Cleaning robot

Abstract

The present application provides a cleaning robot. The cleaning robot comprises a machine body, a first rotating member, and a second rotating member. The machine body has a front end and a rear end arranged opposite to each other in a traveling direction. The first rotating member is rotatably arranged at the front end of the machine body. The second rotating member is rotatably arranged at the rear end of the machine body, and is used to rotate on the water surface to generate a driving force for the machine body. The second rotating member comprises a driving shaft and at least one driving paddle arranged on an outer circumferential surface of the driving shaft. The driving paddle comprises a plurality of paddle blades spaced apart along the circumferential direction of the driving shaft. Orthographic projections of the plurality of paddle blades in an axial direction of the driving shaft form a closed circle or an approximate circle. During rotation, the plurality of paddle blades sequentially and continuously enter the water to generate continuous propulsion, avoiding the problem of unstable propulsion that easily leads to unsteadiness and reducing large splashes generated by the driving paddle upon entering the water, thereby preventing the cleaning robot from swaying up and down and improving the efficiency of underwater cleaning.

Description

Cleaning robot

[0001] The present application claims priority to Chinese Patent Application Nos. 2024109453405, 2024216804219 and 2024109459420, filed on July 15, 2024, entitled "Cleaning robot", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, in particular to a cleaning robot. BACKGROUND

[0003] Cleaning robots can replace human labor to achieve automatic cleaning. For example, pool cleaning robots can be used for underwater and / or water surface cleaning of swimming pools. However, the existing pool cleaning robots have low cleaning efficiency, which does not meet the user's expectation of the cleaning operation of the pool cleaning robot. SUMMARY

[0004] The present application provides a cleaning robot for improving the efficiency of water surface cleaning.

[0005] The present application provides a cleaning robot, which comprises:

[0006] A body main body having a front end and a rear end oppositely arranged along a traveling direction;

[0007] A first rotating member rotatably arranged at the front end of the body main body for cleaning garbage in a to-be-cleaned area; and

[0008] A second rotating member rotatably arranged at the rear end of the body main body for driving the body main body to move on the water surface, the second rotating member comprising a driving shaft and at least one driving paddle arranged on the outer circumferential surface of the driving shaft, the driving paddle comprising a plurality of paddle blades arranged at intervals along the circumferential direction of the driving shaft, and the orthographic projection of the plurality of paddle blades in the axial direction of the driving shaft forming a closed circle or an approximate circle.

[0009] Compared with the prior art, the previous paddle enters the water completely, and then the next paddle enters the water after a certain time interval, at which time the propelling force will have a certain time interval of supply, thereby causing the propelling force to be unstable, which easily causes the cleaning robot to move unstably on the water surface, and also easily splashes a large amount of water, which causes the cleaning robot to shake up and down, increases the difficulty of water cleaning, and reduces the efficiency of water surface cleaning. The cleaning robot provided by the application comprises a main body, a first rotating member and a second rotating member. The main body has a front end and a rear end arranged opposite along the advancing direction. The first rotating member is rotatably arranged at the front end of the main body and is used to bring garbage into a garbage basket when rotating to clean the garbage in the area to be cleaned. The second rotating member is rotatably arranged at the rear end of the main body and is used to rotate on the water surface to generate a driving force for the main body to move on the water surface. The second rotating member comprises a driving shaft and at least one driving paddle arranged on the outer circumferential surface of the driving shaft. The driving paddle comprises a plurality of paddles arranged at intervals along the circumferential direction of the driving shaft. The projection of the plurality of paddles on the axial direction of the driving shaft forms a closed circle or an approximate circle. In other words, the projection of the paddle on the axial direction of the driving shaft is approximately a sector. In this way, the plurality of paddles are continuously or approximately continuously arranged along the circumferential direction of the driving shaft. During rotation, the plurality of paddles enter the water in sequence to form a continuous propelling force. That is, in the two adjacent paddles, the next paddle enters the water before the previous paddle completely enters the water to maintain a continuous propelling force. This effectively avoids the problem that the unstable propelling force easily causes the cleaning robot to move unstably on the water surface. The paddle of each driving paddle of the application enters the water for a relatively long time, which reduces the driving paddle from splashing a large amount of water when entering the water compared with the prior art in which the paddle of each driving paddle enters the water for a relatively short time. This avoids the cleaning robot from shaking up and down to improve the efficiency of underwater cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings required to be used in the embodiments will be briefly introduced below.

[0011] Fig. 1 is a perspective view of a cleaning robot according to an embodiment of the application;

[0012] Fig. 2 is a side view of a cleaning robot according to an embodiment of the application;

[0013] Fig. 3 is an exploded perspective view of a second rotating member of a cleaning robot according to an embodiment of the application;

[0014] Fig. 4 is a side view of a cross section of a cleaning robot according to an embodiment of the application along the advancing direction;

[0015] Fig. 5 is a rear view of a cleaning robot according to an embodiment of the application;

[0016] Fig. 6 is a perspective view of a first rotating member according to an embodiment of the present application;

[0017] Fig. 7 is a front view of a first driving paddle according to an embodiment of the present application;

[0018] Fig. 8 is a side view of the first driving paddle according to an embodiment of the present application;

[0019] Fig. 9 is another side view of the first driving paddle according to an embodiment of the present application;

[0020] Fig. 10 is a perspective view of a second rotating member according to an embodiment of the present application;

[0021] Fig. 11 is a front view of a second driving paddle according to an embodiment of the present application;

[0022] Fig. 12 is an exploded view of the first rotating member according to an embodiment of the present application;

[0023] Fig. 13 is a sectional view of two sub-driving shafts and a rotating connecting member according to an embodiment of the present application;

[0024] Fig. 14 is a perspective view of a cleaning robot according to an embodiment of the present application;

[0025] Fig. 15 is a sectional view of a paddle blade of the first driving paddle according to an embodiment of the present application;

[0026] Fig. 16 is a sectional view of the first driving paddle according to an embodiment of the present application;

[0027] Fig. 17 is an exploded view of the rotating connecting member and two transmission gears according to an embodiment of the present application;

[0028] Fig. 18 is an enlarged view of the C dashed box in Fig. 13;

[0029] Fig. 19 is a side view of a partial structure of a driving paddle according to an embodiment of the present application;

[0030] Fig. 20 is a side view of a structure of the driving paddle according to an embodiment of the present application;

[0031] Fig. 21 is a schematic view of an application scenario of the driving paddle;

[0032] Fig. 22 is a schematic view of a structure of a cleaning robot according to an embodiment of the present application;

[0033] Fig. 23 is a sectional view of the cleaning robot shown in Fig. 22;

[0034] Fig. 24 is a schematic view of a placement of the cleaning robot when cleaning a water surface;

[0035] Fig. 25 is a schematic view of a placement of the cleaning robot when cleaning a water bottom;

[0036] Fig. 26 is a schematic view of the placement of the cleaning robot when cleaning the waterline;

[0037] Fig. 27 is a schematic view of a partial enlargement of the area A of the cleaning robot shown in Fig. 26;

[0038] Fig. 28 is a schematic view of a partial enlargement of the area B of the cleaning robot shown in Fig. 23;

[0039] Fig. 29 is a schematic view of another partial enlargement of the area A of the cleaning robot shown in Fig. 26;

[0040] Fig. 30 is a schematic view of the structure of the cleaning robot shown in Fig. 22 having a main water flow path and a bypass water flow path;

[0041] Fig. 31 is a schematic view of the structure of the cleaning robot shown in Fig. 22 having a water flow guide surface;

[0042] Fig. 32 is a schematic view of the structure of a baffle assembly;

[0043] Fig. 33 is a schematic view of the structure of another baffle assembly;

[0044] Fig. 34 is a schematic view of the assembled structure of the baffle assembly shown in Fig. 33. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only some of the embodiments, but not all the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] In the present application, the phrase "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0047] The terms "first", "second", and the like in the description and claims of the application and in the above description of the drawings are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. Also, the terms "comprises", "comprising", "includes", "including" and the like are used in the sense of "including but not limited to". For example, a component or device that "comprises" or "includes" one or more features, does not exclude additional, unrecited features, although only the recited features are explicitly stated in the specification of claims. Also, the terms "first", "second", and the like in the description and claims of the application and in the above description of the drawings are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. Also, the terms "comprises", "comprising", "includes", "including" and the like are used in the sense of "including but not limited to". For example, a component or device that "comprises" or "includes" one or more features, does not exclude additional, unrecited features, although only the recited features are explicitly stated in the specification of claims.

[0048] Referring to FIG. 1, a cleaning robot 100 is provided according to an embodiment of the present application. The cleaning robot 100 comprises a main body 10, a first rotating member 20, and a second rotating member 30.

[0049] Referring to FIGS. 1-5, the main body 10 has a front end 10c and a rear end 10d oppositely arranged along a traveling direction D1. The traveling direction D1 refers to the advancing direction of the main body 10 when the cleaning robot 100 is cleaning a water surface. The front end 10c of the main body 10 refers to one end of the advancing direction of the cleaning robot 100 when the cleaning robot 100 is cleaning a water surface. The rear end 10d of the main body 10 refers to the other end opposite to the front end 10c. The traveling direction is indicated by D1 in the drawings.

[0050] Referring to FIGS. 1-5, the main body 10 comprises, but is not limited to, a housing 11, and a garbage collecting device 12, a water pump system 13, and a driving member 14 arranged in the housing 11. Optionally, along the height direction of the main body 10, the water pump system 13 is arranged at the top of the housing 11, i.e., the top 10a of the main body 10. The garbage collecting device 12 is arranged at the bottom of the housing 11, i.e., the bottom 10b of the main body 10. The driving member 14 is arranged close to the bottom 10b of the housing 11, i.e., the bottom 10b of the main body 10.

[0051] The cleaning robot 100 is a reversible cleaning robot. For the purpose of illustration, the working modes of the cleaning robot 100 include, but are not limited to, a water surface cleaning mode and a water surface cleaning mode.

[0052] In the water surface cleaning mode, the cleaning robot 100 is in a reversed state (e.g., reversed by 180°). That is, the height of the bottom 10b of the main body 10 is higher than the height of the top 10a of the main body 10. For example, the bottom 10b of the main body 10 is located on the water surface, and the top 10a of the main body 10 is located underwater. Further, the cleaning robot 100 further comprises a buoyancy device arranged at the bottom 10b of the main body 10. When the cleaning robot 100 works in the water surface cleaning mode, the buoyancy device allows the cleaning robot 100 to float on the water surface, so that the bottom 10b of the main body 10 is located on the water surface, and the top 10a of the main body 10 is located underwater.

[0053] In the underwater cleaning mode, the cleaning robot 100 is located underwater, and the cleaning robot 100 is in an upright state or a state of a flip angle less than or equal to 90°. That is, the height of the top 10a of the main body 10 is higher than or equal to the height of the top 10a of the main body 10. For example, the cleaning robot 100 is in an underwater cleaning mode in an upright state, a cleaning mode in a state of a flip angle of 90°, and the like.

[0054] The garbage collection device 12 is a detachable structure to facilitate dumping of garbage. Optionally, the garbage collection device 12 can have different structures according to different working modes of the cleaning robot. Optionally, different cleaning modes can also share the garbage collection device 12.

[0055] The embodiment is specifically exemplified by taking the cleaning robot 100 in the water surface cleaning mode.

[0056] Referring to FIG. 1, the first rotating member 20 is rotatably arranged at the front end 10c of the main body 10, for cleaning garbage in the area to be cleaned.

[0057] Optionally, the first rotating member 20 includes but is not limited to a cleaning roller brush. The first rotating member 20, the garbage collection device 12, and the second rotating member 30 are arranged in sequence along the direction from the front end 10c to the rear end 10d. The garbage port of the garbage collection device 12 is correspondingly arranged in the rotating area of the first rotating member 20, so as to facilitate the first rotating member 20 to bring garbage into the garbage collection device 12 during rotation.

[0058] Further optionally, the driving member 14 includes a first driving member 141 and a second driving member 142 arranged opposite to each other along the width direction of the main body 10. The first driving member 141 and the second driving member 142 are arranged at opposite sides of the first rotating member 20 along the width direction. The first driving member 141 and the second driving member 142 are used to drive the first rotating member 20 to rotate, so as to bring garbage on the water surface into the garbage collection device 12 at the rear. The width direction is denoted by D2 in the figure.

[0059] In other embodiments, the first rotating member 20 can be driven to rotate by one driving member 14, so as to reduce the number of driving members 14, save space, and reduce the size.

