 201 can divert the water flow forward, ensuring that the suction port 23b has sufficient water flow for suction, thereby improving the cleaning effect. Furthermore, the baffle 201 can also brush the pool wall to a certain extent, improving the cleaning effect. In this embodiment, when cleaning the water side wall, when the suction port 23b is exposed to the water surface, the baffle 201 can also divert the diverted water flow to the suction port 23b, thereby reducing the time it takes for the suction port 23b to become ineffective. Exemplarily, the baffle 201 is a flexible sheet that can bend and deform when it contacts the pool wall, preventing it from interfering with the movement of the cleaning robot 100 and allowing for a certain amount of wiping and cleaning of the pool wall.

[0096] As shown in FIG11 , in some embodiments, the baffle 201 includes a first baffle 2331 and two second baffles 2332. The two second baffles 2332 are respectively connected to the two ends of the first baffle 2331. The first baffle 2331 extends perpendicularly to the direction of travel of the cleaning robot 100. The two second baffles 2332 extend obliquely from the two ends of the first baffle 2331 toward the direction of travel of the cleaning robot 100 and extend to the two ends of the storage device 22 perpendicular to the direction of travel of the cleaning robot 100. The first baffle 2331 and the second baffles 2332 at both ends can be provided with a suction port 23b toward the front, so as to divert water flow around the suction port 23b toward the suction port 23b, further ensuring that the suction port 23b has sufficient water flow for suction and improving the cleaning effect. In this embodiment, when cleaning the water side wall, when the suction port 23b is exposed to the water surface, the first baffle 2331 and the two second baffles 2332 can store a portion of water for the suction port 23b to suck, thereby reducing the time for the suction port 23b to fail.

[0097] As shown in FIG11 , in some embodiments, a negative pressure groove 23d is provided at the bottom of the storage device 22, a negative pressure port 23c is formed in the sidewall of the negative pressure groove 23d, and a negative pressure barrier 231 is connected to the negative pressure port 23c and located on the bottom wall of the negative pressure groove 23d. The negative pressure groove 23d can limit the negative pressure barrier 231 to a certain extent, preventing the negative pressure barrier 231 from swinging too much and becoming difficult to recover. For example, it can prevent the negative pressure barrier 231 from deforming too much, resulting in permanent deformation that is difficult to recover. Exemplarily, the negative pressure groove 23d is an inverted trapezoidal groove, and the width of its opening along the traveling direction of the cleaning robot 100 is larger than the bottom of the groove. The negative pressure port 23c is formed on the side wall of the negative pressure groove 23d in front of the traveling direction of the cleaning robot 100. In this way, when cleaning the side wall of the pool, after the negative pressure baffle 231 opens the negative pressure port 23c, the negative pressure port 23c is actually inclined toward the side wall of the pool below, which makes it easier for the negative pressure port 23c to suck water, and the flow of water will not be affected by the set negative pressure groove 23d. Exemplarily, negative pressure grooves 23d are respectively provided on both sides of the bottom of the storage device 22 perpendicular to the direction of travel of the cleaning robot 100. The side walls of each negative pressure groove 23d are formed with a negative pressure port 23c, and the bottom of each negative pressure groove 23d is connected to a negative pressure baffle 231. By providing multiple negative pressure baffles 231, the weight of a single negative pressure baffle 231 can be reduced so that the negative pressure port 23c can be covered when there is negative pressure in the storage chamber.

[0098] As shown in Figures 11 to 14, in some embodiments, the storage device 22 includes a first storage box 23 and a second storage box 24 connected to each other. The first storage box 23 and the second storage box 24 are arranged in sequence from the bottom to the top of the storage device 22. The first storage box 23 is provided with a first storage chamber 23a, and the suction port 23b and the negative pressure port 23c are provided in the first storage box 23 and are connected to the first storage chamber 23a. The second storage box 24 is provided with a second storage chamber 24a, and the third filter port 24b is provided in the second storage box 24 and is connected to the second storage chamber 24a. The first storage chamber 23a and the second storage chamber 24a are connected to form a storage chamber. When the water pump 80 draws water through the suction port 23b, the water and the garbage carried within it enter the storage chamber. The garbage is then blocked by the first filter 241 of the third filter port 24b and retained within the second storage chamber 24a. In particular, the garbage is retained at the first filter 241 due to the suction. It should be noted that if there is too much garbage at the first filter 241, it may clog the third filter port 24b, thereby affecting the efficiency of garbage suction. In this embodiment, the first and second storage boxes 23, 24 are arranged sequentially from the bottom to the top of the storage device 22. The cleaning robot 100 can control the movement of the cleaning robot 100 and / or the operation of the water pump 80 so that the garbage retained in the second storage chamber 24a falls into the first storage chamber 23a. This prevents the garbage from being blocked by the first filter 241 and affecting the suction efficiency.

