CN114837476A

CN114837476A - Underwater cleaning robot

Info

Publication number: CN114837476A
Application number: CN202210521167.7A
Authority: CN
Inventors: 王怀平; 周在闯; 胡鹏
Original assignee: Zhejiang Sipu Intelligent Technology Co ltd
Current assignee: Zhejiang Sipu Intelligent Technology Co ltd
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2022-08-02

Abstract

The application relates to cleaning device technical field, concretely relates to cleaning machines people under water includes: a water inlet; a filter assembly; at least two water outlets, wherein each water outlet has a different water outlet direction; the driving assembly generates power to water, so that the water enters from the water inlet, is filtered by the filtering assembly and then is communicated to one of the water outlets; the direction switching assembly realizes the switching of the water outlets and enables the outlet of the filtering assembly to be communicated with one of the water outlets; and the controller is electrically connected with the driving assembly and the direction switching assembly and is used for driving and controlling the driving assembly and the direction switching assembly. This application realizes the walking switching-over of robot through switching drainage direction, carries out orderly all standing to the swimming pool and washs automatically, has overcome the problem that prior art's swimming pool cleaning machine switching-over structure is complicated, the energy consumption is high.

Description

Underwater cleaning robot

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to an underwater cleaning robot.

Background

With the acceleration of modern life rhythm and the improvement of living standard, swimming has become an important sport form for people to build up body and entertain and relax. The cleanliness and hygiene of swimming pools is directly related to the state of motion and physical health of the swimmers, and therefore, the swimming pools are frequently cleaned to remove the deposited dirt on the bottom of the pool and prevent the growth of bacteria and algae. The traditional swimming pool cleaning method includes manual cleaning or automatic water circulation, but the cleaning method has huge waste or redundancy in water resource or other energy utilization and labor input, and the maintenance cost of the swimming pool is increased.

In the prior art, some swimming pools begin to use automatic cleaning machines, the bottoms of the swimming pools are automatically cleaned under the condition that water in the swimming pools is not drained, the traditional mode of manually brushing, changing water and cleaning the swimming pools is changed, heavy labor of people for cleaning the swimming pools is replaced, and precious water resources are saved. The cleaning machine has a water pump in its casing to drive the water containing dirt in the bottom of the tank into the casing via a filter and to discharge the filtered clean water from the casing. Thus, when the cleaner passes by, the deposited dirt on the bottom surface of the pool is sucked into the cleaner and trapped in the filter, and clean water is discharged into the swimming pool, so that the bottom of the swimming pool is cleaned.

However, the inventors of the present application have found in their research that the above-mentioned techniques have at least the following technical problems:

1. because the cleaner needs frequent reversing when working to realize the comprehensive cleaning of the bottom of the pool, one of the prior art realizes the reversing of the walking by changing the steering of the impeller of the water pump, so the efficiency of the water pump is reduced, and the energy consumption is inevitably improved when a certain water discharge is reached; the other is that a plurality of driving pieces are arranged, and each driving piece realizes the driving in one walking direction, so that the integral structure of the cleaning machine is more complex, and the equipment cost and the weight are increased;

2. the prior swimming pool cleaning machine usually needs external alternating current to supply power, so that a long cable is required to be connected, the movement flexibility of the cleaning machine is limited, and meanwhile, power supply devices are required to be arranged on the periphery of the swimming pool.

Disclosure of Invention

The invention aims to provide an underwater cleaning robot, which can solve the problem of steering switching of walking of a swimming pool cleaning machine in the prior art, realize walking reversing of the cleaning robot in a mode of switching a water discharging direction, and reduce equipment cost and energy consumption.

In order to achieve the purpose, the technical scheme is as follows:

an embodiment of the present application provides an underwater cleaning robot, including:

a water inlet;

the filter assembly is communicated with the water inlet;

the water outlet ports are respectively provided with different water outlet directions;

the driving assembly generates power to water, so that the water enters from the water inlet, is filtered by the filtering assembly and then is led to one of the water outlets; the driving component is provided with a switch piece;

the direction switching assembly realizes the switching of the water outlets, so that the outlet of the filtering assembly is communicated with one of the water outlets; and the number of the first and second groups,

and the controller is electrically connected with the driving assembly and the direction switching assembly and is used for driving and controlling the driving assembly and the direction switching assembly.

By adopting the technical scheme, on one hand, the driving assembly is utilized to form power for water, so that the pool water containing dirt is introduced from the water inlet, the dirt in the water is filtered by the filtering assembly and then is discharged from one of the water outlets at a high speed, and the cleaning robot is driven to walk in the water by the high-speed water discharge; on the other hand, the water outlets in different directions are switched by the direction switching component to realize the walking reversing of the robot, and the ordered full-coverage cleaning of the pool bottom is realized.

