Cleaning Robot

Abstract

A cleaning robot relates to the technical field of intelligent cleaning equipment. The cleaning robot has at least one chamber at the bottom, and a suction module is used to form a negative pressure in the chamber so that the robot is adsorbed on the surface to be cleaned, and the cleaning function is performed by a cleaning turntable attached to the surface to be cleaned. The cleaning robot also includes a walking mechanism, which includes a support connected to the body and a corresponding walking wheel installed on the support; after the cleaning robot is adsorbed on the surface to be cleaned, the walking wheel presses the surface to be cleaned and rolls on the surface to be cleaned under the drive of the driving module to drive the cleaning robot to walk on the surface to be cleaned. The present invention directly drives the cleaning robot to move on the surface to be cleaned by driving the walking wheel. Since it no longer relies on the alternating twisting of the cleaning turntable to drive the cleaning robot to move, it can achieve a faster travel speed.

Description

Technical Field

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

[0002] Chinese patent document CN102920393A discloses a cleaning machine for cleaning plates, which forms a negative pressure between the cleaning machine and the plates so that the cleaning machine is attached to the plates. Specifically, the cleaning machine includes a connecting rod arm arranged between two cleaning turntables, and the two cleaning turntables are fixedly connected to the connecting rod arm. A driving module is used to prevent one of the cleaning turntables from rotating, while the other cleaning turntable is driven to rotate in a first rotation direction, thereby generating a torque between the rotating cleaning turntable and the connecting rod arm, and the connecting rod arm is swung in a second rotation direction (the second rotation direction is opposite to the first rotation direction) by the torque, and the two cleaning turntables are alternately driven to rotate, thereby realizing the twisting movement of the cleaning machine on the plate. Since this type of cleaning machine moves in a twisting manner, the walking speed is slow. Summary of the invention

[0003] The purpose of the present invention is to provide a cleaning robot with a faster walking speed.

[0004] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a cleaning robot, at least one chamber is provided at the bottom thereof, a negative pressure is formed in the chamber by a suction module so as to adsorb it to the surface to be cleaned, and a cleaning turntable is attached to the surface to be cleaned to perform a cleaning function, and the cleaning robot also includes a walking mechanism, the walking mechanism includes a support connected to the body and walking wheels correspondingly mounted on the support;

[0005] After the cleaning robot is adsorbed on the surface to be cleaned, the walking wheels press the surface to be cleaned and roll on the surface to be cleaned under the drive of the driving module to drive the cleaning robot to walk on the surface to be cleaned.

[0006] Furthermore, the chamber and / or the travel wheel are configured to be elastically deformed or displaced when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the travel wheel is pressed against the surface to be cleaned.

[0007] Furthermore, the chamber is arranged in the cleaning turntable, and the cleaning turntable and / or the walking wheel are configured to float relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed tightly against the surface to be cleaned.

[0008] Furthermore, the chamber is arranged in the cleaning turntable, and the cleaning turntable is configured to be able to elastically deform under the pressure of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned and the walking wheel is pressed against the surface to be cleaned.

[0009] Furthermore, the chamber is arranged in the cleaning turntable, and at least one cleaning turntable is configured to be able to deflect relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed against the surface to be cleaned.

[0010] Furthermore, the travel wheel is located at the center of the cleaning turntable, a mounting hole penetrating the center of the cleaning turntable is provided, and the top end of the support passes through the mounting hole and is connected to the machine body.

[0011] Preferably, the driving module includes a motor connected to the body, a ring gear is provided on the cleaning turntable, a gear meshing with the ring gear is connected to the power output end of the motor, a first bevel gear is provided on the periphery of the mounting hole of the cleaning turntable, a second bevel gear meshing with the first bevel gear is installed at one end of the shaft of the walking wheel, the first bevel gear is coaxially arranged with the cleaning turntable, and the second bevel gear is coaxially arranged with the walking wheel.

[0012] Furthermore, at least one support is configured to be able to deflect relative to the body so that the walking wheels installed on the support can be set at an angle to the travel direction of the cleaning robot during walking and form a component force applied to the cleaning robot and opposite to its gravity direction.

[0013] Furthermore, at least two cleaning turntables are configured so that after they are adsorbed onto the surface to be cleaned, one side of them exerts a greater pressure on the surface to be cleaned than the other parts, and at least after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle.

[0014] Furthermore, the at least two cleaning turntables are configured so that before they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle, and after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are parallel, and the pressure of one side thereof on the surface to be cleaned is greater than the pressure of other parts thereof on the surface to be cleaned.

[0015] Furthermore, a boundary detection mechanism is provided on the body, and the boundary detection mechanism includes a detection component, a trigger component and a sensor. The detection component is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, one end of the detection component is located outside the body and against the surface to be cleaned, and when it is squeezed by the outside, it can move in a first direction and when it moves to the outside of the surface to be cleaned, it can move in a second direction, so as to drive the trigger component to move to a preset sensing position and trigger the sensor to generate a sensing signal.

[0016] Furthermore, the above-mentioned boundary detection mechanism also includes a driving mechanism, and the driving mechanism is configured to apply a force to the detection component so that one end of the detection component is located outside the body and abuts against the surface to be cleaned.

[0017] Furthermore, the driving mechanism comprises an elastic component, and the elastic component is configured to exert an elastic force on the detection component so that one end of the detection component is located outside the machine body and abuts against the surface to be cleaned.

[0018] Further, the sensor is a reflective sensor or an interruption sensor, the trigger component is located in front of the signal transmission path of the sensor before following the detection component to move along the first direction, and the trigger component is located above the signal transmission path of the sensor before following the detection component to move along the second direction;

[0019] In the process that the trigger component follows the detection component to move along the first direction, the trigger component moves backward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal; in the process that the trigger component follows the detection component to move along the second direction, the trigger component moves downward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal.

[0020] Furthermore, the above-mentioned boundary detection mechanism also includes a U-shaped seat, the sensor is installed on the inner wall of the U-shaped seat, and the trigger component is configured to follow the detection component to move along the first direction and move to between the two side walls of the U-shaped seat when the detection component is squeezed by the outside, and to follow the detection component to move along the second direction and move to between the two side walls of the U-shaped seat when the detection component moves to the outside of the surface to be cleaned, thereby triggering the sensor to generate a sensing signal.

[0021] Furthermore, the above-mentioned boundary detection mechanism also includes a fixed seat, the detection component is slidably mounted on the fixed seat and is connected to a guide slot hole provided on the fixed seat through a slider, and the detection component is configured to be able to slide along the guide slot hole on the fixed seat and deflect relative to the fixed seat with the axis of the slider as the rotation axis to realize the movement of the detection component along the first direction and the second direction.

