CN118895886A - Sport structure and swimming pool robot - Google Patents

Abstract

The invention provides a motion structure and a swimming pool robot, and belongs to the technical field of cleaning equipment. This motion structure installs on swimming pool robot's body, motion structure includes: the driving mechanism, the travelling mechanism and the climbing mechanism are arranged on the body; the travelling mechanism is positioned at the bottom of the body, and the driving mechanism is in transmission connection with the travelling mechanism; the climbing mechanism is positioned at the bottom or/and the side part of the body, and is used for the swimming pool robot to climb the wall or surmount the obstacle. The driving mechanism is arranged on the body of the swimming pool robot, the running mechanism is arranged at the bottom of the body and is in transmission connection with the running mechanism, the running mechanism is driven by the driving mechanism to drive the body to run, so that the swimming pool robot can run at the bottom of the swimming pool or on the wall of the swimming pool, the swimming pool can be cleaned better, the adaptability is stronger, and the cleaning efficiency of the swimming pool robot is ensured.

Description

Sport structure and swimming pool robot

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to a motion structure and a swimming pool robot.

Background

The swimming pool robot is a cleaning robot aiming at the cleaning requirement of the swimming pool, and can finish the actions of repeatedly cleaning the bottom and the wall of the swimming pool and filtering the water in the swimming pool. In the working process of the swimming pool robot, the driving mechanism drives the motion structure, so that the swimming pool robot moves on the surface of the swimming pool, and then the rolling brush rolls on the surface of the swimming pool to clean pollutants on the surface of the swimming pool.

When the swimming pool robot cleans the swimming pool, the bottom of the swimming pool is provided with barriers such as a lampshade, and the swimming pool robot needs to climb the swimming pool wall for cleaning, so that the cleaning of the places is solved, and the moving structure of the conventional swimming pool robot has a plurality of problems to be solved.

The invention patent of publication number CN116201404A discloses a swimming pool cleaning robot with a steering structure, the bottom of the body of the swimming pool cleaning robot is provided with four travelling wheels, the travelling wheels are detachably connected with the body, the moving structure walks through the four travelling wheels, the moving structure is difficult to cross steps or pool bottom obstacles, the travelling wheels are easy to clamp on the obstacles, and the travelling wheels are unstable in wall climbing and difficult to clean the swimming pool walls. The invention of publication number CN118148424A discloses a wall climbing swimming pool cleaning robot, the two sides of the robot body are provided with walking components, each walking component comprises a walking motor and a first output end connected with the corresponding walking motor, the first output end is connected with a walking crawler, the moving structure climbs the wall through the walking crawler, the walking crawler can climb the wall well, but no walking wheel is flexible when the bottom of the swimming pool is cleaned, and the cleaning efficiency is lower.

Disclosure of Invention

In view of the above, in order to solve the problems in the prior art, the present invention provides a motion structure, and the technical problems to be solved by the present invention are: how to realize the swimming pool robot to cross the obstacle or climb the wall, and ensure the cleaning efficiency of the swimming pool robot.

The invention solves the problems by the following technical means:

a kinematic structure mounted on a body of a swimming pool robot, the kinematic structure comprising:

The driving mechanism is arranged on the body;

the travelling mechanism is positioned at the bottom of the body, and the driving mechanism is in transmission connection with the travelling mechanism;

And the climbing mechanism is positioned at the bottom or/and the side part of the body and is used for the swimming pool robot to climb the wall or surmount the obstacle.

In this motion structure, actuating mechanism installs on the body of swimming pool robot, and running gear is located the bottom of body, and actuating mechanism is connected with the running gear transmission, and actuating mechanism drive running gear, running gear drive the walking to the body, make it can walk on swimming pool bottom or swimming pool wall, can be better clean the swimming pool, and adaptability is stronger, guarantees swimming pool robot's cleaning efficiency.

In one of the above-described exercise configurations, the climbing mechanism is located on at least one side of the bottom or in the middle of the bottom side. The bottom of body laminating swimming pool or swimming pool wall, climbing mechanism is located the obstacle that passes that the bottom of body can be fine to laminating swimming pool wall better climbs the wall.

In the above-mentioned motion structure, the climbing mechanism includes a track disposed on a side edge of the bottom of the body, and the driving mechanism is in transmission connection with the track. The crawler belts are arranged on two sides of the bottom of the body, and the travelling mechanism and the crawler belts are driven by the driving mechanism at the same time, so that the crawler belts and the travelling mechanism synchronously move.

