WO2025201201A1 - Robot de nettoyage - Google Patents

Robot de nettoyage

Info

Publication number
WO2025201201A1
WO2025201201A1 PCT/CN2025/084117 CN2025084117W WO2025201201A1 WO 2025201201 A1 WO2025201201 A1 WO 2025201201A1 CN 2025084117 W CN2025084117 W CN 2025084117W WO 2025201201 A1 WO2025201201 A1 WO 2025201201A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning robot
cleaning
rotating member
water
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/084117
Other languages
English (en)
Chinese (zh)
Inventor
魏基栋
徐远俊
黎振邦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Mammotion Innovation Co Ltd
Original Assignee
Shenzhen Mammotion Innovation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202410344623.4A external-priority patent/CN120701176A/zh
Priority claimed from CN202410344620.0A external-priority patent/CN120701175A/zh
Priority claimed from CN202410344631.9A external-priority patent/CN120701177A/zh
Application filed by Shenzhen Mammotion Innovation Co Ltd filed Critical Shenzhen Mammotion Innovation Co Ltd
Publication of WO2025201201A1 publication Critical patent/WO2025201201A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10—Devices for removing the material from the surface
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning

Definitions

  • the present application relates to the field of robotics, and in particular to a cleaning robot.
  • the present application provides a cleaning robot that can move the water flow through a second rotating part so that the garbage on the water surface can be carried into the collection mechanism under the action of the water flow, thereby realizing the collection of the garbage on the water surface and further improving the garbage cleaning efficiency of the cleaning robot.
  • a first rotating member is rotatably provided at one end of the bottom of the main body and is at least used for sweeping and collecting garbage;
  • a second rotating member is rotatably disposed at the rear end of the bottom of the main body and is at least used to move the water flow;
  • the cleaning robot when cleaning the water surface, the cleaning robot also includes a buoyancy device, which is used to make the first rotating part and the second rotating part partially immersed in water.
  • the center of gravity of the cleaning robot is located in the rear area of the main body, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot.
  • the present application further provides a cleaning robot, comprising:
  • a main body the bottom of which is formed with a cleaning surface
  • a water guide groove extending along the front-to-back direction of the main body, the water guide groove being provided at the bottom of the main body, the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the front end being greater than the vertical distance between the bottom surface of the water guide groove and the cleaning surface at the rear end, and the slope of the bottom surface being greater than or equal to 0 and less than or equal to 1 when the cleaning robot is in an upright position;
  • a buoyancy device provided on the main body, for making the cleaning robot float on the water surface during water surface cleaning
  • a collecting mechanism mounted on the main body, wherein at least a portion of the collecting mechanism is located in the water channel to collect garbage carried by the water flow in the water channel;
  • the sealing box is provided on the main body and is located in the rear end area thereof, and is used for accommodating electrical components.
  • the first rotating part rotates to sweep the garbage in the direction of travel of the cleaning robot toward the collection mechanism.
  • the first rotating part can also play the role of shifting the water flow to cooperate with the second rotating part to generate a water flow with a preset direction.
  • the preset flow direction is the direction of flow from the first rotating part toward the second rotating part, so that the garbage on the water surface is carried into the collection mechanism under the action of the water flow, thereby realizing the collection of garbage on the water surface.
  • the primary function of the first rotating member is to sweep up trash on the water surface. That is, the first rotating member is immersed in the water at a relatively shallow depth. It only needs to ensure that the first rotating member can contact the trash on the water surface during rotation, thereby ensuring that the first rotating member can push the trash toward the collection mechanism during surface cleaning.
  • the primary function of the second rotating member is to accelerate the water flow velocity in the area to be cleaned so that surface trash is carried into the collection mechanism by the fast-flowing water. To do this, it is necessary to ensure that the second rotating member is immersed in the water as much as possible under the circumstances. That is, the second rotating member is immersed in the water at a relatively deep depth.
  • the cleaning robot can quickly recycle surface trash into the collection mechanism during surface cleaning, thereby improving the cleaning robot's surface cleaning efficiency.
  • FIG5 is a cross-sectional schematic diagram of the cleaning robot in FIG1 floating on the water surface
  • FIG15 is a schematic structural diagram of the first collecting mechanism in FIG12;
  • FIG17 is a schematic structural diagram of the second collecting mechanism in FIG1 ;
  • FIG18 is a schematic diagram of another state of the second collecting mechanism in FIG1;
  • the buoyancy device 20 can be configured as shown in FIG1 .
  • the buoyancy device 20 allows the cleaning robot to float and perform surface cleaning operations.
  • water can enter the cavity structure of the buoyancy device 20, allowing the cleaning robot to dive to the pool bottom for cleaning.
  • the buoyancy device 20 can be a detachable structure provided on the bottom of the cleaning robot.
  • the buoyancy device 20 is installed on the bottom of the cleaning robot, allowing the cleaning robot to float on the water surface.
  • the buoyancy device 20 is removed from the bottom of the cleaning robot, allowing the cleaning robot to dive underwater for underwater cleaning.
