Sweeping Robot

Abstract

The present invention relates to a sweeping robot. The sweeping robot of the present invention comprises: a body; a dust box module, which is arranged at the bottom of the body and is used to collect and store garbage; a side brush module, which is arranged at the bottom of the body and is arranged in front of the opening of the dust box module and is used to sweep garbage into the dust box module; a dust suction module, which is arranged in the body and is used to absorb fine particles in the dust box module; a lifting module, which is arranged on the body and is used to drive the dust box module and the side brush module to rise and fall; a dust pusher module, which is arranged at the bottom of the body and is arranged behind the opening of the dust box module and is used to wipe the floor. The sweeping robot of the present invention has the advantage that the side brush can be raised and lowered.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to a sweeping robot. Background Art

[0002] A sweeping robot can automatically clean the floor in a room. It generally uses a brushing and vacuuming method to sweep or suck the debris on the floor into its own garbage storage box, thereby completing the function of floor cleaning. However, the storage space of the garbage storage box itself is limited, and it may be necessary to clean the garbage storage box before the floor is completely cleaned. This is inconvenient to use and has low cleaning efficiency. In addition, the side brushes of existing sweeping robots are generally fixed and are in contact with the ground for a long time. During the movement of the non-working sweeping robot, the ground will rub against the side brush, causing unnecessary wear on the side brush and reducing the service life of the side brush. Summary of the invention

[0003] Based on this, an object of the present invention is to provide a sweeping robot having the advantage that a side brush can be raised and lowered.

[0004] A sweeping robot comprises: a body; a dust box module, which is arranged at the bottom of the body and is used to collect and store garbage; a side brush module, which is arranged at the bottom of the body and is arranged in front of the opening of the dust box module and is used to sweep garbage into the dust box module; a dust suction module, which is arranged in the body and is used to absorb fine particles in the dust box module; a lifting module, which is arranged on the body and is used to drive the dust box module and the side brush module to rise and fall; and a dust pusher module, which is arranged at the bottom of the body and is arranged behind the opening of the dust box module and is used to wipe the floor.

[0005] Compared with the prior art, the sweeping robot described in the present invention drives the dust box module and the side brush module to rise and fall together through the lifting module. When sweeping is not needed, the dust box module and the side brush module are raised so that the side brush module does not contact the ground, which helps to avoid the side brush module from rubbing against the ground during movement and prolong the service life of the side brush module. When sweeping is needed, the dust box module and the side brush module are lowered so that the side brush module contacts the ground, and the side brush module sweeps the garbage on the ground into the dust box module to complete the sweeping work.

[0006] Further, the side brush module includes: a side brush frame; a double-output shaft motor, which is arranged on the side brush frame and is provided with a first screw and a second screw; a first polished rod, which is arranged on the side brush frame, is arranged on one side of the first screw and is parallel to each other; a second polished rod, which is arranged on the side brush frame, is arranged on one side of the second screw and is parallel to each other; a first slider, which is threadedly connected to the first screw and is slidably connected to the first polished rod; a second slider, which is threadedly connected to the second screw and is slidably connected to the second polished rod; a first motor, which is arranged on the first slider; a second motor, which is arranged on the second slider; a first side brush, which is connected to the output shaft of the first motor; a second side brush, which is connected to the output shaft of the second motor.

[0007] Furthermore, the first side brush is detachably connected to the output shaft of the first motor, and the second side brush is detachably connected to the output shaft of the second motor; the axis of the output shaft of the first motor is perpendicular to the axis of the first screw, and the axis of the output shaft of the second motor is perpendicular to the axis of the second screw; the rotation direction of the first screw is opposite to the rotation direction of the second screw; the side brush module also includes: a first drag chain, one end of which is arranged on the side brush frame, and the other end of which is arranged on the first slider, and an electric wire electrically connected to the first motor is passed through it; a second drag chain, one end of which is arranged on the side brush frame, and the other end of which is arranged on the second slider, and an electric wire electrically connected to the second motor is passed through it.

[0008] Further, the dust box module includes a dust box, a garbage inlet is provided on the side of the dust box, the first side brush or the second side brush is arranged in front of the garbage inlet, and the garbage inlet corresponds to the whole or part of the rotation range of the first side brush or the second side brush; the dust box module also includes a shell, a roller brush, and a roller brush motor, the dust box is placed in the shell, the roller brush motor is arranged on the shell, the output shaft of the roller brush motor is connected to the roller brush, the roller brush spans the garbage inlet, the roller brush motor drives the roller brush to rotate, and the roller brush sweeps the garbage from the first side brush or the second side brush into the dust box; the dust box is a box body with an opening upward; a flip cover is movably connected to the peripheral side wall of the shell; a slide rail is provided in the shell, and the dust box slides out of the shell from the flip cover along the slide rail; an inclined plate is provided on the shell, the inclined plate is arranged below the roller brush, and the inclined plate extends from top to bottom along the direction from the dust box to the roller brush; a dust suction interface is provided on the shell, and one end of the dust suction interface is connected to the opening of the dust box;

[0009] Furthermore, the dust collection module includes: a dust collection box, which is equipped with a non-woven bag; a dust collection tube, one end of which is connected to the other end of the dust collection interface, and the other end of which is connected to the non-woven bag; a fan, which is used to generate a negative pressure airflow to suck the small particles in the dust box into the dust collection box, and the air inlet end thereof is provided with a dustproof part, and the air outlet end thereof is provided with a sound-absorbing cotton.

[0010] Furthermore, a chassis is provided at the bottom of the machine body, and the lifting module comprises: a lifting plate on which the dust box module and the side brush module are mounted; and a cylinder mounted on the chassis, with a telescopic rod connected to the lifting plate.

[0011] Furthermore, a second guide rod is provided at the bottom of the chassis; a second guide sleeve is provided on the lifting plate, the second guide sleeve is sleeved on the outer side of the second guide rod, the second guide sleeve slides along the second guide rod, and the sliding direction of the second guide sleeve is parallel to the telescopic direction of the cylinder; the end of the second guide rod away from the chassis is detachably connected to the limiting member, and the second guide sleeve is located between the chassis and the limiting member; a spring is provided between the chassis and the lifting plate, the spring is sleeved on the outer side of the second guide rod, and the two ends of the spring are respectively against the chassis and the lifting plate; a special-shaped hole is provided on the second guide sleeve to cooperate with the second guide rod, and the diameter of the openings at both ends of the special-shaped hole is larger than the diameter at the middle; the special-shaped hole is hourglass-shaped; a floating seat is provided on the top of the lifting plate, and two slide grooves parallel to each other are provided on the floating seat; a floating pin is provided on the telescopic rod of the cylinder, the floating pin passes through the two slide grooves, and the floating pin slides in the slide groove.

