Cleaning robot

Abstract

The present application relates to the field of robots, and specifically relates to a cleaning robot. The cleaning robot comprises a main body, a debris collection assembly, a cleaning roller brush assembly, and a lifting assembly. The main body has a first end and a second end opposite one another. The debris collection assembly is mounted at the bottom of the main body. The debris collection assembly is provided with a debris opening. The cleaning roller brush assembly is rotatably disposed at the first end of the main body and is opposite to the debris opening. The cleaning roller brush assembly rotates to convey debris into the debris collection assembly via the debris opening. The lifting assembly is disposed on the main body. The lifting assembly is capable of lifting the first end of the main body, such that the debris collection assembly is inclined and the debris opening of the debris collection assembly is positioned at a higher end, so as to block the debris in the debris collection assembly from flowing out via the debris opening to the water surface, thereby preventing previous debris collection operations of the cleaning robot from being rendered ineffective, and improving cleaning efficiency.

Description

Cleaning robots

[0001] This application claims priority to Chinese Patent Application No. 2024226165349, filed on October 28, 2024, entitled "Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, specifically to a cleaning robot. Background Technology

[0003] When cleaning robots used in pools and other water features (hereinafter referred to as cleaning robots) are cleaning the water surface, in some scenarios, the trash collected by the cleaning robot may flow out of the trash can with the water flow, resulting in trash flowing back to the water surface. This forces the cleaning robot to collect the trash again, reducing cleaning efficiency. Therefore, how to improve the situation of trash flowing back to the water surface by cleaning robots has become a technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a cleaning robot, comprising:

[0005] The fuselage body has a first end and a second end;

[0006] A waste collection assembly is installed at the bottom of the main body of the machine, and the waste collection assembly has a waste inlet;

[0007] A cleaning roller brush assembly is rotatably disposed at the first end of the main body and opposite to the waste inlet. The cleaning roller brush assembly rotates to bring the waste through the waste inlet into the waste collection assembly.

[0008] A lifting component is provided on the main body of the machine. The lifting component can lift the first end of the main body of the machine to tilt the waste collection component and make the waste outlet of the waste collection component located at the higher end. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0010] Figure 1 is a three-dimensional structural diagram of a cleaning robot in an upright position according to an embodiment of this application;

[0011] Figure 2 is a side view of a cleaning robot provided in an embodiment of this application;

[0012] Figure 3 is a three-dimensional structural diagram of a cleaning robot in an inverted state according to an embodiment of this application;

[0013] Figure 4 is a cross-sectional schematic diagram of a cleaning robot in an inverted state according to an embodiment of this application;

[0014] Figure 5 is a structural schematic diagram of a cleaning robot in underwater cleaning mode according to an embodiment of this application;

[0015] Figure 6 is a structural schematic diagram of a cleaning robot in water surface cleaning mode according to an embodiment of this application;

[0016] Figure 7 is a structural schematic diagram of the first end of a cleaning robot in a first raised state according to an embodiment of this application;

[0017] Figure 8 is a structural schematic diagram of the first end of a cleaning robot in a second raised state according to an embodiment of this application;

[0018] Figure 9 is a structural schematic diagram of the first end of a cleaning robot in the third lifted state according to an embodiment of this application;

[0019] Figure 10 is a cross-sectional schematic diagram of a cleaning robot in an inverted state according to an embodiment of this application;

[0020] Figure 11 is a schematic diagram of a cleaning robot whose lifting component is a water pump, according to an embodiment of this application.

[0021] Figure 12 is a schematic diagram of the grid structure of a cleaning robot provided in an embodiment of this application;

[0022] Figure 13 is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application, showing two water pumps tilting outwards to spray water.

[0023] Figure 14 is a schematic diagram of the structure of the motion module driving the gravity block to the first position according to an embodiment of this application;

[0024] Figure 15 is a schematic diagram of the structure of the motion module driving the gravity block to the second position according to an embodiment of this application;

[0025] Figure 16 is a schematic diagram of the structure of the motion module driving the gravity block to the second position according to an embodiment of this application;

[0026] Figure 17 is a schematic diagram of the structure of the motion module driving the gravity block to the first position according to an embodiment of this application;

[0027] Figure 18 is a three-dimensional cross-sectional schematic diagram of a cleaning robot provided in an embodiment of this application.

[0028] Reference numerals: Cleaning robot 100; Main body 10; Waste collection component 20; Cleaning roller brush component 30; Lifting component 40; First end 10c; Second end 10d; Traveling direction D1; Buoyancy device 50; Waste outlet 21; Water surface L; Middle shell 11; Water pump 60; Water outlet 60a; First distance H1; Second distance H2; First water pump 601; Second water pump 602; First water outlet 601a; Second water outlet 602a; Motion module 41; Gravity block 42; Buoyancy block 43; Drive propeller assembly 70; First drive propeller 71; First roller brush 31; Second roller brush 32; First drive assembly 81; Second drive assembly 82; Baffle 12; Inclined plate 22. Detailed Implementation

[0029] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0030] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0031] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0032] Please refer to Figures 1 to 4. Figure 1 shows a cleaning robot 100 provided in an embodiment of this application. The cleaning robot 100 includes a main body 10, a waste collection component 20, a cleaning roller brush component 30, and a lifting component 40.