  • the first rotating member 30 and the second rotating member 40 are both partially immersed in water, and the depth of the first rotating member 30 immersed in the water surface is less than the depth of the second rotating member 40 immersed in the water surface, so as to ensure that the second rotating member is immersed in the water as much as possible when allowed.
  • the water can be prevented from rolling when the first rotating member moves the garbage, thereby causing the garbage collected by the first rotating member to be thrown back onto the water surface, thereby improving the cleaning efficiency of the cleaning robot.
  • the first rotating member 30 rotates to sweep the garbage in front of the cleaning robot's travel direction toward the collection mechanism.
  • the first rotating member 30 can also play the role of shifting the water flow to cooperate with the second rotating member 40 to generate a water flow with a preset direction.
  • the preset flow direction is the direction of flow from the first rotating member 30 toward the second rotating member 40, so that the garbage on the water surface is carried into the collection mechanism under the action of the water flow, thereby realizing the collection of garbage on the water surface.
  • the primary function of the first rotating member 30 is to sweep up garbage on the water surface. This means that the first rotating member 30 is immersed in the water at a relatively shallow depth. It is only necessary to ensure that the first rotating member 30 can contact the garbage on the water surface during rotation, thereby ensuring that the first rotating member 30 can push the garbage into the collection mechanism during surface cleaning.
  • the primary function of the second rotating member 40 is to accelerate the water flow in the area to be cleaned so that surface garbage is carried into the collection mechanism by the rapidly flowing water. To do this, it is necessary to ensure that the second rotating member 40 is immersed in the water as much as possible under permitted circumstances. This means that the second rotating member 40 is immersed in the water at a relatively deep depth. Under the action of the first and second rotating members 30, 40, the cleaning robot can quickly recycle surface garbage into the collection mechanism during surface cleaning, thereby improving the cleaning robot's surface cleaning efficiency.
  • the line connecting the rotation centers of the first rotating member 30 and the second rotating member 40 is arranged at an angle to the water surface, and the rotation center of the first rotating member 30 is located below the rotation center of the second rotating member 40. This increases the effective area of the second rotating member 40 in moving the water flow, thereby accelerating the flow rate of the water flow and allowing floating garbage on the water surface to flow into the collection mechanism.
  • the primary function of the first rotating member is to sweep and collect garbage on the water surface, and it only needs to ensure that it can contact the garbage on the water surface during rotation.
  • the first rotating member 30 rotates about a first rotating axis
  • the second rotating member 40 rotates about a second rotating axis.
  • the first rotating axis and the second rotating axis are both perpendicular to the direction of travel of the cleaning robot, and the first rotating member 30 and the second rotating member 40 rotate in the same direction, so that the first rotating member 30 and the second rotating member 40 move the water flow in the same direction.
  • the garbage around the cleaning robot can be quickly gathered to the first rotating member 30 along with the flow of water, and is not easily dispersed, so that the first rotating member 30 can push the garbage toward the collection mechanism, which is conducive to improving the cleaning efficiency of the water surface garbage.
  • the second rotating member 40 can also provide a forward propulsion force while moving the water flow, thereby accelerating the cleaning efficiency of the cleaning robot for the garbage on the water surface.
  • the cleaning robot further includes a transmission mechanism 60 provided on the main body 10, and the transmission mechanism 60 is respectively connected to the first rotating member 30 and the second rotating member 40 for driving the first rotating member 30 and the second rotating member 40 to rotate in the same direction.
  • the structure is simple, and there is no need to set a power source for the first rotating member 30 and the second rotating member 40 respectively, and the manufacturing cost is low.
  • a driving mechanism is provided on the main body, and the driving mechanism is at least used to drive the cleaning robot to move on the water surface and underwater.
  • the driving mechanism includes a first motor 70
  • the transmission mechanism 60 includes a first ring gear 61 and a second ring gear 62.
  • the first motor 70 is connected to the second rotating member 40 through the first ring gear 61
  • the first ring gear 61 is connected to the second ring gear 62
  • the second ring gear 62 is connected to the first rotating member 30, so that the first motor 70 can drive the first rotating member 30 and the second rotating member 40 to rotate in the same direction through the first ring gear 61 and the second ring gear 62.
  • a driving gear 71 is installed on the output shaft of the first motor 70, a first gear 33 is provided on the first rotating shaft 31, and a second gear 43 is installed on the second rotating shaft 41.
  • the driving gear 71 is transmission-connected to the first ring gear 61
  • the first ring gear 61 is transmission-connected to the second gear 43
  • the second ring gear 62 is transmission-connected to the first gear 33, so that the first motor 70 can drive the first rotating member 30 and the second rotating member 40 to rotate in the same direction.
  • the driving gear 71 and the second gear 43 are both arranged on the inner side of the first ring gear 61 and meshed with the first ring gear 61, and the first ring gear 61 is rotatably installed at a position near the rear end of the main body 10, and the first gear 33 is arranged on the inner side of the second ring gear 62 and meshed or transmission connected with the second ring gear 62, and the second ring gear 62 is rotatably installed at a position near the front end of the main body 10.