[0012] Furthermore, the dust pusher module includes: a dust pusher frame, one end of which is hinged on the chassis, and the other end of which is provided with a mounting frame for installing a dust pusher cloth, on which an adjusting sleeve is hinged, and the adjusting sleeve is provided with an adjusting slide groove; an electric push rod, which is arranged on the frame, and a connecting rod is hinged on its telescopic rod, the connecting rod is inserted into the adjusting sleeve, and the connecting rod is provided with a connecting pin, the connecting pin slides in the adjusting slide groove, and the sliding direction of the connecting rod in the adjusting sleeve and the sliding direction of the connecting pin in the adjusting slide groove are parallel to each other. ; A step portion is provided on the circumferential side surface of the connecting rod, and a spring is sleeved on the outer side of the connecting rod, and the two ends of the spring respectively abut against the end surface of the step portion and the end surface of the adjusting sleeve; The adjusting sleeve is provided with two mutually parallel adjusting grooves, and the two adjusting grooves are symmetrical about the axis of the adjusting sleeve, and the connecting pin passes through the adjusting grooves and the connecting rod to connect the connecting rod and the adjusting sleeve together; A magnet is provided on the bottom surface of the mounting frame, and a magnetic conductor attracted to the magnet is provided on the dust push cloth; The mounting frame is hollow.

[0013] Furthermore, along the direction from the top of the body to the bottom of the body, a camera, a 3D laser sensor, a first ultrasonic sensor, a second ultrasonic sensor, a TOF camera, and a 2D laser sensor are sequentially arranged on the peripheral side of the body, and the camera, the 3D laser sensor, the first ultrasonic sensor, the second ultrasonic sensor, the TOF camera, and the 2D laser sensor are distributed on the same straight line; a controller is arranged in the body, and the controller is electrically connected to the moving mechanism, the camera, the 3D laser sensor, the first ultrasonic sensor, the second ultrasonic sensor, the TOF camera, and the 2D laser sensor, respectively; a first anti-drop sensor and a second anti-drop sensor are also arranged on the peripheral side of the body, and the first anti-drop sensor and the second anti-drop sensor are respectively arranged on both sides of the straight line, and the controller is electrically connected to the first anti-drop sensor and the second anti-drop sensor, respectively; the The first anti-drop sensor and the second anti-drop sensor are respectively arranged on both sides of the 2D laser sensor, and the 2D laser sensor, the first anti-drop sensor, and the second anti-drop sensor are arranged on the same horizontal plane; a mechanical anti-collision bar is also arranged on the peripheral side of the body, and the mechanical anti-collision bar is arranged at the peripheral edge of the body, and the mechanical anti-collision bar is electrically connected to the controller; the mechanical anti-collision bar is arranged below the 2D laser sensor; the 2D laser sensor is 117mm away from the ground, the distance between the TOF camera and the 2D laser sensor is 282mm, the distance between the second ultrasonic sensor and the TOF camera is 100mm, the distance between the first ultrasonic sensor and the second ultrasonic sensor is 120mm, and the distance between the 3D laser sensor and the first ultrasonic sensor is 131mm; a WIFI module is also arranged on the body, and the controller is electrically connected to the WIFI module to communicate wirelessly with the cloud.

[0014] Furthermore, a chassis is provided at the bottom of the body, and a moving mechanism is provided on the chassis, wherein the moving mechanism comprises: a chassis, which is provided at the bottom of the body and is provided with a first through hole; a connecting plate, which is provided on the bottom surface of the chassis and is provided with a second through hole for a guide rod to pass through, the second through hole is coaxial with the first through hole, and the aperture of the second through hole is the same as the aperture of the first through hole; a first guide rod, which is vertically provided on the bottom surface of the connecting plate and is passed through the first through hole and the second through hole; a driving wheel assembly, which moves up and down along the first guide rod; a spring, which is provided at The connecting plate comprises two thickened plates and a connecting strip, wherein the thickened plate is used to install one of the driving wheel assemblies, the second through hole is provided on the thickened plate, and the connecting strip is used to connect the two thickened plates; the thickened plate is also provided with a weight-reducing hole; the connecting plate is mounted on the chassis by bolts, and the at least two thickened plates are integrally formed with the connecting strip; three universal wheels are provided on the bottom surface of the chassis, and the two driving wheel assemblies and the three universal wheels form a virtual circle, the connecting line of the two driving wheel assemblies passes through the center of the virtual circle, and the three universal wheels The wheels form a virtual isosceles triangle, and the midline of the virtual isosceles triangle is perpendicular to the connecting line of the two driving wheel assemblies; the spring is sleeved on the outside of the first guide rod, one end of the spring is against the connecting plate, and the other end of the spring is against the driving wheel assembly; the two ends of the first guide rod are respectively provided with a first limiter and a second limiter, the first limiter is located above the chassis, and the driving wheel assembly moves up and down between the chassis and the second limiter; the first limiter or the second limiter is threadedly connected to the first guide rod; the driving wheel assembly includes A bracket, a driving wheel, and a driving motor, wherein the bracket moves up and down along the first guide rod, the driving wheel is rotatably arranged on the bracket, the driving motor is arranged on the bracket, and the driving motor is used to drive the driving wheel to rotate; the bracket is provided with a first guide sleeve that cooperates with the first guide rod, the first guide sleeve is sleeved on the outside of the first guide rod, and the spring is sleeved on the outside of the shaft of the first guide sleeve; the first guide sleeve is provided with a special-shaped hole that cooperates with the first guide rod, the diameter of the openings at both ends of the special-shaped hole is larger than the diameter at the middle, and the special-shaped hole is an hourglass shape.

[0015] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the sweeping robot described in the embodiment;

[0017] Figure 2 It is a front schematic diagram of the sweeping robot described in the embodiment;

[0018] Figure 3 This is a schematic diagram of the electronic connections of the sweeping robot described in the embodiment;

[0019] Figure 4 This is a schematic diagram of the distribution of the connecting plate, the driving wheel assembly, and the universal wheel on the chassis according to the embodiment;

[0020] Figure 5 A schematic diagram of the connection between the connecting plate and the chassis according to the embodiment;

[0021] Figure 6 A three-dimensional diagram of the moving mechanism described in the embodiment;

[0022] Figure 7 It is a side schematic diagram of the moving mechanism described in the embodiment;

[0023] Figure 8 is a cross-sectional view of the first guide sleeve described in the embodiment;

[0024] Fig. 9 It is a connection diagram of the lifting module, the dust box module, and the side brush module described in the embodiment;

[0025] Fig.10 A schematic structural diagram of the lifting module described in the embodiment;

[0026] Fig.11 is a cross-sectional view of the second guide sleeve described in the embodiment;

[0027] Fig.12 A schematic diagram of the dust box according to the embodiment being taken out from the housing;