In one possible implementation of the present application, the cleaning robot further includes: a power supply assembly, the power supply assembly comprising:

a power supply part integrated inside the cleaning robot; and the number of the first and second groups,

the charging port is electrically connected with the power supply piece, and the charging port is connected with an external power supply to charge the power supply piece.

Through adopting above-mentioned technical scheme, integrate power supply spare in the inside of robot for cleaning machines people's electrical component power supply, compare conventional swimming pool cleaning machine, this application has avoided the use of lengthy external cable through the internal power supply spare of introducing the integrated form, thereby makes the complete machine motion more nimble, has reduced the requirement to place external power supply simultaneously.

In one possible implementation of the present application, the cleaning robot further includes: an impact detection assembly, the impact detection assembly comprising:

the moving part is movably arranged, and when the cleaning robot walks underwater, the moving part continuously moves under the driving of water power to form induction motion;

the sensing element senses the signal of the sensing motion, and the sensing element controls the direction switching component in a linkage mode: the sensing element triggers the direction switching component to act through the controller when the sensing motion stops.

Through adopting above-mentioned technical scheme, when the robot walked under water, the motion can be under hydraulic drive continuously carry out the inductive motion, inductive element is in the signal that can continuously sense the inductive motion, in case the robot takes place to touch the wall, the motion loses hydraulic drive, therefore the inductive motion stops, inductive element triggers the action of direction switching subassembly because of no longer sensing the signal of inductive motion this moment, direction switching subassembly opens the switching outlet, switch the walking direction of drainage direction in order to change the robot, realize collision detection and collision back through the above-mentioned mode and dodge the walking.

In one possible implementation of the present application, the cleaning robot further includes: the tank comprises a shell, wherein the shell comprises a plurality of impact parts, and each impact part has a plurality of impact angles relative to the tank wall.

Through adopting above-mentioned technical scheme, when striking portion touches the wall, can form the bounce of equidirectional through different striking angles, make the robot deflect towards different directions under the bounce effect, combine the drive power of drainage motion, the robot is constantly touching the in-process of wall, moves toward all directions at random, makes each region of orbit covering bottom of the pool in order.

In one possible implementation of the application, the impact portion is provided with a rounded transition curvature.

Through adopting above-mentioned technical scheme, the arc structure of striking portion forms different striking angles everywhere with between the pool wall, makes the robot can bounce to all directions at random after touching the wall.

In one possible implementation of the present application, the driving assembly, the power supply member, the direction switching assembly, the collision detecting assembly, and the controller form a power supply control assembly in a modular manner, and the power supply control assembly is detachably mounted to the cleaning robot.

By adopting the technical scheme, on one hand, each electrical component of the cleaning robot is modularized, the sealing performance of the electrical component during underwater operation can be ensured by sealing and packaging, and the damage of the electrical component caused by water inflow is avoided; on the other hand, the power control assembly is detachably mounted on the cleaning robot, and the modularized power control assembly can be integrally dismounted subsequently, so that subsequent maintenance and overhaul are facilitated.

In one possible implementation of the present application, the cleaning robot further includes:

an environment detection subassembly, the environment detection subassembly detects whether cleaning robot is in the environment under water, just, the environment detection subassembly with drive assembly reaches the switch spare sets up chain control.

By adopting the technical scheme, the environment detection assembly detects whether the robot is in an underwater operation environment, and when the robot is not in the underwater environment, the driving assembly cannot be started even if the switch is turned on; only when the environment detection assembly detects that the cleaning robot is in an underwater environment, the driving assembly can be started by the switch piece, so that the driving assembly is ensured to be started only when being in the underwater operation environment.

In one possible implementation of the present application, the environment detection assembly includes a current detection module disposed on the controller, and the current detection module is electrically connected to the charging port; after the switch piece is opened, the current detection module detects current values among the conductive columns of the charging port, and the controller triggers the driving assembly to be opened through the controller when the current values are smaller than a set threshold value.

By adopting the technical scheme, the current detection module realizes environment judgment by detecting the current value between each conductive column of the charging port, when the robot is not in an underwater environment, the conductive columns are insulated due to the fact that no conductive medium exists, and at the moment, no current is formed between the conductive columns; when the robot is in an underwater environment, a certain current value is formed between the conductive columns through the water medium, and the controller judges whether the robot is in the underwater operation environment or not according to the detected current value of the current detection module, so that the existing parts of the robot are fully utilized to realize the detection function of the operation environment.

the upper floating piece floats on the water surface all the time when the cleaning robot walks underwater;

and the flexible connecting piece is connected with the floating piece and the part of the cleaning robot which is underwater when the cleaning robot walks underwater.

By adopting the technical scheme, because the floating piece floats on the water surface all the time during underwater operation of the robot, after the operation of the robot is finished, a user can pull the robot out of the water surface through the floating piece, and manual fishing at the bottom of the pool is omitted.