  • the cleaning robot further includes a track assembly 50 , which is disposed on both sides of the main body 10 and is transmission-connected to the driving mechanism for driving the cleaning robot to move for underwater cleaning.
  • the outer sides of the first and second ring gears 61 and 62 are each provided with an annular outer tooth 63.
  • the track assembly 50 is mounted on the outer sides of the first and second ring gears 61 and 62 and meshes with the annular outer tooth 63.
  • the first motor 70 can drive the cleaning robot via the track assembly 50.
  • the first rotating member 30 generates rolling friction with the bottom wall or side wall, thereby scrubbing away dirt on the bottom wall or side wall, thereby fully cleaning the pool and achieving high cleaning efficiency.
  • the first motor 70 can drive the first and second rotating members 30 and 40 to rotate.
  • the second rotating member 40 can accelerate the water flow in the area to be cleaned, so that surface garbage is carried into the collection mechanism by the fast-flowing water flow.
  • the first rotating member 30 can then push the garbage toward the collection mechanism. This allows a single drive motor to be used both underwater and above water, providing the driving power for the first and second rotating members 30, 40, and track assembly 50. No separate power structure is required, resulting in a relatively simple overall structure and ease of use for the cleaning robot.
  • the cleaning robot further includes a sealing box 15 , which is provided on the main body 10 and located in the rear end area of the main body 10 for accommodating electrical components.
  • the cleaning robot has many electrical components, which are not only difficult to assemble, but also require each electrical component to be individually sealed to prevent the electrical components from coming into contact with water when the cleaning robot is cleaning on the surface or underwater. Therefore, the present application seals the electrical components of the cleaning robot in a sealed box and then installs it to the rear end area of the main body 10, which not only has a high degree of integration but also a simpler structure.
  • the cleaning robot has a surface cleaning mode and an underwater cleaning mode.
  • the cleaning robot In the surface cleaning mode, the cleaning robot is upside down on the water surface, and in the underwater cleaning mode, the cleaning robot is placed underwater.
  • the sewage suction port of the cleaning robot In both cleaning modes, the sewage suction port of the cleaning robot is located at the bottom of the cleaning robot. There is no need to set another sewage suction port on the top or other positions of the cleaning robot.
  • the cleaning mode of the cleaning robot can be switched through the different placement states of the cleaning robot.
  • the cleaning robot of the present application can use less space occupied by the sewage suction port, thereby greatly reducing the overall volume of the cleaning robot.
  • the water guide trough 12 has a water inlet and a water outlet.
  • the water flow rate at the water inlet is greater than the water flow rate at the water outlet, so that the water flow can generate suction at the water inlet for collecting surface garbage.
  • the surface garbage is not easily dispersed under the suction, so that the surface garbage can be quickly gathered at the water inlet for collection, which is beneficial to improve the cleaning efficiency of the surface garbage.
  • the cleaning robot when the cleaning robot is moving, water flows into the water inlet and is discharged through the water outlet, and the depth of the water guide trough 12 immersed in the water surface at the water outlet is less than the depth of the water guide trough 12 immersed in the water surface at the water outlet, and the width of the water guide trough 12 at the water inlet is roughly the same as the width at the water outlet.
  • the flow velocity relationship of the water guide trough 12 at the water inlet and the water outlet can be obtained, that is, when the cleaning robot is moving, the flow velocity of the water flow at the water inlet is greater than the flow velocity of the water outlet, so that the water flow can generate suction at the water inlet for collecting surface garbage.
  • the surface garbage is not easily dispersed under the suction, and the surface garbage can be quickly gathered to the water inlet for collection, which is beneficial to improving the cleaning efficiency of the surface garbage.
  • the first rotating member 30 is rotatably disposed at the water inlet or at one end of the water channel 12 near the water inlet
  • the second rotating member 40 is rotatably disposed at the water outlet or at one end of the water channel 12 near the water outlet.
  • the first rotating member 30 includes a first rotating shaft 31 and a cleaning brush 32.
  • the two ends of the first rotating shaft 31 are rotatably mounted on both sides of the main body 10 and are connected to the driving mechanism;
  • the cleaning brush 32 is arranged on the first rotating shaft 31 and extends along the axial direction of the first rotating shaft 31, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to sweep up garbage during water surface cleaning.
  • the two ends of the first rotating shaft 31 are rotatably mounted on both sides of the main body 10, and the cleaning brush 32 is arranged on the first rotating shaft 31 and extends along the axis direction of the first rotating shaft 31, and is used to wipe the surface of the area to be cleaned during underwater cleaning, and to collect garbage during surface cleaning.
  • the first rotating shaft 31 can rotate relative to the main body 10, thereby driving the cleaning brush 32 to rotate around the axis of the first rotating shaft 31, so that the surface of the area to be cleaned can be wiped and garbage can be moved when cleaning underwater, and garbage can be moved when cleaning on the surface of the water to facilitate rapid garbage collection.