[0028] Fig.13 A schematic diagram of the dust box according to the embodiment being installed in the housing;

[0029] Fig.14 A schematic structural diagram of the side brush module described in the embodiment;

[0030] Fig.15 A three-dimensional diagram of the side brush module described in the embodiment;

[0031] Fig.16 It is a connection diagram of the dust box module, the side brush module, the dust suction module, and the dust push module described in the embodiment;

[0032] Fig.17 This is a schematic diagram of the structure of the dust collection module described in the embodiment;

[0033] Fig.18 It is a schematic diagram of the structure of the dust pusher module described in the embodiment;

[0034] Reference numerals:

[0035] 100, body; 111, camera; 112, 3D laser sensor; 113, first ultrasonic sensor; 114, second ultrasonic sensor; 115, TOF camera; 116, 2D laser sensor; 117, first anti-drop sensor; 118, second anti-drop sensor; 119, mechanical anti-collision strip; 120, WIFI module; 121, controller; 122, chassis; 200, moving mechanism; 210, connecting plate; 211, thickening plate; 212, connecting strip; 213, weight reduction hole; 220, Driving wheel assembly; 221, first guide rod; 222, first spring; 223, bracket; 224, driving wheel; 228, driving motor; 225, first stopper; 226, second stopper; 227, first guide sleeve; 230, universal wheel; 300, lifting module; 310, lifting plate; 320, cylinder; 330, second guide rod; 340, second guide sleeve; 350, floating seat; 351, slide groove; 360, floating pin; 370, second spring; 400, dust box module; 410, shell; 411 , flip cover; 412, slide rail; 413, inclined plate; 414, dust suction interface; 420, dust box; 421, garbage inlet; 430, roller brush; 440, roller brush motor; 500, side brush module; 510, side brush frame; 520, double-shaft motor; 521, first screw; 522, second screw; 530a, first light rod; 530b, second light rod; 540a, first slider; 540b, second slider; 550a, first motor; 550b, second motor; 560a, first side brush; 560b, second Side brush; 570a, first drag chain; 570b, second drag chain; 600, dust suction module; 610, dust suction box; 611, non-woven bag; 620, dust suction tube; 630, fan; 631, silencer cotton; 700, dust push module; 710, dust push frame; 720, electric push rod; 730, dust push cloth; 740, mounting frame; 750, adjustment sleeve; 751, adjustment slide groove; 760, connecting rod; 761, step portion; 770, connecting pin; 780, third spring; a, virtual circle; b, virtual isosceles triangle. DETAILED DESCRIPTION

[0036] A sweeping robot, see Figures 1 to 18, which includes a body 100, a moving mechanism 200, a lifting module 300, a dust box module 400, a side brush module 500, a dust suction module 600, and a dust push module 700. Among them, the moving mechanism 200 is arranged at the bottom of the body 100, and the moving mechanism 200 is used to drive the movement of the body 100. The lifting module 300 is arranged on the body 100, and the lifting module 300 is used to drive the dust box module 400 and the side brush module 500 to rise and fall in the vertical direction. The dust box module 400 is installed on the lifting module 300, and the dust box module 400 is located at the bottom of the body 100, and the dust box module 400 is used to collect and store garbage. The side brush module 500 is installed on the lifting module 300, the side brush module 500 is located at the bottom of the machine body 100, and the side brush module 500 is arranged in front of the opening of the dust box module 400. The side brush module 500 is used to sweep garbage into the dust box module 400. The dust suction module 600 is arranged in the machine body 100, and the dust suction module 600 is used to absorb tiny particles in the dust box module 400. The tiny particles refer to objects such as hair and dust that can be sucked by existing vacuum cleaners. The dust push module 700 is installed on the lifting module 300, the dust push module 700 is located at the bottom of the machine body 100, and the dust push module 700 is arranged behind the opening of the dust box module 400. The dust push module 700 is used to wipe the floor.

[0037] See also Figure 2 and Figure 3, along the direction from the top of the body 100 to the bottom of the body 100, a camera 111, a 3D laser sensor 112, a first ultrasonic sensor 113, a second ultrasonic sensor 114, a TOF camera 115, and a 2D laser sensor 116 are sequentially arranged on the front of the body 100. The camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, and the 2D laser sensor 116 are distributed on a straight line on the front of the body 100. A first anti-drop sensor 117 and a second anti-drop sensor 118 are also arranged on the front of the body 100. The first anti-drop sensor 117 and the second anti-drop sensor 118 are respectively arranged on both sides of the above-mentioned straight line. In this embodiment, the first anti-drop sensor 117 and the second anti-drop sensor 118 are respectively arranged on both sides of the 2D laser sensor 116, and the 2D laser sensor 116, the first anti-drop sensor 117, and the second anti-drop sensor 118 are arranged on the same horizontal plane. A mechanical anti-collision strip 119 is also provided on the front of the body 100, and the mechanical anti-collision strip 119 is provided at the peripheral edge of the body 100, and the mechanical anti-collision strip 119 is provided below the 2D laser sensor 116. A WIFI module 120 is also provided in the body 100. In this embodiment, the above-mentioned detection modules are all detection modules in the prior art, the 2D laser sensor 116 is 117mm from the ground, the distance between the TOF camera 115 and the 2D laser sensor 116 is 282mm, the distance between the second ultrasonic sensor 114 and the TOF camera 115 is 100mm, the distance between the first ultrasonic sensor 113 and the second ultrasonic sensor 114 is 120mm, and the distance between the 3D laser sensor 112 and the first ultrasonic sensor 113 is 131mm.

[0038] Specifically, the camera 111 is used to photograph the external environment to achieve cloud monitoring. The 3D laser sensor 112 is used for spatial modeling navigation. The first ultrasonic sensor 113 is used for high obstacle avoidance, and is mainly designed for glass obstacles. The second ultrasonic sensor 114 is used for medium and low obstacle avoidance, and is mainly designed for glass obstacles. The TOF camera 115 is used to identify objects in the front rectangular frame and avoid obstacles. The 2D laser sensor 116 is used for low obstacle recognition and avoidance.

[0039] See also Figure 3A controller 121 is also provided in the body 100. The controller 121 is electrically connected to the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, the 2D laser sensor 116, the first anti-drop sensor 117, the second anti-drop sensor 118, the mechanical anti-collision strip 119, the WIFI module 120, the moving mechanism 200, the lifting module 300, the dust box module 400, the side brush module 500, the dust suction module 600, and the dust push module 700. The controller 121 controls the operation of the mobile mechanism 200 according to the information collected by the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, the 2D laser sensor 116, the first anti-drop sensor 117, the second anti-drop sensor 118, and the mechanical anti-collision strip 119, and uploads the collected data to the cloud through the WIFI module 120.