[0022] The present invention drives the cleaning robot to move on the surface to be cleaned directly by driving the walking wheels. Since it no longer relies on the alternating twisting of the cleaning turntable to drive the cleaning robot to move, it can achieve a faster travel speed. Compared with the previous alternating twisting travel scheme, the present invention requires less adsorption force during the movement of the cleaning robot, and the power required by the suction module during operation is lower, so the cleaning robot is more energy-efficient. In addition, the reduction in the adsorption force of the cleaning turntable can also reduce the friction between the turntable rag and the surface to be cleaned, which is beneficial to reducing rag consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the main view of the cleaning robot;

[0024] Figure 2 Three-dimensional cleaning robot Figure 1 ;

[0025] Figure 3 Three-dimensional cleaning robot Figure 2 ;

[0026] Figure 4 is a cross-sectional view of the cleaning robot;

[0027] Figure 5 Schematic diagram of the disassembly of the drive module and the cleaning turntable Figure 1 ;

[0028] Figure 6 Schematic diagram of the disassembly of the drive module and the cleaning turntable Figure 2 ;

[0029] Figure 7 A three-dimensional diagram of a drive module and a cleaning turntable;

[0030] Figure 8 is a cross-sectional view of a driving module and a cleaning turntable;

[0031] Fig. 9 is a schematic diagram of the structure of the boundary detection mechanism;

[0032] Fig.10 A cross-sectional view of the boundary detection mechanism.

[0033] In the figure:

[0034] 1——Suction module 1a——Negative pressure fan 2——Cleaning turntable

[0035] 2a——chamber 3——body 4——support

[0036] 5——Travel wheel 5a——Axle rod 6——Drive module

[0037] 6a——motor 6b——gear ring 6c——gear

[0038] 6d——first bevel gear 6e——second bevel gear 7——deflection housing

[0039] 8——rubber ring 9——boundary detection mechanism 9a——fixed seat

[0040] 9a1——slideway 9a2——guide slot 9b——detection component

[0041] 9b1——slider 9b2——accommodation through hole 9c——trigger component

[0042] 9c1——first trigger part 9c2——second trigger part 9d——elastic component

[0043] 9e——Sensor 9h——U-shaped seat 10——Controller

[0044] 11——rotating shaft 12——elastic cotton 13——coil spring. DETAILED DESCRIPTION

[0045] In order to help those skilled in the art to more clearly understand the concept of the present invention, it is further described below in conjunction with embodiments and drawings. Example 1

[0046] like Figure 1-3 As shown, the cleaning robot of this embodiment mainly includes a cleaning turntable 2, a suction module 1, a driving module 6, a controller 10 and a body 3. Among them, the number of cleaning turntables 2 can be multiple, and this embodiment is specifically described as two. The above-mentioned suction module 1 includes but is not limited to a negative pressure fan 1a or a vacuum pump. In addition, since the air duct and control circuit of the cleaning robot involved in this embodiment are similar to those of the existing cleaning robot, for the purpose of simplifying the description, the above content will not be repeated.

[0047] In this embodiment, at least one chamber 2a is provided at the bottom of the cleaning robot, and a negative pressure is formed in the chamber 2a by the suction module 1 to adsorb the cleaning robot to the surface to be cleaned, and the cleaning function is performed by the cleaning turntable 2 attached to the surface to be cleaned. Different from the existing cleaning robots, the cleaning robot of this embodiment mainly relies on the walking mechanism to walk on the surface to be cleaned. The aforementioned surface to be cleaned includes but is not limited to the surface of a flat plate (such as an upright glass window, a glass curtain wall, etc.). The walking mechanism mainly includes a support 4 connected to the body 3 and a walking wheel 5 correspondingly installed on the support 4. After the cleaning robot is adsorbed on the surface to be cleaned, the walking wheel 5 presses the surface to be cleaned and rolls on the surface to be cleaned under the drive of the driving module 6 to drive the cleaning robot to walk on the surface to be cleaned. Among them, the number of the support 4 and the walking wheel 5 corresponds and can be multiple. This embodiment is only illustrated by the number of the support 4 and the walking wheel 5 being two. When the cleaning robot is working, the driving module 6 simultaneously drives two running wheels 5 (with the same rotation speed) to roll in the same direction on the surface to be cleaned, so that the cleaning robot can walk in a straight line; when encountering a situation where a turn is required (for example, reaching the boundary of the surface to be cleaned), the rotation speed of one of the running wheels 5 can be slowed down, so that the other running wheel 5 with a faster speed can be deflected with the faster running wheel 5 as the rotation axis, thereby achieving a turn. Of course, the above-mentioned slowed running wheel 5 can also stop rotating directly, and the speed referred to is a relative state. In this embodiment, the cleaning robot is directly driven to move on the surface to be cleaned by driving the running wheel 5. Since it no longer relies on the alternating twisting of the cleaning turntable 2 to drive the cleaning robot to move, a faster travel speed can be achieved.

[0048] In the cleaning robot of this embodiment, the chamber 2a and / or the running wheel 5 are configured to be elastically deformed or displaced when the cleaning robot is attached to the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned and the running wheel 5 is pressed against the surface to be cleaned. The chamber 2a can be arranged on the body 3 or on the cleaning turntable 2 (see Figure 3 ), and can also be set on other parts connected to the body 3 (for example, an elastically deformable annular part is set on the body 3, the chamber 2a is set in the annular part, the bottom position of the annular part is lower than the bottom positions of the cleaning turntable 2 and the running wheel 5, when the cleaning robot is adsorbed on the surface to be cleaned, the annular part is elastically deformed under the pressure of the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned and the running wheel 5 is pressed against the surface to be cleaned).

[0049] The following is a specific description assuming that the chamber 2 a is disposed on the cleaning turntable 2 .

[0050] In this embodiment, the chamber 2a is arranged in the cleaning turntable 2, and the cleaning turntable 2 is configured to float relative to the body 3 when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned, and the walking wheel 5 is pressed against the surface to be cleaned. Specifically, the floating of the cleaning turntable 2 can be achieved by arranging an elastic member between the cleaning turntable 2 and the body 3, and the elastic member can be an elastic cotton or a spiral spring or other elastically deformable component. The bottom end position of the cleaning turntable 2 is lower than the bottom end position of the walking wheel 5. When the cleaning robot is placed on the surface to be cleaned, the cleaning turntable 2 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the elastic member is compressed and elastically deformed, and the cleaning turntable 2 can move upward relative to the body 3 (similar to the effect of "floating upward") and stick to the surface to be cleaned. At the same time, the walking wheel 5 is also pressed against the surface to be cleaned, which can increase the friction between the walking wheel 5 and the surface to be cleaned, so that the cleaning robot walks more smoothly and is not easy to slip.