  • the cleaning brush 32 extends along the axis direction of the first rotating shaft 31, so that the cleaning brush 32 can cover a wider area, thereby increasing the wiping area and the area for moving garbage, which is beneficial to the cleaning of the cleaning robot.
  • the first rotating shaft 31 comprises two sections, each of which extends through the sidewall of the water channel 12 and is connected to the transmission mechanism 60 via the first gear 33, allowing the transmission mechanism 60 to drive the rotation of both ends of the first rotating shaft 31.
  • the drive mechanism comprises two first motors 70, which are respectively connected to the ends of the first rotating shaft 31 via the transmission mechanism 60 on either side of the main body. Since the first rotating shaft 31 is segmented, the rotation of the two sections does not affect each other, facilitating stable rotation of the first rotating member 30.
  • the second rotating member 40 includes a second rotating shaft 41 and a plurality of paddles 42.
  • the ends of the second rotating shaft 41 are rotatably mounted on either side of the main body 10 and connected to a drive mechanism.
  • the plurality of paddles 42 are evenly arranged along the outer circumference of the second rotating shaft 41 and are used to drive the cleaning robot when cleaning a water surface.
  • the drive mechanism can rotate the second rotating shaft 41, thereby driving the plurality of paddles 42 to rotate, thereby moving the cleaning robot by shifting the water flow.
  • the second rotating shaft 41 comprises two sections, each of which is inserted into the sidewall of the water channel 12 and connected to the transmission mechanism 60 via a second gear 43, so that the transmission mechanism 60 can drive the rotation of both ends of the second rotating shaft 41.
  • the driving mechanism includes two first motors 70, which are respectively connected to the ends of the second rotating shaft 41 via the transmission mechanism 60 on both sides of the main body. Since the second rotating shaft 41 is segmented, the rotation of the two sections does not affect each other, which facilitates the stable rotation of the second rotating member 40.
  • the cleaning robot when the cleaning robot is performing surface cleaning, it is placed upside down on the water surface.
  • the drive mechanism drives the first rotating member 30 and the second rotating member 40.
  • a pressure difference is generated between the front and rear of the paddles 42, generating a water flow.
  • This causes debris surrounding the cleaning robot to flow toward the first rotating member 30.
  • the inlet 16 formed between the first rotating member 30 and the water channel 12 directs the debris into the collection mechanism 80 for collection.
  • Increasing the number of paddles 42 ensures that the cleaning robot has sufficient surface area to move the water flow, enabling the cleaning robot to obtain a sufficiently large effective driving force.
  • the cleaning surface 10a of the cleaning robot faces the bottom or side wall of the pool and is below the water surface.
  • the cleaning robot moves along the bottom or side wall of the pool.
  • the cleaning brush 32 wipes the surface of the area to be cleaned during movement.
  • the suction force of the water pump then automatically collects debris that settles on the bottom or side wall, thereby completing the pool cleaning.
  • the blade surface of the paddle 42 is tilted relative to the axial center line of the second rotating shaft 41 , which can facilitate the movement of the water flow so as to stably push the cleaning robot to move when cleaning the water surface.
  • the blade surface of the paddle 42 is tilted toward the rotation direction of the second rotating shaft 41.
  • the rotation tangent of the second rotating member 40 away from the cleaning surface 10a is toward the direction of travel of the main body 10
  • the rotation tangent of the first rotating member 30 toward the cleaning surface 10a is in the opposite direction of the travel of the main body 10.
  • the blade surface of the paddle 42 can efficiently move the water flow according to the above-mentioned tilting direction, so as to propel the cleaning robot to move on the water surface; when cleaning underwater, the rotation tangent of the first rotating member 30 away from the cleaning surface 10a is in the opposite direction of the travel of the main body 10, and the rotation tangent of the first rotating member 30 toward the cleaning surface 10a is in the direction of travel of the main body 10.
  • the blade surface of the paddle 42 can reduce the resistance when moving the water flow according to the above-mentioned tilting direction, which is beneficial to the underwater movement of the cleaning robot.
  • the blade surface of the blade 42 is perpendicular to the radial direction of the second rotating shaft 41, so as to increase the area of the water flow moved by the blade 42 and ensure the acceleration efficiency of the water flow by the blade 42.
  • a first angle ⁇ is formed between a connecting surface of a center connecting line between the blade 42 and the second rotating shaft 41 and the axial center line and an extension surface of the blade 42 , and the first angle ⁇ is greater than or equal to 90 degrees.
  • the collection mechanism 80 is at least partially located in the water channel 12 to collect garbage carried by the water flow in the water channel 12, thereby realizing automatic garbage collection by the cleaning robot without manpower, simple structure and low cost.
  • the collecting chamber 14 includes a first collecting chamber 14 , the first collecting chamber 14 is disposed in the water guide groove 12 , and the first collecting mechanism 81 is detachably installed in the first collecting chamber 14 .
  • the first collection mechanism 81 includes a first frame 811 and a first cover 812.
  • the first frame 811 is hollow, and the first cover 812 is rotatably mounted on the side of the first frame 811 facing away from the collection port 85.