In one possible implementation of the present application, the outlet is provided with a movable drainage bracket, the movable drainage bracket is movably mounted, and the movable drainage bracket adjusts the water outlet direction of the outlet.

By adopting the technical scheme, the water outlet direction of the water outlet can be finely adjusted by adjusting the movable water drainage support besides changing the walking direction by switching the water outlet, so that the walking path of the cleaning robot is further planned.

Drawings

FIG. 1 illustrates a schematic structural view of an underwater cleaning robot, in accordance with some embodiments of the present application;

FIG. 2 illustrates a top view of an underwater cleaning robot, in accordance with some embodiments of the present application;

FIG. 3 illustrates a bottom view of an underwater cleaning robot, in accordance with some embodiments of the present application;

FIG. 4 illustrates an exploded view of an underwater cleaning robot, in accordance with some embodiments of the present application;

FIG. 5 illustrates a cross-sectional view taken along line A-A of FIG. 2, according to some embodiments of the present application;

FIG. 6 illustrates an exploded view of a drain assembly, according to some embodiments of the present application;

FIG. 7 illustrates an exploded view of a power control assembly, according to some embodiments of the present application;

8-9 illustrate schematic structural views of a direction switching assembly, according to some embodiments of the present application;

FIG. 10 illustrates an enlarged partial view of portion B of FIG. 5, according to some embodiments of the present application;

FIG. 11 illustrates a schematic structural view of a collision detection assembly, according to some embodiments of the present application;

FIG. 12 illustrates a schematic structural view of a housing upper cover, according to some embodiments of the present application.

Detailed Description

The technical features and advantages of the present application are described in more detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and thus the scope of the present invention is more clearly and clearly defined.

It should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an importance to the technical features shown.

Furthermore, it should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The embodiment of this application provides a cleaning machines people under water, is provided with the outlet of a plurality of not equidirectionals, and when the aquatic walking of robot, through switching over the walking switching-over that the drainage direction realized the robot, the cooperation collision detects the technique, can realize carrying out automatic orderly's full coverage washing to the swimming pool, has overcome the problem that prior art's swimming pool cleaning machine switching-over structure is complicated, the energy consumption is high.

In order to solve the technical problems, the general idea of the embodiment of the application is as follows:

an underwater cleaning robot, referring to fig. 1 to 12, comprising:

the water inlet 121 is communicated with pool water;

the filtering assembly 200 is communicated with the water inlet 121, and the pool water introduced from the water inlet 121 is filtered;

at least two water outlets 301, wherein each water outlet 301 has a different water outlet direction;

the driving assembly 420 is used for generating power for water, so that the water is sucked from the water inlet 121, filtered by the filtering assembly 200 and then led to one of the water outlets 301; under the action of the driving assembly 420, the pool water containing the dirt is sucked from the water inlet 121, the dirt in the water is filtered by the filtering assembly 200 and then is discharged from one of the water outlets 301 at a high speed, and the cleaning robot is pushed to walk in the water by discharging the water at the high speed;

a direction switching assembly 430, wherein the direction switching assembly 430 switches among the water discharge openings 301, so that the outlet of the filter assembly 200 is communicated with one of the water discharge openings 301; the drainage direction is changed by switching the drainage port 301, and different drainage directions correspondingly push the robot to walk along the direction deviating from the drainage direction, so that the walking direction of the robot is changed, and the ordered full-coverage cleaning of the bottom of the pool is realized in the process of continuously changing the walking direction; and the number of the first and second groups,

the controller 460 is electrically connected to the driving assembly 420 and the direction switching assembly 430, and is configured to drive and control the driving assembly 420 and the direction switching assembly 430.

In some possible embodiments, referring to fig. 1 to 3, the cleaning robot further includes: a shell 100, wherein the water inlet 121 and the water outlet 301 are uniformly arranged on the shell 100; referring to fig. 3, the water inlet 121 may be disposed at the bottom of the casing 100, and during the walking process of the robot, the water in the pool is sucked into the casing 100 from the water inlet 121 at the bottom through the driving assembly 420, and the water inlet 121 is disposed at the bottom of the casing 100, so that the dirt at the bottom of the pool is conveniently sucked into the water inlet 121 along with the water when the robot walks at the bottom of the pool.

In some preferred embodiments, referring to fig. 2-4, the housing 100 may further include: the casing upper cover 110 and the casing lower cover 120, and the water outlets 301 are respectively arranged in different directions of the casing upper cover 110; the water inlet 121 may be disposed on the housing lower cover 120.

In some preferred embodiments, referring to fig. 3, the water inlet 121 may be disposed in a plurality on the surface of the lower cover 120 of the housing to achieve water inlet more uniformly and reduce water inlet resistance.