[0051] In addition, when the cleaning robot walks on a vertical surface to be cleaned (such as upright glass), due to the weight of the machine, the machine may slide down when moving in the horizontal direction (taking horizontal straight line movement as an example below), causing the travel route to deviate downward. In order to correct the machine's slide caused by the machine's gravity, the support 4 connected to the upper travel wheel 5 during the machine's travel can be set to be able to deflect relative to the body 3, so that the travel wheel 5 installed on the support 4 can be set at an angle with the travel direction of the cleaning robot during the walking process (the angle can be 0-30 degrees, preferably 0-10 degrees) and form a component force applied to the cleaning robot and opposite to its gravity direction. This component force can be used to eliminate the influence of the machine's own gravity on the walking trajectory, thereby ensuring that the machine walks in a straight line in the horizontal direction. Of course, the above setting can also be performed for the support 4 connected to the lower travel wheel 5 during the machine's travel, or the above setting can be performed for the supports 4 connected to the two travel wheels 5 at the same time. The principle is the same as above and will not be repeated here. Example 2

[0052] The difference between this embodiment and embodiment 1 is that the running wheels 5 are different. Specifically, the running wheels 5 in this embodiment are configured to float relative to the body 3 when the cleaning robot is attached to the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned while the running wheels 5 are pressed against the surface to be cleaned.

[0053] In this embodiment, the floating of the running wheel 5 can be achieved by setting an elastic member between the support on which the running wheel 5 is installed and the body 3. The elastic member can be elastic cotton or a spiral spring or other elastically deformable parts. The bottom end position of the running wheel 5 is lower than the bottom end position of the cleaning turntable 2. When the cleaning robot is placed on the surface to be cleaned, the running wheel 5 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the elastic member is compressed and elastically deformed. The running wheel 5 can move upward relative to the body 3 (similar to the effect of "floating upward") and be pressed against the surface to be cleaned, and the cleaning turntable 2 also sticks to the surface to be cleaned.

[0054] Those skilled in the art should understand that the floating cleaning turntable structure in the above-mentioned embodiment 1 and the floating travel wheel structure in the above-mentioned embodiment 2 can be combined. For example, both the cleaning turntable 2 and the travel wheel 5 are set to be floating structures. The principle is the same as above and will not be repeated here. Example 3

[0055] The difference between this embodiment and embodiment 1 is that the running wheels 5 are different. Specifically, the running wheels 5 in this embodiment are configured to be elastically deformed when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned, and the running wheels 5 are pressed against the surface to be cleaned.

[0056] In this embodiment, the running wheel 5 is made of elastically deformable rubber or plastic material, and its bottom end is lower than the bottom end of the cleaning turntable 2. When the cleaning robot is placed on the surface to be cleaned, the running wheel 5 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the running wheel 5 is elastically deformed under the pressure of the surface to be cleaned, so that it is pressed tightly against the surface to be cleaned. At the same time, the cleaning turntable 2 also sticks to the surface to be cleaned. Among them, the running wheel 5 can be made of elastically deformable rubber or plastic material as a whole, or only the peripheral part thereof contacting the surface to be cleaned is made of elastically deformable rubber or plastic material. Example 4

[0057] The difference between this embodiment and embodiment 3 is that the cleaning turntable 2 is different. Specifically, the chamber 2a is arranged in the cleaning turntable 2, and the cleaning turntable 2 is configured to be elastically deformed under the pressure of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable 2 is attached to the surface to be cleaned, and the walking wheel 5 is pressed against the surface to be cleaned.

[0058] As a first embodiment, the cleaning turntable 2 is a rubber or plastic material that can be elastically deformed. Before and after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are parallel, and the bottom position of the cleaning turntable 2 is lower than the bottom position of the running wheel 5. The bottom of the cleaning turntable 2 is taken as an example below. When the cleaning robot is placed on the surface to be cleaned, both sides of the bottom of the cleaning turntable 2 are in contact with the surface to be cleaned at the same time. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, its bottom is elastically deformed under the extrusion of the surface to be cleaned and sticks to the surface to be cleaned, wherein the deformation amounts on both sides of the bottom of the cleaning turntable 2 are the same, and at the same time, the running wheel 5 is also pressed against the surface to be cleaned. Among them, the elastic deformation of the cleaning turntable 2 can not only make the running wheel 5 close to the surface to be cleaned, but also after the cleaning turntable 2 is elastically deformed, it is in tighter contact with the surface to be cleaned, and the sealing of the chamber 2a will be better, so that the pressure difference between the inside and outside of the chamber 2a increases, and the negative pressure value in the chamber 2a increases, thereby reducing the power required by the suction module 1 during the walking process of the machine, achieving the effect of energy saving. Of course, the bottom of the cleaning turntable 2 can also be a slope. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning robot first contacts the surface to be cleaned. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the deformation of this side is greater than the deformation of other parts, so that the pressure of this side on the surface to be cleaned is greater than the pressure of other parts on the surface to be cleaned. At the same time, the walking wheel 5 can also be pressed tightly against the surface to be cleaned.

[0059] As a second embodiment, the cleaning turntable 2 is made of elastically deformable rubber or plastic material. Before and after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are staggered to form an angle, and the bottom position of the cleaning turntable 2 is lower than the bottom position of the running wheel 5. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning robot first contacts the surface to be cleaned. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the deformation of the one side is greater than the deformation of the other parts, so that the pressure of the one side on the surface to be cleaned is greater than the pressure of the other parts on the surface to be cleaned, and the running wheel 5 can also be pressed against the surface to be cleaned.

[0060] As a third embodiment, the cleaning turntable 2 and the running wheel 5 are both made of elastically deformable rubber or plastic materials. Before and after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are parallel or staggered, and the bottom position of the cleaning turntable 2 is higher than the bottom position of the running wheel 5. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the cleaning turntable 2 and the running wheel 5 are elastically deformed under the pressure of the surface to be cleaned. However, since the deformation of the running wheel 5 is greater than the deformation of the cleaning turntable 2, the pressure of the running wheel 5 on the surface to be cleaned will be greater than the pressure of the cleaning turntable 2 on the surface to be cleaned, so that the running wheel 5 is pressed tightly against the surface to be cleaned, and the cleaning turntable 2 is also attached to the surface to be cleaned.