[0099] As shown in Figures 11 to 14, in some embodiments, the second storage box 24 is located in front of the first storage box 23 along the travel direction of the cleaning robot 100. When the cleaning robot 100 cleans the sidewall of the pool, it sucks water through the suction port 23b and collects garbage. Under the action of gravity, the garbage in the second storage box 24 can move to the area behind the storage device 22 of the first storage cavity 23a to prevent the garbage from being blocked by the first filter 241 and affecting the suction efficiency.

[0100] As shown in Figures 11 to 14, in some embodiments, the suction port 23b is located at the front side of the first storage box 23 along the direction of travel of the cleaning robot 100, and the negative pressure port 23c is located at the rear side of the first storage box 23 along the direction of travel of the cleaning robot 100. This, on the one hand, allows the suction port 23b to be closer to the third filter port 24b, reducing the water flow path. This increases the suction force of the suction port 23b when the water pump 80 draws water through the suction port 23b, thereby improving the cleaning effect on the pool wall. On the other hand, the first storage chamber 23a includes an area located behind the storage device 22. When garbage is collected through the storage chamber, the collected garbage can be placed in this area, so that the collected garbage is not in the water flow path from the suction port 23b to the third filter port 24b. This prevents garbage collected in the storage chamber from affecting the efficiency of the water pump 80 drawing water through the suction port 23b.

[0101] As shown in Figures 12-14, in some embodiments, a suction channel 234 is further provided within the first receiving chamber 23a, communicating with the suction port 23b. The suction channel 234 opens toward the second receiving chamber 24a. This allows the suction channel 234 to direct the water flow, allowing the water drawn through the suction port 23b to directly reach the second receiving chamber 24a and be pumped out through the third filter port 24b by the water pump 80. This further reduces the water flow path, increases the suction strength of the suction port 23b, and thus improves the cleaning effect on the pool walls.

[0102] As shown in Figures 12 to 14, in some embodiments, a suction baffle 235 is provided in the first storage chamber 23a. The suction baffle 235 is swingably disposed at the opening of the suction channel 234 to seal or open the opening of the suction channel 234. When the water pump 80 pumps, creating a negative pressure in the storage chamber, the pressure outside the storage chamber is greater than that inside the storage chamber, which pushes the suction baffle 235 open, allowing water to flow in from the suction port 23b. It should be noted that if the pressure inside the storage chamber is greater than the external pressure, the suction baffle 235 can seal the opening of the suction channel 234, preventing garbage stored in the storage chamber from flowing out of the suction channel 234 and ensuring effective garbage collection.

[0103] As shown in Figures 12 to 14, in some embodiments, the second storage chamber 24a has a rear sidewall that extends rearward from the top to the bottom of the storage device 22. This arrangement facilitates the transfer of trash from the second storage chamber 24a to the first storage chamber 23a, preventing trash from being blocked by the first filter 241 and affecting suction efficiency. For example, when the cleaning robot 100 is moving along the water-side wall for cleaning, the rear sidewall of the second storage chamber 24a tilts downward toward the first storage chamber 23a, allowing trash in the second storage chamber 24a to slide down along the rear sidewall to the rear of the first storage chamber 23a.

[0104] As shown in Figures 11 to 14, in some embodiments, third filter ports 24b are provided on the sides of the second storage box 24 and on the top away from the first storage box 23. Each third filter port 24b is provided with a filter. Distributing the third filter ports 24b throughout the second storage chamber 24a can greatly improve the efficiency of water suction when the water pump 80 is used to draw water. This prevents any of the third filter ports 24b from becoming clogged, which could affect the water pump 80's ability to draw water.