  • a drain port 86 is provided on the first cover 812, allowing the first cover 812 to block and collect garbage while facilitating the drainage of water within the first frame 811.
  • the collection mechanism 80 includes a second collection mechanism 82, which is used to recover underwater garbage during underwater cleaning.
  • the collection chamber 14 includes a second collection chamber 14, which is at least partially disposed within the water channel 12, with another portion of the second collection chamber 14 disposed at the bottom of the water channel 12.
  • the second collection mechanism 82 is detachably mounted within the second collection chamber 14.
  • the second collection mechanism 82 includes a second frame body 822 and a second cover plate 821 , a collection space 83 is formed in the second frame body 822 , and the second cover plate 821 is rotatably installed in the second frame body 822 so that it can be opened to clean the garbage in the garbage collection space 83 .
  • the second collection mechanism 82 includes a sealing cover 823, and the collection port 85 is arranged on the second cover plate 821.
  • the sealing cover 823 is arranged at the collection port 85 and can be opened under the suction of the water pump to allow garbage to enter the collection space 83.
  • the collection port 85 is closed when the water pump stops working to prevent the garbage in the collection space 83 from being poured out from the collection port 85.
  • the drain port 86 is provided on the second frame body 822 , so that the second frame body 822 can block and collect garbage while facilitating the discharge of water in the second frame body 822 .
  • the first collecting mechanism 81 and the second collecting mechanism 82 are both provided with a handle 84 so that the first collecting mechanism 81 and the second collecting mechanism 82 can be taken out from the main body 10 for garbage cleaning.
  • the buoyancy device 20 is arranged at the bottom and/or both sides of the main body 10 to maintain the posture of the cleaning robot when cleaning on the water surface, so that the cleaning robot can float on the water surface with the help of the buoyancy of the water on the buoyancy device 20.
  • the buoyancy device 20 includes a first float 20a and a second float 20b, which are respectively connected to the two sides of the main body 10. At least part of the buoyancy device 20 is located outside the track assembly 50. This allows the overall density of the cleaning robot to be adjusted according to the cleaning needs of the cleaning robot, so that the cleaning robot can float on the water surface when cleaning on the surface, and can be submerged when cleaning underwater. In this way, the cleaning robot can freely switch between different operating modes according to the user's needs, making it convenient to use.
  • the buoyancy device 20 is detachably mounted on the bottom of the main body 10.
  • the buoyancy device 20 is attached to the bottom of the cleaning robot, allowing the cleaning robot to float on the water surface.
  • the buoyancy device 20 is removed from the bottom of the cleaning robot, allowing the cleaning robot to dive underwater for underwater cleaning.
  • the ends of the buoyancy device 20 may also extend to both sides of the main body 10, or at least a portion of the structure may extend to both sides of the main body 10, without limitation in this application.
  • the buoyancy device 20 includes a shell 21, a water inlet structure 24 and an air inlet structure 23.
  • a cavity 22 is formed in the shell 21.
  • the water inlet structure 24 is used to exchange liquid between the cavity and the outside world.
  • the air inlet structure 23 cooperates to exchange gas between the cavity 22 and the outside world when the cavity 22 exchanges liquid with the outside world, and the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the shell 21.
  • the shell 21 When the cleaning robot is in the water surface cleaning mode, the shell 21 is at least partially above the water surface, the water inlet structure 24 is above the water surface, and the air inlet structure 23 is below the water surface, thereby preventing liquid from entering the cavity, so that the cleaning robot has an upward buoyancy, so that the cleaning robot can float on the water surface to clean garbage; at the same time, when the cleaning robot is in the underwater cleaning mode, the liquid outside the shell can enter the cavity through the water inlet structure and discharge the gas through the air inlet structure, so that the gravity of the cleaning robot is greater than the buoyancy of the buoyancy device, so that it can dive underwater for cleaning.
  • the concentration of gas is lower than that of water, and it can be introduced through the air port structure 23 and fill the cavity 22; the concentration of liquid is not lower than that of water, and it can be introduced through the water port structure 24 and fill the cavity 22.
  • the gas in the cavity 22 is discharged through the air port structure 23.
  • the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the cavity 22.
  • the air inlet structure 23 is located on the side close to the water surface, and the water inlet structure 24 is located on the side away from the water surface.
  • the gas can be air and the liquid can be water. Since the water inlet structure 24 and the air inlet structure 23 are arranged on opposite sides of the cavity 22, in the water surface cleaning mode, the cleaning robot is inverted on the water surface, and the water inlet structure 24 is located on the side away from the water surface. Water cannot enter the cavity 22 through the water inlet structure 24, while the air inlet structure 23 can prevent water from entering the cavity 22, so that the buoyancy device 20 can provide buoyancy for the cleaning robot to rise, so that the gravity of the cleaning robot is equal to the buoyancy, so that the cleaning robot can perform water surface cleaning; in the underwater cleaning mode, the cleaning robot is placed underwater, and the water inlet structure 24 is located on the side close to the water surface.