[0060] Referring to FIG. 4 and FIG. 5, when the cleaning robot 100 cleans the water surface L, the first rotating member 20 has a shallow draft due to its position relative to the position of the top 10a of the main body 10. The second rotating member 30 has a deeper draft. That is, the axis of the second rotating member 30 is located between the axis of the first rotating member 20 and the top 10a of the main body 10, so that the first rotating member 20 can bring water surface garbage into the garbage collecting device 12 when rotating, and the second rotating member 30 can form a greater propulsive force when rotating to drive the cleaning robot 100 to move forward.

[0061] The second rotating member 30 is rotatably arranged at the rear end 10d of the main body 10 to drive the main body 10 to move on the water surface.

[0062] Referring to FIG. 6 and FIG. 7, the second rotating member 30 includes a drive shaft 31 and at least one drive paddle 32 arranged on the outer circumferential surface of the drive shaft 31. Optionally, the drive shaft 31 is arranged in the width direction. The outer circumferential surface of the drive shaft 31 is provided with one drive paddle 32, two drive paddles 32, three drive paddles 32, etc. The number of drive paddles 32 arranged on the outer circumferential surface of the drive shaft 31 is not specifically limited in the present application. A plurality of drive paddles 32 can be sequentially arranged in the width direction.

[0063] In an optional embodiment, referring to FIG. 3, the driving member 14 includes a first driving member 141 and a second driving member 142 arranged opposite to each other in the width direction of the main body 10. The first driving member 141 and the second driving member 142 are arranged on opposite sides of the drive shaft 31 in the width direction. The first driving member 141 and the second driving member 142 are used to drive the drive shaft 31 to rotate, thereby driving the at least one drive paddle 32 on the outer circumferential surface of the drive shaft 31 to rotate.

[0064] Specifically, referring to FIG. 4, the draft of the drive paddle 32 is less than or equal to the radius of rotation of the drive paddle 32. The draft is the depth of entering the water. During the rotation of the drive paddle 32, a forward water thrust is generated, thereby pushing the cleaning robot 100 forward. During the rotation of the drive paddle 32, a backward water thrust is generated, thereby pushing the cleaning robot 100 backward.

[0065] When the paddle of the drive paddle 32 pushes the water flow backward, the water flow will also generate a counterforce on the paddle, i.e. pushing the paddle forward. This counterforce provides the cleaning robot 100 with forward power.

[0066] In the present embodiment, referring to FIG. 7, the drive paddle 32 includes a plurality of paddles 321 arranged at intervals in the circumferential direction of the drive shaft 31.

[0067] Referring to FIG. 8, the orthographic projection of the plurality of paddles 321 on the axial direction of the drive shaft 31 forms a closed circle or an approximate circle.

[0068] Optionally, the projection of each paddle 321 in the axial direction of the drive shaft 31 forms a sector, a trapezoid, or the like. The projections of the plurality of paddles 321 in the axial direction of the drive shaft 31 form a closed circle or an approximately closed circle. The aforementioned closed circle refers to the fact that the plurality of sectors formed by the projections of the plurality of paddles 321 in the axial direction of the drive shaft 31 can be combined to form a closed annular shape. In this case, the outer contour of the projections of the plurality of paddles 321 in the axial direction of the drive shaft 31 can form a closed circle. The aforementioned approximately closed circle refers to the fact that the plurality of sectors formed by the projections of the plurality of paddles 321 in the axial direction of the drive shaft 31 can be combined to form an approximately closed annular shape. The area of the approximately closed annular shape accounts for more than 80% of the area of the closed annular shape, for example, 80%, or 85%, or 90%, or 95%, or 98%, or 99%, or the like.

[0069] Optionally, each paddle 321 extends in the axial direction of the drive shaft 31 by a certain extension width. In other words, the paddle 321 has a certain water-pushing area when entering the water, and each paddle 321 can thus generate a propulsive force towards the front end 10c side or the rear end 10d side.

[0070] The axial direction of the drive shaft 31 is the aforementioned width direction, and the axial direction of the drive shaft 31 will be used hereinafter to replace the width direction.

[0071] In the conventional technology, the projection of the paddle 321 in the axial direction of the drive shaft 31 is in the shape of a narrow strip. In other words, the paddle 321 extends in the axial direction of the drive shaft 31 to obtain more propulsive force. In the conventional technology, after a preceding paddle 321 has completely entered the water, a subsequent paddle 321 enters the water after a certain time interval, and the propulsive force is thus interrupted for a certain time interval, which can cause the propulsive force to be unstable and can cause the cleaning robot 100 to move unstably on the water surface. In addition, since the blade surface of each paddle 321 is perpendicular to the water, a large amount of water splashes, which causes the cleaning robot 100 to move up and down on the water surface with a large amplitude, increases the difficulty of water cleaning, and reduces the efficiency of water surface cleaning.

[0072] The first time period is from the start of the water entry of each paddle 321 to the end of the water entry, and the second time period in the conventional technology is from the start of the water entry of each paddle 321 to the end of the water entry. The second time period is longer than the first time period.

[0073] The cleaning robot 100 provided by the application comprises a main body 10, a first rotating part 20 and a second rotating part 30. The main body 10 has a front end 10c and a rear end 10d arranged oppositely along a moving direction D1. The first rotating part 20 is rotatably arranged at the front end 10c of the main body 10, and is used to bring garbage into a garbage basket when rotating to clean the garbage in a cleaning area. The second rotating part 30 is rotatably arranged at the rear end 10d of the main body 10, and is used to rotate on the water surface to generate a driving force for the main body 10 to move on the water surface. The second rotating part 30 comprises a driving shaft 31 and at least one driving paddle 32 arranged on the outer circumferential surface of the driving shaft 31. The driving paddle 32 comprises a plurality of paddle blades 321 arranged at intervals along the circumferential direction of the driving shaft 31. The orthographic projection of the plurality of paddle blades 321 in the axial direction of the driving shaft 31 forms a closed circle or an approximate circle. In other words, the orthographic projection of the paddle blades 321 in the axial direction of the driving shaft 31 is substantially a sector. In this way, the plurality of paddle blades 321 are arranged continuously or approximately continuously in the circumferential direction of the driving shaft 31. In the rotating process, the plurality of paddle blades 321 enter the water successively to form a continuous propelling force. That is, in the two adjacent paddle blades 321, the latter paddle blade 321 enters the water before the former paddle blade 321 completely enters the water, so as to maintain the continuous propelling force, and effectively avoid the problem that the instability of the propelling force easily causes the cleaning robot 100 to move unstably on the water surface.

[0074] Compared with the conventional technology in which the paddle blades 321 of each driving paddle 32 all enter the water in a relatively short time, the water entering impact force is relatively large, the water splash amplitude is large, the cleaning robot 100 shakes up and down on the water surface with a large amplitude, which increases the difficulty of water cleaning and reduces the efficiency of water surface cleaning. In the application, the paddle blades 321 of each driving paddle 32 enter the water in a relatively long time, the water entering area increases slowly, the water entering impact force is relatively small, the water splash amplitude of the driving paddle 32 when entering the water is reduced, and the cleaning robot 100 is prevented from shaking up and down, so as to improve the efficiency of underwater cleaning.

[0075] Optionally, referring to FIGS. 6 and 7, at least part of the paddle blades 321 are arranged in a twisted manner along the axial direction of the driving shaft 31.

[0076] Specifically, the paddle blades 321 are arranged in a twisted manner along the axial direction of the driving shaft 31, so that the orthographic projection of each paddle blade 321 in the axial direction of the driving shaft 31 forms a sector, a trapezoid or other shapes with a certain area.

[0077] For example, a portion of the paddle 321 is twisted along the axial direction of the drive shaft 31, and another portion of the paddle 321 is linearly extended along the axial direction of the drive shaft 31. For another example, the entire paddle 321 is twisted along the axial direction of the drive shaft 31. The following description is based on the example that the entire paddle 321 is twisted along the axial direction of the drive shaft 31.

[0078] In other words, each paddle 321 extends along the axial direction of the drive shaft 31 by a certain extension width. Each paddle 321 extends along the circumferential direction of the drive shaft 31 while extending towards the axial direction of the drive shaft 31. With the above design, each paddle 321 has a certain water pushing area when entering the water, and thus each paddle 321 can form a propelling force towards the front end 10c side or the rear end 10d side.

[0079] Referring to FIGS. 6 and 8, the twisted arrangement of the paddle 321 can also evenly divide the water pushing force, so that the water pushing force is uniform and continuous. During the process of each paddle 321 entering the water, one end of each paddle 321 enters the water first, and the other end of each paddle 321 enters the water later. Before the previous paddle 321 completely enters the water, the next paddle 321 has already partially entered the water. In FIGS. 5 and 7, L represents the water surface.

[0080] For example, the tip of the right side of the previous paddle 321 enters the water, then the root of the right side of the previous paddle 321 enters the water, then the tip of the left side of the previous paddle 321 enters the water, and then the root of the left side of the previous paddle 321 enters the water; the tip of the right side of the next paddle 321 enters the water, then the root of the right side of the next paddle 321 enters the water, then the tip of the left side of the next paddle 321 enters the water, and then the root of the left side of the next paddle 321 enters the water, and so on.

[0081] Referring to FIGS. 6 and 8, in addition, the twisted arrangement of the paddle 321 can also improve the bending resistance of the paddle 321. A portion of the paddle 321 enters the water first, and the portion of the paddle 321 that has entered the water receives water resistance, while the other portion of the paddle 321 that has not entered the water does not receive water resistance, thereby supporting the portion of the paddle 321 that has entered the water, reducing the risk of bending of the paddle 321, and improving the bending resistance of the paddle 321 when pushing water.

[0082] The orthographic projections of two adjacent paddles 321 in the axial direction of the drive shaft 31 coincide or are connected.

[0083] Optionally, the orthographic projections of two adjacent paddles 321 in the axial direction of the drive shaft 31 coincide. Before the previous paddle 321 completely enters the water, the next paddle 321 has already entered the water, so that multiple paddles 321 can continuously enter the water, and multiple paddles 321 can form continuous water pushing force without forming a water pushing force gap, and the time difference between the time when two adjacent paddles 321 enter the water is eliminated.

[0084] The tip of the right side of the previous paddle 321 enters the water, then the root of the right side of the previous paddle 321 enters the water, then the tip of the left side of the previous paddle 321 enters the water, the root of the left side of the previous paddle 321 enters the water after the tip of the right side of the next paddle 321 enters the water, the root of the right side of the next paddle 321 enters the water, the tip of the left side of the next paddle 321 enters the water, the root of the left side of the next paddle 321 enters the water, and the cycle continues.

[0085] Optionally, referring to FIGS. 6 and 8, the projections of two adjacent paddles 321 in the axial direction of the drive shaft 31 are connected. When the previous paddle 321 is fully immersed in water, the next paddle 321 begins to enter the water to form a plurality of paddles 321 continuously entering the water, and the plurality of paddles 321 can form continuous water pushing force without forming a water pushing force gap, and the time of the two adjacent paddles 321 in the water does not have a time difference.

[0086] Referring to FIGS. 6 and 8, the tip of the right side of the previous paddle 321 enters the water, then the root of the right side of the previous paddle 321 enters the water, then the tip of the left side of the previous paddle 321 enters the water, the root of the left side of the previous paddle 321 enters the water at the same time as the tip of the right side of the next paddle 321 enters the water, the root of the right side of the next paddle 321 enters the water, the tip of the left side of the next paddle 321 enters the water, the root of the left side of the next paddle 321 enters the water, and the cycle continues.

[0087] From the rear end 10d side of the cleaning robot 100, the highest end of the previous paddle 321 and the lowest end of the next paddle 321 are at the same height.

[0088] Further, referring to FIG. 9, the present application does not specifically limit the twist angle of each paddle 321. Optionally, the twist angle of each paddle 321 is θ. The twist angle θ of each paddle 321 is ≥ 360° / n. When n is 2, the twist angle θ of each paddle 321 is ≥ 180°, so that two paddles 321 continuously enter the water and generate continuous propulsion. Since n is small, the axial projection area of each paddle 321 is relatively large, so the transverse component force formed is also relatively large. Therefore, the number of paddles 321 and the twist angle of each paddle 321 can be designed to reduce the axial projection area of each paddle 321 as much as possible while meeting the required propulsion of the drive paddle 32.

[0089] Optionally, referring to FIG. 9, the number of paddles 321 on each drive paddle 32 is n. The twist angle of each paddle 321 is θ. The θ = 360° / n. Wherein, the n ≥ 1.