[0033] Please refer to Figures 1 to 4. The fuselage body 10 has a first end 10c and a second end 10d.

[0034] Specifically, the main body 10 has a front end and a rear end that are oppositely arranged along the direction of travel D1. The direction of travel D1 refers to the forward direction of the main body 10 during cleaning. The direction of travel is represented by D1 in the figure. The front end of the main body 10 refers to the end of the cleaning robot 100 in the forward direction when cleaning the water surface. The rear end of the main body 10 is the end that is opposite to the front end. Among them, the first end 10c is the front end, and the second end 10d is the rear end.

[0035] The cleaning robot 100 is a tumbler-operated cleaning machine. For ease of explanation, the operating modes of the cleaning robot 100 are defined as, but are not limited to, surface cleaning mode and above-water cleaning mode.

[0036] For example, the cleaning robot 100 has a surface cleaning mode and an underwater cleaning mode, so that one cleaning robot 100 can perform multiple cleaning functions.

[0037] Please refer to Figure 5. In underwater cleaning mode, the cleaning robot 100 is positioned upright underwater. All cleaning robots 100 are located underwater, either in an upright position or with a tilt angle of less than 90°. That is, the height of the top 10a of the main body 10 is higher than the height of the bottom 10b of the main body 10.

[0038] Referring to Figure 6, when the cleaning robot 100 is in water surface cleaning mode, the cleaning robot 100 is in a flipped state (e.g., flipped 180°), and the cleaning robot 100 is placed upside down on the water surface L. 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 on the water surface L, and the top 10a of the main body 10 is underwater.

[0039] Optionally, referring to Figures 1 to 4, the cleaning robot 100 further includes a buoyancy device 50. More optionally, there are two buoyancy devices 50, respectively located on both sides of the main body 10. The buoyancy devices 50 generate buoyancy on the water surface, allowing the cleaning robot 100 to float on the water surface when in water surface cleaning mode, with portions of the waste collection component 20 and the cleaning roller brush component 30 positioned on the water surface L to facilitate surface waste cleaning.

[0040] Specifically, the waste collection component 20 is detachable for easy waste disposal. Optionally, the waste collection component 20 may have different structures depending on the operating mode of the cleaning robot 100. Optionally, different cleaning modes may also share the same waste collection component 20.

[0041] The garbage collection component 20 is installed at the bottom of the main body 10 so that at least a part of the garbage collection component 20 is above the water surface in the water surface cleaning mode of the cleaning robot 100, thereby collecting garbage on the water surface.

[0042] Further, referring to Figure 4, the waste collection assembly 20 has a waste inlet 21. The waste inlet 21 is located at the first end 10c (i.e., the front end) of the waste collection assembly 20 facing the main body 10, so that waste can be brought into the waste collection assembly 20 through the waste inlet 21 during the movement of the cleaning robot 100 on the water surface.

[0043] A cleaning roller brush assembly 30 is rotatably disposed at the first end 10c of the main body 10 and opposite to the waste inlet 21. The cleaning roller brush assembly 30 rotates to bring the waste through the waste inlet 21 into the waste collection assembly 20.

[0044] Specifically, the cleaning roller brush assembly 30 is rotatably disposed at the front end of the main body 10. The cleaning roller brush assembly 30 and the waste collection assembly 20 are arranged sequentially from the front end to the rear end. The waste inlet 21 of the waste collection assembly 20 is correspondingly disposed in the rotating area of ​​the cleaning roller brush assembly 30. During rotation, the cleaning roller brush assembly 30 pushes water toward the waste inlet 21, thereby bringing the waste into the waste collection assembly 20.

[0045] It should be noted that, referring to Figure 4, in the water surface cleaning mode, the bottom of the cleaning roller brush assembly 30 is located below the water surface L, while the other parts of the cleaning roller brush assembly 30 are located above the water surface L. Most of the waste outlet 21 is located above the water surface L.

[0046] In some scenarios, such as when the cleaning robot 100 is reversing or turning, the trash collected by the cleaning robot 100 may be ejected from the trash collection component 20. Specifically, when the cleaning robot 100 moves forward, the cleaning roller brush component 30 and the drive paddle component of the cleaning robot 100 propel water in the direction that carries the trash into the trash collection component 20. When the cleaning robot 100 moves backward, the cleaning roller brush component 30 and the drive paddle component of the cleaning robot 100 propel water in the opposite direction to the forward direction, causing the trash in the trash collection component 20 to easily flow out of the trash collection component 20 with the water flow under the propulsion of the cleaning roller brush component 30.

[0047] When the cleaning robot 100 turns, the two drive paddles in the drive paddle assembly of the cleaning robot 100 adopt differential steering. Differential steering requires the two drive paddles to rotate in different directions. That is, the rotation direction of one of the drive paddles is opposite to the forward direction. Correspondingly, the rotation direction of one of the two cleaning rollers in the cleaning roller brush assembly 30 is opposite to the forward direction. As a result, the garbage in the garbage collection assembly 20 is easily discharged out of the garbage collection assembly 20 with the water flow under the water spray of the cleaning roller brush assembly 30.