[0040] See also Figures 4 to 18 In addition, a chassis 122 is installed at the bottom of the body 100, and the chassis 122 is used to install the moving mechanism 200, the lifting module 300, the dust box module 400, the side brush module 500, the dust suction module 600, and the dust push module 700. The chassis 122 is made of a metal aluminum plate and is in a plate shape. A first through hole is provided on the bottom surface of the chassis 122, and the first through hole extends vertically from the top surface of the chassis 122 to the bottom surface of the chassis 122. The axis of the first through hole is perpendicular to the bottom surface of the chassis 122, and the first through hole is used to connect the moving mechanism 200 with the chassis 122.

[0041] See also Figure 4 The mobile mechanism 200 includes a connecting plate 210, two driving wheel assemblies (220), and three universal wheels 230. The connecting plate 210 is fixedly mounted on the bottom surface of the chassis 122 by bolts. The two driving wheel assemblies (220) are detachably mounted on the bottom surface of the connecting plate 210. The three universal wheels 230 are mounted on the bottom surface of the chassis 122 by bolts. In addition, the distribution of the two driving wheel assemblies (220) and the three universal wheels 230 at the bottom of the chassis 122 forms a virtual circle a. The line connecting the two driving wheel assemblies (220) passes through the circle of the virtual circle a, and the line connecting the two driving wheel assemblies (220) is the diameter of the virtual circle a. The three universal wheels 230 are distributed at the bottom of the chassis 122 to form a virtual isosceles triangle b, the three points of which are all on the virtual circle a, the midline of the virtual isosceles triangle b passes through the center of the virtual circle a, and the midline of the virtual isosceles triangle b is perpendicular to the line connecting the two driving wheel assemblies (220).

[0042] See also Figures 4 to 7, the connecting plate 210 is located within the orthographic projection range of the bottom plate 122 when viewed from above. A second through hole corresponding to the above-mentioned first through hole is provided on the connecting plate 210, and the second through hole extends vertically from the top surface of the connecting plate 210 to the bottom surface of the connecting plate 210, and the axis of the second through hole is perpendicular to the bottom surface of the connecting plate 210, and the axis of the second through hole is located on the same straight line as the axis of the first through hole, and the aperture of the second through hole is the same as the aperture of the first through hole. Specifically, the connecting plate 210 includes at least two thickening plates 211 and a connecting strip 212. Each thickening plate 211 is used to install a driving wheel assembly (220). The thickening plate 211 is fixedly installed on the bottom surface of the chassis 122 by bolts. The above-mentioned second through hole is set on the thickening plate 211. A weight-reducing hole 213 is provided on the thickening plate 211. The weight-reducing hole 213 extends vertically from the top surface of the thickening plate 211 to the bottom surface of the thickening plate 211. The position and size of the weight-reducing hole 213 do not affect the strength of the connecting plate 210 and the strength of the second through hole. The connecting bar 212 is fixedly installed on the bottom surface of the chassis 122 by bolts. The connecting bar 212 is used to connect the thickening plates 211 together. All thickening plates 211 and the connecting bar 212 are made in one piece.

[0043] See also Figures 4 to 7 The driving wheel assembly (220) includes four first guide rods 221, a first spring 222, a bracket 223, a driving wheel 224, and a driving motor 228. The first guide rod 221 passes through the first through hole and the second through hole, and the first guide rod 221 can move up and down in the first through hole and the second through hole. The two ends of the first guide rod 221 are respectively threadedly connected with a first limiter 225 and a second limiter 226, the first limiter 225 is located above the chassis 122, and the second limiter 226 is located below the connecting plate 210. By adjusting the relative distance between the first limiter 225 and the second limiter 226, the floating space of the driving wheel 224 module can be controlled. The above-mentioned first spring 222 is sleeved on the outer side of each first guide rod 221, and the first spring 222 is located between the connecting plate 210 and the second limiter 226. The bracket 223 moves up and down along the four first guide rods 221, the top surface of the bracket 223 abuts against the first spring 222, and the bottom surface of the bracket 223 abuts against the second stopper 226. The driving wheel 224 is rotatably arranged on the bracket 223. The driving motor 228 is electrically connected to the controller 121, the driving motor 228 is fixed to the bracket 223 by bolts, the output shaft of the driving motor 228 is detachably connected to the driving wheel 224, and the driving motor 228 provides power for the rotation of the driving wheel 224. In addition, the rolling directions of the driving wheels 224 of the two driving wheel assemblies 220 are parallel to each other.

[0044] See also Figures 6 to 8The top surface of the bracket 223 is bolted with a first guide sleeve 227 that matches the corresponding first guide rod 221. The first guide sleeve 227 is located between the chassis 122 and the bracket 223. The first guide sleeve 227 is sleeved on the outer side of the corresponding first guide rod 221, so that the sliding of the bracket 223 on the first guide rod 221 is more stable. In addition, the first spring 222 is not only sleeved on the outer side of the first guide rod 221, but also sleeved on the outer side of the shaft of the first guide sleeve 227, so that the shaft of the first guide sleeve 227 is arranged between the chassis 122 and the bracket 223, which helps to save space and prevent the first guide sleeve 227 from affecting the normal operation of the walking mechanism. In addition, in order to improve the smoothness of the up and down movement of the driving wheel assembly (220), the first guide sleeve 227 is provided with a special-shaped hole that matches the guide rod. The diameter of the two ends of the special-shaped hole is larger than the diameter of the middle. In this embodiment, the special-shaped hole is an hourglass shape.

[0045] See also Figures 4 to 7 The universal wheel 230 adopts the universal wheel 230 in the prior art, which can rotate 360 ​​degrees horizontally under dynamic load or static load.

[0046] See also Figures 9 to 11 The lifting module 300 includes a lifting plate 310 and a cylinder 320. The lifting plate 310 is used to install the dust box module 400 and the side brush module 500. The lifting plate 310 is arranged directly below the chassis 122, and the lifting plate 310 and the chassis 122 are parallel to each other. The cylinder 320 is installed on the top surface of the chassis 122 by bolts, and the axis of the telescopic rod of the cylinder 320 is perpendicular to the top surface of the chassis 122, and the telescopic rod of the cylinder 320 is connected to the lifting plate 310.

[0047] See also Figures 9 to 11 In order to ensure that the lifting plate 310 is lifted horizontally, a plurality of second guide rods 330 are detachably mounted on the bottom surface of the chassis 122. The axis of the second guide rods 330 is parallel to the axis of the telescopic rod of the cylinder 320. The second guide rods 330 can move up and down on the chassis 122. Nuts are threadedly connected at both ends of the second guide rods 330, one nut is above the chassis 122, and the other nut is below the lifting plate 310. By adjusting the relative distance between the two nuts, the floating space of the lifting plate 310 can be controlled.