[0090] In the embodiment, the twist angle of each paddle 321 is designed to be 360° / the number of the paddles 321, so as to ensure that the paddles 321 on the driving paddle 32 generate continuous propulsion force, and at the same time, the axial projection area of each paddle 321 is reduced as much as possible, thereby reducing the transverse component of the water thrust, correspondingly increasing the propulsion force of the water thrust towards the front end 10c, and improving the propulsion efficiency of the driving paddle 32.

[0091] For example, the number of the paddles 321 on each driving paddle 32 can be 8, and the twist angle of each paddle 321 around the axial direction of the driving shaft 31 is 45°, so as to reduce the axial projection area of each paddle 321 as much as possible under the condition of meeting the required propulsion force, thereby reducing the transverse component of the water thrust, correspondingly increasing the propulsion force of the water thrust towards the front end 10c, and improving the propulsion efficiency of the driving paddle 32.

[0092] Optionally, referring to FIG. 7, the paddles 321 are mirror-symmetric structures in the axial direction of the driving shaft 31. When the paddles 321 are arranged in a twisted manner along the axial direction of the driving shaft 31, the water thrust generated by the rotation of the paddles 321 in straight-line advancing includes a propulsion force component towards the front end 10c and a transverse component. In the embodiment, the paddle 321 is designed to be a mirror-symmetric structure in the axial direction of the driving shaft 31, for example, the paddle 321 is substantially V-shaped or inverted V-shaped (viewed from the rear end 10d side of the cleaning robot 100) in the axial direction. The paddle 321 is divided into two twisted sub-paddles 321, and the two twisted sub-paddles 321 are mirror-symmetric about the median line S of the driving shaft 31, and the directions of the transverse components of the water thrust generated by the two twisted sub-paddles 321 are opposite, so as to be offset to each other, thereby avoiding the change of the moving direction of the cleaning robot 100 caused by the transverse component.

[0093] Optionally, referring to FIG. 10 and FIG. 11, there is one driving paddle 32 on the driving shaft 31. Each paddle 321 of the driving paddle 32 is substantially V-shaped or inverted V-shaped (viewed from the rear end 10d side of the cleaning robot 100) in the axial direction. In the embodiment, the number of the driving paddles 32 on the driving shaft 31 is designed to be one, and each paddle 321 of the driving paddle 32 is substantially V-shaped or inverted V-shaped in the axial direction. The paddle 321 is divided into two twisted sub-paddles 321, and the two twisted sub-paddles 321 are mirror-symmetric about the median line of the driving shaft 31 and the twist directions are opposite, and the directions of the transverse components of the water thrust generated by the two twisted sub-paddles 321 are opposite, so as to be offset to each other, thereby avoiding the change of the moving direction of the cleaning robot 100 caused by the transverse component. In addition, the number of assembly parts of the cleaning robot 100 is reduced, the cost is reduced, and one driving paddle 32 can be driven by one driving member 14.

[0094] Optionally, referring to FIG. 6 and FIG. 7, the number of the driving paddles 32 on the driving shaft 31 is two. The paddles 321 of the two driving paddles 32 are mirror-symmetrically arranged along the axial direction of the driving shaft 31. Specifically, the paddles 321 of the two driving paddles 32 are approximately V-shaped or inverted V-shaped (as viewed from the rear end 10d of the cleaning robot 100) in the axial direction. The twisting directions of the paddles 321 of the two driving paddles 32 are opposite and mirror-symmetric.

[0095] In the embodiment, the number of the driving paddles 32 on the driving shaft 31 is two, the twisting directions of the paddles 321 of the two driving paddles 32 are opposite and mirror-symmetric, and the directions of the lateral components of the water thrusts formed by the paddles 321 of the two driving paddles 32 are opposite, so as to cancel each other to avoid the change of the moving direction of the cleaning robot 100 caused by the lateral components. In addition, the two driving paddles 32 can be driven separately to form differential, reverse motion, etc., to support more motion forms of the cleaning robot 100. In addition, the twisting directions of the two driving paddles 32 are opposite and mirror-symmetric, which can increase the water flow on both sides and improve the steering effect and straight-line stability of the cleaning robot 100.

[0096] Specifically, referring to FIG. 3, the cleaning robot 100 further comprises a first driving member 141 and a second driving member 142.

[0097] Referring to FIG. 12 and FIG. 13, the driving shaft 31 comprises two sub-driving shafts 311, 312 connected along the axial direction. The opposite ends of the two sub-driving shafts 311, 312 are respectively drivingly connected with the first driving member 141 and the second driving member 142. The adjacent ends of the two sub-driving shafts 311, 312 are connected through a rotating connecting member 313. The rotating connecting member 313 coaxially connects the two sub-driving shafts 311, 312, and the rotating speeds of the two sub-driving shafts 311, 312 can be the same or different, and the rotating directions of the two sub-driving shafts 311, 312 can be different or the same. That is, the two sub-driving shafts 311, 312 can freely rotate to control the steering of the cleaning robot 100.

[0098] Each of the two driving paddles 32 is sleeved on the outer circumferential surface of one of the two sub-driving shafts 31. The two sub-driving shafts 311 and 312 can drive the two driving paddles 32 to rotate at the same speed, at different speeds, in the same direction, or in opposite directions under the driving of the first driving member 141 and the second driving member 142. For example, the two sub-driving shafts 311 and 312 can drive the two driving paddles 32 to rotate at the same speed and in the same direction under the driving of the first driving member 141 and the second driving member 142, so that the cleaning robot 100 moves straight forward or straight backward. For another example, the two sub-driving shafts 311 and 312 can drive the two driving paddles 32 to rotate at different speeds and in the same direction under the driving of the first driving member 141 and the second driving member 142, so that the cleaning robot 100 turns. For another example, the two sub-driving shafts 311 and 312 can drive the two driving paddles 32 to rotate at the same speed and in opposite directions or at different speeds and in opposite directions under the driving of the first driving member 141 and the second driving member 142, so that the cleaning robot 100 turns or makes a U-turn, etc. When the two driving paddles 32 rotate in opposite directions, the cleaning robot 100 turns faster.

[0099] In an optional embodiment, the rotating connection member 313 is a bearing. Adjacent ends of the two sub-driving shafts 311 and 312 are connected through the bearing. The bearing coaxially connects the two sub-driving shafts 311 and 312. The two sub-driving shafts 311 and 312 can freely rotate relative to each other.

[0100] In another optional embodiment, referring to FIG. 13, the rotating connection member 313 further includes an intermediate shaft 314 and two shaft sleeves 315 and 316. The two shaft sleeves 315 and 316 are rotatably connected to two ends of the intermediate shaft 314, respectively. The two shaft sleeves 315 and 316 are connected to the two sub-driving shafts 311 and 312, respectively. Adjacent ends of the two sub-driving shafts 311 and 312 are connected to the intermediate shaft 314 through the two shaft sleeves 315 and 316, respectively. The two shaft sleeves 315 and 316 can freely rotate relative to the intermediate shaft 314, so that the two sub-driving shafts 311 and 312 are coaxially connected and can freely rotate relative to each other.

[0101] In the embodiments of the present application, two driving paddles 32 and two driving shafts 31 are designed. Each of the two driving paddles 32 is sleeved on the outer circumferential surface of one of the two sub-driving shafts 31. The two sub-driving shafts 311 and 312 can drive the two driving paddles 32 to rotate at the same speed, at different speeds, in the same direction, or in opposite directions under the driving of the first driving member 141 and the second driving member 142, so that the cleaning robot 100 can move straight, turn, and the like, and then clean the water surface according to a preset trajectory or avoid obstacles, etc.

[0102] When the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed in one direction, or the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed in opposite directions but not cancelled out, the transverse components of the water thrusts can cause the cleaning robot 100 to deviate or become unstable.

[0103] In an alternative embodiment, the water spraying passage of the water pump system 13 includes at least one oblique water spraying passage in the oblique direction and the transverse direction (the transverse direction can be the width direction). The water pump system 13 can spray water along the oblique water spraying passage, thereby generating a water spraying thrust in the opposite direction of the water spraying direction. The water spraying thrust can be opposite to the direction of the transverse components of the water thrusts generated by the two driving paddles 32a, 32b, so as to at least partially cancel out the transverse components of the water thrusts generated by the two driving paddles 32a, 32b.

[0104] Optionally, the cleaning robot 100 further includes a controller (not shown) electrically connected to the water pump system 13, and the controller is configured to control the water pump system 13 to spray water along the oblique water spraying passage and control the water spraying pressure.

[0105] For example, when the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed in one direction, or the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed in opposite directions but not cancelled out, the controller controls the water pump system 13 to generate a water spraying thrust opposite to the aforementioned transverse components, thereby cancelling out the transverse components of the water thrusts generated by the two driving paddles 32a, 32b.

[0106] The controller can determine a target water spraying pressure of the water pump system 13 to spray water along the oblique water spraying passage according to the direction and speed difference of the two driving paddles 32a, 32b, so as to cancel out the transverse components of the water thrusts generated by the two driving paddles 32a, 32b, and thereby make the cleaning robot 100 run along the preset trajectory and reduce the deviation problem.

[0107] For example, the water spraying passage of the water pump system 13 includes two oblique water spraying passages respectively extending towards two sides of the cleaning robot 100. The two oblique water spraying passages are respectively controlled by switches to be turned on or turned off. For example, when the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed towards the left side of the cleaning robot 100, the controller controls the switch to turn on the oblique water spraying passage on the right side, and the water pump system 13 sprays water along the oblique water spraying passage on the right side to cancel out the transverse components directed towards the left side of the cleaning robot 100. When the transverse components of the water thrusts generated by the two driving paddles 32a, 32b are directed towards the right side of the cleaning robot 100, the controller controls the switch to turn on the oblique water spraying passage on the left side, and the water pump system 13 sprays water along the oblique water spraying passage on the left side to cancel out the transverse components directed towards the right side of the cleaning robot 100.

[0108] In addition, the water pump system 13 further comprises a water spraying passage towards the top portion 10a. When the cleaning robot 100 is in the underwater cleaning mode, the water pump system 13 sprays water towards the water spraying passage of the top portion 10a, so that the cleaning robot 100 adheres to the water bottom, thereby facilitating the driving member 14 to drive the cleaning robot 100 to move.

[0109] In other embodiments, a plurality of pairs (for example, four pairs) of driving paddles 32 can be arranged on the driving shaft 31, wherein each pair of driving paddles 32 is arranged in axial mirror symmetry (i.e., reverse twist), and the transverse components of the water thrust generated by each pair of driving paddles 32 are opposite in direction and equal in size, so that the transverse components of the water thrust generated by each pair of driving paddles 32 cancel each other out. Each pair of driving paddles 32 is arranged on the same driving shaft 31 and rotates synchronously in the same direction, so as to avoid the problem of the transverse components of the water thrust causing the cleaning robot 100 to deviate or become unstable.

[0110] Optionally, referring to FIG. 14, when the driving paddle 32 rotates, water flows from the middle (in the axial direction) of the driving paddle 32 to both ends, and forms a thrust for driving the cleaning robot 100 to move near both ends of the driving paddle 32, as well as forming transverse components towards both sides (width direction) of the cleaning robot 100. The directions of the two transverse components are opposite, and the two transverse components at least partially cancel each other out.

[0111] The body main body 10 has a first end and a second end arranged opposite in the height direction. The first end is higher than the second end when the cleaning robot 100 travels on the water surface. The first end is the bottom 10b of the body main body 10, and the second end is the top 10a of the body main body 10. In the direction from the end of the drive shaft 31 to the middle position, the paddle 321 gradually approaches the first end of the body main body 10. Specifically, in the direction from the first drive shaft 31 to the second drive shaft 31, the paddle 321 on the first drive paddle 32 gradually approaches the bottom 10b of the body main body 10. That is, in the direction from the first drive shaft 31 to the second drive shaft 31, the paddle 321 on the first drive paddle 32 gradually twists toward the side where the bottom 10b of the body main body 10 is located. In the direction from the second drive shaft 31 to the first drive shaft 31, the paddle 321 on the second drive paddle 32 gradually approaches the bottom 10b of the body main body 10. That is, in the direction from the second drive shaft 31 to the first drive shaft 31, the paddle 321 on the second drive paddle 32 gradually twists toward the side where the bottom 10b of the body main body 10 is located. In this way, the first drive paddle 32 and the second drive paddle 32 are axially mirror-symmetrical, and the twisting direction of the paddle 321 on the first drive paddle 32 is opposite to that of the paddle 321 on the second drive paddle 32. Further, when the drive paddle 32 rotates, it drives the water flow from the middle to the two ends of the drive paddle 32 (in the axial direction).