  • Water can enter the cavity 22 from the water inlet structure 24, and discharge the gas in the cavity 22 through the air inlet structure 23, so that the gravity of the cleaning robot is greater than the buoyancy, so that the cleaning robot can sink underwater and perform underwater cleaning, which is low in cost, highly practical and adaptable.
  • the water inlet structure 24 is arranged at the bottom of the cleaning robot or on a side close to the bottom, and the air inlet structure 23 is arranged at the top of the cleaning robot or on a side close to the top.
  • the cleaning robot is inverted on the water surface.
  • the position of the water inlet structure 24 is higher than the water surface, and water cannot enter the cavity 22 from the water inlet structure 24.
  • the air inlet structure 23 below the water surface can prevent water from entering the cavity 22, so that the cleaning robot can float on the water surface with the help of the buoyancy of the buoyancy device 20, so that the water surface cleaning can be performed.
  • the cleaning robot is cleaning underwater, the cleaning robot is placed underwater.
  • a water guide is further provided in the buoyancy device 20, one end of which is connected to the air outlet structure 23, and the other end of which extends to the water outlet structure 24, so that the water in the cavity 22 can be quickly discharged after the buoyancy device 20 leaves the water surface.
  • the first protrusion 21b has a free end away from the side panel 21a, and the cross-sectional size of the first protrusion 21b gradually decreases from the side panel 21a toward the free end, so that the first protrusion 21b can be embedded in the main body 10 when assembled with the main body 10, or the outer contour of the first protrusion 21b can be adapted to the outer contour of the main body 10, which will not affect the overall appearance of the cleaning robot, and achieves a smaller size and greater buoyancy.
  • the housing 11 further includes a second protrusion 21c defining at least a portion of the first cavity 221.
  • the second protrusion 21c is disposed on the side of the side panel 21a facing the cleaning robot, thereby ensuring the buoyancy of the buoyancy device 20 while reducing the width of the buoyancy device 20 mating with the main body 10.
  • the second protrusion 21c can be embedded between the first ring gear 61 and the second ring gear 62 when the buoyancy device 20 is mated with the main body 10.
  • the water inlet structure 24 is formed on the side of the second protrusion 21c away from the first protrusion 21b, that is, the bottom of the second protrusion 21c, so that when the cleaning robot is placed upright in the water, water can enter the cavity 22 from the water inlet structure 24. At the same time, when the cleaning robot is placed upside down in the water, the water inlet structure 24 is at the highest position of the buoyancy device 20, that is, water cannot enter the cavity 22 through the water inlet structure 24.
  • the side panel 21a includes an outer panel 212 and an inner panel 211 that interlock to form a cavity 22. This simplifies the manufacturing process of the buoyancy device 20 and significantly reduces the production cost of the buoyancy device 20.
  • the first protrusion 21b and the second protrusion 21c are both provided on the inner panel 211.
  • the water inlet structure 24 is formed on the side edge of the outer plate 212 to facilitate observation of water intake of the buoyancy device 20 .
  • a rotational axis protrusion 21d is provided on the inner plate 211, and at least a portion of the cavity 22 is formed within the rotational axis protrusion 21d.
  • Two rotational axis protrusions 213 are spaced apart, and the positions of the two rotational axis protrusions 21d correspond to the positions of the rotational axis on the main body 10 for mounting the first ring gear 61 and the second ring gear 62, respectively, so that at least a portion of the rotational axis protrusion 21d can be inserted into the rotational axis holes of the first ring gear 61 and the second ring gear 62.
  • an air permeable membrane, a one-way valve or a push switch is provided in the air port structure 23 to prevent water from entering the cavity 22 .
  • the water outlet structure 24 includes multiple water outlets, and the multiple water outlets are arranged side by side along the lateral direction of the buoyancy device 20, so that when the cleaning robot is cleaning underwater, water can quickly enter the cavity 22 from the multiple water outlets, allowing the cleaning robot to quickly dive to the bottom of the water; at the same time, when the cleaning robot is taken out of the water, the water in the cavity 22 can be quickly discharged from the multiple water outlets.
  • a filter is provided on the water inlet to prevent garbage from entering the water inlet, thereby affecting the drainage and water intake effects of the cavity 22 .
  • a gravity baffle is provided on the water outlet, which can open and close the water outlet under the action of its own gravity. It can close the water outlet when the cleaning robot is inverted to prevent water from entering the cavity 22 from the water outlet; and open the closed water outlet when the cleaning robot is upright, so that water can enter the cavity 22 from the water outlet or the water in the cavity 22 can be quickly discharged from the water outlet.
  • the center of gravity of the cleaning robot is located in the rear area of the main body 10, and the front end of the cleaning robot is tilted at a preset angle under the action of the center of gravity and the center of buoyancy of the cleaning robot to ensure the draft depth of the second rotating member 40, so that the second rotating member 40 can accelerate the flow speed of water in the area to be cleaned as much as possible; or, the second rotating member 40 can also provide the cleaning robot with sufficiently large traveling power, thereby improving the water surface cleaning efficiency of the cleaning robot.
  • the front end of the cleaning robot faces upward, while the rear end tilts downward.