In the above-mentioned motion structure, the running mechanism includes at least one group of first rollers or/and a group of second rollers, the driving mechanism is in transmission connection with the first rollers, and the second rollers are in transmission connection with the first rollers. The track is positioned between the first roller and the second roller, either with a set of first rollers or with a set of first rollers and a set of second rollers, so that it is more stable and relaxed when walking and traversing obstacles and climbing walls.

In the above-mentioned motion structure, actuating mechanism includes driving motor and drive assembly, running gear and climbing mechanism are all through drive assembly with driving motor transmission is connected. The driving mechanism specifically comprises a driving motor and a transmission assembly, the driving motor drives the travelling mechanism and the climbing mechanism simultaneously, and the cost and the energy can be saved by one driving motor.

In the above-mentioned motion structure, drive assembly includes first gear, second gear and third gear, first gear, second gear and third gear all rotate connect in on the body, driving motor's output with first gear transmission is connected, the second gear with first gear meshes mutually, the third gear with second gear meshes mutually, one end of third gear is provided with first connecting axle, first gyro wheel cup joint in on the first connecting axle. Through the rigid transmission before the first gear, the second gear and the third gear, the power transmission is more reliable, and the swimming pool robot moves more stably under the water.

In the above-mentioned motion structure, the transmission assembly further includes a fourth gear rotatably connected to the body, and the internal teeth of the crawler belt are engaged with the third gear and the fourth gear. The first gear of driving motor drive rotates, and first gear drives the second gear, and the second gear drives the third gear and rotates, and the third gear drives the track simultaneously and rotates, and when first gyro wheel rotated, the track was also rotating, and first gyro wheel realizes swimming pool robot's walking, and the track can easily cross when meetting the barrier to and when climbing the wall, laminating swimming pool wall more easily realizes climbing the wall.

In the above-mentioned motion structure, a second connecting shaft is disposed at an end of the fourth gear, and the second roller is sleeved on the second connecting shaft. The crawler belt is arranged between the first roller and the second roller, and the crawler belt can cross the obstacle and climb the wall while the swimming pool robot walks through the third gear and the fourth gear.

In the above-mentioned motion structure, drive assembly still includes first take-up pulley and second take-up pulley, first take-up pulley and second take-up pulley all the transmission connect in on the body, the internal tooth of track with first take-up pulley and second take-up pulley homoenergetic. Under the effect of first take-up pulley and second take-up pulley, adjust cleaning robot's gesture, and then cross the barrier, through first take-up pulley and second take-up pulley for whole cleaning robot easily passes the barrier.

In the above-mentioned moving structure, the centers of the first tensioning wheel and the second tensioning wheel are located on the same horizontal line. The bottoms of the first roller, the second roller and the crawler belt are on a unified horizontal line, and the swimming pool robot normally walks.

In the above-mentioned motion structure, the centers of the third gear, the fourth gear, the first tensioning wheel and the second tensioning wheel are inverted trapezoidal. The gesture is adjusted to first take-up pulley and second take-up pulley, makes swimming pool robot's body lift, and the track is protruding for first gyro wheel and second gyro wheel, and the bottom of track is less than the bottom of first gyro wheel and second gyro wheel promptly, climbs easily to cross the barrier through the track.

In the above-mentioned motion structure, the climbing mechanism includes a climbing wheel disposed at a side edge of the bottom of the body. The climbing wheel is arranged on the side edge of the bottom of the body or on the two sides of the bottom of the body, and the climbing wheel is used for climbing over the obstacle at the bottom of the swimming pool and the wall.

In the above-mentioned motion structure, the climbing mechanism includes a track disposed in a middle portion of a bottom side surface of the body. The track sets up in the middle part of body bottom surface, passes through the track at body bottom surface middle part and passes over the barrier and climb the wall.

In the above-mentioned movement structure, the climbing mechanism includes a climbing wheel disposed at a side edge of the bottom of the body or/and a middle portion of the bottom side face. The climbing wheel is arranged on the side edge of the bottom of the body, or the climbing wheels are arranged on the two sides of the bottom of the body, or the climbing wheels are arranged in the middle of the bottom side face, and the climbing wheels are used for climbing over the barrier at the bottom of the swimming pool and climbing the wall.

In the above-mentioned motion structure, the track includes the track strip, the lateral surface of track strip is provided with a plurality of walking teeth, the medial surface of track strip is provided with a plurality of internal teeth. The walking teeth can give the swimming pool robot a larger grabbing force, so that the swimming pool robot walks more stably and is easier to cross obstacles; the walking teeth can be more attached to the swimming pool wall, and the wall climbing of the swimming pool robot is facilitated. The internal teeth are better meshed with the third gear, the fourth gear, the first tensioning wheel and the second tensioning wheel, so that the crawler belt and the second idler wheel have better transmission effect.