[0048] See also Figures 9 to 11, corresponding to the position of the second guide rod 330, a plurality of second guide sleeves 340 are bolted on the lifting plate 310, and the second guide sleeves 340 are sleeved on the outer side of the corresponding second guide rod 330, and the second guide sleeves 340 slide up and down along the corresponding second guide rod 330, and the moving direction of the second guide sleeves 340 is parallel to the lifting direction of the lifting plate 310. Further, the second guide sleeves 340 are provided with special-shaped holes that match the second guide rod 330, and the diameter of the special-shaped holes at both ends of the openings is larger than the diameter at the middle. In this embodiment, the special-shaped holes are hourglass-shaped.

[0049] See also Figures 9 to 11 In order to overcome obstacles and ensure that the side brush module 500 is close to the ground, a floating seat 350 is installed on the top surface of the lifting plate 310. Two mutually parallel slide grooves 351 are provided on the floating seat 350. The length direction of the slide groove 351 is parallel to the axis of the telescopic rod of the cylinder 320. A floating pin 360 is detachably installed at the end of the telescopic rod of the cylinder 320. The floating pin 360 passes through the two slide grooves 351. The axis of the floating pin 360 is perpendicular to the length direction of the slide groove 351. The floating pin 360 slides in the slide groove 351.

[0050] See also Figures 9 to 11 In order to further ensure that the side brush module 500 is close to the ground, corresponding to the position of the second guide rod 330, a plurality of second springs 370 are provided between the chassis 122 and the lifting plate 310. The second springs 370 are sleeved on the outer side of the corresponding second guide rod 330, and the two ends of the second springs 370 are respectively against the bottom surface of the chassis 122 and the top surface of the lifting plate 310.

[0051] See also Fig. 9 , Fig.12 , Fig.13, the dust box module 400 is detachably mounted on the bottom surface of the lifting plate 310. Specifically, the dust box module 400 includes a shell 410, a dust box 420, a roller brush 430, and a roller brush motor 440 (not shown). Among them, the shell 410 is detachably mounted on the bottom surface of the lifting plate 310, and an opening is provided on the peripheral side of the shell 410, the opening faces the side brush module 500, and the opening allows the dust box 420 to enter the shell 410. The dust box 420 is placed in the shell 410, and the dust box 420 is a box body with an opening upward, and the opening of the dust box 420 is connected to the dust suction module 600. A square garbage inlet 421 is provided on the side of the dust box 420 close to the opening of the shell 410, and the garbage inlet 421 faces the side brush module 500, and the garbage inlet 421 corresponds to the opening on the shell 410, and the garbage inlet 421 corresponds to the cleaning range of the side brush module 500. The roller brush 430 is rotatably arranged on the housing 410, and is arranged just in front of the garbage inlet 421. The roller brush 430 crosses the garbage inlet 421, and the axis of the roller brush 430 is parallel to the sliding direction of the first slider 540a. The roller brush 430 is used to sweep the garbage from the side brush module 500 into the dust box 420. The roller brush motor 440 is electrically connected to the controller 121, and the roller brush motor 440 is used to drive the roller brush 430 to rotate. Specifically, the roller brush motor 440 is installed on the housing 410 by bolts, and the output shaft of the roller brush motor 440 is detachably connected to the roller brush 430.

[0052] See also Fig. 9 , Fig.12 , Fig.13 In order to facilitate the removal of the dust box 420, a flap 411 is hinged on the peripheral side wall of the housing 410. By opening the flap 411, the dust box 420 can be pulled out of the housing 410. Further, in order to facilitate the push and pull of the dust box 420 in the housing 410 and to position the dust box 420, a slide rail 412 can be provided in the inner cavity of the housing 410. In addition, in order to facilitate the roller brush 430 to sweep the garbage into the dust box 420, an inclined plate 413 is provided below the roller brush 430. The inclined plate 413 is installed on the housing 410 and extends from top to bottom along the direction from the dust box 420 to the roller brush 430. In order to connect the dust collection module 600 with the dust box 420 and facilitate the installation of the dust collection inlet of the dust collection module 600, a dust collection interface 414 is provided on the top of the shell 410, one end of the dust collection interface 414 is used to connect to the dust collection inlet of the dust collection module 600, and the other end thereof is connected to the opening of the dust box 420.

[0053] See also Fig. 9 , Fig.14 , Fig.15, the side brush module 500 is detachably mounted on the bottom surface of the lifting plate 310. Specifically, the side brush module 500 includes a side brush frame 510, a double-shaft motor 520, a first polished rod 530a, a second polished rod 530b, a first slider 540a, and a second slider 540b. The side brush frame 510 is fixedly mounted on the bottom surface of the lifting plate 310 by bolts, and the side brush frame 510 is located in front of the opening of the housing 410. The double-shaft motor 520 is electrically connected to the controller 121, and the double-shaft motor 520 is fixedly mounted on the bottom surface of the side brush frame 510 by bolts. The double-shaft motor 520 is provided with a first screw 521 and a second screw 522. The axis of the first screw 521 and the axis of the second screw 522 are located on the same straight line. The rotation direction of the first screw 521 is opposite to the rotation direction of the second screw 522, so that the double-shaft motor 520 can drive the two side brushes of the side brush module 500 to move closer to or away from each other. The first polished rod 530a is fixedly installed on the bottom surface of the lifting plate 310, the first polished rod 530a is located on one side of the first screw 521, and the axis of the first polished rod 530a is parallel to the axis of the first screw 521. The second polished rod 530b is fixedly installed on the bottom surface of the lifting plate 310, the second polished rod 530b is located on one side of the second screw 522, and the axis of the second polished rod 530b is parallel to the axis of the second screw 522. The first slider 540a is threadedly connected to the first screw 521, and the first slider 540a is slidably installed on the first polished rod 530a. The second slider 540b is threadedly connected to the second screw rod 522, and the second slider 540b is slidably mounted on the second polished rod 530b.

[0054] See also Fig. 9 , Fig.14 , Fig.15, the side brush module 500 also includes a first motor 550a, a second motor 550b, a first side brush 560a, a second side brush 560b, a first drag chain 570a, and a second drag chain 570b. The first motor 550a is electrically connected to the controller 121, the first motor 550a is mounted on the first slider 540a by bolts, the output shaft of the first motor 550a is vertically downward, and the axis of the output shaft of the first motor 550a is perpendicular to the axis of the first screw 521. The second motor 550b is electrically connected to the controller 121, the second motor 550b is mounted on the second slider 540b by bolts, the output shaft of the second motor 550b is vertically downward, and the axis of the output shaft of the second motor 550b is perpendicular to the axis of the second screw 522. The first side brush 560a is detachably mounted on the output shaft of the first motor 550a, and the second side brush 560b is detachably mounted on the output shaft of the second motor 550b. The first side brush 560a and the second side brush 560b are both located in front of the opening on the housing 410. The first side brush 560a and the second side brush 560b are respectively arranged on both sides of the opening on the housing 410, and the first side brush 560a and the second side brush 560b are symmetrical about the center line of the opening on the housing 410. One end of the first drag chain 570a is fixedly mounted on the lifting plate 310 by bolts, and the other end of the first drag chain 570a is fixedly mounted on the first slider 540a by bolts. A wire (not shown) electrically connected to the first motor 550a is passed through the interior of the first drag chain 570a. One end of the second drag chain 570b is fixedly mounted on the lifting plate 310 by bolts, and the other end of the second drag chain 570b is fixedly mounted on the second slider 540b by bolts. An electric wire (not shown) electrically connected to the second motor 550b is passed through the interior of the second drag chain 570b.