In some preferred embodiments, referring to fig. 3, a reversible water inlet valve 122 may be further disposed on the water inlet 121, one side of the water inlet valve 122 is hinged to the water inlet 121 and can be turned in one direction toward the filter assembly 200, when water is supplied, the water inlet valve 122 is turned inwards under the driving of water power to supply water, and the reverse water is blocked by the water inlet valve 122.

In some possible embodiments, referring to fig. 5 and 10, a deposition chamber 220 is formed between the filter assembly 200 and the housing bottom cover 120. After water containing dirt is introduced from the water inlet 121, the water is filtered through the filtering assembly 200, the filtered dirt is intercepted in the deposition cavity 220 for collection, and after the cleaning robot finishes operation, the lower cover 120 of the shell is detached to clean the dirt.

In some preferred embodiments, referring to fig. 4, the filter assembly 200 can be a plate filter structure integrally covering the housing bottom cover 120, wherein a plurality of filter holes 210 are disposed on the surface of the plate filter structure, and the size of the filter holes 210 can be set according to the degree of contamination of the pool to be cleaned. The pond water gets into the back by water inlet 121, filters through above-mentioned plate-type filtration, compares conventional filter structure, and this application embodiment has improved filtration treatment's area through whole cover in the plate-type filtration of casing lower cover 120 top, has reduced water pressure and has blockked up the risk, and the impurity of filtering can be deposited in the gathering of deposit intracavity.

In some possible embodiments, referring to fig. 3 to 4, the cleaning robot may further include: clean subassembly 600, the bottom of the pool is cleaned through cleaning subassembly 600 when the robot walks in the aquatic, makes the bottom of the pool filth excited, can be inhaled in water inlet 121 along with water. For example, the sweeping assembly 600 may be a cleaning brush provided at the bottom of the housing lower cover 120.

In some preferred embodiments, the cleaning robot may be provided with a plurality of drain assemblies 300, the plurality of drain assemblies 300 are respectively installed in different directions of the housing 100, a drain opening 301 is formed at an outlet of the drain assembly 300, a drain passage 302 is formed inside the drain assembly, and the drain passage 302 communicates the filter assembly 200 and the drain opening 301 to discharge filtered drain water in all directions.

Referring to fig. 6, the drainage assembly 300 may include a fixed drainage bracket 310, a connection bracket 320, and a movable drainage bracket 330, wherein the connection bracket 320 is fixedly connected to the fixed drainage bracket 310, a drainage channel 302 is formed inside the fixed drainage bracket 310, and a drainage outlet 301 is formed at an outlet of the movable drainage bracket 330.

Furthermore, the upper side and the lower side of the movable drainage support 331 can be provided with a hinge ring 331, a hinge hole 311 is formed between the fixed drainage support 310 and the connecting support 320, the movable drainage support 330 is rotatably mounted in the hinge hole 311 through the hinge ring 331, so that the movable drainage support 330 can rotate around the hinge ring 331 relative to the fixed drainage support 310, the movable drainage support 330 is fixedly connected with a knob 350, and a user can deflect the movable drainage support 330 by a certain angle relative to the fixed drainage support 310 by rotating the knob 350, thereby realizing fine adjustment of the drainage angle of the drainage outlet 301, and further planning the walking path of the robot. A removable drain valve 340 may also be provided on the drain opening 301 to cover the drain opening 301 when the robot is not in use.

Further, the drainage channel 302 may have a streamline structure with a smooth transition to reduce the kinetic energy loss during the drainage process.

The cleaning robot according to the embodiment of the present invention is provided with a plurality of water discharge ports 301 in different directions, and the cleaning robot can be driven to travel in a direction away from the water discharge direction by the high-speed water discharge from the water discharge port 301 in one direction, and can be further caused to travel in a plurality of directions by the plurality of water discharge directions. For convenience of explanation, two drain ports 301 will be described as an example.

Referring to fig. 2 and 5, the drain port 301 includes: a first drain port 301a and a second drain port 301 b; the first drain port 301a is provided at the front end of the housing upper cover 110, the second drain port 301b is provided at the rear end of the housing upper cover 110, and the second drain port 301b is disposed opposite to the first drain port 301 a. The filtered effluent of the filter assembly 200 can be discharged from the first water discharge opening 301a or the second water discharge opening 301b, the first water discharge opening 301a pushes the robot to move toward the rear end of the housing 100 when discharging water, and the second water discharge opening 301b pushes the robot to move toward the front end of the housing 100 when discharging water.