[0048] A lifting component 40 is disposed on the main body 10. The lifting component 40 can lift the first end 10c of the main body 10 so that the waste collection component 20 is tilted and the waste outlet of the waste collection component 20 is located at the higher end, that is, the waste outlet 21 of the waste collection component 20 is raised.

[0049] Referring to Figure 4, the cleaning robot 100 also includes a water pump 60. The water outlet 60a of the water pump 60 is located at the top of the main body 10. The water pump 60 is used to draw in water and debris during underwater cleaning mode. The debris remains in the debris collection assembly 20, while the water is sprayed out through the water outlet 60a. At the same time, the reaction force generated by the water outlet 60a allows the cleaning robot 100 to stably adhere to the underwater surface, enabling the cleaning robot 100 to move on the underwater surface.

[0050] In an optional implementation, in the water surface cleaning mode, the cleaning robot 100 can also raise the first end 10c of the main body 10 under the action of the water pump 60, causing the garbage collection component 20 to tilt and the garbage outlet 21 of the garbage collection component 20 to rise (to the higher end). In scenarios where garbage is easily ejected, such as when the cleaning robot 100 is reversing or turning, the garbage in the garbage collection component 20 is prevented from flowing out of the water surface through the garbage outlet 21 due to the garbage outlet 21 being raised to a certain height, thus preventing the previous garbage collection work of the cleaning robot 100 from being ineffective and improving cleaning efficiency.

[0051] In another alternative implementation, the lifting component 40 raises the first end 10c of the main body 10 by changing the center of gravity of the cleaning robot 100. For example, when it is necessary to raise the first end 10c of the main body 10, the lifting component 40 controls the center of gravity of the cleaning robot 100 to be biased towards the second end 10d of the cleaning robot 100.

[0052] In another alternative embodiment, the lifting component 40 raises the first end 10c of the main body 10 by changing the center of buoyancy of the cleaning robot 100. For example, when it is necessary to raise the first end 10c of the main body 10, the lifting component 40 controls the center of buoyancy of the cleaning robot 100 to be biased toward the first end 10c of the cleaning robot 100.

[0053] This application does not specify the height to which the first end 10c of the fuselage body 10 is raised. The following examples illustrate the scenarios in which the first end 10c of the fuselage body 10 is raised.

[0054] In a further optional embodiment, please refer to Figure 7. When the lifting component 40 lifts the first end 10c of the main body 10, the bottom of the cleaning roller brush component 30 is raised above the water surface L. In this way, even if the cleaning roller brush component 30 rotates in the same direction as the reversing drive component, the cleaning roller brush component 30 will not push the water toward the side away from the garbage outlet 21, thus avoiding bringing garbage out of the garbage collection component 20.

[0055] Further optionally, referring to Figure 8, the main body 10 includes a middle shell 11 located in the middle region of the main body 10. The middle shell 11 divides the main body 10 into a bottom space and a top space. The bottom space houses the cleaning roller brush assembly 30 and the waste collection assembly 20, etc. Understandably, the middle shell 11 has several through holes, allowing the portion of the bottom space corresponding to the waste collection assembly 20 to communicate with the top space.

[0056] The middle shell 11 and the cleaning roller brush assembly 30 are spaced apart in the height direction to form a waste inlet channel. The waste inlet channel is connected to the waste outlet 21 of the waste collection assembly 20.

[0057] In this embodiment, please refer to Figure 8. When the lifting component 40 lifts the first end 10c of the main body 10, the end of the middle shell 11 near the cleaning roller brush component 30 is above the water surface L. Thus, the part of the middle shell 11 above the water surface L can serve as a blocking structure to prevent the garbage in the garbage collection component 20 from flowing out of the water surface through the garbage outlet 21, thus avoiding the previous garbage collection work of the cleaning robot 100 being ineffective and improving cleaning efficiency.

[0058] In a further optional embodiment, please refer to Figure 9. When the lifting component 40 lifts the first end 10c of the main body 10, the bottom of the garbage outlet 21 of the garbage collection component 20 is raised above the water surface L. In this way, the plate below the bottom of the garbage outlet 21 forms a blocking structure to prevent the garbage in the garbage collection component 20 from flowing out of the water surface through the garbage outlet 21.

[0059] This application provides a cleaning robot 100, which includes a main body 10, a waste collection assembly 20, a cleaning roller brush assembly 30, and a lifting assembly 40. The main body 10 has a first end 10c and a second end 10d opposite to each other. The waste collection assembly 20 is installed at the bottom of the main body 10 and has a waste inlet 21. The cleaning roller brush assembly 30 is rotatably disposed at the first end 10c of the main body 10 and opposite to the waste inlet 21. The cleaning roller brush assembly 30 rotates to pick up waste. The garbage is brought into the garbage collection component 20 through the garbage inlet 21; the lifting component 40 is provided on the main body 10, and the lifting component 40 can lift the first end 10c of the main body 10, so that the garbage collection component 20 is tilted and the garbage inlet of the garbage collection component 20 is located at the higher end. The garbage inlet 21 of the garbage collection component 20 is tilted upward to prevent the garbage in the garbage collection component 20 from flowing out of the water surface through the garbage inlet 21, thus avoiding the ineffective garbage collection work of the cleaning robot 100 and improving cleaning efficiency.