[0105] In some embodiments, the cleaning robot 100 can control the movement of the cleaning robot 100 and / or the operation of the water pump 80 according to the suction state of the water pump 80 and the working state of the cleaning robot 100 to peel off the garbage attached to the first and third filter ports 24b, ensure the effective suction of the water pump 80, and ensure effective garbage collection.

[0106] Specifically, the suction status of the water pump 80 can be determined through the first information, and the operating status of the cleaning robot 100 can be determined through the second information. For example, the first information can be the amount of water discharged by the water pump 80 or the amount of water sucked in by the suction port 23b, or the water pressure discharged by the water pump 80 or the water pressure sucked in by the suction port 23b. The second information can be the inclination of the cleaning robot 100 detected by the inclination sensor.

[0107] In some embodiments, when cleaning the bottom wall of a pool, first and second information are obtained. When the first information determines that the water absorption amount is below a set threshold, and the second information determines that the inclination angle of the cleaning robot 100 is within a preset range of horizontal angles, the water pump 80 is controlled to stop operating. The garbage attached to the first filter 241 in the second storage chamber 24a loses its suction force and falls, causing at least a portion of the garbage to fall into the first storage chamber 23a. This allows the garbage attached to the first filter 241 to be cleared promptly, avoiding water blockage and affecting the suction efficiency of the water pump 80.

[0108] In some embodiments, when cleaning the bottom wall of the pool, after controlling the water pump 80 to stop working, the water pump 80 is further controlled to run in reverse, and the water pump 80 can suck the external water flow into the storage chamber to achieve backwashing, so as to better flush the garbage attached to the first filter 241 and flush the garbage into the first storage chamber 23a.

[0109] In some embodiments, when cleaning the bottom wall of the pool, after the water pump 80 is stopped, the cleaning robot 100 can be controlled to accelerate forward, so that the garbage attached to the first filter 241 is thrown out into the first receiving chamber 23a by the acceleration, for example, to the rear area of ​​the first receiving chamber 23a.

[0110] In some embodiments, when cleaning the bottom wall of a pool, after the water pump 80 is stopped, the cleaning robot 100 can be controlled to move toward the side wall of the pool. One end of the cleaning robot 100 abuts the side wall and climbs upward, while the other end abuts the bottom surface. The cleaning robot 100 is in a tilted state, and gravity can move garbage into the first storage chamber 23a, for example, to the rear area of ​​the first storage chamber 23a.

[0111] In some embodiments, while cleaning the sidewalls of a pool, first and second information are obtained. When the first information determines that the water absorption is below a set threshold, and the second information determines that the inclination angle of the cleaning robot 100 is within a preset vertical angle range, the water pump 80 is controlled to stop operating, causing the cleaning robot 100 to fall to the bottom wall of the pool. It should be noted that in this embodiment, the cleaning robot 100 still uses the water pump 80 to pump water and collect garbage. When the water absorption falls below a certain threshold, garbage attached to the first filter 241 on the surface blocks the water flow, necessitating urgent cleaning. In this embodiment, an intermittent operating mode can be employed, causing the cleaning robot 100 to continuously move up and down. Through the acceleration of the cleaning robot 100's free fall and upward acceleration, as well as the collision effect of contact with the bottom wall of the pool, garbage attached to the first filter 241 is thrown off and thrown into the first storage chamber 23a. For example, it can be thrown into the rear area of ​​the first storage chamber 23a.

[0112] In other embodiments, when cleaning the sidewalls of a pool, the cleaning robot 100 is controlled to reach the bottom of the sidewall. For example, the cleaning robot 100 can be controlled to fall to the bottom wall of the pool, and then one end of the cleaning robot 100 is controlled to abut the sidewall of the pool and climb upward, while the other end abuts the bottom surface. The cleaning robot 100 is in a tilted state, and the garbage can be moved into the first storage chamber 23a by gravity, for example, to the rear area of ​​the first storage chamber 23a.

[0113] As shown in Figures 11 and 12, in some embodiments, a handle 25 is provided at the bottom of the storage device 22. The handle 25 facilitates the removal and assembly of the storage device 22, making it more convenient for the user. For example, it can be easily removed from the cleaning robot 100 to clean the garbage inside the storage device 22. Exemplarily, the handle 25 is located between the two negative pressure tanks 23d.