Accordingly, referring to fig. 4-5, the drain assembly 300 includes: a first drainage assembly 300a and a second drainage assembly 300b, wherein a first mounting part 116 and a second mounting part 117 are respectively arranged at two ends of the housing upper cover 110, the first drainage assembly 300a and the second drainage assembly 300b are respectively mounted on the first mounting part 116 and the second mounting part 117, a first drainage opening 301a is formed at an outlet of the first drainage assembly 300a, a second drainage opening 301b is formed at an outlet of the second drainage assembly 300b, a first drainage channel 302a is formed in the first drainage assembly 300a, and the first drainage channel 302a is used for communicating the first drainage opening 301a with the filter assembly 200; the second drain assembly 300b has a second drain passage 302b formed therein, and the second drain passage 302b is used to communicate the second drain opening 301b with the filter assembly 200. The direction switching member 430 makes the filter member 200 communicate with the first drain passage 302a or the second drain passage 302 b.

In some preferred embodiments, referring to fig. 1 to 4, the cleaning robot may further include: the robot walks at the bottom of the pool through the walking assembly 500, and the motion resistance is reduced. Illustratively, the walking assembly 500 may include a plurality of first walking wheels 510 rolling on the side of the housing 100, and when the robot walks in water, the robot walks by the rolling of the first walking wheels 510; further, a plurality of second traveling wheels 520 can be arranged on the housing lower cover 120, and the second traveling wheels 520 are used for assisting in traveling, so that the traveling resistance is further reduced.

In some preferred embodiments, referring to fig. 5, the cleaning robot further includes a power module 440, and the power module 440 further includes: the power supply part 441 is integrated inside the cleaning robot, and the power supply part 441 is used for supplying power to electrical elements of the cleaning robot, so that the use of a lengthy external cable is avoided, the movement of the whole robot is more flexible, and the requirement on a site external power supply is reduced. The power supply member 441 may be, for example, a secondary lithium battery. The charging port 442 is electrically connected to the power source 441, and is used for connecting an external power source to charge the power source 441.

In some preferred embodiments, referring to fig. 4, the driving assembly, the power assembly 440, the direction switching assembly 430 and the controller 460 form the power control assembly 400 in a modular manner, the third mounting portion 111 is disposed on the upper housing cover 110, and the power control assembly 400 is detachably mounted in the third mounting portion 111.

Referring to fig. 7, the power control assembly 400 may include a box body, a closed accommodating space is formed inside the box body, and the electric components in the driving assembly 420, the controller 460, the power element 441 and the direction switching assembly 430 are all encapsulated in the accommodating space by glue filling. Each electrical component of the cleaning robot is packaged in a modularized mode, so that the sealing performance of the electrical component during underwater operation can be guaranteed, and the damage of the electrical component caused by water inflow is avoided.

Among them, the driving assembly 420 may include: the first driving member 421 and the impeller 422, the impeller 422 is drivingly connected to the output shaft of the first driving member 421. The first driving member 421 drives the impeller 422 to rotate at a high speed to form a negative pressure, so as to suck the pool water from the water inlet 121. The output shaft of the first driver 421 extends outside the housing to connect to the impeller 422. The first driving member 41 can be a servo motor, and a speed reducer is integrated in the servo motor, the servo motor outputs 2300 r/min of rotation speed through the speed reducer integrated inside, and drives the impeller 422 to rotate so as to form stable negative pressure at the water inlet 121 and suck the pool water.

Referring to fig. 5, the first driving member 421 may be vertically installed, an output end of the first driving member 421 extends toward the filtering assembly 200, the impeller 422 is installed at a lower portion of the first driving member 421, the filtering assembly 200 is further installed at a lower portion of the impeller 422, the first drainage channel 302a and the second drainage channel 302b are respectively disposed at left and right sides of the impeller 422, the first drainage channel 302a and the second drainage channel 302b respectively extend upward from two sides of the impeller 422 to form two drainage channels extending toward two ends of the casing 100 as a whole, and the first drainage port 301a and the second drainage port 301b are respectively disposed at one ends of the first drainage channel 302a and the second drainage channel 302b far from the impeller 422.

Referring to fig. 7, the box body may further include a box body upper cover 411 and a box body lower cover 412, a receiving space is formed between the box body upper cover 411 and the box body lower cover 412, an output end of the first driving member 421 extends out of the box body lower cover 412 and is movably sealed by a framework oil seal 470, and a space between the box body upper cover 411 and the box body lower cover 412 is sealed by a sealing ring 480.

In some possible embodiments, referring to fig. 7, the direction switching component 430 may include: the fixed support 432 can be fixedly connected to the box lower cover 412, and the second driving member 431 drives the rotary support 433 to rotate so as to switch between the first drainage channel 302a and the second drainage channel 302b, so that the water outlet of the filter assembly 200 is communicated with the first drainage channel 302a or the second drainage channel 302b, and the switching of the drainage direction is realized.