In the above-mentioned motion structure, the terminal surface of first take-up pulley and second take-up pulley all is provided with the fixture block. The fixture block is effectual carries out spacingly to the track, prevents that the track from falling out for the internal tooth and the first take-up pulley and the second take-up pulley meshing of track.

Another object of the present invention is to provide a swimming pool robot:

The swimming pool robot comprises a body and the moving structure, wherein the bottom of the body is provided with a sewage suction port, the side part or the upper part of the body is provided with a water outlet, and a bin body for containing garbage is arranged between the sewage suction port and the water outlet. This swimming pool robot can easily cross swimming pool bottom lamp lid or other barriers to and the crawl pool wall of better, can be better clean the swimming pool, and adaptability is stronger. When the swimming pool is cleaned, garbage enters from the sewage suction port and flows into the filtering mechanism, filtered garbage enters the cabin body, and filtered water flows out from the water outlet, so that the swimming pool is cleaned.

In the swimming pool robot, the rolling brush mechanism is arranged at the front part of the body, and the cleaning mechanism is used for cleaning the swimming pool and climbing the swimming pool robot between the bottom surface of the swimming pool and the wall of the swimming pool. The rolling brush rotates, so that the rolling brush can clean dirt in a swimming pool, and a cleaning function is realized. The rolling brush rotates to climb the upper swimming pool wall by virtue of the rolling brush leaves on the rolling brush, and finally, the transition of the swimming pool robot from the bottom of the swimming pool to the swimming pool wall is realized.

Compared with the prior art, the invention has the following advantages:

The driving mechanism of the moving structure is arranged on the body of the swimming pool robot, the running mechanism is arranged at the bottom of the body and is in transmission connection with the running mechanism, the running mechanism is driven by the driving mechanism to drive the body to run, so that the body can run at the bottom of the swimming pool or on the wall of the swimming pool, the swimming pool can be cleaned better, the adaptability is stronger, and the cleaning efficiency of the swimming pool robot is ensured.

Drawings

FIG. 1 is a schematic view of a swimming pool robot;

FIG. 2 is a partial exploded view of the pool robot;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is an enlarged view of portion B of FIG. 2;

FIG. 5 is a cross-sectional view of the pool robot;

FIG. 6 is a schematic diagram of the structure of the pool robot from another perspective;

FIG. 7 is a schematic view of the third gear, fourth gear, first tensioner and second tensioner traveling normally and over an obstacle;

Fig. 8 is a schematic view of a pool robot climbing up a pool wall from the bottom of the pool.

In the figure, 100, the body; 110. a dirt suction port; 130. a bin body; 140. a rolling brush mechanism; 141. a rolling brush; 142. a fifth gear; 143. a sixth gear; 200. a driving mechanism; 210. a driving motor; 220. a transmission assembly; 221. a first gear; 222. a second gear; 223. a third gear; 224. a first connecting shaft; 225. a fourth gear; 226. a second connecting shaft; 227. a first tensioning wheel; 228. a second tensioning wheel; 300. a walking mechanism; 310. a first roller; 320. a second roller; 400. a climbing mechanism; 410. a track; 411. track strips; 412. a walking tooth; 413. internal teeth; 414. and (5) clamping blocks.

Detailed Description

The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

The swimming pool robot is a cleaning robot aiming at the cleaning requirement of the swimming pool, and can finish the actions of repeatedly cleaning the bottom and the wall of the swimming pool and filtering the water in the swimming pool. In the working process of the swimming pool robot, the driving mechanism 200 drives the motion structure, so that the swimming pool robot moves on the surface of the swimming pool, and then the rolling brush 141 rolls on the surface of the swimming pool to clean pollutants on the surface of the swimming pool. When the swimming pool robot cleans the swimming pool, the swimming pool is internally provided with steps, the bottom of the swimming pool is provided with a lamp shade and other obstacles, and the swimming pool robot needs to climb the swimming pool wall for cleaning, so that the cleaning of the places is aimed at, and the moving structure of the conventional swimming pool robot has a plurality of problems to be solved. In view of this, the invention provides a movement structure and a swimming pool robot, so as to enable the swimming pool robot to cross a lampshade or other barriers at the bottom of the swimming pool, and to be well attached to the swimming pool wall after being on the wall, thereby improving the cleaning efficiency of the swimming pool robot.