[0112] In this embodiment, by forming a thrust for driving the cleaning robot 100 to travel at positions close to the two ends of the drive paddle 32, compared with the embodiment in which the thrust for driving the cleaning robot 100 to travel is formed at the middle position of the cleaning robot 100, the thrust in this embodiment can make the cleaning robot 100 travel more smoothly and reduce the shaking toward the two sides in the width direction.

[0113] In this embodiment, at the same time, transverse components toward the two sides of the cleaning robot 100 are also formed at positions close to the two ends of the drive paddle 32. The directions of the two transverse components are opposite, and the two transverse components at least partially cancel each other out. Further, the first drive paddle 32 and the second drive paddle 32 are axially mirror-symmetrical. In this way, the two transverse components are equal in size, so the two transverse components cancel each other out to avoid the two transverse components causing the cleaning robot 100 to deviate from the preset travel direction.

[0114] Please refer to Fig. 15, in any cross section perpendicular to the driving shaft 31, each of the paddles 321 points to the center of the driving paddle 32. In other words, if the driving shaft 31 is cylindrical, in any cross section perpendicular to the driving shaft 31, the extending direction of each of the paddles 321 is the radial direction of the driving shaft 31. In this embodiment, by designing the paddles 321 in such a way that in any cross section perpendicular to the driving shaft 31, the extending direction of each of the paddles 321 is the radial direction of the driving shaft 31, the paddles 321 always keep centripetal during the twisting process, the extension line of each of the paddles 321 passes through the center of the driving paddle 32, and the angle between the paddles 321 when each of the paddles 321 rotates clockwise and counterclockwise is the same (for example, 90°), which ensures that the lateral force (propulsion force) generated when the driving paddle 32 rotates clockwise and counterclockwise is consistent, so that the cleaning robot 100 has the same propulsion force when advancing and retreating.

[0115] Optionally, the preset draft of the driving paddle 32 is less than or equal to the size of the paddle 321 along the radial direction of the driving shaft 31.

[0116] Please refer to Fig. 16, the radius of the cross section of the driving paddle 32 is R2, and the radius of the driving shaft 31 is R1. The preset draft of the driving paddle 32 is L1. Among them, R2≥R1+L1. In this embodiment, by designing the preset draft of the driving paddle 32 to be less than or equal to the size of the paddle 321 along the radial direction of the driving shaft 31, a gap is ensured between the driving shaft 31 and the water surface, or the driving shaft 31 is flush with the water surface, so that the water entry area of each of the paddles 321 of the driving paddle 32 is increased, the thrust area is increased, and the propulsion force is increased.

[0117] Optionally, the interval of two adjacent paddles 321 along the circumferential direction of the driving shaft 31 is the same. In other words, the paddles 321 on the driving paddle 32 are uniformly arranged along the circumferential direction of the driving shaft 31. In addition, the interval of two adjacent paddles 321 along the axial direction of the driving shaft 31 is the same. In this embodiment, by designing the paddles 321 on the driving paddle 32, the water propulsion force during the rotation of the driving paddle 32 is uniform.

[0118] Optionally, please refer to Fig. 12, the driving paddle 32 further comprises a paddle cylinder 322. The paddle cylinder 322 is sleeved on the driving shaft 31. The paddles 321 are formed on the surface of the paddle cylinder 322. Optionally, the paddles 321 can be integrally formed with the paddle cylinder 322. Further, the paddles 321 extend radially outward from the outer circumferential surface of the paddle cylinder 322.

[0119] Referring to FIG. 12, each of the driving paddles 32 further comprises a connecting disc 323. The connecting disc 323 is annularly protruded on the circumferential side of the paddle cylinder 322. The connecting disc 323 is located at the end of the driving shaft 31. For example, the connecting disc 323 of the first driving paddle 32 is located at the end away from the second driving paddle 32, and the connecting disc 323 of the second driving paddle 32 is located at the end away from the first driving paddle 32. One end of the paddle blade 321 on the driving paddle 32 is interconnected with the connecting disc 323 as a whole, reducing the deformation of the paddle blade 321 in the process of pushing water. Further, the radius of the connecting disc 323 is smaller than the radial dimension of the paddle blade 321. Further, the connecting disc 323 is connected to the end of the paddle blade 321 that enters the water first, to reduce the deformation of the end of the paddle blade 321 that enters the water first under water resistance.

[0120] Optionally, referring to FIG. 12 and FIG. 15, the inner cavity of the paddle cylinder 322 is in the shape of a polyhedral column. The polyhedral column includes but is not limited to a triangular column, a quadrangular column, a hexagonal column, an octagonal column, etc. The outer circumferential surface of the driving shaft 31 is in close contact with the inner cavity wall surface of the paddle cylinder 322, so as to facilitate the mutual rotation of the paddle cylinder 322 and the driving shaft 31, and realize the rotation of the driving shaft 31 to drive the rotation of the paddle cylinder 322 and the paddle blade 321.

[0121] Referring to FIG. 12, FIG. 13 and FIG. 17, the second rotating member 30 further comprises two transmission gears 33. The two transmission gears 33 are respectively arranged at the two ends of the driving shaft 31. The two transmission gears 33 are respectively coaxially connected with the two ends of the driving shaft 31. Each of the transmission gears 33 is meshingly connected with one of the driving members 14, and the transmission gears 33 are used to drive the rotation of the driving shaft 31.

[0122] Optionally, the number of the transmission gears 33 is two, and the two transmission gears 33 are respectively located at the two sides of the cleaning robot 100 along the width direction. One end of the transmission gear 33 is engaged with one end of the driving shaft 311 to rotate synchronously. The other end of the driving shaft 311 is engaged with the rotating connecting member 313 in the axial direction.

[0123] On the other hand, in the technical field of cleaning devices, there are cleaning robots for realizing water surface cleaning and underwater cleaning to clean swimming pools, water pools and the like. When the cleaning robot is in the process of water surface cleaning, the driving paddles are usually rotated to make the paddle blades on the driving paddles contact with water, and the forward and backward movement of the cleaning robot is realized in the process of the paddle blades pushing water. In addition, if the paddle blades are directly changed into flexible blades, the paddle blades are easy to bend in the process of pushing water, thereby affecting the cleaning efficiency of the cleaning robot. The conventional paddle blades are in the structure of a plane, and the intermittent time of the plurality of paddle blades on the driving paddles entering the water surface and pushing water is long in the process of the rotation of the driving paddles, so that the cleaning robot is difficult to obtain stable forward driving force, and the stability of the cleaning robot is poor.

[0124] Specifically, when the paddle is a planar structure, on the one hand, each paddle directly contacts with water and generates a large water pushing force when entering the water surface; on the other hand, after the previous paddle completely enters the water surface, the next paddle still needs to wait for a period of time before rotating to enter the water surface, the interval time of the adjacent two paddles entering the water surface is long, and the water pushing force of each paddle when entering the water surface is large, which makes it easy to cause waves on the water surface due to the sudden change of the driving paddle water pushing force, and reduces the stability of the cleaning robot.

[0125] Please refer to FIG. 1 and FIG. 3, the present application provides a cleaning robot 100, comprising: a body 10, a first rotating member 20, a second rotating member 30 and a garbage collecting device 12, in the direction of travel of the cleaning robot 100 (as shown in FIG. 1, the X direction), the body 10 has opposite front end 10c and rear end 10d; the first rotating member 20 is rotatably arranged at the front end 10c of the body 10, for cleaning the garbage in the area to be cleaned; the second rotating member 30 is used to drive the cleaning robot 100 to move on the water surface, the second rotating member 30 comprises a driving shaft 31 and a driving paddle 32 arranged thereon, the driving shaft 31 is rotatably arranged at the rear end 10d of the body 10, the driving paddle 32 comprises a plurality of paddle blades 321 distributed along the circumference of the driving shaft 31, each of the paddle blades 321 is flexible and extends along the axial direction of the driving shaft 31; the garbage collecting device 12 is arranged between the first rotating member 20 and the driving paddle 32, for collecting the garbage in the area to be cleaned.

[0126] It can be understood that, in the direction from the front end 10c to the rear end 10d, the first rotating member 20, the garbage collecting device 12 and the second rotating member 30 are arranged in sequence.

[0127] In the present application, "a plurality of" means more than or equal to two, which can be two, three, four, five, six or seven, etc.

[0128] It can be understood that the direction of travel of the cleaning robot 100 can be controlled by the rotation direction of the driving shaft 31.

[0129] It can be understood that the cleaning robot 100 is used for water surface cleaning or underwater cleaning. When the cleaning robot 100 is used for water surface cleaning, the second rotating member 30 is used to drive the cleaning robot 100 to move on the water surface.

[0130] In the embodiment, during the driving of the main body 10 by the second rotating member 30, the first rotating member 20 rotates relative to the main body 10 to clean the garbage in the cleaning area, the garbage collecting device 12 collects the garbage in the cleaning area, and the first rotating member 20, the second rotating member 30 and the garbage collecting device 12 cooperate to complete the cleaning process of the cleaning area. In the embodiment, the second rotating member 30 comprises a driving shaft 31 and a driving paddle 32 arranged on the driving shaft 31, and when the driving shaft 31 rotates relative to the rear end 10d of the main body 10, the driving paddle 32 rotates relative to the rear end 10d. The driving paddle 32 comprises a plurality of paddle blades 321 distributed along the circumference of the driving shaft 31, and when the cleaning robot 100 is used for water surface cleaning, the plurality of paddle blades 321 will contact the water surface and push the water in turn under the driving of the rotation of the driving shaft 31, thereby generating a water pushing force to push the main body 10 to move forward or backward.

[0131] Further, each of the paddles 321 is flexible and twistedly extends along the axial direction of the driving shaft 31. On the one hand, the paddle 321 is flexible, i.e., the paddle 321 is made of soft glue or the like, so as to avoid hurting the user during rotation of the paddle 321 and to protect the user and improve the performance of the cleaning robot 100. In order to ensure that the paddle 321 meets the structural strength requirement and enables the paddle 321 to normally stir water flow to push the cleaning robot 100 to move on the water surface, each of the paddles 321 twistedly extends along the axial direction of the driving shaft 31, so as to improve the structural strength of each of the paddles 321 and avoid bending of the paddle 321 during contact with the water surface and stirring of water, thereby ensuring movement of the cleaning robot 100 on the water surface. On the other hand, the paddle 321 twistedly extends along the axial direction of the driving shaft 31. Compared with the paddle 321 being a planar structure, during rotation of each of the paddles 321 in the embodiment, each part of the paddle 321 sequentially enters the water surface along the axial direction of the driving shaft 31, so as to disperse the water pushing force of each of the paddles 321 on the water surface, increase the time and process of each of the paddles 321 entering the water surface and pushing water, avoid sudden change of the water pushing force of each of the paddles 321 at the moment of entering the water surface, and enable each of the paddles 321 to provide stable water pushing force for the cleaning robot 100 during water pushing. When the previous paddle 321 completely enters the water surface, the next paddle 321 at least partially enters the water surface or has entered the water surface, the interval time of the adjacent two paddles 321 entering the water surface is short or has no interval time, and the plurality of paddles 321 cooperate with each other, so as to make the water pushing force of the driving paddle 32 in contact with the water surface uniform and continuous, effectively reduce sudden change of the water pushing force of the driving paddle 32, reduce the wave generated on the water surface during movement of the cleaning robot 100, and thereby improve the movement stability of the cleaning robot 100 during cleaning on the water surface. Further, each of the paddles 321 twistedly extends along the axial direction of the driving shaft 31, so as to improve the structural strength of each of the paddles 321, avoid bending of the paddle 321 during contact with the water surface and stirring of water, and thereby prolong the service life of the second rotating member 30 and the cleaning robot 100.

[0132] Please refer to FIGS. 3 to 18. In some embodiments, the cleaning robot 100 has a center line (as shown by the A dashed line in FIG. 5), the center line is perpendicular to the rotation axis of the driving shaft 31 (as shown by the B dashed line in FIG. 3), and the center line passes through the midpoint of the rotation axis. Each of the paddles 321 is symmetrical about the center line.

[0133] It can be understood that, in the embodiment of FIGS. 3 and 5, the driving shaft 31 is a split structure; in the embodiment of FIG. 18, the driving shaft 31 is an integral structure.