[0060] Optionally, the cleaning robot 100 also includes a control component (not shown), which is located inside the main body 10. When the control component detects that the cleaning robot 100 is prone to spitting out garbage, such as when it is moving backward or turning, the control component controls the lifting component 40 to lift the first end 10c of the main body 10.

[0061] The following description, in conjunction with the accompanying drawings, illustrates the specific structure of the lifting component 40.

[0062] In a first alternative embodiment, referring to FIG10, the lifting assembly 40 includes a water pump 60. The outlet 60a of the water pump 60 is located at the top of the main body 10. The distance between the outlet 60a and the first end 10c is a first distance H1. The distance between the outlet 60a and the second end 10d is a second distance H2. The first distance H1 is less than the second distance H2.

[0063] Alternatively, the water pump 60 may be installed on the top side of the middle housing 11, i.e., within the top space.

[0064] In other words, in this embodiment, the outlet 60a of the water pump 60 is biased towards the side where the first end 10c is located (i.e., biased towards the front end of the main body 10). The water pump 60 is used to pump water and spray it through the outlet 60a. Since the outlet 60a of the water pump 60 is biased towards the side where the first end 10c is located, the reaction force generated by the water pump 60 spraying water through the outlet 60a is biased towards the first end 10c. The reaction force generated by the water pump 60 spraying water through the outlet 60a raises the first end 10c of the cleaning robot 100, thereby raising the garbage outlet 21 of the garbage collection component 20. This prevents garbage from flowing out of the water surface through the garbage outlet 21 in scenarios where garbage is easily ejected, such as when the cleaning robot 100 is reversing or turning. This avoids the previous garbage collection work of the cleaning robot 100 being ineffective and improves cleaning efficiency.

[0065] Optionally, the number of water outlets 60a is one. One water outlet 60a is located in the central region of the main body 10. The water outlet 60a flows out in a direction approximately perpendicular to the bottom wall of the area to be cleaned.

[0066] Specifically, the water outlet 60a is located in the middle region of the width direction of the main body 10. Furthermore, the water outlet 60a is located at the center of the width direction of the main body 10. This ensures that the reaction force generated by the water pump 60 spraying water through the outlet 60a is located at the center of the width direction, preventing problems such as the cleaning robot 100 tilting or flipping to one side of the width direction due to an off-center reaction force location. The width direction is represented by D2 in the diagram.

[0067] Specifically, the water outlet 60a is oriented approximately perpendicular to the bottom wall of the area to be cleaned. In other words, the water outlet 60a is oriented close to the vertical direction of the bottom wall of the area to be cleaned. Optionally, the angle between the water outlet 60a and the vertical direction of the bottom wall of the area to be cleaned is less than or equal to 30°. For example, the angle between the water outlet 60a and the vertical direction of the bottom wall of the area to be cleaned is 0°, 5°, 8°, 10°, 15°, 20°, 25°, or 30°. Thus, the reaction force generated by the water pump 60 spraying water through the outlet 60a is upward, and the cleaning robot 100 lifts its first end 10c under this force.

[0068] Optionally, referring to Figure 11, the water outlet 60a can be oriented in the height direction D3 of the main body 10, meaning the water outlet 60a is perpendicular to the top horizontal shell of the main body 10. This allows the main body 10 to lift the first end 10c under a force perpendicular to the main body 10, raising the garbage outlet 21 of the garbage collection component 20. This prevents garbage from easily spilling out of the garbage collection component 20 through the garbage outlet 21 in scenarios where the cleaning robot 100 is reversing or turning, thus preventing the previous garbage collection work of the cleaning robot 100 from becoming ineffective and improving cleaning efficiency.

[0069] Optionally, referring to Figure 11, the water pump 60 includes a water pump body 61 and a grid 62 connected to the outlet of the water pump body 61. The grid 62 is installed inside the outlet 60a, and multiple grid openings on the grid 62 are connected to the water pump body 61. The axial direction of the grid openings is the water outlet direction of the outlet 60a.

[0070] Optionally, referring to Figure 12, the axial direction of the grid opening 621 of the grid 62 is designed to be approximately perpendicular to the bottom wall of the area to be cleaned, and the water outlet 60a is designed to have a water outlet direction approximately perpendicular to the bottom wall of the area to be cleaned. Alternatively, the axial direction of the grid opening 621 of the grid 62 is designed to be perpendicular to the top horizontal housing of the main body 10, and the water outlet 60a is designed to have a water outlet direction perpendicular to the top horizontal housing of the main body 10.

[0071] The control component is electrically connected to the water pump 60. The control component can control the water pump 60 to spray water through the outlet 60a to lift the first end 10c of the main body 10 (for example, in scenarios where the cleaning robot 100 is likely to spit out garbage, such as when it is reversing or turning).