[0114] As shown in Figures 11 and 12, in some embodiments, the handle 25 is provided with a locking structure 26, which includes an unlocking portion 261 and a locking tongue 262. The unlocking portion 261 and the locking tongue 262 are both movably provided on the handle 25. The unlocking portion 261 is connected to the locking tongue 262 to drive the locking tongue 262 to move. The locking tongue 262 can be moved to protrude from the storage device 22 or be accommodated in the storage device 22. The locking tongue 262 is used to correspond to the bayonet of the cleaning robot 100. When the locking tongue 262 protrudes from the storage device 22, the locking tongue 262 can be locked in the bayonet of the cleaning robot 100. After the storage device 22 is installed, the locking tongue 262 can be locked in the bayonet of the cleaning robot 100, so that the storage device 22 can be stably fixed to the cleaning robot 100, so as to achieve stable garbage collection and stable water suction by the water pump 80. When it is necessary to remove the storage device 22 from the cleaning robot 100, the user can also hold the handle 25 and move the unlocking portion 261 to drive the locking tongue 262 to move, so that the locking tongue 262 is accommodated in the storage device 22. The locking tongue 262 is disengaged from the latch, and the storage device 22 can be removed from the cleaning robot 100, making it easier to clean the storage device 22, or to install another storage device 22 as needed. Exemplarily, the locking structure 26 also includes an elastic member 263, which is disposed in the storage device 22 and connected to the locking tongue 262. The elastic member 263 applies a force to the locking tongue 262 to protrude from the storage device 22. When there is no external force, the locking tongue 262 can be ensured to stably protrude from the storage device 22, so that the storage device 22 can be firmly assembled on the cleaning robot 100. Exemplarily, the locking structure 26 is disposed at the bottom rear side of the storage device 22, and the locking tongue 262 protrudes from the rear side of the storage device 22.

[0115] As shown in Figures 12 and 15, in some embodiments, the storage device 22 includes a first shell 221 and a second shell 222. One end of the first shell 221 and one end of the second shell 222 are hinged, and the first shell 221 and the second shell 222 enclose a storage cavity. In this way, the user can open the first shell 221 and the second shell 222 as needed to clean the garbage in the storage cavity, or close the first shell 221 and the second shell 222 to form a closed storage cavity for garbage collection. For example, the second shell 222 includes the aforementioned second storage box 24 and a portion of the first storage box 23, and the first shell 221 includes a portion of the bottom side of the aforementioned first storage box 23. In this way, after opening the first shell 221 and the second shell 222, both the first storage cavity 23a and the second storage cavity 24a can be exposed, making it easier to clean garbage.

[0116] As shown in Figures 12 and 15, in some embodiments, the other end of the first shell 221 and the other end of the second shell 222 are detachably connected. Specifically, the other end of the first shell 221 is provided with a clamping block 2211, and the other end of the second shell 222 is provided with an elastic buckle 2221. By embedding the clamping block 2211 within the elastic buckle 2221, a secure connection can be achieved between the other end of the first shell 221 and the other end of the second shell 222, thereby ensuring a sealed storage cavity. For example, the front end of the first shell 221 is rotatably connected to the front end of the second shell 222, and the rear ends of the first shell 221 and the second shell 222 are detachably connected.

[0117] As shown in Figures 11 and 16, in some embodiments, the cleaning robot 100 includes a main body 10 and a storage device 22. The bottom of the main body 10 is provided with a mounting cavity, a water pump 80 is provided in the main body 10, the storage device 22 is installed in the mounting cavity, and the third filter port 24b is connected to the water pump 80. The mounting cavity is used to stably install the storage device 22, and the suction of the water pump 80 can apply pressure to the main body 10 toward the pool wall, ensuring that the cleaning robot 100 can be attached to the side wall of the pool without slipping, and achieving stable cleaning of the pool wall. Exemplarily, the water pump 80 is a water pump.