[0061] As a fourth embodiment, the cleaning turntable 2 and the running wheel 5 are both made of elastically deformable rubber or plastic material, and the elastic coefficient of the running wheel 5 is greater than the elastic coefficient of the cleaning turntable 2. Before and after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are parallel or staggered, and the bottom position of the cleaning turntable 2 and the bottom position of the running wheel 5 are at the same height (level). When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the cleaning turntable 2 and the running wheel 5 are both elastically deformed under the pressure of the surface to be cleaned, and the deformation amounts of the two are the same. However, since the elastic coefficient of the running wheel 5 is greater than the elastic coefficient of the cleaning turntable 2, the pressure of the running wheel 5 on the surface to be cleaned will be greater than the pressure of the cleaning turntable 2 on the surface to be cleaned, so that the running wheel 5 is pressed tightly against the surface to be cleaned, and the cleaning turntable 2 is also attached to the surface to be cleaned.

[0062] The above-mentioned elastically deformable cleaning turntable 2 can be made of elastically deformable rubber or plastic material as a whole, or only its bottom can be made of elastically deformable rubber or plastic material. Of course, the cleaning turntable 2 can also be wound with a circle of soft rubber (the soft rubber is made of elastically deformable rubber or plastic material) at its bottom, and the soft rubber can also be made into a rubber ring 8 and tightly sleeved on the cleaning turntable 2, so that it can be easily disassembled. Example 5

[0063] The difference between this embodiment and embodiment 1 is that the cleaning turntable 2 is different. Specifically, in this embodiment, the chamber 2a is disposed in the cleaning turntable 2, and at least one cleaning turntable 2 is configured to be deflected relative to the body 3 when the cleaning robot is attached to the surface to be cleaned.

[0064] The number of the deflectable cleaning turntable 2 can be one or two.

[0065] In case that only one cleaning turntable 2 is rotatable relative to the machine body 3, the cleaning turntable 2 can be connected to the machine body 3 via a set of rotating shafts 11 on the machine body 3, and the rotation axis of the rotating shaft 11 is perpendicular to the rotation axis of the cleaning turntable 2. Before the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the two cleaning turntables 2 are staggered to form an angle, and after the cleaning turntable 2 is adsorbed onto the surface to be cleaned, one cleaning turntable 2 is deflected, and the corresponding rotation axis thereof is parallel to the corresponding rotation axis of the other cleaning turntable 2.

[0066] As for setting the two cleaning turntables 2 to be able to deflect relative to the machine body 3, the two cleaning turntables 2 can be connected to the machine body 3 respectively through two sets of rotating shafts 11 arranged in parallel and at intervals on the machine body 3, and the rotation axis of the rotating shaft 11 is perpendicular to the rotation axis of the cleaning turntable 2. Before the cleaning turntable 2 is adsorbed on the surface to be cleaned, the two cleaning turntables 2 are staggered to form an angle, and after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the two cleaning turntables 2 are deflected, and the corresponding rotation axes of the two cleaning turntables 2 are parallel.

[0067] Among them, the running wheel 5 can be arranged on the outside of the cleaning turntable 2, or on the inside of the cleaning turntable 2. This embodiment only takes the example of the running wheel 5 being located on the outside of the cleaning turntable 2 for explanation. Specifically, the running wheel 5 and the cleaning turntable 2 are arranged at intervals below the body 3, and a turntable rag is installed on the cleaning turntable 2. Both cleaning turntables 2 can deflect relative to the body 3. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning turntable 2 first contacts the surface to be cleaned and deflects relative to the body 3. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the pressure of this side on the surface to be cleaned is greater than the pressure of other parts on the surface to be cleaned, and the turntable rag can be pressed, and the running wheel 5 is also pressed against the surface to be cleaned. Among them, the cleaning turntable 2 and / or the running wheel 5 can also be configured to be able to undergo elastic deformation (such as the elastically deformable structure described in Examples 3 and 4) or displacement (such as the floating structure described in Examples 1 and 2) when the cleaning robot is adsorbed on the surface to be cleaned, which can be selected as needed in actual application.

[0068] Those skilled in the art should understand that the structures in the above-mentioned embodiments 1-5 are not limited to being used alone, and they can also be combined in different ways, for example: (a) combining the floating structure of the cleaning turntable 2 and the running wheel 5 in embodiments 1 and 2 with the elastically deformable structure of the cleaning turntable 2 and the running wheel 5 in embodiments 3 and 4; (b) combining the elastically deformable structure of the cleaning turntable 2 and the running wheel 5 in embodiments 3 and 4 with the deflectable structure of the cleaning turntable 2 in embodiment 5; (c) combining the floating structure of the cleaning turntable 2 and the running wheel 5 in embodiments 1 and 2 with the deflectable structure of the cleaning turntable 2 in embodiment 5; (d) combining the floating structure of the cleaning turntable 2 and the running wheel 5 in embodiments 1 and 2 with the elastically deformable structure of the cleaning turntable 2 and the running wheel 5 in embodiments 3 and 4 and the deflectable structure of the cleaning turntable 2 in embodiment 5; in actual application, it is not limited to the above-mentioned combinations. Example 6

[0069] The difference between this embodiment and embodiment 5 is that the travel wheel 5 is arranged on the inner side of the cleaning turntable 2, the cleaning turntable 2 and the travel wheel 5 are grouped one by one, the travel wheel 5 and the cleaning turntable 2 in each group are linked by a transmission mechanism (such as a gear transmission mechanism), and the driving module 6 is configured to drive the cleaning turntable 2 to rotate to drive the travel wheel 5 to roll.

[0070] The following is an example in which both cleaning discs 2 can deflect relative to the machine body 3. Figure 3-8As shown, two deflection housings 7 are installed on the body 3, and the two deflection housings 7 are respectively connected to the body 3 through two sets of rotating shafts 11 arranged in parallel and at intervals. The rotation axis of the rotating shaft 11 is perpendicular to the rotation axis of the cleaning turntable 2. The deflection housing 7 can deflect relative to the body 3 with the rotating shaft 11 as the rotation axis when the cleaning robot is adsorbed on the surface to be cleaned. Among them, the cleaning turntable 2 is connected to the deflection housing 7, and the support 4 for installing the running wheel 5 is connected to the body 3 through the deflection housing 7. Specifically, the running wheel 5 is located at the center of the cleaning turntable 2, and the cleaning turntable 2 is provided with a mounting hole that runs through the center thereof. The top end of the support 4 passes through the mounting hole and is connected to the deflection housing 7. Before the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are staggered to form an angle. After the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the two deflection housings 7 can drive the cleaning turntable 2 and the running wheels 5 thereon to deflect relative to the body 3. The rotation axes corresponding to the two cleaning turntables 2 will be parallel, and the rotation axes of the two running wheels 5 will be aligned.