[0134] In the embodiment, each of the paddles 321 is symmetric about the center line, in other words, the twisting directions of the two axially opposite sides of each of the paddles 321 are opposite, so that the two axially opposite sides of each of the paddles 321 are symmetric about the center line. During the travel of the cleaning robot 100, each of the paddles 321 rotates under the drive of the drive shaft 31, and each of the paddles 321 extends in the axial twisting direction of the drive shaft 31, so that each of the paddles 321 generates a force parallel to the travel direction and a component force perpendicular to the travel direction of the cleaning robot 100 during entering the water surface and pushing the water. The force parallel to the travel direction is used to push the main body 10 to advance in the travel direction, and the component force perpendicular to the travel direction, i.e., the component force in the width direction of the cleaning robot 100, causes the main body 10 to tilt to the left or right during the advancement. Since the two axially opposite sides of each of the paddles 321 are symmetric about the center line, during the entering of the water surface and the pushing of the water, the two axially opposite sides of each of the paddles 321 generate two component forces parallel to the width direction of the cleaning robot 100 and in opposite directions with equal magnitude, so that the two component forces cancel each other out, which is beneficial for the cleaning robot 100 to travel in a straight line during the travel, avoids the movement track of the cleaning robot 100 to tilt during the travel, and makes the cleaning robot 100 have higher straight line stability.

[0135] Referring to FIG. 12, in some embodiments, the drive paddle 32 includes a first drive paddle 1322 and a second drive paddle 1323 arranged separately, the first drive paddle 1322 and the second drive paddle 1323 are spaced apart on the drive shaft 31, and the first drive paddle 1322 and the second drive paddle 1323 are symmetric about the center line.

[0136] It can be understood that when the drive paddle 32 is the first drive paddle 1322 and the second drive paddle 1323 arranged separately, the first drive paddle 1322 and the second drive paddle 1323 each include a plurality of paddles 321 spaced apart in the circumferential direction of the drive shaft 31, and each of the paddles 321 is flexible and extends in the axial twisting direction of the drive shaft 31.

[0137] In the embodiment, the first driving paddle 1322 and the second driving paddle 1323 are symmetrical about the center line, and the plurality of paddle blades 321 of the first driving paddle 1322 and the plurality of paddle blades 321 of the second driving paddle 1323 are symmetrical about the center line. During the movement of the cleaning robot 100, the first driving paddle 1322 and the second driving paddle 1323 rotate, each paddle blade 321 of the first driving paddle 1322 and each paddle blade 321 of the second driving paddle 1323 generate a force parallel to the movement direction to push the main body 10 to move forward or backward, and each paddle blade 321 of the first driving paddle 1322 and each paddle blade 321 of the second driving paddle 1323 extend and rotate along the axial direction of the driving shaft 31, so that the first driving paddle 1322 generates a component force perpendicular to the movement direction during entering the water surface and pushing the water, the second driving paddle 1323 generates a component force perpendicular to the movement direction during entering the water surface and pushing the water, and the component force generated by the first driving paddle 1322 and the component force generated by the second driving paddle 1323 are parallel to the width direction of the cleaning robot 100 and are opposite in direction. The first driving paddle 1322 and the second driving paddle 1323 are symmetrical about the center line, the component force generated by the first driving paddle 1322 and the component force generated by the second driving paddle 1323 are equal in size, so that the component force generated by the first driving paddle 1322 and the component force generated by the second driving paddle 1323 offset each other to avoid the cleaning robot 100 tilting to the left or right during the movement. The cleaning robot 100 can avoid the influence of the component forces generated by the first driving paddle 1322 and the second driving paddle 1323 during the rotation, facilitate the cleaning robot 100 to move along a straight line during the movement, avoid the movement track of the cleaning robot 100 tilting during the movement, and make the cleaning robot 100 have higher straight line stability.

[0138] In some embodiments, the second rotating member 30 includes a first driving member 141, a second driving member 142, and a rotating connecting member 313, the driving shaft 31 includes a first sub-driving shaft 311 and a second sub-driving shaft 312 which are arranged separately (for the convenience of description, the two sub-driving shafts are named as the first sub-driving shaft 311 and the second sub-driving shaft 312 respectively), the opposite ends of the first sub-driving shaft 311 and the second sub-driving shaft 312 are respectively connected in transmission with the first driving member 141 and the second driving member 142, the adjacent ends of the first sub-driving shaft 311 and the second sub-driving shaft 312 are connected through the rotating connecting member 313, and the first sub-driving shaft 311 and the second sub-driving shaft 312 can rotate relative to the rotating connecting member 313.

[0139] It should be noted that the first sub-driving shaft 311 and the second sub-driving shaft 312 mainly differ in the different distribution positions.

[0140] It can be understood that, along the arrangement direction of the first sub-driving shaft 311 and the second sub-driving shaft 312, the opposite ends of the first sub-driving shaft 311 are respectively connected to the first driving member 141 and the rotating connecting member 313, and the opposite ends of the second sub-driving shaft 312 are respectively connected to the rotating connecting member 313 and the second driving member 142.

[0141] In the embodiment, the first sub-driving shaft 311 and the second sub-driving shaft 312 are connected through the rotating connecting member 313, and the first sub-driving shaft 311 and the second sub-driving shaft 312 can rotate relative to the rotating connecting member 313, respectively. Therefore, under the driving of the first driving member 141 and the second driving member 142, the first sub-driving shaft 311 and the second sub-driving shaft 312 can rotate at the same speed or at different speeds. When the first driving member 141 drives the first sub-driving shaft 311 alone, and the second driving member 142 drives the second sub-driving shaft 312 alone, and the speeds of the first sub-driving shaft 311 and the second sub-driving shaft 312 are the same, the water flow on both sides of the cleaning robot 100 can be consistent, so as to avoid the situation that the cleaning robot 100 tilts and the like due to the different water pushing efficiencies of the first driving paddle 1322 and the second driving paddle 1323, and to improve the stability of the cleaning robot 100 during the movement. When it is necessary to turn the cleaning robot 100, the first driving member 141 and the second driving member 142 can control the speed of the first sub-driving shaft 311 and the speed of the second sub-driving shaft 312, respectively, so as to generate a speed difference between the first sub-driving shaft 311 and the second sub-driving shaft 312, and control the rotating direction of the first sub-driving shaft 311 to be opposite to the rotating direction of the second sub-driving shaft 312, so as to realize the turning by the difference in the water pushing efficiencies of the first driving paddle 1322 and the second driving paddle 1323, and to improve the turning efficiency of the cleaning robot 100.

[0142] Please refer to FIG. 13 and FIG. 18, optionally, in some embodiments, the rotating connecting member 313 is a bearing. In other embodiments, the rotating connecting member 313 comprises an intermediate shaft 314, a first shaft sleeve (1352, 315) and a second shaft sleeve (1353, 316), the first shaft sleeve (1352, 315) and the second shaft sleeve (1353, 316) are respectively sleeved on the opposite sides of the intermediate shaft 314, the first shaft sleeve (1352, 315) can rotate relative to the intermediate shaft 314, the second shaft sleeve (1353, 316) can rotate relative to the intermediate shaft 314, the first sub-driving shaft 311 is sleeved on the outer periphery of the first shaft sleeve (1352, 315) and fixedly connected with the first shaft sleeve (1352, 315), and the second sub-driving shaft 312 is sleeved on the outer periphery of the second shaft sleeve (1353, 316) and fixedly connected with the second shaft sleeve (1353, 316).

[0143] In some embodiments, the first driving paddle 1322 and the second driving paddle 1323 are twisted in opposite directions, so that the first driving paddle 1322 and the second driving paddle 1323 respectively drive the water flow to flow towards the two sides away from the center line.

[0144] It can be understood that the first driving paddle 1322 and the second driving paddle 1323 are twisted in opposite directions, in some embodiments, from the direction of the first driving paddle 1322 pointing to the second driving paddle 1323, the first driving paddle 1322 is twisted to the left, and the second driving paddle 1323 is twisted to the right; in other embodiments, from the direction of the first driving paddle 1322 pointing to the second driving paddle 1323, the first driving paddle 1322 is twisted to the right, and the second driving paddle 1323 is twisted to the left.

[0145] In the embodiment, the first driving paddle 1322 and the second driving paddle 1323 are opposite in the twisting direction, and thus each paddle blade 321 of the first driving paddle 1322 and each paddle blade 321 of the second driving paddle 1323 rotates during the rotation of the first driving paddle 1322 and the second driving paddle 1323. During the process of entering the water surface and pushing the water, the paddle blade 321 of the first driving paddle 1322 guides the water flow from the middle of the cleaning robot 100 to the side of the main body 10 away from the second driving paddle 1323, and the paddle blade 321 of the second driving paddle 1323 guides the water flow from the middle of the cleaning robot 100 to the side of the main body 10 away from the first driving paddle 1322. In the embodiment, the first driving paddle 1322 and the second driving paddle 1323 cooperate to generate a thrust for driving the main body 10 to move near the two sides of the main body 10. Compared with the embodiment in which the thrust for driving the main body 10 to move is generated in the middle of the main body 10, the thrust in the embodiment can make the cleaning robot 100 move more stably, reduce the probability of shaking towards the two sides of the main body 10 in the width direction, and be beneficial to improving the stability of the cleaning robot 100 during movement.

[0146] Referring to FIGS. 19 and 16, in some embodiments, each paddle blade 321 on the cross section of the driving paddle 32 points to the center of the driving paddle 32.

[0147] In the embodiment, each paddle blade 321 on the cross section of the driving paddle 32 points to the center of the driving paddle 32, and each paddle blade 321 extends through the center of the driving paddle 32 in the axial twisting direction of the driving shaft 31. Thus, even if the rotation directions of the paddle blades 321 are different, the sizes of the water pushing forces generated by the paddle blades 321 when contacting the water surface are equal. Further, when the cleaning robot 100 moves forward or backward, the driving paddle 32 has the same water pushing force even if the rotation directions of the driving shaft 31 are different, so that the cleaning robot 100 has the same forward moving efficiency and backward moving efficiency, which is beneficial to improving the use performance of the cleaning robot 100.

[0148] Referring to FIG. 20, in some embodiments, the first driving paddle 1322 and the second driving paddle 1323 each include a plurality of paddle blades 321 distributed in the circumferential direction of the driving shaft 31, each paddle blade 321 is flexible and extends in the axial twisting direction of the driving shaft 31, the paddle blade 321 has opposite third and fourth ends 1324 and 1325, and the third end 1324 of the paddle blade 321 does not coincide with the fourth end 1325 of the paddle blade 321 in the projection plane perpendicular to the driving shaft 31.

[0149] It can be understood that when the driving paddle 32 comprises a first driving paddle 1322 and a second driving paddle 1323 arranged separately, the first driving paddle 1322 and the second driving paddle 1323 each comprise a paddle blade 321, and the third end 1324 and the fourth end 1325 of the first driving paddle 1322 do not coincide, and the third end 1324 and the fourth end 1325 of the second driving paddle 1323 do not coincide.

[0150] In the embodiment, the paddle blade 321 of the first driving paddle 1322 and the paddle blade 321 of the second driving paddle 1323 each extend along the axial torsion of the driving shaft 31, so that along the projection plane perpendicular to the driving shaft 31, the third end 1324 of the paddle blade 321 and the fourth end 1325 of the paddle blade 321 do not coincide. When the first driving paddle 1322 and / or the second driving paddle 1323 rotates, the third end 1324 and the fourth end 1325 of the paddle blade 321 enter the water surface successively, so as to disperse the water pushing force of each paddle blade 321, increase the time and process of each paddle blade 321 entering the water surface, and avoid the sudden change of the water pushing force of each paddle blade 321 at the moment of entering the water surface, so that each paddle blade 321 can provide stable water pushing force for the cleaning robot 100 during the water pushing process. Along the projection plane perpendicular to the driving shaft 31, the third end 1324 and the fourth end 1325 of the paddle blade 321 have a certain angle, which increases the time of each paddle blade 321 entering the water surface, and shortens the time interval of the adjacent two paddle blades 321 entering the water surface successively, which is beneficial to improve the uniformity and continuity of the water pushing force of the second rotating member 30 of the cleaning robot 100, can effectively reduce the sudden change of the water pushing force of the driving paddle 32, reduce the waves generated by the cleaning robot 100 on the water surface during the advancing process, and thus improve the advancing stability of the cleaning robot 100 during the water surface cleaning.