As shown in fig. 1 to 6, the present moving structure is mounted on a body 100 of a swimming pool robot, and includes: a driving mechanism 200, a traveling mechanism 300 and a climbing mechanism 400, wherein the driving mechanism 200 is mounted on the body 100; the travelling mechanism 300 is positioned at the bottom of the body 100, and the driving mechanism 200 is in transmission connection with the travelling mechanism 300; the climbing mechanism 400 is located at the bottom and/or sides of the body 100, and the climbing mechanism 400 is used for a pool robot to climb walls or surmount obstacles.

The working principle is as follows: the driving mechanism 200 is installed on the body 100 of the swimming pool robot, the running mechanism 300 is located the bottom of the body 100, the driving mechanism 200 is in transmission connection with the running mechanism 300, the driving mechanism 200 drives the running mechanism 300, the running mechanism 300 drives the body 100 to run, so that the body can run on the bottom of the swimming pool or the wall of the swimming pool, the cleaning mechanism of the swimming pool robot is combined to clean the swimming pool, when a lamp cover or other obstacles at the bottom of the swimming pool are encountered, the climbing mechanism 400 is combined with the running mechanism 300 to realize the climbing over of the lamp cover or other obstacles, or when the swimming pool robot is on the wall of crawl, the climbing mechanism 400 is attached to the wall of the swimming pool, and better crawl pool wall is realized. The invention can easily cross the lamp cover or other barriers at the bottom of the swimming pool and the wall of the crawl pool through the walking mechanism 300 and the climbing mechanism 400, so that the swimming pool can be cleaned better, the adaptability is stronger, and the cleaning efficiency of the swimming pool robot is ensured.

It should be noted that, the climbing mechanism 400 may be in transmission connection with the driving mechanism 200, or may provide power to the climbing mechanism 400 in other manners, for example, a separate motor may provide power to the climbing mechanism 400, and the separate motor may independently control the climbing mechanism 400, and when the climbing mechanism 400 is required to work, the motor is started, and when the climbing mechanism 400 is not required, the clicking is closed. In this embodiment, the climbing mechanism 400 is in transmission connection with the driving mechanism 200, and the driving mechanism 200 drives the travelling mechanism 300 and the climbing mechanism 400 simultaneously, so that the swimming pool robot walks and climbs the wall and passes over the obstacle, for example, the climbing mechanism 400 and the driving mechanism 200 are driven by a single driving motor 210, so that the cost can be well saved, the energy can be saved, and the driving of the driving motor 210 is simple and convenient without controlling a plurality of motors.

Further, the climbing mechanism 400 is located at least on one side of the bottom of the body 100 or at the middle of the bottom side. In this structure, climb mechanism 400 be located the bottom of swimming pool robot can, the bottom of body 100 laminating swimming pool or swimming pool wall, climb mechanism 400 be located the bottom of body 100 can be fine cross the barrier to and laminating swimming pool wall better climb the wall. Alternatively, the climbing mechanism 400 may be located on one of the sides of the bottom of the body 100; or the climbing mechanism 400 may be located at both sides of the bottom of the body 100; or the climbing mechanism 400 may be located in the middle of the bottom side of the body 100; the position of the climbing mechanism 400 may be selected according to the actual situation. As a preferred embodiment, the climbing mechanism 400 is located on both sides of the bottom of the body 100, and thus, the climbing mechanism 300 is matched to better perform the climbing over the obstacle or the wall. Of course, the climbing mechanism 400 may be located on the side of the body 100.

Still further, the climbing mechanism 400 includes a track 410 disposed at a bottom side of the body 100, and the driving mechanism 200 is in driving connection with the track 410. In this configuration, the climbing mechanism 400 includes a track 410, the track 410 can adaptively adjust the ground clearance of the swimming pool robot according to the shape of the obstacle when the track 410 is capable of crossing the obstacle at the bottom of the swimming pool, the track 410 is matched with the walking mechanism 300 to cross the obstacle, and the track 410 can be well matched with the swimming pool wall when the wall of the crawl is formed, and the track is matched with the walking mechanism 300 to climb the wall better. In the present embodiment, the crawler 410 is provided on both sides of the bottom of the body 100, and the traveling mechanism 300 and the crawler 410 are simultaneously driven by the driving mechanism 200, so that the crawler 410 and the traveling mechanism 300 move synchronously.