[0071] In the cleaning robot of this embodiment, the driving module 6 includes a motor 6a connected to the deflection housing 7, and a ring gear 6b ​​(the ring gear 6b ​​can be an inner ring gear or an outer ring gear) is arranged on the cleaning turntable 2, and the ring gear 6b ​​can be arranged on the side facing the body 3 / deflection housing 7. The power output end of the motor 6a is connected to a gear 6c meshing with the ring gear 6b, and the periphery of the mounting hole provided in the cleaning turntable 2 is provided with a first bevel gear 6d, and one end of the shaft 5a of the walking wheel 5 is provided with a second bevel gear 6e meshing with the first bevel gear 6d, and the first bevel gear 6d is coaxially arranged with the cleaning turntable 2, and the second bevel gear 6e is coaxially arranged with the walking wheel 5. The working principle of the driving module 6 is that the gear 6c is driven to rotate by the motor 6a, and the ring gear 6b ​​is driven to rotate by the gear 6c, and the cleaning turntable 2 rotates accordingly, and the rotating cleaning turntable 2 drives the second bevel gear 6e to rotate through the first bevel gear 6d, and then the second bevel gear 6e drives the walking wheel 5 to rotate coaxially. Among them, the linked cleaning turntable 2 and the walking wheel 5 can work synchronously. When the walking wheel 5 drives the cleaning robot to walk, the corresponding cleaning turntable 2 can also rotate synchronously to perform the cleaning function. This not only improves the cleaning efficiency, but also ensures the cleaning effect.

[0072] Those skilled in the art should understand that the same transmission structure as in Example 6 can also be used between the travel wheel 5 and the cleaning turntable 2 in the above-mentioned embodiments 3 and 4 to achieve linkage. The setting method and working principle are similar to those in Example 6, and the only difference is that the deflection housing 7 is omitted, the motor 6a is directly connected to the body 3, and the top of the support 4 is also directly connected to the body 3 through the mounting hole. For the purpose of simplifying the description, the above content will not be repeated. Of course, the transmission structure between the travel wheel 5 and the cleaning turntable 2 in Example 6 can also be used in other embodiments. For the purpose of simplifying the description, no examples will be given here one by one. Example 7

[0073] The difference between this embodiment and Embodiment 6 is that a deflection drive mechanism is further provided in the cleaning robot for applying a deflection force to two cleaning turntables 2 configured to be deflected relative to the body 3 so as to cause them to deflect. The deflection force applied by the deflection drive mechanism is such that when the two cleaning turntables 2 are placed on the surface to be cleaned, one side thereof comes into contact with the surface to be cleaned first, and after the two cleaning turntables 2 are adsorbed on the surface to be cleaned, the pressure exerted by the aforementioned side (i.e., the side that first comes into contact with the surface to be cleaned) on the surface to be cleaned is greater than the pressure exerted by other parts thereof on the surface to be cleaned.

[0074] Specifically, a deflection driving mechanism is disposed between the body 3 and the two deflection housings 7. Figure 4 , 5 , 7, 8, the deflection drive structure includes an elastic cotton 12 (which can also be an elastic member of other materials) disposed between the body 3 and the deflection housing 7. The elastic cotton 12 can be square, circular, annular or other shapes. This embodiment takes the elastic cotton 12 as an example of an annular shape. Further, the elastic cotton 12 is annular and its lower end is installed in the annular groove of the deflection housing 7, and the upper end is installed on the annular protrusion provided at the end of the body 3. Figure 4 , 8 As shown, the thickness of each elastic cotton 12 on both sides is different. When no other external force is applied, one cleaning turntable 2 of the cleaning robot is deflected in the counterclockwise direction relative to the body 3 by the corresponding elastic cotton 12, and the other cleaning turntable 2 is deflected in the clockwise direction relative to the body 3 by the corresponding elastic cotton 12, so that the rotation axes corresponding to the cleaning turntables 2 are staggered to form an angle. When the cleaning turntable 2 is placed on the surface to be cleaned, the side of the cleaning turntable 2 corresponding to the thicker side of the elastic cotton 12 first contacts the surface to be cleaned (see Figure 4 ), after the cleaning turntable 2 is adsorbed on the surface to be cleaned, the cleaning turntable 2 follows the deflection housing 7 to deflect relative to the body 3, so that the thicker side of the elastic cotton 12 is compressed and elastically deformed, and the thinner side is not squeezed and does not elastically deform (of course, this side can also be elastically deformed, but its deformation amount will be less than the deformation amount of the thicker side, so that the elastic forces on both sides of the cleaning turntable 2 are different). In this way, the pressure applied to the surface to be cleaned by the side of the cleaning turntable 2 corresponding to the thicker side of the elastic cotton 12 will be greater than the side of the cleaning turntable 2 corresponding to the thinner side of the elastic cotton 12. Among them, the rotation axis of the rotating shaft 11 can be not on the same plane as the rotation axis of the cleaning turntable 2, that is, the rotating shaft 11 is located on one side of the cleaning turntable 2, and the rotating shaft 11 can be on different sides of the cleaning turntable 2 with the thicker side of the elastic cotton 12. For example, in the above structure, the rotating shaft 11 can be on the same side of the cleaning turntable 2 as the thinner side of the elastic cotton 12.

[0075] In order to further enhance the deflection force of the deflection drive mechanism, a coil spring 18 may be provided between the body 3 and the deflection housing 7. Figure 5 , 7 8. The deflection drive mechanism further includes a coil spring 18 disposed between the body 3 and the deflection housing 7. The lower end of the coil spring 18 is mounted on a cylindrical protrusion disposed at the rear end of the deflection housing 7, and the upper end of the coil spring 18 is mounted on a cylindrical protrusion disposed at the end of the body 3. The thicker side of the coil spring 18 and the elastic cotton 12 are on the same side of the deflection housing 7 (see Figure 8 ). Without being acted upon by other external forces, one cleaning turntable 2 of the cleaning robot is deflected in the counterclockwise direction relative to the body 3 by the corresponding coil spring 18, and the other cleaning turntable 2 is deflected in the clockwise direction relative to the body 3 by the corresponding coil spring 18, so that the rotation axes corresponding to the cleaning turntables 2 are staggered to form an angle. It should be pointed out that the coil spring 18 is not limited to the above-mentioned setting method. It can also be set to have the upper end fixedly connected to the end of the body 3 and the lower end fixedly connected to the part of the deflection housing 7 close to the body 3, so that the coil spring 18 is in a stretched state (at this time, the thinner side of the coil spring 18 and the elastic cotton 12 are on the same side of the deflection housing 7). By the elastic force of the tension spring, one cleaning turntable 2 can be deflected in the counterclockwise direction relative to the body 3, and the other cleaning turntable 2 can be deflected in the clockwise direction relative to the body 3.