  • the bottom surface of the water channel 12 faces away from the direction of travel of the cleaning robot, preventing the cleaning surface from creating resistance to the robot's movement and facilitating the robot's movement and cleaning.
  • the front end of the water surface and the cleaning surface are narrowed, water flow is accelerated toward the collection mechanism 80, which collects waste carried in the water flow, thereby improving the cleaning efficiency of the cleaning robot.
  • the first rotating member 30 when cleaning the water surface, can be raised, resulting in a shallower draft, which facilitates the movement of waste on the water surface to the collection mechanism 80.
  • the second rotating member 40 has a deeper draft, which facilitates the movement of the cleaning robot and prevents waste from flowing back. This causes the water within the collection mechanism 80 to flow backward, subsequently moving the waste backward, significantly improving the efficiency of cleaning waste from the water surface.
  • the preset tilting angle ⁇ of the cleaning robot is 0-5°, ensuring that the first rotating member 30 can contact the garbage on the water surface during rotation, avoiding the inlet 16 from being out of contact with the water surface, and making it impossible for the first rotating member 30 to push the garbage into the collection mechanism.
  • the cleaning robot has a first state in which it tends to be balanced when cleaning a water surface.
  • the center of gravity and the center of buoyancy of the cleaning robot are distributed on both sides of the centerline of the cleaning robot along the front-to-back direction of the main body 10, with the center of buoyancy located between the first rotating member 30 and the centerline, and the center of gravity located between the second rotating member 40 and the centerline.
  • the cleaning robot in this state, when the cleaning robot is inverted and laid flat on the water surface, the cleaning robot is not yet in a balanced state.
  • the center of gravity of the cleaning robot is located behind the center of buoyancy. Since the center of gravity and the center of buoyancy are not on the same vertical line, torque will be generated, causing the front end of the cleaning robot to tilt up to a preset angle, and eventually reach balance.
  • the center of buoyancy in the first state, is set between the second rotating member 40 and the center line, which can prevent the front end of the cleaning robot from tilting too high and ensure that the first rotating member 30 has sufficient draft.
  • the center of gravity is set between the second rotating member 40 and the center line, which can prevent the rear end of the cleaning robot from being immersed too much, so that the second rotating member 40 can be at least partially located above the water surface, avoiding the phenomenon of water rolling. At the same time, it can also ensure that the water flow is stable along the water guide trough 12 to improve the water surface cleaning efficiency.
  • the cleaning robot has a second state in which it is in balance when cleaning the water surface.
  • the center of gravity and the center of buoyancy of the cleaning robot are on the same vertical line, and the center of gravity of the cleaning robot is located below the center of buoyancy, so that the cleaning robot can travel in a balanced state and prevent the cleaning robot from overturning during travel, thereby improving the stability of the cleaning robot.
  • this state is when the cleaning robot is inverted and floating on the water surface, and the cleaning robot is in a balanced state.
  • the center of gravity of the cleaning robot remains unchanged, and the center of buoyancy shifts.
  • the center of buoyancy is located above the center of gravity in the balanced state, even if the cleaning robot tilts or tilts to a large extent, the center of buoyancy will shift in the direction of the tilt or tilt of the cleaning robot.
  • the upward torque of the buoyancy will gradually return the cleaning robot to a balanced state. Therefore, the above-mentioned setting can further prevent the cleaning robot from tipping over, ensuring that the cleaning robot can stably perform water surface cleaning.
  • the cleaning robot provided in this application can reduce the lateral size to a certain extent, which is conducive to the mobile cleaning of the cleaning robot.
  • the center of gravity can also be aligned with the height of the center of buoyancy.
  • the buoyancy device 20 to the cleaning robot since the center of buoyancy provided by the buoyancy device 20 to the cleaning robot is located at a position higher than the center of gravity, the buoyancy generates a restoring force against the impact of the water flow, so that the cleaning robot can move without overturning in the undulating waves, so as to maintain the posture of the cleaning robot in the water.
  • a handle 11 is provided on the main body 10, and a nozzle structure 24 is located below the handle 11, so that water in the cavity 22 can be quickly discharged from the nozzle structure 24.
  • the air port structure 23 is provided on a side close to the handle, so that when the cleaning robot is placed on the water surface, the position of the air port structure 23 can be maintained on a side away from the water surface.
  • a handle 11 is provided on the main body 10 , and the level of the handle 11 is different from the level of the nozzle structure 24 , so that water in the cavity 22 can be quickly discharged from the nozzle structure 24 .
  • the height of the handle 11 is higher than the height of the water outlet structure 24 , so that the water in the cavity structure 25 can be quickly discharged from the water outlet structure 24 .
  • the terms “mounted,” “connected,” and “connected” should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.
  • a first feature being “above” or “below” a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them.
  • a first feature being “above,” “above,” and “above” a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature.