[0055] See also Fig.16 and Fig.17 The dust collection module 600 includes a dust collection box 610, a dust collection tube 620, and a fan 630. The dust collection box 610 is arranged in the body 100, and a non-woven bag 611 is arranged in the dust collection box 610. One end of the dust collection tube 620 is connected to the dust collection inlet on the shell 410, and the other end of the dust collection tube 620 is connected to the non-woven bag 611. The fan 630 is electrically connected to the controller 121, and the fan 630 is installed in the dust collection box 610 by bolts. The fan 630 is used to generate a negative pressure airflow to suck the small particles in the dust box 420 into the non-woven bag 611. A dustproof part (not shown) is provided at the air inlet end of the fan 630, and a silencer 631 is provided at the air outlet end of the fan 630. The silencer 631 is arranged on the outer surface of the dust collection box 610.

[0056] See also Fig.18, the dust pusher module 700 is detachably mounted on the chassis 122. Specifically, the dust pusher module 700 includes a dust pusher frame 710, an electric push rod 720, and a dust pusher cloth 730. Among them, one end of the dust pusher frame 710 is hinged on the frame; the other end of the dust pusher frame 710 is fixedly connected to a mounting frame 740 by bolts. The mounting frame 740 is a hollow plate to reduce the overall weight, and a magnet (not shown) is pasted on the bottom surface of the mounting frame 740. An adjustment sleeve 750 is also hinged on the dust pusher frame 710. Two mutually parallel adjustment slide grooves 751 are provided on the peripheral side of the adjustment sleeve 750. The length direction of the adjustment slide groove 751 is parallel to the axis of the adjustment sleeve 750, and the two adjustment slide grooves 751 are symmetrical about the axis of the adjustment sleeve 750. The electric push rod 720 is electrically connected to the controller 121. The electric push rod 720 is fixedly mounted on the chassis 122 by bolts. A connecting rod 760 is hinged on the telescopic rod of the electric push rod 720. The connecting rod 760 is inserted into the adjusting sleeve 750 and slides in the adjusting sleeve 750. A connecting pin 770 is provided on the connecting rod 760. The connecting pin 770 passes through the two adjusting slots 751 and the connecting rod 760 to connect the connecting rod 760 with the adjusting sleeve 750. Moreover, the sliding direction of the connecting pin 770 in the adjusting slot 751 is parallel to the sliding direction of the connecting rod 760 in the adjusting sleeve 750. In this embodiment, the connecting pin 770 is a bolt, which passes through the adjusting slot 751 and the connecting rod 760 and is fixed to the adjusting sleeve 750 by a nut. A step portion 761 is provided on the peripheral side of the connecting rod 760, and a third spring 780 is sleeved on the outer side of the connecting rod 760. One end of the third spring 780 abuts against the bottom surface of the step portion 761, and the other end of the third spring 780 abuts against the end surface of the adjustment sleeve 750, which helps the dust push cloth 730 to maintain sufficient contact with the ground. The dust push cloth 730 is a dust push cloth 730 in existing products, and a magnetic conductor (not shown) that attracts a magnet is installed on the dust push cloth 730, so that the dust push cloth 730 and the mounting frame 740 can be quickly installed and removed; in this embodiment, the magnetic conductor is a metal sheet, and it can also be a magnet, etc.

[0057] Compared with the prior art, the sweeping robot of the present invention has the following beneficial effects:

[0058] 1. The camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, and the 2D laser sensor 116 are used to detect the working environment of the robot. Through the above sensors and the arrangement of the sensors, a map of the working environment can be accurately established, and obstacles around the sweeping robot can be fully detected, so that the sweeping robot can still walk effectively in a complex environment;

[0059] 2. Extending the length of the first through hole on the chassis 122 through the second through hole of the connecting plate 210 helps to improve the verticality between the guide rod and the chassis 122;

[0060] 3. The connecting plate 210 is located within the orthographic projection range of the chassis 122, so that the area of ​​the connecting plate 210 is smaller than the area of ​​the chassis 122. While ensuring the verticality between the guide rod and the chassis 122, the chassis 122 can be made as thin as possible, which helps to reduce the weight of the whole machine;

[0061] 4. Two driving wheel assemblies (220) and three universal wheels 230 are installed on the bottom surface of the chassis 122, and the two driving wheel assemblies (220) and the three universal wheels 230 are arranged on the same virtual circle a. The three universal wheels 230 form a virtual isosceles triangle b. The midline of the virtual isosceles triangle b and the connecting line of the two driving wheel assemblies (220) are perpendicular to each other, which can not only realize turning in place, that is, rotating in place, but also help to improve the carrying capacity and stability of the walking mechanism;

[0062] 5. The dust box module 400 and the side brush module 500 are driven to rise and fall together by the lifting module. When sweeping is not needed, the dust box module 400 and the side brush module 500 are lifted up so that the side brush module 500 does not contact the ground, which helps to avoid the side brush module 500 from rubbing against the ground during movement and prolong the service life of the side brush module 500.

[0063] 6. When it is necessary to sweep the floor, the sweeping robot sweeps the garbage into the dust box module 400 through the side brush module 500, and the dust box module 400 collects and stores the garbage;

[0064] 7. During sweeping, the dust collecting module 600 is also started at the same time, and the dust collecting module 600 absorbs the garbage in the dust box module 400 and absorbs the garbage in the dust box module 400 into another storage space, thereby effectively increasing the space for storing garbage in the sweeping device;

[0065] 8. The suction force of the dust suction module 600 can provide a force to push the garbage away from the opening of the dust box module 400, which helps to prevent the garbage from leaking out of the opening of the dust box module 400 and improve the cleanliness of the floor. On the other hand, the suction force can suck tiny particles near the opening of the dust box module 400 into the dust box module 400, or suck tiny particles adhered to the side brush of the side brush module 500 into the dust box module 400, which helps to improve the sweeping efficiency and improve the cleanliness of the floor.