[0076] It should be emphasized that the aforementioned deflection drive mechanism is not limited to the structure of the elastic cotton 12 and the coil spring 18, and it can also be other elastic parts, or other parts other than elastic parts that can be arranged between the body 3 and the deflection housing 7 and apply a deflection force to the deflection housing 7. For example, the deflection drive mechanism can be a mutually attractive (relative to the tension spring) or repulsive (equivalent to the compression spring) magnetic component fixedly mounted on the body 3 and the corresponding deflection housing 7, and the deflection force can also be applied to the deflection housing 7 by the attraction or repulsion between the magnetic components. Preferably, the magnetic component includes an electromagnet, and the control circuit of the electromagnet is coupled to the controller 10. The controller 10 can control the current on and off of the electromagnet to achieve the regulation of the deflection drive mechanism. Example 8

[0077] The difference between this embodiment and embodiment 7 is that the walking of the cleaning robot is no longer limited to being achieved by the rolling of the walking wheels 5, but can also be achieved with the help of the cleaning turntable 2, where the rotating cleaning turntable 2 and the rolling walking wheels 5 jointly drive the cleaning robot to walk.

[0078] Specifically, the two cleaning turntables 2 are configured so that when they are placed on the surface to be cleaned, one side of them contacts the surface to be cleaned first, and after they are adsorbed on the surface to be cleaned, the pressure of the one side on the surface to be cleaned is greater than the pressure of the other parts on the surface to be cleaned, and before the cleaning turntables 2 are adsorbed on the surface to be cleaned, the two cleaning turntables 2 are staggered to form an angle, and after the cleaning turntables 2 are adsorbed on the surface to be cleaned, the two cleaning turntables 2 are deflected, and the corresponding rotation axes of the two cleaning turntables 2 are parallel. Moreover, the two cleaning turntables 2 are also configured to be able to rotate relative to the surface to be cleaned in a suitable direction, so that the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 is greater than zero and points to one side of the cleaning robot. In the above-mentioned cleaning robot, the driving module 6 can simultaneously drive the two walking wheels 5 to roll on the surface to be cleaned, so that the cleaning robot can walk in a straight line with a faster walking speed. At the same time, when the above-mentioned two cleaning turntables 2 are performing the cleaning function, the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 also points to the direction of travel. This resultant force also serves as the driving force for the cleaning robot to walk in a straight line. In this way, the walking speed of the cleaning robot will be further accelerated.

[0079] Of course, the direction of the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 referred to in this embodiment is not limited to the above-mentioned method, and it may not point to the direction in which the cleaning robot is driven by the two walking wheels 5 to move in a straight line. For example, the resultant force may point to a direction deviating from the direction in which the cleaning robot is driven by the two walking wheels 5 to move in a straight line, thereby forming a component force in the same direction as the direction in which the cleaning robot is driven by the two walking wheels 5 to move in a straight line, so as to serve as a driving force for driving the cleaning robot to move in a straight line, or forming a component force in the opposite direction to the direction in which the cleaning robot is driven by the two walking wheels 5 to move in a straight line, so as to serve as a resistance for driving the cleaning robot to move in a straight line. In addition, the direction of the resultant force may also be completely opposite to the direction in which the cleaning robot is driven by the two walking wheels 5 to move in a straight line, which can be selected as needed in actual application.

[0080] When the cleaning robot is working, the two cleaning turntables 2 are driven simultaneously by the corresponding driving module 6 to rotate in opposite directions (one in the counterclockwise direction and the other in the clockwise direction) relative to the surface to be cleaned. Under the deflection force simultaneously applied by the deflection driving mechanisms corresponding to the two cleaning turntables 2, the resultant force of all static friction forces applied by the surface to be cleaned on the two cleaning turntables 2 is greater than zero and points to one side of the cleaning robot, so that the cleaning robot moves in a straight line in the direction of the resultant force. At the same time, the two walking wheels 5 also drive the cleaning robot to move in the same direction. Driven by the walking wheels 5 and the cleaning turntables 2 together, the cleaning robot moves faster.

[0081] To ensure that when the two cleaning turntables 2 rotate in opposite directions, the corresponding running wheels 5 can roll in the same direction, the two second bevel gears 6e can be respectively arranged on different sides of the two cleaning turntables 2 (mainly referring to the first bevel gear 6d integrated therewith) (i.e., one second bevel gear 6e is arranged on the left side of the corresponding cleaning turntable 2, and the other second bevel gear 6e is arranged on the right side of the corresponding cleaning turntable 2), see Figure 4 In addition, in order to ensure that the cleaning robot can be driven to walk in a straight line when the two cleaning turntables 2 rotate in opposite directions, the deflection directions of the two cleaning turntables 2 when adsorbed on the surface to be cleaned can be set to different directions (the left side of one cleaning turntable 2 deflects upward and the right side deflects downward, that is, it deflects clockwise, and the left side of the other cleaning turntable 2 deflects downward and the right side deflects upward, that is, it deflects counterclockwise). See also Figure 4 . Example 9

[0082] The difference between this embodiment and embodiment 8 is that: the two cleaning turntables 2 are configured so that when they are placed on the surface to be cleaned, one side of them contacts the surface to be cleaned first, and after they are adsorbed on the surface to be cleaned, the pressure of the one side on the surface to be cleaned is greater than the pressure of the other parts on the surface to be cleaned, and before and after the cleaning turntables 2 are adsorbed on the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are staggered to form an angle. The two cleaning turntables 2 are also configured to be able to rotate relative to the surface to be cleaned in a suitable direction so that the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 is greater than zero and points to one side of the cleaning robot.

[0083] Specifically, before and after the cleaning disc 2 is adsorbed on the surface to be cleaned, the rotation axes of the two cleaning discs 2 are always staggered. The cleaning disc 2 and the running wheel 5 can adopt the elastically deformable structure in embodiments 3 and 4, for example, only the cleaning disc 2 is made of elastically deformable rubber or plastic material, or both the cleaning disc 2 and the running wheel 5 are made of elastically deformable rubber or plastic material.

[0084] The working principle of this embodiment in which the rotating cleaning turntable 2 and the rolling walking wheels 5 are combined to drive the cleaning robot to move straight is similar to that in Embodiment 8. For the purpose of simplifying the description, the above contents will not be repeated. Example 10

[0085] The difference between this embodiment and the above embodiments is that: a boundary detection mechanism 9 is also provided on the body 3, and the boundary detection mechanism 9 includes a detection component 9b, a trigger component 9c and a sensor 9e. The detection component 9b is configured to be located at one end of the body 3 and against the surface to be cleaned at least when the cleaning robot is adsorbed on the surface to be cleaned, and can move in a first direction (for example, in a horizontal direction) when it is squeezed by the outside, and can move in a second direction (for example, in a vertical direction) when it moves to the outside of the surface to be cleaned, so as to drive the trigger component 9c to move to a preset sensing position and trigger the sensor 9e to generate a sensing signal. Among them, the above-mentioned movement in the horizontal direction may include horizontal linear displacement, and the movement in the vertical direction may include up and down deflection.