As shown in fig. 1 and 2, the walking mechanism 300 includes at least one set of first rollers 310 or/and one set of second rollers 320, the driving mechanism 200 is in transmission connection with the first rollers 310, and the second rollers 320 are in transmission connection with the first rollers 310. In this structure, the travelling mechanism 300 cooperates with the climbing mechanism 400 to walk and climb over an obstacle or wall, and the travelling mechanism 300 may include a set of first rollers 310, i.e. two first rollers 310, where the two first rollers 310 are respectively located at two sides of the bottom of the body 100; or the travelling mechanism 300 comprises a group of first rollers 310 and a group of second rollers 320, namely two first rollers 310 and two second rollers 320, which are respectively positioned at two sides of the bottom of the body 100, wherein the climbing mechanism 400 is positioned between the first rollers 310 and the second rollers 320; the present invention may employ a set of first rollers 310 or a set of first rollers 310 and a set of second rollers 320 depending on the actual situation. In this embodiment, the track 410 is positioned between the first roller 310 and the second roller 320 using a set of first rollers 310 or a set of first rollers 310 and a set of second rollers 320, and thus is more stable and easier to walk and cross obstacles and climb walls.

As shown in fig. 2, the driving mechanism 200 includes a driving motor 210 and a transmission assembly 220, and the walking mechanism 300 and the climbing mechanism 400 are both in transmission connection with the driving motor 210 through the transmission assembly 220. In this mechanism, the driving mechanism 200 is used as a power source to provide walking and climbing power for the cleaning robot, the driving mechanism 200 specifically includes a driving motor 210 and a transmission assembly 220, the driving motor 210 drives the walking mechanism 300 and the climbing mechanism 400 simultaneously, and by means of one driving motor 210, the cost and the energy can be saved, and in other embodiments, the walking mechanism 300 and the climbing mechanism 400 can be driven by different power sources. The transmission assembly 220 is used as a transmission of a power source, so that the driving motor 210 can drive the traveling mechanism 300 to travel and the climbing mechanism 400 to climb over obstacles and walls. As one example, the drive motor 210 is a double-ended motor.

As shown in fig. 2-5, the transmission assembly 220 includes a first gear 221, a second gear 222, and a third gear 223, where the first gear 221, the second gear 222, and the third gear 223 are all rotatably connected to the body 100, an output end of the driving motor 210 is in transmission connection with the first gear 221, the second gear 222 is meshed with the first gear 221, the third gear 223 is meshed with the second gear 222, a first connection shaft 224 is disposed at one end of the third gear 223, and the first roller 310 is sleeved on the first connection shaft 224. In this structure, the first gear 221, the second gear 222 and the third gear 223 are rotatably connected to the body 100, the output end of the driving motor 210 is in transmission connection with the first gear 221, that is, the output end of the driving motor 210 is connected with the first gear 221, the second gear 222 is meshed with the first gear 221, and the third gear 223 is meshed with the second gear 222; when the swimming pool robot is in operation, the driving motor 210 is started, the motor drives the first gear 221 to rotate, the first gear 221 drives the first gear 221 to rotate, the second gear 222 drives the third gear 223 to rotate, and as one end of the third gear 223 is provided with the first connecting shaft 224, the first roller 310 is sleeved on the first connecting shaft 224, namely, the first roller 310 rotates along with the third gear 223, and finally the first roller 310 drives the swimming pool robot to walk. By the rigid transmission before the first gear 221, the second gear 222 and the third gear 223, the power transmission is more reliable, and the swimming pool robot moves more stably under the water.

As shown in fig. 2-5, the transmission assembly 220 further includes a fourth gear 225, the fourth gear 225 is rotatably coupled to the body 100, and the internal teeth 413 of the track 410 are engaged with both the third gear 223 and the fourth gear 225. In this structure, the fourth gear 225 is rotatably connected to the body 100, and the center of the third gear 223 and the center of the fourth gear 225 are located on the same line, and since the driving motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, and the second gear 222 drives the third gear 223 to rotate, the internal teeth 413 of the track 410 are meshed with the third gear 223 and the fourth gear 225, that is, the track 410 is simultaneously driven to rotate by the third gear 223, at this time, the first roller 310 rotates, the track 410 also rotates, the first roller 310 realizes the walking of the swimming pool robot, the track 410 can easily pass over when encountering an obstacle, and the track is easier to attach to the swimming pool wall when climbing a wall, so as to realize climbing a wall.