Referring to fig. 8-9, the fixing bracket 432 is coaxially disposed at the periphery of the impeller 422, a water collecting chamber 4321 is formed between the fixing bracket 432 and the impeller 422, a first water passing channel 4322 and a second water passing channel 4323 are disposed at two ends of the water collecting chamber 4321 and are communicated with the water collecting chamber 4321, and the first water passing channel 4322 and the second water passing channel 4323 are respectively disposed corresponding to the first drainage channel 302a and the second drainage channel 302 b; the effluent filtered by the filtering component 200 is sucked into the water collecting cavity 4321; the rotary support 433 includes a ring-shaped partition plate 4331, the partition plate 4331 is rotatably disposed between the first water passage 4322 and the first water discharge passage 302a, and between the second water passage 4323 and the second water discharge passage 302b, the partition plate 4331 is provided with a first water passage 4332 and a second water passage 4333, a central angle α is formed between the first water passage 4331 and the second water passage 4332 in the circumferential direction, and the central angle β of the first water passage 4322 and the central angle β of the second water passage 4323 in the circumferential direction is different from α; the second driving member 431 drives the rotary support 433 to rotate, when the first water passage 4332 moves to a position between the first water passage 4322 and the first water discharge passage 302a, the first water passage 4322 is communicated with the first water discharge passage 302a through the first water passage 4332, the second water passage 4333 is staggered with the second water passage 4323, the communication between the second water passage 302b and the second water passage 4323 is cut off by the partition plate 4331, the filtered effluent in the water collection chamber 4321 can only be discharged to the first water discharge passage 302a through the first water passage 4322 and the first water passage 4332 in sequence, and at the moment, the robot can move backwards under the drainage effect of the first water discharge port 301 a; when the second water passing port 4333 moves to a position between the second water passing port 4323 and the second water draining port 302b, the second water passing port 4323 and the second water draining port 302b are communicated through the second water passing port 4333, the first water passing port 4332 is staggered from the first water passing port 4322, the communication between the first water draining port 302a and the first water passing port 4322 is cut off by the partition plate 4331, the filtered effluent in the water collecting chamber 4321 can only be discharged to the second water draining port 302b through the second water passing port 4323 and the second water passing port 4333 in sequence, and at this time, the robot can move forward under the drainage effect of the second water draining port 301 b.

In some preferred embodiments, referring to fig. 10, a water guiding opening 435 communicating with the water collecting chamber 4321 may be disposed below the water collecting chamber 4321, the water guiding opening 435 extends from the water collecting chamber 4321 to the upper side of the filter assembly 200, and an inlet of the water guiding opening 435 forms a flaring structure to better guide the filtered outlet water into the water collecting chamber 4321.

In some possible embodiments, please refer to fig. 7 to 9, the second driving element 431 may be a steering engine, an output end of the steering engine is connected to the rotating bracket 433 through a transmission element 434, the transmission element 434 is hinged to an output shaft of the steering engine, the transmission element 434 is provided with a guide groove 4341, a guide protrusion is arranged on the rotating bracket 433 and is clamped in the guide groove 4341, the steering engine drives the rotating bracket 433 to rotate back and forth through the transmission element 434, so as to realize angle conversion of the rotating bracket 433, and complete switching of the first drainage port 301 a/the second drainage port 301 b.

In some possible embodiments, referring to fig. 1 and 7, the cleaning robot may further include: the collision detection assembly 450 and the collision detection assembly 450 control the direction switching assembly 430 in an interlocking manner, when the robot touches a wall, the second driving piece 431 is triggered to act, and then the second driving piece 431 drives the rotary support 433 to act to realize the switching of the drainage direction, so that the walking direction of the robot is changed.

Referring to fig. 11, the collision detecting assembly 450 may include: the moving part 451 is movably installed, and when the cleaning robot walks underwater, the moving part 451 is driven by water power to continuously move to form sensing movement; the sensing element 453 senses the signal of the sensing motion, and the sensing element 453 stops triggering the second driving member 431 to move when the sensing motion is sensed.

When the robot walks underwater, the moving part 451 can move continuously under the driving of water power, the sensing element 453 can continuously sense a signal of sensing movement in the moving process of the moving part 451, once the robot touches the wall, the moving part 451 loses the driving of the water power, the sensing movement is stopped, the sensing element 453 no longer senses the signal of sensing movement, the sensing element 453 further triggers the second driving part 431 to act, and the direction switching component 430 is started to realize reversing drainage.

For example, referring to fig. 7 and 11, the collision detecting assembly 451 is integrated with the power control assembly 400, and the moving member 451 may be a water wheel rotatably mounted on an outer surface of the upper cover 411 of the tank, a hinge shaft 4111 extends from the upper cover 411 of the tank, and the water wheel is hinged to the hinge shaft 4111 through a rolling bearing 454; when the robot walks underwater, the water wheel is driven by water power to continuously rotate around the hinging shaft 4111, at least one magnetic part 452 is arranged on the water wheel along the circumferential direction, the magnetic part 452 and the water wheel synchronously rotate to form an induction motion, the induction element 453 can be a hall element arranged in the upper cover 411 of the box body, the magnetic part 452 sends out a continuously changing magnetic field signal in the rotation process, the hall element 453 senses a magnetic field change signal of the magnetic part 452 and sends a corresponding pulse signal to the controller 460, after the robot touches the wall, the water wheel loses the water power drive and stops rotating, the magnetic part 452 synchronously stops rotating, the magnetic part 452 does not send out a changing magnetic field signal any more, the hall element further does not send out a pulse signal to the controller 460, the controller 460 judges that collision occurs according to the above, the second driving part 431 is triggered to act, the second driving part 431 drives the rotary bracket 433 to rotate, and the water outlet 301 is switched, the robot changes the running direction and leaves the pool wall.