[0118] As shown in Figures 11 and 16, in some embodiments, the installation cavity includes a first cavity 10b and a second cavity 10c that are interconnected. The first cavity 10b and the second cavity 10c are arranged sequentially from the bottom to the top of the cleaning robot 100. When installing the storage device 22, the first storage box 23 is placed in the first cavity 10b, and the second storage box 24 is placed in the second cavity 10c. This allows the storage device 22 to be accommodated within the cleaning robot 100, fully utilizing the space of the cleaning robot 100, reducing the size of the cleaning robot 100, and facilitating the mobile cleaning of the cleaning robot 100.

[0119] As shown in Figures 11, 16, and 3, in some embodiments, the main body 10 has a bottom plate, the first cavity 10b is located on the outside of the bottom plate away from the main body 10, and the second cavity 10c is located on the inside of the bottom plate facing the main body 10. Specifically, in this embodiment, the main body 10 includes a chassis 12 and a top shell 11. The side of the chassis 12 away from the main body 10 is configured to form the 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 direction of travel of the main body 10. A water guide trough 10a is formed between the bottom plate and the two mounting members 121, and the first cavity 10b is located within the water guide trough 10a. The water guide trough 10a ensures that garbage carried in the water flow can be quickly collected, thereby improving the cleaning efficiency of the cleaning robot 100.

[0120] As shown in Figures 11, 16, and 3, in some embodiments, a second stopper 125 and a first stopper 124 are provided within the water channel 10a, spaced apart along the direction of travel of the cleaning robot 100. The first stopper 124, the second stopper 125, and the mounting members 121 on either side enclose a first cavity 10b. It should be noted that the first stopper 124 is located in front of the second stopper 125. The bottom surface of the water channel 10a is located within the main body 10, forming a second cavity 10c. For example, when installing the storage device 22, the second storage box 24 is placed in the second cavity 10c, the bottom surface of the water channel 10a abuts the top surface of the first storage box 23, the mounting members 121 on both sides abut against the sides of the first storage box 23, and the first stopper 124 and the second stopper 125 abut against the front and back sides of the first storage box 23 to securely install the storage device 22. In addition, in this embodiment, a bayonet is provided on the side wall of the second stopper 125 facing the first cavity 10b so as to cooperate with the locking tongue 262 of the receiving device 22 to ensure that the receiving device 22 is firmly installed in the installation cavity.

[0121] 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, used for pool cleaning robot, wherein: The cleaning robot is provided with a cavity and an exchange port, wherein the cavity is connected to the outside world through the exchange port; The cleaning robot has a first plane perpendicular to the traveling direction, the cavity portion is located on the front side of the first plane facing the cleaning robot, and the exchange port is located on the rear side of the first plane facing the cleaning robot; When the cleaning robot cleans the side wall of the pool, the first plane is located below the water surface.

2. The cleaning robot according to claim 1, wherein: The bottom surface of the cleaning robot is provided with a sewage suction port, and the sewage suction port is located on the rear side of the first plane facing the cleaning robot.

3. The cleaning robot according to claim 2, wherein: A blocking piece is provided on the bottom surface of the cleaning robot. The blocking piece is arranged around the sewage suction port toward the front side of the cleaning robot. The blocking piece is located on the rear side of the first plane toward the cleaning robot.

4. The cleaning robot according to claim 1, wherein: The cleaning robot is further provided with a water pump and a water outlet. The water pump is used to pump water and discharge it from the water outlet. The water outlet is located on the side of the cleaning robot facing away from the bottom surface.

5. The cleaning robot according to claim 4, wherein: The bottom surface of the cleaning robot is provided with a sewage suction port, and the water pump is connected to the sewage suction port.

6. The cleaning robot according to claim 4, wherein: The water outlet is located on the rear side of the first plane facing the cleaning robot.

7. The cleaning robot according to claim 1, wherein: During underwater cleaning, the cavity receives water and discharges gas through the exchange port; during surface cleaning, the cavity receives gas and discharges water through the exchange port.

8. The cleaning robot according to claim 7, wherein: The cavity includes a main cavity and a sub-cavity. The main cavity is located in the middle of the cleaning robot in the moving direction, and the sub-cavity is located at the front side of the cleaning robot in the moving direction.

9. The cleaning robot according to claim 1, wherein: The cleaning robot comprises a main body and two buoyancy devices, which are arranged on both sides of the main body. Each of the buoyancy devices is provided with the cavity and the exchange port.