[0066] 9. The electric push rod 720 is used to drive the dust pusher to rise and fall, so that the dust pusher can wipe the ground. On this basis, the design of the limiter sliding in the adjusting slide groove 751 allows the dust pusher to have a certain up and down floating space so that the dust pusher can adapt to the ground. When the ground is convex, the dust pusher can move upward along the adjusting slide groove 751, which helps to prevent the convex ground from damaging the dust pusher assembly; when the ground is concave, the dust pusher can move downward along the adjusting slide groove 751, which helps to improve the cleaning effect of the dust pusher assembly.

[0067] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A sweeping robot, characterized in that: The sweeping robot comprises: Body (100); A dust box module (400), which is arranged at the bottom of the machine body (100) and is used to collect and store garbage; A side brush module (500) is arranged at the bottom of the machine body (100) and in front of the opening of the dust box module (400), and is used to sweep garbage into the dust box module (400); A dust suction module (600), which is arranged in the machine body (100) and is used to suck fine particles in the dust box module (400); A lifting module (300) is arranged on the machine body (100) and is used to drive the dust box module (400) and the side brush module (500) to lift and lower; A dust pusher module (700) is arranged at the bottom of the machine body (100), and is arranged behind the opening of the dust box module (400), and is used for wiping the floor; A chassis (122) is arranged at the bottom of the machine body (100); the lifting module (300) comprises a lifting plate (310) and a cylinder (320); the dust box module (400) and the side brush module (500) are installed on the lifting plate (310); the cylinder (320) is installed on the chassis (122), and its telescopic rod is connected to the lifting plate (310); A second guide rod (330) is provided at the bottom of the chassis (122); The lifting plate (310) is provided with a second guide sleeve (340), the second guide sleeve (340) is sleeved on the outer side of the second guide rod (330), the second guide sleeve (340) slides along the second guide rod (330), and the sliding direction of the second guide sleeve (340) is parallel to the telescopic direction of the cylinder (320); One end of the second guide rod (330) away from the chassis (122) is detachably connected to a limiting member, and the second guide sleeve (340) is located between the chassis (122) and the limiting member; A second spring (370) is provided between the chassis (122) and the lifting plate (310), the second spring (370) is sleeved on the outer side of the second guide rod (330), and two ends of the second spring (370) are respectively against the chassis (122) and the lifting plate (310); The second guide sleeve (340) is provided with a special-shaped hole matched with the second guide rod (330), and the diameter of the special-shaped hole at both ends of the opening is larger than the diameter at the middle thereof; The special-shaped hole is hourglass-shaped; A floating seat (350) is provided on the top of the lifting plate (310), and two mutually parallel sliding grooves (351) are provided on the floating seat (350); A floating pin (360) is provided on the telescopic rod of the cylinder (320), and the floating pin (360) passes through the two slide grooves (351), and the floating pin (360) slides in the slide grooves (351); The side brush module (500) comprises a side brush frame (510), a double-shaft motor (520), a first polished rod (530a), a second polished rod (530b), a first slider (540a), a second slider (540b), a first motor (550a), a second motor (550b), a first side brush (560a), and a second side brush (560b). The double-shaft motor (520) is arranged on the side brush frame (510), and the double-shaft motor (520) is provided with a first screw (521) and a second screw (522); The first polished rod (530a) is arranged on the side brush frame (510), and the first polished rod (530a) is arranged on one side of the first screw rod (521) and is parallel to each other; The second polished rod (530b) is arranged on the side brush frame (510), and the second polished rod (530b) is arranged on one side of the second screw rod (522) and is parallel to each other; The first sliding block (540a) is threadedly connected to the first screw rod (521), and the first sliding block (540a) is slidingly connected to the first polished rod (530a); The second sliding block (540b) is threadedly connected to the second screw rod (522), and the second sliding block (540b) is slidingly connected to the second polished rod (530b); The first motor (550a) is arranged on the first slider (540a); The second motor (550b) is arranged on the second slider (540b); The first side brush (560a) is connected to the output shaft of the first motor (550a); The second side brush (560b) is connected to the output shaft of the second motor (550b).

2. The sweeping robot according to claim 1, characterized in that: The first side brush (560a) is detachably connected to the output shaft of the first motor (550a), and the second side brush (560b) is detachably connected to the output shaft of the second motor (550b); The axis of the output shaft of the first motor (550a) is perpendicular to the axis of the first screw (521), and the axis of the output shaft of the second motor (550b) is perpendicular to the axis of the second screw (522); The rotation direction of the first screw (521) is opposite to the rotation direction of the second screw (522); The side brush module (500) further comprises: A first drag chain (570a), one end of which is arranged on the side brush frame (510), and the other end of which is arranged on the first slider (540a), and an electric wire electrically connected to the first motor (550a) is passed through the first drag chain; A second drag chain (570b) has one end disposed on the side brush frame (510) and the other end disposed on the second slider (540b), and has an electric wire electrically connected to the second motor (550b) passing through the second drag chain.

3. The sweeping robot according to claim 2, characterized in that: The dust box module (400) comprises a dust box (420), a garbage inlet (421) is provided on a side of the dust box (420), the first side brush (560a) or the second side brush (560b) is arranged in front of the garbage inlet (421), and the garbage inlet (421) corresponds to the entire or a part of the rotation range of the first side brush (560a) or the second side brush (560b); The dust box module (400) further comprises a housing (410), a roller brush (430), and a roller brush motor (440); the dust box (420) is placed in the housing (410); the roller brush motor (440) is arranged on the housing (410); the output shaft of the roller brush motor (440) is connected to the roller brush (430); the roller brush (430) spans the garbage inlet (421); the roller brush motor (440) drives the roller brush (430) to rotate; and the roller brush (430) sweeps the garbage from the first side brush (560a) or the second side brush (560b) into the dust box (420); The dust box (420) is a box body with an opening facing upward; A flip cover (411) is movably connected to the peripheral side wall of the housing (410); A slide rail (412) is provided in the shell (410), and the dust box (420) slides out of the shell (410) from the flip cover (411) along the slide rail (412); The housing (410) is provided with an inclined plate (413), the inclined plate (413) being arranged below the rolling brush (430), and extending from top to bottom along the direction from the dust box (420) to the rolling brush (430); The shell (410) is provided with a dust suction interface (414), and one end of the dust suction interface (414) is in communication with an opening of the dust box (420).

4. The sweeping robot according to claim 3, characterized in that: The dust collection module (600) comprises: A dust collection box (610) having a non-woven bag (611) disposed therein; A dust suction pipe (620), one end of which is connected to the other end of the dust suction interface (414), and the other end of which is connected to the non-woven bag (611); The fan (630) is used to generate a negative pressure airflow to suck the small particles in the dust box (420) into the dust suction box (610), and its air inlet end is provided with a dustproof piece, and its air outlet end is provided with a sound-absorbing cotton (631).