Compare conventional sensor detection collision's mode, the collision detection of robot is realized through water drive's water wheels + hall element to this application embodiment, and when the robot walked, water wheels direct contact water moved, in case the wall is touched in the emergence, and water wheels loses water drive and stops rotating immediately, compares traditional sensor detection collision's mode, and the collision detection mode of this embodiment possesses better sensitivity and reliability, has improved collision detection's accuracy.

In some preferred embodiments, the collision detection assembly 450 may further include a speed sensor or an acceleration sensor disposed on the controller 460, for sensing a movement speed/acceleration of the walking movement of the robot when the robot walks, wherein the speed sensor/the acceleration sensor senses a change in the walking speed/acceleration of the robot when the robot touches the wall, and the controller 460 controls the direction switching assembly 430 to act, so that the collision detection reliability of the robot is further improved.

In some possible embodiments, referring to fig. 7, the power control assembly 400 further includes: the switch 490, the switch 490 is electrically connected to the controller 460, and controls the start and stop of the driving assembly 420.

In some preferred embodiments, the cleaning robot may further include: environment detecting component, environment detecting component chain control drive assembly 420 and switch 490, environment detecting component detects cleaning robot's operation environment, judge whether the robot is in environment under water, when the robot is not in environment under water, drive assembly 420 can not be started (even switch 490 has been opened), only when environment detecting component detected cleaning robot is in environment under water, drive assembly 420 could be started by switch 490, environment detecting component and switch 490 form dual control to this cleaning robot.

In some preferred embodiments, the cleaning robot detects the current value between each conductive post of the charging port 442 to realize environment detection, and when the robot is not in an underwater environment, there is no conductive medium between the conductive posts to form insulation, and at this time, there is no current formed between the conductive posts; when the robot is in an underwater environment, current is formed between the conductive columns through an aqueous medium. The controller 460 may be provided with a current detection module, the current detection module is electrically connected to the conductive pillars, the current detection module interlocks with the switch 490, when the switch 490 is turned on, the current detection module automatically detects the current value between the conductive pillars, and when the current detection module detects that the current value between the conductive pillars is smaller than a set threshold value, the controller 460 triggers the driving component 420 to turn on, and the robot starts to operate; after the switch 490 is turned on, if the current detection module fails to detect current between the conductive pillars, the driving assembly 420 is not turned on, thereby ensuring that the robot is not started outside the working environment. By the mode, the existing parts of the robot are fully utilized to realize the operation environment detection function.

In some possible embodiments, the housing 100 includes multiple impingement portions, each having multiple impingement angles with respect to the pool wall. When the impact part touches the wall, the bounce in different directions can be formed through different impact angles, so that the robot deflects under the action of the bounce, and the robot randomly walks in all directions by combining with the switching of the drainage direction, and further the motion track of the robot gradually covers all areas at the bottom of the pool. For example, referring to fig. 4 and 12, a first impact portion 112 is formed at the front end of the housing upper cover 110, a second impact portion 113 is formed at the rear end of the housing upper cover 110, the first impact portion 112 and the second impact portion 113 are both provided with smoothly transiting radians, and different impact angles are formed between the arc-shaped portions and the pool wall, so that the robot can form different bounce angles after contacting the wall, and then bounce in all directions randomly under the driving of drainage, thereby ensuring that the walking path of the robot can cover the whole pool bottom.

In some preferred embodiments, referring to fig. 4, a flexible buffer 900 may be further disposed on the first striking portion 112 and the second striking portion 113 to form a collision buffer when the robot touches the wall, so as to prevent the robot from being damaged by an excessive impact force; for example, the buffer 900 may be an elastic anti-collision rubber strip disposed on the surface of the striking portion.

In some more preferred embodiments, referring to fig. 12, a fourth mounting portion 114 and a fifth mounting portion 115 may be further disposed at the front end and the rear end of the housing upper cover 110, and elastic striking members may be further mounted on the fourth mounting portion 114 and the fifth mounting portion 115 to extend outward, so that the outward striking members may prevent the housing 100 from contacting the pool wall, and prevent the robot from scratching the pool wall when turning.