[0072] The cleaning robot 100 provided in this application has a water pump 60 positioned near the front end. When the cleaning robot 100 is cleaning the water surface, if the cleaning robot 100 needs to move backward, the water pump 60 can be controlled to work simultaneously to generate an upward recoil force. This recoil force can raise the front end of the cleaning robot 100 to a preset height, thereby preventing garbage from flowing back onto the water surface during the backward movement of the cleaning robot 100, and thus improving the cleaning efficiency of the cleaning robot 100.

[0073] In other embodiments, there are multiple water outlets 60a. Two water outlets 60a are located on opposite sides of the longitudinal axis Y of the main body 10, and further, the two water outlets 60a are symmetrically arranged about the longitudinal axis Y of the main body 10. The water outlet direction of the two water outlets 60a is approximately perpendicular to the bottom wall of the area to be cleaned.

[0074] Furthermore, the number of water pumps 60 can be two, and the two water pumps 60 are respectively connected to two water outlets 60a. Increasing the number of water pumps 60 and water outlets 60a can increase the upward force generated by water sprayed through the water outlets 60a.

[0075] In a second alternative embodiment, referring to Figures 1 and 13, the number of water outlets 60a is two. The two water outlets 60a are located on opposite sides of the longitudinal axis Y of the main body 10. The water outlets 60a flow in opposite directions and are inclined relative to the bottom wall of the area to be cleaned.

[0076] Optionally, referring to Figure 13, the number of water pumps 60 is two, and the two water pumps 60 are respectively located on both sides of the longitudinal axis Y of the main body 10. Further, the two water outlets 60a are symmetrically arranged about the longitudinal axis Y of the main body 10. Specifically, the two water pumps 60 include a first water pump 601 and a second water pump 602, which are arranged along the width direction of the main body 10.

[0077] Specifically, please refer to Figure 13. The two water outlets 60a include a first water outlet 601a and a second water outlet 602a. A first water pump 601 is connected to the first water outlet 601a. ​​A second water pump 602 is connected to the second water outlet 602a.

[0078] The two water outlets 60a have opposite water discharge directions and are inclined relative to the bottom wall of the area to be cleaned. Specifically, the water discharge direction of the first water outlet 601a is opposite to that of the second water outlet 602a along the width direction. The water discharge direction of the second water outlet 602a is opposite to that of the first water outlet 601a along the width direction. The axial direction of the grid opening 621 of the first water pump 601 is inclined toward the side away from the second water pump 602, and the axial direction of the grid opening 621 of the second water pump 602 is inclined toward the side away from the first water pump 601. In this way, the first water outlet 601a forms a downward and outward (e.g., left) water spray direction, and the second water outlet 602a forms a downward and outward (e.g., right) water spray direction. The lateral (width) components of the water spray thrust generated by the first water pump 601 and the water spray thrust generated by the second water pump 602 can cancel each other out. The first water pump 601 and the second water pump 602 ultimately form an upward water spray thrust, which pushes the first end 10c of the cleaning robot 100 upward to avoid problems such as lateral instability and yaw of the cleaning robot 100.

[0079] In other embodiments, the number of water pumps 60 may be multiple. For example, the number of water pumps 60 may be three, four, etc., and the multiple water pumps 60 are symmetrically arranged about the longitudinal axis Y of the main body 10. The water jet thrust generated by the multiple water pumps 60 is also symmetrical about the longitudinal axis Y.

[0080] In a third alternative embodiment, referring to Figures 14 and 15, the lifting assembly 40 further includes a motion module 41 and a gravity block 42. The motion module 41 is connected to the gravity block 42. The motion module 41 can (for example, in scenarios where the cleaning robot 100 is prone to spitting out garbage, such as when it is reversing or turning) move the gravity block 42 toward the second end 10d of the main body 10, thereby lifting the first end 10c of the main body 10.

[0081] Specifically, motion module 41 includes motor drive or magnetic drive modules, etc.

[0082] For example, the motion module 41 is an electromagnet, and the gravity block 42 is a magnetic structure. The gravity block 42 is movable within its housing space. Furthermore, the gravity block 42 is capable of displacement in the longitudinal direction within its housing space. Optionally, the motion module 41 is located on one side near the first end 10c of the fuselage body 10. In other embodiments, the motion module 41 may also be located at other positions on the fuselage body 10.

[0083] The control component is electrically connected to the motion module 41. In the initial state, the control component controls the motion module 41 to receive a first current signal. Under the action of the first current signal, the motion module 41 attracts the gravity block 42 to a first position near the first end 10c of the main body 10. At this time, the first end 10c and the second end 10d of the cleaning robot 100 remain horizontal or nearly horizontal. In scenarios where the cleaning robot 100 is prone to spitting out debris, such as when it is reversing or turning, the control component controls the motion module 41 to receive a second current signal. Under the action of the second current signal, the motion module 41 repels the gravity block 42, causing it to be located at a second position away from the first end 10c of the main body 10. At this time, the center of gravity of the cleaning robot 100 moves towards the second end 10d of the main body 10, and the first end 10c of the cleaning robot 100 is lifted.

[0084] In other embodiments, the motion module 41 includes a motor, a lead screw (or gear), or other transmission components to drive the gravity block 42 from a first position close to the main body 10 to a second position away from the main body 10.