[0086] The boundary detection mechanism 9 of this embodiment performs boundary detection in the following manner: when the cleaning robot cleans the framed window glass, when the cleaning robot walks to the edge of the glass, the outer end of the detection component 9b is squeezed by the frame and drives the trigger component 9c to move backward relative to the body 3, so that the trigger component 9c moves from the original non-trigger position to the first trigger position (preset sensing position), thereby triggering the sensor 9e to form a sensing signal. When the cleaning robot cleans the frameless window glass, when the cleaning robot walks to the edge of the glass, due to the absence of the frame blocking, the outer end of the detection component 9b will not be squeezed and move backward relative to the body 3, but when the outer end of the detection component 9b moves to the outside of the glass and hangs in the air (that is, when the outer end of the detection component 9b is separated from the glass surface), due to the loss of the support of the glass, it will deflect downward relative to the body 3, thereby causing the trigger component 9c to move from the original non-trigger position to the second trigger position (preset sensing position), and triggering the sensor 9e to form a sensing signal.

[0087] In this embodiment, the boundary detection mechanism 9 realizes the boundary detection of framed window glass and frameless window glass by adopting a detection component 9b, a trigger component 9c and a sensor 9e. The working method and structure are relatively simple, which makes the long-term working stability and reliability of the detection mechanism higher. At the same time, it can also improve the production and assembly efficiency of the factory to a certain extent and reduce the manufacturing cost of the detection mechanism.

[0088] In this embodiment, two cleaning discs 2 are located on the left and right sides of the machine body 3, and a boundary detection mechanism 9 is provided on each of the front and rear sides of the machine body 3. Each boundary detection mechanism 9 is located between the two cleaning discs 2. For the specific structure of a single boundary detection mechanism 9, see Figure 9-10As shown, it mainly includes a fixing base 9a fixedly mounted on the front and rear sides of the bottom of the body 3, and a detection component 9b, a trigger component 9c and a sensor 9e installed on the fixing base 9a. Among them, the sensor 9e can also be directly set on the body 3 or other components. In this embodiment, the sensor 9e adopts an interruption sensor, and of course other types of sensors, such as a reflective sensor, can also be selected, as long as the sensor can trigger the sensing signal by the position movement of the trigger component 9c. In addition, the trigger component 9c can trigger the sensing signal by contacting with the sensor 9e, or it can be a non-contact trigger, such as triggering the sensing signal by blocking or changing the original signal transmission path of the sensor 9e. In view of the need to generate a sensing signal when the trigger component 9c moves from the non-trigger position to the first trigger position (corresponding to the boundary detection of the framed window glass) and from the non-trigger position to the second trigger position (corresponding to the boundary detection of the frameless window glass), in this embodiment, an avoidance gap (which is in the shape of a figure 7) is provided at the rear lower end of the trigger component 9c for avoiding the sensor 9e when the trigger component 9c is in the non-trigger position. The front lower end of the trigger component 9c (i.e., the front side of the avoidance gap) is the first trigger portion 9c1, and the rear upper end of the trigger component 9c (i.e., the upper side of the avoidance gap) is the second trigger portion 9c2. When the trigger component 9c moves from the non-trigger position to the first trigger position, the first trigger portion 9c1 blocks the original signal transmission path of the sensor 9e to trigger the sensor 9e to generate a sensing signal. When the trigger component 9c moves from the non-trigger position to the second trigger position, the second trigger portion 9c2 blocks the original signal transmission path of the sensor 9e to trigger the sensing signal.

[0089] like Figure 9-10As shown, a slide groove 9a1 is provided on the fixed seat 9a, and the detection component 9b is installed in the slide groove 9a1 and can move forward and backward along the slide groove 9a1. Guide slot holes 9a2 are provided on both sides of the slide groove 9a1, and the guide slot holes 9a2 can be long strip-shaped through holes or blind holes. Slide blocks 9b1 that match the guide slot holes 9a2 are provided on both sides of the detection component 9b. The slide blocks 9b1 are installed in the guide slot holes 9a2 and can move along the guide slot holes 9a2 driven by the detection component 9b, and the guide slot holes 9a2 can play a guiding role. The detection component 9b can be designed as a movable seat, whose outer end is located outside the fixed seat 9a and is in a 7-shaped shape, and its inner end and the part between the outer end and the inner end are located in the slide groove 9a1. A gap is left between the part of the detection component 9b located in the slide groove 9a1 and the bottom wall of the slide groove 9a1, so that the detection component 9b can deflect up and down relative to the fixed seat 9a (body 3) with the axis of the slide block 9b1 as the rotation axis. Generally speaking, the detection component 9b deflects only when the slider 9b1 moves to the front end of the guide slot 9a2. In addition, the distance between the slider 9b1 and the inner end of the detection component 9b can be smaller than the distance between the slider 9b1 and the outer end of the detection component 9b, so that the slider 9b1 is located at the center and rear position of the detection component 9b. Of course, the slider 9b1 can also be located at the center position or the center and front position of the detection component 9b, depending on actual needs.

[0090] In order to make the outer end of the detection component 9b be located outside the body 3 and against the surface to be cleaned when the cleaning robot is working, a driving mechanism can be set on the body 3 or the fixed seat 9a or other components, and the driving mechanism can apply a force to the detection component 9b to make its outer end be located outside the body 3 and against the surface to be cleaned, and the force can make the detection component 9b reset (move forward) after it is released from the external squeeze, and make the detection component 9b deflect downward when it moves out of the surface to be cleaned. The driving mechanism can be an elastic component 9d, or other components other than the elastic component 9d that can cause the detection component 9b to move as described above.