In some preferred embodiments, referring to fig. 1 to 5, the cleaning robot further includes: the cleaning robot comprises an upper floating piece 700 and a flexible connecting piece 800, wherein the flexible connecting piece 800 is connected with the upper floating piece 700 and the part which is under water when the cleaning robot walks under water, and the upper floating piece 700 floats on the water surface all the time when the cleaning robot moves under water. After the operation of the robot is finished, the robot can be pulled out of the water surface through the upper floating piece 700, and manual pool bottom fishing is omitted.

Referring to fig. 5, the upper floating member 700 may include a holding portion 710 for facilitating manual holding operation, and the other end of the flexible connecting member 800 may be connected to the case upper cover 411 or the housing upper cover 110.

According to the underwater cleaning robot, the direction switching component 430 switches the drainage direction to realize the switching of the walking direction of the robot; the collision detection component 450 performs wall contact detection on the robot in a way of forming induction motion by direct water contact driving, so that the accuracy of collision detection is improved; the impact part pushes the robot to bounce in all directions after contacting the wall through different impact angles, and the robot can walk in a full-coverage manner on the pool bottom by combining the switching of the drainage directions, so that the pool bottom is cleaned comprehensively; the power supply part 441 is integrated inside the robot to supply power, so that an external cable or a power supply is not needed, and the structure is simplified; the electrical components are packaged in a modular manner to form the power control assembly 400, which improves the sealing performance and facilitates subsequent maintenance and repair.

In the description herein, references to the description of the terms "some embodiments," "exemplary," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. An underwater cleaning robot, comprising:

a water inlet (121);

a filter assembly (200), wherein the filter assembly (200) is communicated with the water inlet (121);

at least two water outlets (301), wherein each water outlet (301) has a different water outlet direction;

the driving assembly (420) is used for generating power to water, so that the water enters from the water inlet (121), is filtered by the filtering assembly (200) and then is led to one of the water outlets (301); the driving component (420) is provided with a switch piece (490);

a direction switching assembly (430), wherein the direction switching assembly (430) is switched among the water discharge openings (301) so that the outlet of the filter assembly (200) is communicated with one of the water discharge openings (301); and the number of the first and second groups,

the controller (460) is electrically connected with the driving assembly (420) and the direction switching assembly (430) and is used for driving and controlling the driving assembly (420) and the direction switching assembly (430).

2. The cleaning robot according to claim 1, further comprising: a power supply component (440), the power supply component (440) comprising:

a power supply part (441), the power supply part (441) being integrated inside the cleaning robot; and the number of the first and second groups,

a charging port (442), wherein the charging port (442) is electrically connected to the power supply part (441), and the charging port (442) is connected to an external power supply to charge the power supply part (441).

3. The cleaning robot according to claim 2, further comprising: an impact detection assembly (450), the impact detection assembly (450) comprising:

the moving part (451) is movably arranged, and when the cleaning robot walks underwater, the moving part (451) continuously moves under the drive of water power to form induction motion;

an inductive element (453), the inductive element (453) sensing a signal of the inductive motion;

wherein the sensing element (453) interlocks the direction switching assembly (430) to: the sensing element (453) triggers the direction switching assembly (430) to act through the controller (460) when the sensing motion stops.

4. The cleaning robot according to claim 1 or 3, characterized in that the cleaning robot further comprises: a housing (100), said housing (100) comprising a plurality of impingement portions, and each of said impingement portions having a plurality of impingement angles with respect to the pool wall.

5. The cleaning robot of claim 4, wherein the impact portion is rounded.

6. The cleaning robot according to claim 3, wherein the driving assembly, the power supply assembly (440), the direction switching assembly (430), the collision detecting assembly (450), and the controller (460) form a power supply control assembly (400) in a modular manner, and the power supply control assembly (400) is detachably mounted to the cleaning robot.

7. The cleaning robot according to claim 1, further comprising: and the environment detection assembly detects whether the cleaning robot is in an underwater environment or not, and is in linkage control with the driving assembly (420) and the switch piece (490).

8. The cleaning robot as recited in claim 7, wherein the environment sensing assembly includes a current sensing module provided to the controller (460), the current sensing module being electrically connected to the charging port (442); after the switch (490) is turned on, the current detection module detects a current value between each conductive post of the charging port, and the controller (460) triggers the driving component (420) to turn on when the current value is smaller than a set threshold value.

9. The cleaning robot according to claim 1, further comprising:

the upper floating piece (700) floats on the water surface all the time when the cleaning robot walks underwater;

a flexible connector (800), wherein the flexible connector (800) connects the floating part (700) and the part of the cleaning robot which is under water when walking under water.

10. The cleaning robot as claimed in claim 1, wherein the drain opening (301) is provided with a movable drain bracket (330), the movable drain bracket (330) is movably installed, and the drain bracket (330) adjusts a water outlet direction of the drain opening (301).