[0085] In a fourth alternative embodiment, as shown in Figures 16 and 17, the lifting assembly 40 further includes a motion module 41 and a buoyancy block 43.

[0086] The motion module 41 is connected to the buoyancy block 43. The buoyancy block 43 includes, but is not limited to, a hollow structure.

[0087] The motion module 41 can (for example, in scenarios where the cleaning robot 100 is reversing or turning, where garbage is easily ejected) drive the buoyancy block 43 toward the first end 10c of the main body 10, thereby raising the first end 10c of the main body 10.

[0088] Specifically, motion module 41 includes motor drive or magnetic drive modules, etc.

[0089] For example, the motion module 41 is an electromagnet, and the buoyancy block 43 also has a magnetic structure. The buoyancy block 43 is movable within its housing space. Further, the buoyancy block 43 is capable of displacement in the longitudinal direction within its housing space. Further optionally, the motion module 41 is located on the side near the second end 10d of the fuselage body 10. In other embodiments, the motion module 41 is located on the side near the first end 10c of the fuselage body 10.

[0090] The control component is electrically connected to the motion module 41. In the initial state, the control component controls the motion module 41 to receive a first current signal. Under the action of the first current signal, the motion module 41 attracts the buoyancy block 43 to a second position near the second end 10d of the main body 10. At this time, the first end 10c and the second end 10d of the cleaning robot 100 remain horizontal or nearly horizontal. In scenarios where the cleaning robot 100 is prone to spitting out debris, such as when it is reversing or turning, the control component controls the motion module 41 to receive a second current signal. Under the action of the second current signal, the motion module 41 repels the buoyancy block 43, causing it to be located at a first position away from the second end 10d of the main body 10. At this time, the center of buoyancy of the cleaning robot 100 moves towards the first end 10c of the main body 10, and the first end 10c of the cleaning robot 100 is lifted.

[0091] In other embodiments, the motion module 41 includes a motor, a lead screw (or gear), or other transmission components to drive the buoyancy block 43 from a second position away from the fuselage body 10 to a first position close to the fuselage body 10.

[0092] Optionally, the buoyancy block 43 in this embodiment can be the aforementioned buoyancy device 50. The buoyancy device 50 can move along the length direction (front-back direction), and the motion module 41 can (for example, in scenarios where garbage is easily ejected, such as when the cleaning robot 100 is reversing or turning) drive the buoyancy device 50 to move toward the first end 10c of the main body 10, so that the center of buoyancy of the cleaning robot 100 moves toward the first end 10c of the main body 10, thereby raising the first end 10c of the main body 10.

[0093] Referring to Figure 18, the cleaning robot 100 also includes a drive propeller assembly 70. The drive propeller assembly 70 is rotatably disposed at the second end 10d of the main body 10.

[0094] In this embodiment, the draft of the drive propeller assembly 70 is less than or equal to its rotation radius. Draft is the depth into the water. During rotation, the drive propeller assembly 70 generates a forward thrust, which propels the cleaning robot 100 forward. During rotation, it also generates a backward thrust, which propels the cleaning robot 100 backward.

[0095] Specifically, when the cleaning robot 100 cleans the water surface L, the cleaning roller brush assembly 30 has a shallow draft due to its relatively close position to the top 10a. The drive propeller has a deeper draft. That is, the axis of the drive propeller is located between the axis of the cleaning roller brush assembly 30 and the top 10a of the main body 10, so that the cleaning roller brush assembly 30 can carry surface debris into the debris collection assembly 20 when rotating, and the drive propeller generates greater propulsion force when rotating, driving the cleaning robot 100 forward.

[0096] The drive paddle assembly 70 rotates in the same direction as the cleaning roller brush assembly 30. The lifting assembly 40 can lift the first end 10c of the main body 10 (for example, in scenarios where the cleaning robot 100 is prone to spitting out garbage, such as when it is reversing or turning) so that the cleaning roller brush assembly 30 is above the liquid surface.

[0097] In this embodiment, since the drive paddle assembly 70 and the cleaning roller brush assembly 30 rotate in the same direction, when the cleaning robot 100 retreats, the rotation direction of the cleaning roller brush assembly 30 is the direction in which the garbage in the garbage collection assembly 20 flows out. In this embodiment, by designing the lifting assembly 40 to lift the first end 10c of the main body 10 of the robot body 10 in scenarios where garbage is easily ejected, such as when the cleaning robot 100 retreats or turns, the cleaning roller brush assembly 30 is positioned above the liquid surface. This prevents the cleaning roller brush assembly 30 from pushing the water outward and carrying the garbage in the garbage collection assembly 20 out during the retreating rotation, thus avoiding the ineffective garbage collection work of the cleaning robot 100 and improving cleaning efficiency.

[0098] It should be noted that when the lifting assembly 40 lifts the first end 10c of the fuselage body 10, at least a portion of the drive propeller assembly 70 is located on the water surface.

[0099] Optionally, the propeller assembly 70 includes a first propeller 71 and a second propeller (not shown), which are independent of each other. The first propeller 71 and the second propeller are arranged along the width direction. The second propeller is mirrored in arrangement with the first propeller 71.