[0091] The following is an example of the driving mechanism being an elastic component 9d. Specifically, the elastic component 9d is arranged between the inner side end of the detection component 9b and the rear wall of the fixing seat 9a (i.e., the rear wall of the slide groove 9a1). The elastic component 9d can be a coil spring 18 or other elastic components, and its two ends can be fixed on the protrusions of the detection component 9b and the fixing seat 9a. Among them, the elastic deformation direction of the elastic component 9d is staggered with the direction in which the slider 9b1 moves along the guide slot 9a2 to form an angle. For example, the guide slot 9a2 extends horizontally from front to back, and the telescopic direction of the elastic component 9d is inclined to the extension direction of the guide slot 9a2. In this way, after the detection component 9b originally squeezed by the frame leaves the frame, it can move forward through the elastic force of the elastic component 9d, and after the detection component 9b originally pressed against the surface to be cleaned moves to the outside of the boundary, it can be deflected downward relative to the machine body 3 with the rotation axis of the axis of the slider 9b1 through the elastic force of the elastic component 9d. Specifically, the inner end surface of the detection component 9b and the rear wall of the fixing seat 9a are parallel to each other and tilted backward relative to the vertical plane, and the elastic component 9d is perpendicular to the inner end surface of the detection component 9b and the rear wall of the fixing seat 9a. In addition, when the outer end side of the detection component 9b is squeezed by the frame and moves backward and the outer end bottom of the detection component 9b abuts against the window glass, the elastic component 9d is in a compressed state. Then, when the detection component 9b moves away from the frame of the framed window glass and moves outside the boundary of the frameless window glass, the elastic component 9d can apply an elastic force to the detection component 9b to drive it to move forward along the guide slot 9a2 and deflect downward with the axis of the slider 9b1 as the rotation axis.

[0092] Among them, a U-shaped seat 9h can also be set on the fixing seat 9a, and the sensor 9e is installed on the inner side wall of the U-shaped seat 9h. The detection component 9b is provided with an accommodating through hole 9b2, and the U-shaped seat 9h is located in the accommodating through hole 9b2. The lower end of the rear side of the trigger component 9c is an avoidance gap and is located on the front side of the accommodating through hole 9b2. When the cleaning robot performs boundary detection of framed window glass, when the outer side end side of the detection component 9b is squeezed by the frame, the trigger component 9c will move backward with it, so that its front lower end (first trigger part 9c1) moves into the two side walls of the U-shaped seat 9h, thereby triggering the sensor 9e to generate a sensing signal. When the cleaning robot performs boundary detection of frameless window glass, when the outer side end bottom of the detection component 9b moves out of the glass boundary, the trigger component 9c will deflect downward with it, so that its rear upper end (second trigger part 9c2) moves into the two side walls of the U-shaped seat 9h, thereby triggering the sensor 9e to generate a sensing signal.

[0093] Fig.10The figure shows the relative position relationship between the first trigger part 9c1, the second trigger part 9c2 and the sensor 9e when the trigger part 9c is in the non-trigger position. It can be seen from the figure that when the trigger part 9c is in the non-trigger position, the first trigger part 9c1 is located in front of the signal transmission path of the sensor 9e, and the second trigger part 9c2 is located above the signal transmission path of the sensor 9e. During the operation of the cleaning robot, when it moves to the edge of the framed window glass, the detection part 9b is squeezed and collided with the frame of the glass. Since the detection part 9b can move backward relative to the fixed seat 9a (body 3) when it is squeezed and collided with the frame of the glass, the detection part 9b drives the trigger part 9c to move in the rear direction under the pushing action of the frame. When the trigger part 9c moves backward to interfere with the original signal transmission path of the sensor 9e (the trigger part 9c is in the first trigger position at this time), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot walks to the edge of the frameless window glass, since the detection component 9b is not pushed by the frame, it will not be displaced laterally (moved forward and backward) relative to the fixing seat 9a, but the detection component 9b will move to the outside of the glass and be suspended. After losing the support of the glass, the detection component 9b drives the trigger component 9c to deflect downward relative to the fixing seat 9a, and the second trigger part 9c2 deflects downward to interfere with the original signal transmission path of the sensor 9e (at this time, the trigger component 9c is in the second trigger position), and the original signal transmission path is blocked, thereby triggering the sensing signal.

[0094] The above embodiments are preferred implementation schemes of the present invention. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A cleaning robot, comprising at least two cleaning turntables, wherein a chamber is provided in the cleaning turntable, and a negative pressure is formed in the chamber through a suction module so as to adsorb the cleaning turntable to the surface to be cleaned, and the cleaning function is performed by the cleaning turntable attached to the surface to be cleaned, characterized in that: It also includes a walking mechanism and a machine body, wherein the walking mechanism includes a support connected to the machine body and a walking wheel correspondingly mounted on the support; After the cleaning robot is adsorbed on the surface to be cleaned, the walking wheels press the surface to be cleaned and roll on the surface to be cleaned under the drive of the driving module to drive the cleaning robot to walk on the surface to be cleaned; The walking wheel is located at the center of the cleaning turntable, and a mounting hole penetrating the center of the cleaning turntable is opened on the cleaning turntable, and the top end of the support passes through the mounting hole and is connected to the machine body; The driving module comprises a motor connected to the machine body, a gear ring is provided on the side of the cleaning turntable facing the machine body, a gear meshing with the gear ring is connected to the power output end of the motor, a first bevel gear is provided on the periphery of the mounting hole of the cleaning turntable, a second bevel gear meshing with the first bevel gear is installed at one end of the shaft of the walking wheel, the first bevel gear is coaxially arranged with the cleaning turntable and is located on the side of the cleaning turntable facing the shaft of the walking wheel, and the second bevel gear is coaxially arranged with the walking wheel; The motor drives the gear to rotate, and the gear drives the gear ring to rotate, and the cleaning turntable rotates accordingly. The rotating cleaning turntable drives the second bevel gear to rotate through the first bevel gear, and then the second bevel gear drives the travel wheel to rotate.

2. The cleaning robot according to claim 1, characterized in that: The cleaning turntable and / or the running wheels are configured to be elastically deformed or float relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the running wheels are pressed against the surface to be cleaned.

3. The cleaning robot according to claim 1, characterized in that: At least one cleaning turntable is configured to be able to deflect relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed against the surface to be cleaned.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that: At least one support is configured to be able to deflect relative to the body so that the walking wheels installed on the support can be set at an angle with the moving direction of the cleaning robot during walking and form a component force applied to the cleaning robot and opposite to its gravity direction.

5. The cleaning robot according to claim 2, characterized in that: At least two cleaning turntables are configured so that after they are adsorbed onto the surface to be cleaned, one side of them exerts a greater pressure on the surface to be cleaned than the other parts, and at least after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle.

6. The cleaning robot according to claim 3, characterized in that: The at least two cleaning turntables are configured such that before they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle, and after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are parallel, and the pressure of one side on the surface to be cleaned is greater than the pressure of other parts on the surface to be cleaned.

7. The cleaning robot according to claim 1, characterized in that: A boundary detection mechanism is provided on the body, and the boundary detection mechanism includes a detection component, a trigger component and a sensor. The detection component is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, one end of the detection component is located outside the body and against the surface to be cleaned, and when it is squeezed by the outside, it can move in a first direction and when it moves to the outside of the surface to be cleaned, it can move in a second direction, so as to drive the trigger component to move to a preset sensing position and trigger the sensor to generate a sensing signal.

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