[0151] Please refer to FIG. 21, in some embodiments, along the radial direction of the driving shaft 31, the minimum distance between the rotating axis and the paddle blade 321 is R1, and the maximum distance between the rotating axis and the paddle blade 321 is R2; when the cleaning robot 100 is used for water surface cleaning, the paddle blade 321 is partially immersed in water, the depth of the paddle blade 321 immersed in water is L, and the relationship R2≥R1+L is satisfied.

[0152] The contact condition between the driving paddle 32 and the water surface when the cleaning robot 100 is used for water surface cleaning is demonstrated in the embodiment of FIG. 21, wherein the water body is demonstrated in the D dashed line frame.

[0153] It can be understood that the minimum distance between the rotation axis and the paddle 321 is the distance from the rotation axis to the side of the paddle 321 close to the driving shaft 31.

[0154] It can be understood that the maximum distance between the rotation axis and the paddle 321 is the distance from the rotation axis to the side of the paddle 321 away from the driving shaft 31.

[0155] It can be understood that when R2 = R1 + L, the rotation axis is flush with the water surface. When R2 > R1 + L, the rotation axis is higher than the water surface, that is, there is a gap between the rotation axis and the water surface.

[0156] In the embodiment, the cleaning robot 100 satisfies the relationship R2 ≥ R1 + L, so that the rotation axis is higher than or flush with the water surface, so that when the cleaning robot 100 cleans on the water surface, at least half or more of the driving shaft 31 is located above the water surface, facilitating the rotation of the driving shaft 31, so as to ensure that the driving shaft 31 has high rotation efficiency, thereby ensuring the water pushing efficiency of the paddle 321 and the advancing efficiency of the cleaning robot 100. When the cleaning robot 100 satisfies the relationship R2 < R1 + L, the rotation axis is below the water surface, that is, more than half of the driving shaft 31 is below the water surface, which greatly increases the water pushing resistance of the paddle 321 when the driving shaft 31 rotates, thereby reducing the water pushing efficiency of the paddle 321 and the advancing efficiency of the cleaning robot 100.

[0157] In some embodiments, the distance between adjacent two paddles 321 in the circumferential direction of the driving shaft 31 is the same; and / or, the distance between adjacent two paddles 321 in the axial direction of the driving shaft 31 is the same.

[0158] It can be understood that the paddles 321 are uniformly arranged on the driving shaft 31.

[0159] In the embodiment, the distance between adjacent two paddles 321 in the circumferential direction and the axial direction of the driving shaft 31 is the same, so that when the driving shaft 31 rotates, the time from when each paddle 321 enters the water surface to when it completely enters the water surface is equal, and the time interval between the entry of each adjacent two paddles 321 into the water surface is equal, so that in the process of rotation of the driving shaft 31, the plurality of paddles 321 cooperate with each other to provide continuous and uniform water pushing force for the main body 10 of the robot, which can effectively reduce the sudden change of the water pushing force of the driving paddle 32 and reduce the waves generated on the water surface during the advancing process of the cleaning robot 100, thereby improving the advancing stability of the cleaning robot 100 when cleaning on the water surface.

[0160] In some embodiments, the driving paddle 32 further comprises a paddle barrel 322 sleeved on the outer periphery of the driving shaft 31, and a plurality of the paddles 321 are connected to the side of the paddle barrel 322 away from the driving shaft 31 and are arranged in the circumferential direction of the paddle barrel 322.

[0161] It can be understood that, from the direction pointing outward from the rotation axis, the driving shaft 31, the paddle barrel 322 and the paddles 321 are arranged in sequence.

[0162] In the present embodiment, the paddle barrel 322 is sleeved on the outer periphery of the driving shaft 31 and a plurality of the paddles 321 are arranged in the circumferential direction of the paddle barrel 322, and the paddle barrel 322 and the plurality of the paddles 321 are connected as an integral structure, which facilitates the installation of the paddles 321 on the outer periphery of the driving shaft 31 and facilitates the replacement of the paddles 321. In addition, the driving shaft 31 can also provide stable support for the paddle barrel 322 to avoid the bending of the driving shaft 31 during rotation, thereby facilitating the prolongation of the service life of the second rotating member 30 and the cleaning robot 100.

[0163] Since the cleaning robot can replace human labor to achieve automatic cleaning, for example, the pool cleaning robot can be specially used for underwater and / or water surface cleaning of the pool. However, the energy utilization rate of the existing pool cleaning robot is not high when cleaning the water bottom, and the energy consumption of the cleaning robot is large.

[0164] Please refer to FIG. 22 and FIG. 23, FIG. 22 is a structural schematic diagram of a cleaning robot 100 provided in an embodiment of the present application, and FIG. 23 is a sectional schematic diagram of the cleaning robot 100 shown in FIG. 22. The cleaning robot 100 can be a pool cleaning robot used for realizing pool cleaning. The following embodiment establishes a coordinate system as shown in FIG. 22 for the purpose of describing the structure of the cleaning robot 100 provided in the present application. Among them, the X-axis direction can be understood as the length direction of the cleaning robot 100 in the embodiment of the present application, the Y-axis direction can be understood as the width direction of the cleaning robot 100 in the embodiment of the present application, and the Z-axis direction can be understood as the height direction of the cleaning robot 100 in the embodiment of the present application. The directions indicated by the arrows respectively represent the X-axis positive direction, the Y-axis positive direction and the Z-axis positive direction. In the embodiment of the present application, the advancing direction of the cleaning robot 100 is along the X-axis positive direction. The relative position relationship of up and down represents the position relationship along the Z-axis direction, and the relative position relationship of front and back represents the position relationship along the X-axis direction. When cleaning the water surface, the cleaning robot 100 is placed reversely, that is, the top is downward (i.e. towards the water bottom), and the bottom is upward, for cleaning the water surface garbage. When cleaning the water bottom, the cleaning robot 100 is placed forwardly, that is, the top is upward (i.e. towards the water surface), and the bottom is downward, for cleaning the water bottom garbage. When cleaning the water line, the cleaning robot 100 climbs along the pool side wall to partially expose on the water surface, for cleaning the position where the pool contacts with the water surface. The cleaning robot 100 comprises a body main body 10, a first rotating member 20, a walking assembly 50 and a baffle assembly 40.

[0165] Among them, in the advancing direction of the cleaning robot 100, the body main body 10 has a front end 10c and a rear end 10d. In the embodiment of the present application, the front end 10c of the body main body 10 and the rear end 10d of the body main body 10 are arranged along the X-axis direction. In the advancing direction of the cleaning robot 100, the front end 10c of the body main body 10 is located on the front side of the rear end 10d of the body main body 10. The front end 10c of the body main body 10 is used for mounting the first rotating member 20. The rear end 10d of the body main body 10 is used for mounting part of the walking assembly 50. The front end 10c and the rear end 10d of the body main body 10 can be used for mounting a garbage collecting device 12, for example: a water surface cleaning garbage basket or an underwater cleaning garbage basket. In a possible embodiment, when cleaning the water surface, the water surface cleaning garbage basket can be mounted between the front end 10c and the rear end 10d of the body main body 10, when cleaning the water bottom, the underwater cleaning garbage basket can be mounted between the front end 10c and the rear end 10d of the body main body 10, and the user can replace the corresponding garbage collecting device 12 according to the actual cleaning scene.

[0166] The first rotating member 20 is rotatably arranged at the front end 10c of the main body 10, and is used to clean up garbage in the area to be cleaned. In one possible embodiment, the first rotating member 20 can include a rolling brush. The rolling brush can be directly rotatably connected to the front end 10c of the main body 10 through a rotating shaft, or can be rotatably connected to the front end 10c of the main body 10 through a rotating shaft and a transmission mechanism, such as a gear transmission mechanism. In the embodiment of the present application, the rotating shaft of the first rotating member 20 is along the Y-axis direction. When the first rotating member 20 is rotatably arranged at the front end 10c of the main body 10, the first rotating member 20 can protrude relative to the front end 10c of the main body 10, or can be flush with the front end 10c of the main body 10. When the first rotating member 20 rotates relative to the main body 10 under the driving of the power source, the first rotating member 20 can clean up garbage in the area to be cleaned.

[0167] The walking assembly 50 is arranged on the main body 10. The walking assembly 50 includes a first driving member 141 and a driving paddle 32. In one possible embodiment, the first driving member 141 can be a track wheel set. For example, track wheel sets can be arranged on both sides of the main body 10 along the Y-axis direction. The track wheel sets extend from the front end 10c of the main body 10 to the rear end 10d of the main body 10 along the X-axis direction. The first driving member 141 is used to drive the main body 10 to walk on the water bottom or water line. It can be understood that when the water bottom or water line is cleaned, the main body 10 mainly walks under the driving of the first driving member 141. The driving paddle 32 is rotatably arranged at the rear end 10d of the main body 10, and the driving paddle 32 is used to drive the main body 10 to walk on the water surface. It can be understood that when the water surface is cleaned, the main body 10 mainly walks under the driving of the driving paddle 32. In one possible embodiment, the driving paddle 32 can include first driving wheels and second driving wheels arranged along the Y-axis direction. The first driving wheels and the second driving wheels can be rotatably connected to the rear end 10d of the main body 10 through the same rotating shaft, or can be rotatably connected to the rear end 10d of the main body 10 through first and second rotating shafts, respectively. In the embodiment of the present application, the first driving wheels and the second driving wheels are coaxially arranged. The rotating shaft of the first driving wheels and the rotating shaft of the second driving wheels are both along the Y-axis direction.

[0168] The first driving wheel can have a plurality of first vanes arranged circumferentially. The second driving wheel can have a plurality of second vanes arranged circumferentially. The first vanes and the second vanes can be straight vanes or twisted vanes. When the first vanes are straight vanes, the first vanes extend linearly along the Y-axis direction. When the second vanes are straight vanes, the second vanes extend linearly along the Y-axis direction. When the first vanes are twisted vanes, one end of the first vane away from the second vane is not collinear with one end of the first vane close to the second vane. When the second vanes are twisted vanes, one end of the second vane away from the first vane is not collinear with one end of the second vane close to the first vane. At this time, the plurality of first vanes on the first driving wheel can have the same twist manner or different twist manners. The plurality of second vanes on the second driving wheel can have the same twist manner or different twist manners. Optionally, the plurality of first vanes have the same twist manner, the plurality of second vanes have the same twist manner, and the twist manner of the first vanes can be opposite to the twist manner of the second vanes. By making the first vanes and the second vanes be twisted vanes, the rigidity of the first vanes and the second vanes can be ensured. By making the twist manner of the first vanes be opposite to the twist manner of the second vanes, the uniformity of the water pushed by the driving oar 32 can be improved, so that the stability of the cleaning robot 100 walking under the driving of the driving oar 32 can be improved.

[0169] In order to simplify the structure of the cleaning robot 100, facilitate miniaturization of the cleaning robot 100, etc., the first rotating member 20 and the driving oar 32 can share the same power source, i.e., the power source arranged inside the cleaning robot 100 can simultaneously provide power for the first rotating member 20 and the driving oar 32. Since the first rotating member 20 needs to operate during cleaning of the water bottom and the water surface, during cleaning of the water bottom, although the first driving member 141 drives the main body 10 to move forward, the driving oar 32 also operates. At this time, during cleaning of the water bottom or the water line, especially during cleaning of the water bottom, the driving oar 32 operates under the power provided by the power source, but the circumferential circulation of the water flow stirred by the driving oar 32 is difficult to generate effective driving force. Therefore, if the water flow stirred by the driving oar 32 can be converted to a certain extent, so that the driving oar 32 can also provide effective driving force for the main body 10 to drive the main body 10 to move forward during cleaning of the water bottom, the driving force during cleaning of the water bottom can be increased, the energy utilization rate of the cleaning robot can be improved, and the energy consumption can be reduced. The cleaning robot 100 provided in the application can solve the problem that the driving oar 32 idles and cannot generate effective driving force during cleaning of the water bottom through the design of the baffle assembly 40.