[0100] Referring to Figures 1 and 18, the cleaning roller brush assembly 30 includes a first roller brush 31 and a second roller brush 32 that are independent of each other. The first roller brush 31 and the second roller brush 32 are arranged along the width direction. The first roller brush 31 and the second roller brush 32 are arranged in a mirror image.

[0101] Please refer to Figures 1 and 18. The cleaning robot 100 also includes a first drive assembly 81 and a second drive assembly 82. The first drive assembly 81 and the second drive assembly 82 are respectively disposed on both sides of the width direction of the main body 10. The first drive assembly 81 and the second drive assembly 82 are arranged in a mirror image.

[0102] The first drive propeller 71 and the first roller brush 31 are located on one side of the longitudinal axis Y of the main body 10, and both are connected to the output execution end of the first drive assembly 81. The first drive propeller 71 is connected to the output execution end of the first drive assembly 81 via a first drive shaft (not shown). The first drive assembly 81 includes, but is not limited to, a drive motor, drive gears, front wheels, rear wheels, and tracks. The drive motor drives the rear wheels and the first drive shaft to rotate via the drive gears, and the first drive shaft drives the first drive propeller 71 to rotate. The rear wheels drive the front wheels to rotate via the tracks, and the rotation of the front wheels causes the first roller brush 31 to roll.

[0103] The second drive propeller and the second roller brush 32 are located on the other side of the longitudinal axis Y of the fuselage body 10, and both are connected to the output execution end of the second drive assembly 82. The structure of the second drive assembly 82 can refer to the structure of the first drive assembly 81.

[0104] Optionally, each of the drive propellers is sleeved on the outer peripheral surface of one of the drive shafts. Driven by the first drive assembly 81 and the second drive assembly 82, the two drive shafts can drive the first drive propeller 71 to rotate at the same speed, or at different speeds, or in the same direction, or in opposite directions. For example, driven by the first drive assembly 81 and the second drive assembly 82, the two drive shafts can drive the first drive propeller 71 and the second drive propeller to rotate at the same speed and in the same direction, causing the cleaning robot 100 to move forward or backward in a straight line. As another example, driven by the first drive assembly 81 and the second drive assembly 82, the two drive shafts can drive the first drive propeller 71 and the second drive propeller to rotate at different speeds and in the same direction, causing the cleaning robot 100 to turn. As yet another example, driven by the first drive assembly 81 and the second drive assembly 82, the two drive shafts can drive the first drive propeller 71 and the second drive propeller to rotate at the same speed but in opposite directions, or at different speeds but in opposite directions, causing the cleaning robot 100 to turn, turn around, etc. When the first drive propeller 71 and the second drive propeller rotate in opposite directions, the cleaning robot 100 can turn faster.

[0105] In this embodiment, two drive propellers are designed, each of which is fitted onto the outer circumferential surface of a drive shaft. Driven by the first drive assembly 81 and the second drive assembly 82, the two drive shafts can drive the first drive propeller 71 to rotate at the same speed, or at a different speed, or in the same direction, or in opposite directions, enabling the cleaning robot 100 to move linearly, turn corners, etc., and thus clean the water surface or avoid obstacles according to a preset trajectory.

[0106] The control component is electrically connected to the first drive component 81 and the second drive component 82. When the first drive component 81 and / or the second drive component 82 are in the reverse drive mode, it determines that the cleaning robot 100 is in a reverse or turning state. Then, it controls the lifting component 40 to lift the first end 10c of the main body 10, so that the garbage collection component 20 is tilted and the garbage outlet 21 of the garbage collection component 20 is tilted upward, so as to prevent the garbage in the garbage collection component 20 from flowing out of the water surface through the garbage outlet 21, thus avoiding the previous garbage collection work of the cleaning robot 100 being ineffective and improving cleaning efficiency.

[0107] Optionally, the main body 10 further includes a baffle 12. The baffle 12 is disposed between the cleaning roller brush assembly 30 and the waste outlet 21. The baffle 12 covers the top portion of the waste outlet 21.

[0108] In this embodiment, the main body 10 has a baffle 12 located between the cleaning roller brush assembly 30 and the garbage outlet 21, which blocks the top part of the garbage outlet 21. When the first end 10c of the cleaning robot 100 is raised, the baffle 12 is located at the top of the garbage outlet 21, which can block the garbage in the garbage collection assembly 20 to prevent the garbage in the garbage collection assembly 20 from flowing out.

[0109] Alternatively, the waste collection assembly 20 is provided with an inclined plate 22 adjacent to the bottom region of the waste inlet 21. The inclined plate 22 gradually moves away from the bottom of the main body 10 along the direction of entry into the waste inlet 21.

[0110] In this embodiment, the inclined plate 22 at the bottom of the garbage inlet 21 gradually moves away from the bottom of the main body 10 along the direction of entry into the garbage inlet 21. When the first end 10c of the cleaning robot 100 is raised, the angle between the inclined plate 22 and the water surface increases, and the inclined plate 22 can block the garbage in the garbage collection assembly 20 to prevent the garbage in the garbage collection assembly 20 from flowing out. In particular, when the first end 10c of the cleaning robot is raised to the point that the inclined plate 22 is exposed above the water surface, the inclined plate 22 can form a baffle 12 to prevent the garbage in the garbage collection assembly 20 from flowing out.