As shown in fig. 2-5, a second connecting shaft 226 is disposed at one end of the fourth gear 225, and the second roller 320 is sleeved on the second connecting shaft 226. In this structure, a second connecting shaft 226 is disposed at one end of the fourth gear 225, the second roller 320 is sleeved on the second connecting shaft 226, the driving motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, the second gear 222 drives the third gear 223 to rotate, the internal teeth 413 of the track 410 are meshed with the third gear 223 and the fourth gear 225, the third gear 223 drives the track 410 to rotate, the track 410 drives the fourth gear 225 to rotate, and the second roller 320 is sleeved on the second connecting shaft 226, so as to realize the rotation of the second roller 320. In this embodiment, the track 410 is between the first roller 310 and the second roller 320, and the track 410 can cross the obstacle and climb the wall while the swimming pool robot walks through the third gear 223 and the fourth gear 225.

As shown in fig. 2-5, the transmission assembly 220 further includes a first idler 227 and a second idler 228, the first idler 227 and the second idler 228 are both drivingly connected to the body 100, and the inner teeth 413 of the track 410 are engaged with both the first idler 227 and the second idler 228. In this structure, the first tensioning wheel 227 and the second tensioning wheel 228 are both connected to the body 100 in a transmission manner, the internal teeth 413 of the track 410 are engaged with the first tensioning wheel 227 and the second tensioning wheel 228, the driving motor 210 drives the first gear 221 to rotate, the first gear 221 drives the second gear 222, the second gear 222 drives the third gear 223 to rotate, the track 410 drives the fourth gear 225 to rotate, under the tensioning action of the first tensioning wheel 227 and the second tensioning wheel 228, the track 410 rotates around the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228, and when the cleaning robot encounters an obstacle, the gesture of the cleaning robot is adjusted under the action of the first tensioning wheel 227 and the second tensioning wheel 228, and then the cleaning robot passes over the obstacle. The whole cleaning robot easily passes over the obstacle through the first tension wheel 227 and the second tension wheel 228.

As shown in fig. 2-5, the centers of the first and second tensioning pulleys 227 and 228 are located on the same horizontal line. In this structure, the centers of the first tensioning wheel 227 and the second tensioning wheel 228 are located on the same horizontal line, and are located below the centers of the third gear 223 and the fourth gear 225; at this time, centers of the third gear 223, the fourth gear 225, the first tension pulley 227, and the second tension pulley 228 have an inverted trapezoid shape. When the swimming pool robot walks at the bottom of the swimming pool, the centers of the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228 are positioned at the corners of the inverted trapezoid, the caterpillar 410 is in a tightening state, and at the moment, the bottoms of the first roller 310, the second roller 320 and the caterpillar 410 are positioned on the uniform horizontal line, so that the swimming pool robot walks normally. When climbing the wall, the centers of the third gear 223, the fourth gear 225, the first tension wheel 227 and the second tension wheel 228 are at the corners of the inverted trapezoid, the track 410 is in a tight state, as shown in fig. 7 a, and the bottoms of the first roller 310, the second roller 320 and the track 410 are on the uniform horizontal line, and the track 410 is tightly attached to the wall of the swimming pool, so that the swimming pool robot can climb the wall better. When an obstacle is encountered, the first and second tensioning wheels 227, 228 adjust the attitude to raise the body 100 of the pool robot, as shown in fig. 7 b, at which the track 410 protrudes with respect to the first and second rollers 310, 320, i.e., the bottom of the track 410 is lower than the bottoms of the first and second rollers 310, 320, and the obstacle is easily cleared by the track 410. As a preferred embodiment, upon encountering an obstacle, the tracks 410 protrude about 3cm relative to the first roller 310 and the second roller 320, i.e., raise the body 100 of the pool robot 3cm, so that the pool machine easily passes over the obstacle.

As shown in fig. 2-5, the track 410 includes a track strip 411, a plurality of running teeth 412 are provided on an outer side surface of the track strip 411, and a plurality of inner teeth 413 are provided on an inner side surface of the track strip 411. In the structure, the outer side surface of the track 411 is provided with a plurality of walking teeth 412, the plurality of walking teeth 412 are uniformly arranged along the periphery of the track 411, and when the swimming pool robot walks, the walking teeth 412 can provide larger ground grabbing force for the swimming pool robot, so that the swimming pool robot walks more stably and is easier to walk over an obstacle; when climbing the wall, the walking teeth 412 can be more attached to the wall of the swimming pool, which is more beneficial to the climbing of the swimming pool robot. The inner side of the track strip 411 is provided with a plurality of internal teeth 413, the internal teeth 413 are uniformly arranged along the inner circumference of the track strip 411, and the internal teeth 413 are better meshed with the third gear 223, the fourth gear 225, the first tensioning wheel 227 and the second tensioning wheel 228, so that the track 410 and the second roller 320 have better transmission effect.