5. The sweeping robot according to claim 4, characterized in that: The dust pusher module (700) comprises: A dust push frame (710) having one end hinged on the chassis (122) and a mounting frame (740) for mounting a dust push cloth (730) at the other end, an adjusting sleeve (750) hinged on the mounting frame, and an adjusting slide groove (751) provided on the adjusting sleeve (750); An electric push rod (720) is arranged on the machine body (100), and a connecting rod (760) is hinged on the telescopic rod thereof, and the connecting rod (760) is inserted into the adjusting sleeve (750). A connecting pin (770) is provided on the connecting rod (760), and the connecting pin (770) slides in the adjusting slide groove (751), and the sliding direction of the connecting rod (760) in the adjusting sleeve (750) and the sliding direction of the connecting pin (770) in the adjusting slide groove (751) are parallel to each other; A step portion (761) is provided on the peripheral side surface of the connecting rod (760), a third spring (780) is sleeved on the outer side of the connecting rod (760), and two ends of the third spring (780) respectively abut against the end surface of the step portion (761) and the end surface of the adjusting sleeve (750); The adjusting sleeve (750) is provided with two adjusting slots (751) parallel to each other, the two adjusting slots (751) are symmetrical about the axis of the adjusting sleeve (750), and the connecting pin (770) passes through the adjusting slots (751) and the connecting rod (760) to connect the connecting rod (760) and the adjusting sleeve (750) together; The bottom surface of the mounting frame (740) is provided with a magnet, and the dust pushing cloth (730) is provided with a magnetic conductor that is attracted to the magnet; The mounting frame (740) is hollow.

6. The sweeping robot according to claim 5, characterized in that: A chassis (122) is arranged at the bottom of the machine body (100), and a moving mechanism (200) is arranged on the chassis (122). The moving mechanism (200) comprises: A bottom plate (122) is arranged at the bottom of the body (100) and is provided with a first through hole; a connecting plate (210) disposed on the bottom surface of the chassis (122), and having a second through hole for the guide rod to pass through, the second through hole being coaxial with the first through hole, and having a hole diameter that is the same as the hole diameter of the first through hole; A first guide rod (221) vertically arranged on the bottom surface of the connecting plate (210) and passing through the first through hole and the second through hole; A driving wheel assembly (220) that moves up and down along the first guide rod (221); a first spring (222) disposed between the chassis (122) and the driving wheel assembly (220); The connecting plate (210) comprises two thickened plates (211) and a connecting strip (212); the thickened plate (211) is used to install a driving wheel assembly (220); the thickened plate (211) is provided with the second through hole; and the connecting strip (212) is used to connect the two thickened plates (211); The thickened plate (211) is also provided with a weight-reducing hole (213); The connecting plate (210) is mounted on the chassis (122) by means of bolts, and the two thickened plates (211) and the connecting strip (212) are integrally formed; The bottom surface of the chassis (122) is provided with three universal wheels (230), the two driving wheel assemblies (220) and the three universal wheels (230) form a virtual circle (a), a line connecting the two driving wheel assemblies (220) passes through the center of the virtual circle (a), the three universal wheels (230) form a virtual isosceles triangle (b), and the midline of the virtual isosceles triangle (b) and the line connecting the two driving wheel assemblies (220) are perpendicular to each other; The first spring (222) is sleeved on the outer side of the first guide rod (221), one end of the first spring (222) abuts against the connecting plate (210), and the other end of the first spring (222) abuts against the driving wheel assembly (220); A first limiting member (225) and a second limiting member (226) are respectively provided at both ends of the first guide rod (221); the first limiting member (225) is located above the chassis (122); and the driving wheel assembly (220) moves up and down between the chassis (122) and the second limiting member (226); The first limiting member (225) or the second limiting member (226) is threadedly connected to the first guide rod (221); The driving wheel assembly (220) comprises a bracket (223), a driving wheel (224), and a driving motor (228); the bracket (223) moves up and down along the first guide rod (221); the driving wheel (224) is rotatably arranged on the bracket (223); the driving motor (228) is arranged on the bracket (223); and the driving motor (228) is used to drive the driving wheel (224) to rotate; The bracket (223) is provided with a first guide sleeve (227) matched with the first guide rod (221); the first guide sleeve (227) is sleeved on the outside of the first guide rod (221); and the first spring (222) is sleeved on the outside of the shaft of the first guide sleeve (227); The first guide sleeve (227) is provided with a special-shaped hole that matches the first guide rod (221), the diameter of the openings at both ends of the special-shaped hole is larger than the diameter at the middle, and the special-shaped hole is an hourglass shape.

7. The sweeping robot according to claim 6, characterized in that: A camera (111), a 3D laser sensor (112), a first ultrasonic sensor (113), a second ultrasonic sensor (114), a TOF camera (115), and a 2D laser sensor (116) are sequentially arranged on the peripheral side of the body (100) along the direction from the top of the body (100) to the bottom of the body (100); the camera (111), the 3D laser sensor (112), the first ultrasonic sensor (113), the second ultrasonic sensor (114), the TOF camera (115), and the 2D laser sensor (116) are distributed on the same straight line; A controller (121) is provided in the body (100), and the controller (121) is electrically connected to the moving mechanism (200), the camera (111), the 3D laser sensor (112), the first ultrasonic sensor (113), the second ultrasonic sensor (114), the TOF camera (115), and the 2D laser sensor (116) respectively; A first anti-drop sensor (117) and a second anti-drop sensor (118) are also arranged on the peripheral side surface of the body (100); the first anti-drop sensor (117) and the second anti-drop sensor (118) are respectively arranged on both sides of the straight line; and the controller (121) is respectively electrically connected to the first anti-drop sensor (117) and the second anti-drop sensor (118); The first anti-drop sensor (117) and the second anti-drop sensor (118) are respectively arranged on both sides of the 2D laser sensor (116), and the 2D laser sensor (116), the first anti-drop sensor (117), and the second anti-drop sensor (118) are arranged on the same horizontal plane; A mechanical anti-collision strip (119) is also provided on the peripheral side surface of the machine body (100), the mechanical anti-collision strip (119) is provided at the peripheral side edge of the machine body (100), and the mechanical anti-collision strip (119) is electrically connected to the controller (121); The mechanical anti-collision strip (119) is arranged below the 2D laser sensor (116); The 2D laser sensor (116) is 117 mm away from the ground, the distance between the TOF camera (115) and the 2D laser sensor (116) is 282 mm, the distance between the second ultrasonic sensor (114) and the TOF camera (115) is 100 mm, the distance between the first ultrasonic sensor (113) and the second ultrasonic sensor (114) is 120 mm, and the distance between the 3D laser sensor (112) and the first ultrasonic sensor (113) is 131 mm; A WIFI module (120) is also provided on the machine body (100), and the controller (121) is electrically connected to the WIFI module (120) to wirelessly communicate with the cloud.

Images