[0170] Specifically, the baffle assembly 40 is arranged between the first rotating member 20 and the driving paddle 32 and close to the driving paddle 32. In other words, the first rotating member 20, the baffle assembly 40 and the driving paddle 32 are arranged in sequence along the X-axis direction, and the distance between the baffle assembly 40 and the driving paddle 32 is much smaller than the distance between the baffle assembly 40 and the first rotating member 20. At least part of the baffle assembly 40 is arranged on the side of the driving paddle 32 facing the first rotating member 20. The baffle assembly 40 is used to make the water flow driven by the driving paddle 32 to be sprayed out from the gap between the driving paddle 32 and the baffle assembly 40, and the spraying direction of the water flow is opposite to the advancing direction of the cleaning robot 100. It can be understood that there is a gap between the baffle assembly 40 and the driving paddle 32, and the gap forms a water flow spraying port. The arrangement of the baffle assembly 40 makes the water flow driven by the driving paddle 32 to be sprayed out from the water flow spraying port, and the spraying direction of the water flow driven by the driving paddle 32 when sprayed out from the water flow spraying port is along the direction opposite to the advancing direction of the cleaning robot 100. In the embodiment of the application, that is, the spraying direction of the water flow driven by the driving paddle 32 is opposite to the X-axis direction. As shown in FIG. 24, the baffle assembly 40 is exposed on the water surface during water surface cleaning. At this time, the cleaning robot 100 advances under the driving of the driving paddle 32, and the baffle assembly 40 does not work. As shown in FIG. 25, during water bottom cleaning, the spraying direction of the water flow driven by the driving paddle 32 and sprayed out from the gap between the driving paddle 32 and the baffle assembly 40 can be referred to as the arrow dashed line N1 shown in FIG. 25. At this time, the cleaning robot 100 walks under the driving of the first driving member 141. It is assumed in the embodiment of the application that the walking direction is along the horizontal direction of the pool, and the spraying direction of the water flow driven by the driving paddle 32 and sprayed out from the gap between the driving paddle 32 and the baffle assembly 40 is along the horizontal direction of the pool. As shown in FIG. 26, during water line cleaning, the spraying direction of the water flow driven by the driving paddle 32 and sprayed out from the gap between the driving paddle 32 and the baffle assembly 40 can be referred to as the arrow dashed line N2 shown in FIG. 26. At this time, the cleaning robot 100 walks under the driving of the first driving member 141. It is assumed in the embodiment of the application that the walking direction is along the vertical direction of the pool, and the spraying direction of the water flow driven by the driving paddle 32 and sprayed out from the gap between the driving paddle 32 and the baffle assembly 40 is along the vertical direction of the pool.

[0171] By arranging the baffle assembly 40 between the first rotating member 20 and the driving paddle 32 and close to the driving paddle 32, the driving paddle 32 drives the water flow, and the water flow is sprayed out from the gap between the driving paddle 32 and the baffle assembly 40, so that the water flow sprayed out generates a certain backwash force, which can drive the main body 10 to advance along the advancing direction. That is, the driving paddle 32 and the baffle assembly 40 can provide effective driving force for the main body 10 on the basis of the first driving member 141 driving the main body 10 to advance, so as to improve the energy utilization rate and reduce the energy consumption.

[0172] The cleaning robot 100 provided in the application comprises a body 10, a first rotating member 20, a walking assembly 50 and a baffle assembly 40. Since the walking assembly 50 comprises a first driving member 141 and a driving paddle 32, the driving paddle 32 is used to drive the body 10 to walk on the water surface, and the first driving member 141 is used to drive the body 10 to walk on the water bottom or water line. Therefore, the walking assembly 50 can provide certain driving force in various cleaning scenes, and the movement of the cleaning robot 100 is realized. In addition, due to the design of the baffle assembly 40, the water flow driven by the driving paddle 32 is sprayed in the direction opposite to the movement direction of the cleaning robot 100. The water flow sprayed in this way generates a certain back pressure, which drives the body 10 to move in the movement direction, thereby ensuring the effectiveness of the driving force provided by the driving paddle 32 when cleaning the water bottom, so that the driving paddle 32 no longer idles, which not only increases the driving force when cleaning the water bottom, but also improves the energy utilization rate of the cleaning robot 100 and reduces the energy consumption. In addition, the baffle assembly 40 is located between the first rotating member 20 and the driving paddle 32, so that the water flow driven by the driving paddle 32 is sprayed in the direction opposite to the movement direction of the cleaning robot 100. In this way, the water rolling phenomenon between the driving paddle 32 and the first rotating member 20 can be avoided, and the cleaning efficiency of the cleaning robot 100 can be improved.

[0173] In addition, as shown in FIG. 27, when the baffle assembly 40 is not arranged, the water flow driven by the driving paddle 32 may exist in the water flow sprayed in the direction of the dashed arrow in FIG. 27. In this way, when the cleaning robot 100 climbs along the side wall of the pool, the spraying of the water flow will cause the cleaning robot 100 to be subjected to a reverse force perpendicular to the side wall, which is easy to cause the first driving member 141 to not tightly adhere to the side wall, thereby affecting the climbing of the cleaning robot 100. By arranging the baffle assembly 40, the spraying direction of the water flow is opposite to the movement direction of the cleaning robot 100. At this time, the water flow driven by the driving paddle 32 is sprayed in the direction of the solid arrow in FIG. 27, which generates a back pressure opposite to the movement direction, which is helpful for the cleaning robot 100 to climb along the side wall of the pool.

[0174] As shown in FIG. 28, one end of the baffle assembly 40 is located on the side of the driving paddle 32 close to the first rotating member 20, and the other end of the baffle assembly 40 extends away from the first rotating member 20 and is located below the driving paddle 32.

[0175] In the application, one end of the baffle assembly 40 can be slightly lower than the driving paddle 32 in the positive direction of the Z axis. The other end of the baffle assembly 40 and the driving paddle 32 are arranged in the positive direction of the Z axis. In the embodiment of the application, part of the baffle assembly 40 is located between the first rotating member 20 and the driving paddle 32 and is arranged close to the driving paddle 32. The other part of the baffle assembly 40 has no position difference between the driving paddle 32 in the direction of the X axis and has a height difference between the driving paddle 32 in the direction of the Z axis.

[0176] The distance between the driving paddle 32 and the baffle assembly 40 gradually decreases from the side close to the first rotating member 20 to the side away from the first rotating member 20. It can be understood that in the embodiment of the present application, the distance between the driving paddle 32 and the baffle assembly 40 gradually decreases along the X axis in the reverse direction. In other words, in the direction of travel of the cleaning robot 100, the distance between the driving paddle 32 and the baffle assembly 40 gradually increases.

[0177] By gradually decreasing the distance between the driving paddle 32 and the baffle assembly 40 from the side close to the first rotating member 20 to the side away from the first rotating member 20, the water flow between the baffle assembly 40 and the driving paddle 32 can be gradually compressed before being sprayed, so that the impact force of the water flow sprayed between the other end of the baffle assembly 40 and the driving paddle 32 increases, and the driving force can be further increased.

[0178] In a possible embodiment, as shown in FIG. 29, the cleaning robot 100 has a center line. The center line passes through the axis of the driving paddle 32 and is perpendicular to the direction of travel of the cleaning robot 100. One end of the baffle assembly 40 is located on the side of the driving paddle 32 close to the first rotating member 20, and the other end of the baffle assembly 40 extends to the center line or extends to the side of the center line away from the first rotating member 20.

[0179] In the embodiment of the present application, the center line of the cleaning robot 100 can refer to the M line shown in FIG. 29. It can be understood that the center line of the cleaning robot 100 is parallel to the Z axis direction and passes through the center of the rotating shaft of the driving paddle 32. Among them, one end of the baffle assembly 40 is located on the side of the driving paddle 32 close to the first rotating member 20, and the other end of the baffle assembly 40 extends to the center line or extends to the side of the center line away from the first rotating member 20, that is, in the X axis direction, the other end of the baffle assembly 40 is located on the side of the center of the rotating shaft of the driving paddle 32 away from the first rotating member 20. It can be understood that the baffle assembly 40 extends from between the driving paddle 32 and the first rotating member 20 to the side of the center of the rotating shaft of the driving paddle 32 away from the first rotating member 20.

[0180] By locating one end of the baffle assembly 40 on the side of the driving paddle 32 close to the first rotating member 20 and extending the other end of the baffle assembly 40 to the center line or to the side of the center line away from the first rotating member 20, the water flow driven by the driving paddle 32 can be sprayed along the dashed arrow in FIG. 29, and at this time the resultant force direction formed by the spraying of the water flow is basically parallel to the side wall of the pool, the cleaning robot 100 will not be subjected to the reverse force perpendicular to the side wall, the first driving member 141 of the cleaning robot 100 closely adheres to the side wall, and the climbing of the cleaning robot 100 is more stable.

[0181] Further, as shown in FIG. 30, the cleaning robot 100 further comprises a garbage collecting device 12. The garbage collecting device 12 is arranged between the first rotating member 20 and the driving paddle 32. The first rotating member 20, the garbage collecting device 12 and the driving paddle 32 form a main water flow path along the direction of travel of the cleaning robot 100. A bypass water flow path is formed between the inner cavity of the main body 10 and the driving paddle 32.

[0182] In the embodiment of the present application, the main water flow path can refer to the solid arrow in FIG. 30, and the bypass water flow path can refer to the dotted arrow in FIG. 30. In the process of cleaning, the external water flow can enter the inside of the cleaning robot 100 through the main water flow path. Specifically, the external water flow can flow into the garbage collecting device 12 through the gap between the first rotating member 20 and the main body 10, and then flow from the end of the garbage collecting device 12 close to the first rotating member 20 to the end of the garbage collecting device 12 close to the driving paddle 32, and then flow out from the end of the garbage collecting device 12 close to the driving paddle 32, and then flow to the driving paddle 32, and then flow circularly under the driving of the driving paddle 32, and finally at least part of the water flow is sprayed out from the driving paddle 32 and the baffle assembly 40 in the direction opposite to the direction of travel of the cleaning robot 100. In addition, in the process of cleaning, the external water flow or the water flow inside the main body 10 can also enter the inside of the cleaning robot 100 through the bypass water flow path. Specifically, the external water flow can flow from the position close to the front end 10c of the main body 10 to the rear end 10d of the main body 10 through the top of the main body 10, and then flow into the inner cavity of the main body 10 at the rear end 10d of the main body 10, and then flow to the driving paddle 32 through the position where the inner cavity of the main body 10 is connected to the driving paddle 32, and then flow circularly under the driving of the driving paddle 32, and finally at least part of the water flow is sprayed out from the driving paddle 32 and the baffle assembly 40 in the direction opposite to the direction of travel of the cleaning robot 100.

[0183] Optionally, in the direction along the Z axis, the first rotating member 20 and the main body 10 have a first gap, the garbage inlet of the garbage collecting device 12 is connected to the first gap, and the water filtering outlet of the garbage collecting device 12 is arranged towards the driving paddle 32. In the direction along the Z axis, the baffle assembly 40 and the main body 10 have a second gap. The water flow flowing through the main water flow path flows to the driving paddle 32 in sequence through the first gap, the garbage inlet of the garbage collecting device 12, the water filtering outlet of the garbage collecting device 12 and the second gap. In other words, the first gap, the garbage inlet of the garbage collecting device 12, the water filtering outlet of the garbage collecting device 12 and the second gap form the main water flow path.

[0184] By forming the main flow path along the traveling direction of the cleaning robot 100 among the first rotating member 20, the garbage collecting device 12 and the driving paddle 32, the garbage can be collected so that the cleaned garbage can enter the garbage collecting device 12 along with the water flow. By forming the bypass water path between the inner cavity of the main body 10 and the driving paddle 32, the water flow driven by the driving paddle 32 can not circulate in the circumferential direction all the time while the garbage is cleaned, so that the effective thrust can be generated. When the water surface is cleaned, the water flow flowing to the driving paddle 32 through the main flow path is the water flow after the garbage is collected, and the water flow is less. If there is no bypass water path, the water flow supply will be insufficient, and the driving performance of the driving paddle 32 will be reduced. When the water bottom is cleaned, the water flow of the main flow path will basically flow out through the bottom of the garbage collecting device 12 when flowing through the garbage collecting device 12. If there is no bypass water path, the water inflow of the driving paddle 32 is basically the same as the water flow sprayed between the driving paddle 32 and the baffle assembly 40. At this time, the back pressure generated by the sprayed water flow and the force generated by the water flow entering the water flow are basically offset. Thus, the driving paddle 32 still cannot provide effective driving force for the travel of the main body 10. By setting the bypass water path, the bypass water path supplies water inflow to the driving paddle 32. At this time, the driving paddle 32 operates, and the water flow sprayed between the driving paddle 32 and the baffle assembly 40 increases. Thus, the driving paddle 32 can provide effective driving force for the travel of the main body 10.