  • a first feature being “below,” “below,” and “below” a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Architecture (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

La présente demande concerne le domaine des robots, et en particulier un robot de nettoyage. Le robot de nettoyage comprend un corps principal, une première partie rotative, une seconde partie rotative et un mécanisme de collecte. La première partie rotative est disposée avec faculté de rotation à une extrémité du fond du corps principal et au moins utilisée pour collecter des déchets. La seconde partie rotative est disposée avec faculté de rotation à l'autre extrémité du fond du corps principal, la seconde partie rotative et la première partie rotative sont disposées l'une après l'autre dans une direction de déplacement du robot de nettoyage, et la seconde partie rotative est au moins utilisée pour agiter le flux d'eau. Le mécanisme de collecte est situé entre la première partie rotative et la seconde partie rotative et est utilisé pour collecter des déchets. Lors de la réalisation d'un nettoyage de surface d'eau, le robot de nettoyage comprend en outre un dispositif de flottabilité, de telle sorte que la première partie rotative et la seconde partie rotative sont partiellement immergées dans l'eau, et la profondeur de la première partie rotative immergée sous la surface d'eau est inférieure à la profondeur de la seconde partie rotative immergée sous la surface d'eau, ce qui permet d'augmenter la vitesse de l'écoulement d'eau dans une zone à nettoyer, d'amener des déchets sur la surface d'eau dans le mécanisme de collecte sous l'action d'eau à écoulement rapide, et d'améliorer l'efficacité de nettoyage du robot de nettoyage.
PCT/CN2025/084117 2024-03-25 2025-03-21 Robot de nettoyage Pending WO2025201201A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202410344631.9 2024-03-25
CN202410344620.0 2024-03-25
CN202410344623.4 2024-03-25
CN202410344623.4A CN120701176A (zh) 2024-03-25 2024-03-25 清洁机器人
CN202410344620.0A CN120701175A (zh) 2024-03-25 2024-03-25 清洁机器人
CN202410344631.9A CN120701177A (zh) 2024-03-25 2024-03-25 清洁机器人

Publications (1)

Publication Number Publication Date
WO2025201201A1 true WO2025201201A1 (fr) 2025-10-02

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ID=97219370

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2025/084117 Pending WO2025201201A1 (fr) 2024-03-25 2025-03-21 Robot de nettoyage

Country Status (1)

Country Link
WO (1) WO2025201201A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011088485A (ja) * 2009-10-20 2011-05-06 Kyushu Institute Of Technology 水中清掃装置
US20120103365A1 (en) * 2010-11-02 2012-05-03 Jirawat Sumonthee Pool Cleaning Device With Adjustable Buoyant Element
US20160060887A1 (en) * 2014-09-03 2016-03-03 Maytronics Ltd. Pool cleaning robot and a method for cleaning a pool
US20160340922A1 (en) * 2014-11-21 2016-11-24 Water Technology, Llc Robotic pool cleaning apparatus
WO2016201404A1 (fr) * 2015-06-12 2016-12-15 Aqua Products, Inc. Ensemble de brosse conique pour appareil autopropulsé de nettoyage de piscine et de réservoir
US20180142487A1 (en) * 2016-11-22 2018-05-24 Aqua Products, Inc. Self-propelled robotic pool cleaner and water skimmer
TWM565672U (zh) * 2018-05-04 2018-08-21 蔡政展 Water surface and water garbage debris cleaning device
CN117052204A (zh) * 2023-08-07 2023-11-14 天津望圆智能科技股份有限公司 一种水池清洁机器人及其控制方法
CN117120696A (zh) * 2023-04-27 2023-11-24 星迈创新科技(苏州)有限公司 一种用于液体中的行走装置以及泳池清洁机器人
CN117188837A (zh) * 2023-10-24 2023-12-08 深圳市玛威尔显控科技有限公司 水池智能清污机

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011088485A (ja) * 2009-10-20 2011-05-06 Kyushu Institute Of Technology 水中清掃装置
US20120103365A1 (en) * 2010-11-02 2012-05-03 Jirawat Sumonthee Pool Cleaning Device With Adjustable Buoyant Element
US20160060887A1 (en) * 2014-09-03 2016-03-03 Maytronics Ltd. Pool cleaning robot and a method for cleaning a pool
US20160340922A1 (en) * 2014-11-21 2016-11-24 Water Technology, Llc Robotic pool cleaning apparatus
WO2016201404A1 (fr) * 2015-06-12 2016-12-15 Aqua Products, Inc. Ensemble de brosse conique pour appareil autopropulsé de nettoyage de piscine et de réservoir
US20180142487A1 (en) * 2016-11-22 2018-05-24 Aqua Products, Inc. Self-propelled robotic pool cleaner and water skimmer
TWM565672U (zh) * 2018-05-04 2018-08-21 蔡政展 Water surface and water garbage debris cleaning device
CN117120696A (zh) * 2023-04-27 2023-11-24 星迈创新科技(苏州)有限公司 一种用于液体中的行走装置以及泳池清洁机器人
CN117052204A (zh) * 2023-08-07 2023-11-14 天津望圆智能科技股份有限公司 一种水池清洁机器人及其控制方法
CN117188837A (zh) * 2023-10-24 2023-12-08 深圳市玛威尔显控科技有限公司 水池智能清污机

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