As shown in fig. 2-5, the end surfaces of the first tensioning wheel 227 and the second tensioning wheel 228 are provided with clamping blocks 414. In this structure, the terminal surface of first take-up pulley 227 and second take-up pulley 228 all is provided with fixture block 414, and the internal tooth 413 of track 410 meshes with first take-up pulley 227 and second take-up pulley 228, and when swimming pool robot walks, fixture block 414 is effectual carries out spacingly to track 410, prevents that track 410 from falling out for the internal tooth 413 of track 410 meshes with first take-up pulley 227 and second take-up pulley 228.

Embodiment two:

The movement structure of this embodiment is substantially the same as that of the first embodiment, except that the climbing mechanism 400 includes a climbing wheel disposed at a bottom side of the body 100. That is, the climbing wheels are provided at the side of the bottom of the body 100 instead of the caterpillar 410, or at both sides of the bottom of the body 100, by which the climbing wheels pass over obstacles at the bottom of the pool and climb the wall.

Embodiment III:

The movement structure of this embodiment is substantially the same as that of the first embodiment, except that the climbing mechanism 400 includes a track 410 disposed at a middle portion of the bottom side of the body 100. That is, the caterpillar 410 is provided at the middle of the bottom side of the body 100, and the caterpillar 410 passing through the middle of the bottom side of the body 100 passes over obstacles and climbs walls.

Embodiment four:

The movement structure of this embodiment is substantially the same as that of the first embodiment, except that the climbing mechanism 400 includes a climbing wheel disposed at the bottom side or/and the middle of the bottom side of the body 100. That is, the climbing wheels are provided at the side of the bottom of the body 100, or at both sides of the bottom of the body 100, or at the middle of the bottom side, by crossing the obstacles of the bottom of the pool and the climbing walls, instead of the caterpillar 410.

Fifth embodiment:

as shown in fig. 1 and 2, the present embodiment provides a swimming pool robot comprising a body 100 and the above-described moving structure. Through foretell motion structure, can easily cross swimming pool bottom lamp lid or other barriers to and better crawl pool wall, can be better clean the swimming pool, the adaptability is stronger.

As shown in fig. 1 and 2, the bottom of the body 100 is provided with a dirt sucking port 110, a water outlet is provided at a side or upper portion of the body 100, and a bin 130 for storing garbage is provided between the dirt sucking port 110 and the water outlet. Specifically, the body 100 is further internally provided with a filtering mechanism, when the swimming pool robot works, the walking mechanism 300 and the climbing mechanism 400 walk to climb, garbage enters from the sewage suction port 110 and flows into the filtering mechanism, filtered garbage enters the bin 130, filtered water flows out from the water outlet, and cleaning of the swimming pool is completed.

As shown in fig. 1 and 2, the front portion of the body 100 is provided with a rolling brush mechanism 140 for cleaning the swimming pool and for climbing the swimming pool robot between the bottom surface of the swimming pool and the wall of the swimming pool. Specifically, the rolling brush mechanism 140 includes a rolling brush 141 and a fifth gear 142, the rolling brush 141 is connected to the body 100 in a rolling manner, the fifth gear 142 is connected to the body 100 in a rotating manner, a sixth gear 143 is disposed at an end of the rolling brush 141, the fifth gear 142 is meshed with the running gear 412 of the track 410, and the fifth gear 142 is meshed with the sixth gear 143. When the swimming pool is cleaned, the caterpillar 410 drives the fifth gear 142 to rotate, the fifth gear 142 drives the sixth gear 143 to rotate, and then the rolling brush 141 is driven to rotate, and the rolling brush 141 cleans dirt in the swimming pool, so that a cleaning function is realized. In addition, when the swimming pool robot climbs onto the swimming pool wall from the bottom of the swimming pool, because the first roller 310 and the second roller 320 are higher, the swimming pool robot cannot climb onto the swimming pool wall directly, at this time, the rolling brush 141 contacts the swimming pool wall first, the rolling brush 141 rotates to depend on the rolling brush 141 She Panpa on the rolling brush to swim the swimming pool wall, and finally, the swimming pool robot is excessively moved from the bottom of the swimming pool to the swimming pool wall, as shown in fig. 8a, the swimming pool robot climbs a certain angle slowly through the rolling brush 141, and then the rolling brush 141 climbs continuously to reach the angle as shown in fig. 8b, and finally, the swimming pool robot is completely climbed onto the swimming pool wall.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (18)

1. A kinematic structure mounted on a body (100) of a swimming pool robot, characterized in that it comprises:

a drive mechanism (200), the drive mechanism (200) being mounted on the body (100);

The travelling mechanism (300) is positioned at the bottom of the body (100), and the driving mechanism (200) is in transmission connection with the travelling mechanism (300);

A climbing mechanism (400), the climbing mechanism (400) being located at a bottom or/and a side of the body (100), the climbing mechanism (400) being for a pool robot to climb a wall or surmount an obstacle.