10. The cleaning robot according to claim 9, wherein: The exchange port includes a water port and an air port, and the water port and the air port are respectively located on opposite sides of the buoyancy device.

11. The cleaning robot according to claim 10, wherein: The water inlet is located on the bottom surface of the buoyancy device, and the air inlet is located on the top surface of the buoyancy device.

12. The cleaning robot according to claim 10, wherein: The water outlet is provided with a filter.

13. The cleaning robot according to claim 10, wherein: The air port is provided with one of a waterproof and breathable membrane, a push switch and a solenoid valve to limit the passage of gas through the air port.

14. The cleaning robot according to claim 1, wherein: The bottom surface of the cleaning robot is provided with tracks, and the tracks are used to abut against the wall of the pool to drive the cleaning robot to walk.

15. The cleaning robot according to claim 1, wherein: The cleaning robot further includes a storage device; A storage chamber is provided in the storage device, a suction port and a negative pressure port are provided at the bottom of the storage device, a filter port is provided at the top of the storage device, the suction port, the filter port and the negative pressure port are all connected to the storage chamber, the filter port is provided with a first filter screen, and a swingable negative pressure baffle is provided on one side of the negative pressure port located outside the storage chamber, the negative pressure baffle can be swung to cover the negative pressure port, or open the negative pressure port, the negative pressure port is located at the rear side of the suction port along the moving direction of the cleaning robot, and the negative pressure port opens in the opposite direction of the moving direction of the cleaning robot; the bottom of the storage device is used to face the pool wall, and the filter port is used to connect to the water pump of the cleaning robot, and the water pump of the cleaning robot draws water through the filter port to provide pressure to the cleaning robot toward the pool wall.

16. The cleaning robot according to claim 15, wherein: The negative pressure port is provided with a second filter.

17. The cleaning robot according to claim 15, wherein: The filter port is at least partially located at a rear side of the suction port along a moving direction of the cleaning robot.

18. The cleaning robot according to claim 15, wherein: A collecting baffle is provided at the bottom of the storage device, and the collecting baffle is located at the rear side of the suction port along the moving direction of the cleaning robot.

19. The cleaning robot according to claim 18, wherein: The collection baffle includes a first baffle and two second baffles, the two second baffles are respectively connected to the two ends of the first baffle, the first baffle is extended perpendicular to the travel direction of the cleaning robot, and the two second baffles are respectively extended obliquely from the two ends of the first baffle toward the travel direction of the cleaning robot, and extend to the two ends of the storage device perpendicular to the travel direction of the cleaning robot.

20. The cleaning robot according to claim 15, wherein: A negative pressure groove is provided at the bottom of the storage device, the negative pressure port is formed on the side wall of the negative pressure groove, and the negative pressure baffle is connected to the negative pressure port on one side of the bottom wall of the negative pressure groove.

21. The cleaning robot according to claim 15, wherein: The storage device includes a first storage box and a second storage box connected to each other, and the first storage box and the second storage box are arranged in sequence from the bottom to the top of the storage device. The first storage box is provided with a first storage cavity, the suction port and the negative pressure port are provided in the first storage box and are connected to the first storage cavity, the second storage box is provided with a second storage cavity, the filter port is provided in the second storage box and is connected to the second storage cavity, and the first storage cavity and the second storage cavity are connected to form the storage cavity.

22. The cleaning robot according to claim 21, wherein: The second storage box is located in front of the first storage box along the moving direction of the cleaning robot.

23. The cleaning robot according to claim 15, wherein: A handle is also provided at the bottom of the storage device.

24. The cleaning robot according to claim 23, wherein: The handle is provided with a locking structure, which includes an unlocking portion and a locking tongue. The unlocking portion and the locking tongue are both movably provided on the handle. The unlocking portion is connected to the locking tongue to drive the locking tongue to move. The locking tongue can be moved to protrude from the storage device or be accommodated in the storage device. The locking tongue is used to correspond to the bayonet of the cleaning robot; when the locking tongue protrudes from the storage device, the locking tongue can be clamped in the bayonet of the cleaning robot.

25. The cleaning robot according to claim 15, wherein: It also includes a main body; a mounting cavity is provided at the bottom of the main body, a water pump is provided in the main body, the storage device is installed in the mounting cavity, and the filter port is connected to the water pump.

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