[0111] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A cleaning robot, wherein, include: The fuselage body has a first end and a second end; A waste collection assembly is installed at the bottom of the main body of the machine, and the waste collection assembly has a waste inlet; A cleaning roller brush assembly is rotatably disposed at the first end of the main body and opposite to the waste inlet. The cleaning roller brush assembly rotates to bring the waste through the waste inlet into the waste collection assembly. A lifting component is provided on the main body of the machine body. The lifting component can lift the first end of the main body of the machine body so that the waste collection component is tilted and the waste outlet of the waste collection component is located at the higher end.

2. The cleaning robot according to claim 1, wherein, The lifting assembly includes a water pump, the outlet of which is located at the top of the main body of the machine. The distance between the outlet and the first end is a first distance, and the distance between the outlet and the second end is a second distance. The first distance is less than the second distance.

3. The cleaning robot according to claim 2, wherein, The number of water outlets is one, and the water outlet is located in the middle area of ​​the main body of the machine. The water outlet is perpendicular to the bottom wall of the area to be cleaned.

4. The cleaning robot according to claim 3, wherein, The water pump includes a water pump body and a grid that connects to the outlet of the water pump body. The grid is installed inside the outlet, and multiple grid openings on the grid are connected to the water pump body. The axial direction of the grid openings is the water outlet direction.

5. The cleaning robot according to claim 2, wherein, The number of water outlets is two, and the two water outlets are located on both sides of the longitudinal axis of the main body of the machine. The water outlets have opposite water outlet directions and are inclined relative to the bottom wall of the area to be cleaned.

6. The cleaning robot according to claim 5, wherein, The number of water pumps is multiple, including a first water pump and a second water pump. The first water pump and the second water pump are arranged along the width direction of the main body of the machine. The two water outlets include a first water outlet and a second water outlet. The first water pump is connected to the first water outlet, and the second water pump is connected to the second water outlet.

7. The cleaning robot according to claim 6, wherein, The water outlet of the first outlet is directed away from the second outlet along the width direction, and the water outlet of the second outlet is directed away from the first outlet along the width direction. The axial direction of the grid opening of the first water pump is inclined towards the side away from the second water pump, and the axial direction of the grid opening of the second water pump is inclined towards the side away from the first water pump.

8. The cleaning robot according to claim 1, wherein, The lifting assembly also includes a motion module and a gravity block. The motion module is connected to the gravity block and can drive the gravity block to move toward the second end of the main body of the fuselage, thereby lifting the first end of the main body of the fuselage.

9. The cleaning robot according to claim 1, wherein, The lifting assembly also includes a motion module and a buoyancy block. The motion module is connected to the buoyancy block and can drive the buoyancy block to move toward the first end of the fuselage body, thereby lifting the first end of the fuselage body.

10. The cleaning robot according to any one of claims 1 to 9, wherein, The cleaning robot also includes a drive paddle assembly, which is rotatably disposed at the second end of the main body. The drive paddle assembly rotates in the same direction as the cleaning roller brush assembly. The lifting assembly can lift the first end of the main body so that the cleaning roller brush assembly is positioned above the liquid surface.

11. The cleaning robot according to claim 10, wherein, The drive propeller assembly includes a first drive propeller and a second drive propeller that are independent of each other. The cleaning roller brush assembly includes a first roller brush and a second roller brush that are independent of each other. The cleaning robot also includes a first drive assembly and a second drive assembly. The first drive assembly and the second drive assembly are respectively located on both sides of the width direction of the main body. The first drive propeller and the first roller brush are located on one side of the longitudinal axis of the main body and are respectively connected to the output execution end of the first drive assembly. The second drive propeller and the second roller brush are located on the other side of the longitudinal axis of the main body and are respectively connected to the output execution end of the second drive assembly.

12. The cleaning robot according to claim 11, wherein, The cleaning robot also includes two drive shafts, with each drive paddle sleeved on the outer circumferential surface of one drive shaft. Under the drive of the first drive assembly and the second drive assembly, the two drive shafts drive the first drive paddle and the second drive paddle to rotate at the same speed, or at different speeds, or in the same direction, or in opposite directions.

13. The cleaning robot according to any one of claims 1 to 9, wherein, The cleaning robot has a surface cleaning mode and an underwater cleaning mode. In the surface cleaning mode, the cleaning robot is placed upside down on the water surface. In the underwater cleaning mode, the cleaning robot is placed upright underwater.

14. The cleaning robot according to any one of claims 1 to 9, wherein, The main body of the machine also includes a baffle, which is disposed between the cleaning roller brush assembly and the waste inlet, and the baffle covers the top part of the waste inlet.

15. The cleaning robot according to any one of claims 1 to 9, wherein, The waste collection assembly is provided with an inclined plate adjacent to the bottom area of ​​the waste inlet, and the inclined plate gradually moves away from the bottom of the main body along the direction of entering the waste inlet.

16. The cleaning robot according to any one of claims 1 to 9, wherein, The cleaning robot also includes two buoyancy devices, which are respectively located on both sides of the main body of the robot.

Images