2. The exercise structure of claim 1, wherein the climbing mechanism (400) is located in the middle of at least one side or bottom side of the bottom of the body (100).

3. The exercise structure of claim 2, wherein the climbing mechanism (400) comprises a crawler belt (410) disposed on a bottom side of the body (100), and the driving mechanism (200) is in driving connection with the crawler belt (410).

4. A movement structure according to claim 3, characterized in that the running gear (300) comprises at least one set of first rollers (310) or/and one set of second rollers (320), the drive mechanism (200) being in driving connection with the first rollers (310), the second rollers (320) being in driving connection with the first rollers (310).

5. The exercise structure of claim 4, wherein the driving mechanism (200) comprises a driving motor (210) and a transmission assembly (220), and the walking mechanism (300) and the climbing mechanism (400) are in transmission connection with the driving motor (210) through the transmission assembly (220).

6. The moving structure according to claim 5, wherein the transmission assembly (220) includes a first gear (221), a second gear (222) and a third gear (223), the first gear (221), the second gear (222) and the third gear (223) are all rotatably connected to the body (100), the output end of the driving motor (210) is in transmission connection with the first gear (221), the second gear (222) is meshed with the first gear (221), the third gear (223) is meshed with the second gear (222), a first connecting shaft (224) is disposed at one end of the third gear (223), and the first roller (310) is sleeved on the first connecting shaft (224).

7. A movement structure according to claim 6, characterized in that said transmission assembly (220) further comprises a fourth gear (225), said fourth gear (225) being rotatably connected to said body (100), the internal teeth (413) of said track (410) being engaged with both said third gear (223) and said fourth gear (225).

8. A movement structure according to claim 7, characterized in that one end of the fourth gear (225) is provided with a second connecting shaft (226), and the second roller (320) is sleeved on the second connecting shaft (226).

9. The running structure according to claim 8, wherein the transmission assembly (220) further comprises a first tensioning wheel (227) and a second tensioning wheel (228), the first tensioning wheel (227) and the second tensioning wheel (228) are both in driving connection with the body (100), and the internal teeth (413) of the crawler belt (410) are engaged with both the first tensioning wheel (227) and the second tensioning wheel (228).

10. A moving structure according to claim 9, characterized in that the centers of the first tensioning wheel (227) and the second tensioning wheel (228) are located on the same horizontal line.

11. A movement structure according to claim 10, characterized in that the centers of the third gear (223), the fourth gear (225), the first tensioning wheel (227) and the second tensioning wheel (228) are inverted trapezoidal.

12. A movement structure according to claim 3, characterized in that the track (410) comprises a track (410) strip, the outer side of the track (410) strip being provided with a number of running teeth (412), the inner side of the track (410) strip being provided with a number of inner teeth (413).

13. A moving structure according to claim 9, characterized in that the end faces of the first tensioning wheel (227) and the second tensioning wheel (228) are each provided with a clamping block (414).

14. The exercise structure of claim 2, wherein the climbing mechanism (400) comprises a climbing wheel provided at a bottom side of the body (100).

15. The exercise structure of claim 2, wherein the climbing mechanism (400) includes a crawler (410) provided at a middle portion of a bottom side of the body (100).

16. A sport structure according to claim 2, characterized in that the climbing mechanism (400) comprises a climbing wheel provided at the bottom side or/and the middle of the bottom side of the body (100).

17. Swimming pool robot characterized by comprising a body (100) and a moving structure according to any one of claims 1-16, wherein the bottom of the body (100) is provided with a dirt sucking port (110), the side or upper part of the body (100) is provided with a water outlet, and a bin (130) for containing garbage is arranged between the dirt sucking port (110) and the water outlet.

18. A swimming pool robot according to claim 17, wherein the front part of the body (100) is provided with a rolling brush mechanism (140) for cleaning the swimming pool and for climbing the swimming pool robot between the bottom surface of the swimming pool and the wall of the swimming pool.