[0185] Optionally, the inner cavity of the main body 10 includes a main cavity 104 and a secondary cavity 105 which are adjacent and communicable. In the direction perpendicular to the traveling direction of the cleaning robot 100, the secondary cavity 105 is arranged spaced apart from the driving paddle 32. The side wall of the secondary cavity 105 facing the driving paddle 32 is provided with an opening 103. The side wall of the secondary cavity 105 away from the driving paddle 32 is configured with a plurality of through holes 107. The water flow can flow to the driving paddle 32 through the through holes 107, the secondary cavity 105 and the opening 103 in sequence to form the bypass water path.

[0186] In the embodiment of the present application, the main cavity 104 of the main body 10 and the secondary cavity 105 of the main body 10 are arranged adjacent to each other and communicated along the X-axis direction. In the Z-axis direction, the secondary cavity 105 of the main body 10 is arranged spaced apart from the driving paddle 32. The plurality of through holes 107 of the secondary cavity 105 are located at the top of the main body 10. The opening 103 of the secondary cavity 105 is located above the driving paddle 32 in the Z-axis direction. It can be understood that the plurality of through holes 107 of the secondary cavity 105, the opening 103 of the secondary cavity 105 and the driving paddle 32 are arranged in sequence in the reverse direction of the Z-axis. The number, size and shape of the through holes 107 of the secondary cavity 105, and the size and shape of the opening 103 of the secondary cavity 105 are not specifically limited in the present application. For example, the shape of the through hole 107 includes but is not limited to a circular hole or a square hole. The shape of the opening 103 includes but is not limited to a circular opening or a square opening.

[0187] By making the water flow through the through hole 107, the auxiliary cavity 105, the opening 103 to the driving paddle 32 to form a bypass waterway, it is beneficial to make the external water flow through the bypass waterway to the driving paddle 32, to supplement the water for the driving paddle 32, so as to improve the water supplement efficiency, and avoid the situation that the water flow of the bypass waterway is insufficient, resulting in poor water supplement effect.

[0188] Further, please refer to FIG. 30 and FIG. 31, the top of the body main body 10 is provided with a water flow guide surface 106. The water flow guide surface 106 extends to the through hole 107 to make the water flow through the guide surface to the through hole 107 and into the auxiliary cavity 105.

[0189] In a possible embodiment, the water flow guide surface 106 can be a slope. One end of the water flow guide surface 106 can be located at the middle position between the front end 10c and the rear end 10d of the body main body 10, or close to the middle position, and the other end of the water flow guide surface 106 is connected to the through hole 107. In the direction of the Z axis, the other end of the water flow guide surface 106 is closer to the driving paddle 32 than the one end of the water flow guide surface 106. In other words, in the direction of the X axis, the water flow guide surface 106 gradually approaches the driving paddle 32.

[0190] When cleaning the water bottom, the cleaning robot 100 travels, and the water flows backward through the top of the body main body 10, and it is difficult to enter the bypass waterway, so by setting the water flow guide surface 106, the water inflow of the bypass waterway can be increased, so as to ensure the water supplement effectiveness of the bypass waterway.

[0191] The speed of the cleaning robot 100 is less than the jet speed of the water flow.

[0192] In a possible embodiment, the cleaning robot 100 further comprises a first motor and a second motor arranged inside the body main body 10. The first motor is directly or through a first transmission mechanism connected to the first driving member 141, for controlling the rotating speed of the first driving member 141, and the second motor is directly or through a second transmission mechanism connected to the driving paddle 32, for controlling the rotating speed of the driving paddle 32, so that the rotating speed of the first driving member 141 can be controlled by controlling the rotating speed of the first motor, the rotating speed of the driving paddle 32 can be controlled by controlling the rotating speed of the second motor, and the speed of the cleaning robot 100 can be less than the jet speed of the water flow by making the rotating speed of the first driving member 141 less than the rotating speed of the driving paddle 32.

[0193] In another possible embodiment, the cleaning robot 100 further comprises a driving motor and a gear transmission mechanism arranged inside the main body 10, the driving motor is connected to one of the first driving member 141 and the driving paddle 32 directly or through a third transmission mechanism, the first driving member 141 and the driving paddle 32 are drivingly connected through the gear transmission mechanism, when the driving wheel of the gear transmission mechanism is drivingly connected to the first driving member 141 and the driven wheel is drivingly connected to the driving paddle 32, by making the transmission ratio of the gear transmission mechanism less than 1, the advancing speed of the cleaning robot 100 can be made less than the jet speed of the water flow, when the driving wheel of the gear transmission mechanism is drivingly connected to the driving paddle 32 and the driven wheel is drivingly connected to the first driving member 141, by making the transmission ratio of the gear transmission mechanism greater than 1, the advancing speed of the cleaning robot 100 can be made less than the jet speed of the water flow.

[0194] By making the advancing speed of the cleaning robot 100 less than the jet speed of the water flow, when the first driving member 141 and the driving paddle 32 drive the main body 10 to walk at the same time, it can be ensured that the driving paddle 32 can generate effective driving force. In this embodiment, when cleaning the water bottom and the water line, the driving paddle 32 can generate effective driving force to drive the main body 10 to walk.

[0195] In a possible embodiment, as shown in FIG. 32, the baffle assembly 40 can comprise a guide plate 401. The guide plate 401 can be an arc-shaped plate, or the guide plate 401 can be a bent plate. When the guide plate 401 is an arc-shaped plate, one end of the guide plate 401 is located on the side of the driving paddle 32 facing the first rotating member 20, and the other end of the guide plate 401 is located below the driving paddle 32 in the direction of the Z axis, that is, the driving paddle 32 and the other end of the guide plate 401 are arranged in reverse along the Z axis. When the guide plate 401 is a bent plate, the guide plate 401 can comprise a first guide part and a second guide part connected by bending, the first guide part is located on the side of the driving paddle 32 facing the first rotating member 20, and the second guide part is located below the driving paddle 32 in the direction of the Z axis, that is, the driving paddle 32 and the second guide part are arranged in reverse along the Z axis. Among them, the first guide part can be a flat plate or an inclined plate, and the second guide part can be an inclined plate. The present application does not make specific limitation on the bending angle between the first guide part and the second guide part. Optionally, the bending angle between the first guide part and the second guide part can be greater than 90° and less than 180°.

[0196] In another possible embodiment, please refer to FIG. 1, FIG. 33 to FIG. 34, the baffle assembly 40 comprises a mounting member 402 and a guide member 403 arranged thereon, the mounting member 402 is provided with a pressing buckle 420, the pressing buckle 420 is matched with the clamping groove arranged on the garbage collecting device 12 of the cleaning robot 100, so as to fix the garbage collecting device 12 and the main body 10.

[0197] The structure of the flow guide 403 can be the same as that of the flow guide plate 401 in the above embodiment. The mounting member 402 and the flow guide 403 can be integrally formed or separately formed and assembled together. Since the garbage collection device 12 is arranged on the fuselage main body 10, the mounting member 402 is fixed with the garbage collection device 12, and the fixing of the baffle assembly 40 and the fuselage main body 10 can be achieved. In the embodiment of the application, the mounting member 402 and the garbage collection device 12 are fixedly connected through the cooperation of the pressing buckle 420 and the clamping groove. The mounting member 402 can include a first mounting portion and a second mounting portion connected by bending. The first mounting portion is located on the side of the driving paddle 32 facing the first rotating member 20. The second mounting portion is located below the driving paddle 32 in the Z-axis direction, that is, the driving paddle 32 and the second mounting portion are arranged in the opposite direction of the Z-axis. One end of the first mounting portion away from the second mounting portion is connected to one end of the flow guide plate 401, and the other end of the second mounting portion away from the first flow guide plate 401 is connected to the other end of the flow guide plate 401, that is, the first mounting portion, the second mounting portion, and the flow guide plate 401 form a substantially triangular baffle assembly 40. The first mounting portion is provided with a pressing buckle 420.

[0198] By including the mounting member 402 and the flow guide 403 in the baffle assembly 40, the flow guide is achieved while facilitating the fixing of the baffle assembly 40 and the garbage collection device 12, so that the disengagement of the baffle assembly 40 can be avoided. The mounting member 402 and the garbage collection device 12 are fixedly connected through the cooperation of the pressing buckle 420 and the clamping groove, which facilitates the disassembly, installation, and replacement of the baffle assembly 40.

[0199] Optionally, the baffle assembly 40 includes the mounting member 402 and the flow guide 403 arranged thereon, and the cross section of the flow guide 403 is arranged in a circular arc shape.

[0200] The structure of the mounting member 402 in the embodiment is the same as that of the mounting member 402 in the above embodiment. By arranging the cross section of the flow guide 403 in a circular arc shape, the distance between the driving paddle 32 and the baffle assembly 40 gradually decreases from the side close to the first rotating member 20 to the side away from the first rotating member 20.

[0201] The above is only a specific implementation of the application, but the protection scope of the application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the application, which should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a body main body having a front end and a rear end oppositely arranged along a traveling direction; a first rotating member rotatably arranged at the front end of the body main body for cleaning garbage in a region to be cleaned; and a second rotating member rotatably arranged at the rear end of the body main body for driving the body main body to move on a water surface, the second rotating member comprising a driving shaft and at least one driving paddle arranged on an outer circumferential surface of the driving shaft, the driving paddle comprising a plurality of paddle blades arranged at intervals along a circumferential direction of the driving shaft, and the projections of the plurality of paddle blades on an axial direction of the driving shaft forming a closed circle or a nearly closed circle.

2. The cleaning robot according to claim 1, wherein, At least part of the paddle blades are arranged in a twisted manner along the axial direction of the driving shaft.

3. The cleaning robot according to claim 2, wherein, The projections of two adjacent paddle blades on the axial direction of the driving shaft are partially overlapped or connected.

4. The cleaning robot according to claim 1, wherein, The number of the paddle blades on each driving paddle is n, and the twisted angle of each paddle blade is θ, and the θ = 360° / n, wherein the n ≥ 1.

5. The cleaning robot according to claim 1, wherein, The paddle blades are mirror-symmetrically arranged along the axial direction of the driving shaft.

6. The cleaning robot according to claim 1, wherein, The number of the driving paddles is two, and the paddle blades of the two driving paddles are mirror-symmetrically arranged along the axial direction of the driving shaft.

7. The cleaning robot according to claim 6, wherein, The cleaning robot further comprises a first driving member and a second driving member, the driving shaft comprises two sub-driving shafts connected along the axial direction, and the opposite ends of the two sub-driving shafts are respectively in transmission connection with the first driving member and the second driving member, and the adjacent ends of the two sub-driving shafts are connected through a rotating connection member; each driving paddle is arranged on one sub-driving shaft, and the two sub-driving shafts can drive the two driving paddles to rotate at the same speed, or at different speeds, or in the same direction, or in opposite directions under the driving of the first driving member and the second driving member.

8. The cleaning robot according to any one of claims 1 to 7, wherein, When the driving paddle rotates, it drives water flow from the middle of the driving paddle to both ends, and generates a thrust for driving the cleaning robot to travel and a transverse component force towards both sides of the cleaning robot near both ends of the driving paddle, the directions of the two transverse component forces are opposite, and the two transverse component forces at least partially offset each other.

9. The cleaning robot according to any one of claims 1 to 7, wherein, The body main body has a first end and a second end oppositely arranged along a height direction, the first end is higher than the second end when the cleaning robot travels on the water surface; from the end of the driving shaft to the middle position, the paddle blades gradually approach the first end of the body main body.

10. The cleaning robot according to any one of claims 1 to 7, wherein On any cross section perpendicular to the driving shaft, each paddle blade points to the center of the driving paddle.

11. The cleaning robot according to any one of claims 1 to 7, wherein The preset draft depth of the driving paddle is less than or equal to the size of the paddle blade along the radial direction of the driving shaft.

12. The cleaning robot according to any one of claims 1 to 7, wherein The intervals of two adjacent paddle blades along the circumferential direction of the driving shaft are the same; the intervals of two adjacent paddle blades along the axial direction of the driving shaft are the same.

13. The cleaning robot according to any one of claims 1 to 7, wherein The driving paddle further comprises a paddle cylinder, the paddle cylinder is sleeved on the driving shaft, and the paddle blades are formed on the surface of the paddle cylinder.

14. The cleaning robot according to claim 13, wherein, Each driving paddle further comprises a connecting disc, the connecting disc is annularly and protrudingly arranged on the circumferential side of the paddle cylinder, the connecting disc is located at the end of the driving shaft, and one end of the paddle blade on the driving paddle is interconnected with the connecting disc.

15. The cleaning robot of claim 13, wherein, The inner cavity of the paddle cylinder is in a polyhedral column shape, and the outer peripheral surface of the driving shaft is in close contact with the inner cavity wall surface of the paddle cylinder.

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