Multi-terrain adaptive cleaning robot

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a multi-terrain adaptive cleaning robot which comprises a cleaning robot body placed on a stair climbing assembly, and the stair climbing assembly comprises a first supporting frame, a second supporting frame, a connecting frame and a linkage assembly. According to the cleaning robot, the connecting frame and one of the first supporting frame and the second supporting frame are connected into a whole in a clamped mode through the connecting assembly, and the different requirements of going upstairs and downstairs are met; when the stair climbing assembly ascends or descends, the load bearing block is driven by the linkage assembly to move on the connecting frame, the load bearing block moves in the direction away from the cleaning robot body, the gravity center of the stair climbing assembly can be stabilized at the joint of the first supporting frame and the second supporting frame, and the situation that the stair climbing assembly is damaged due to the fact that the gravity center shifts towards one side of a part loaded with the cleaning robot body is avoided. And in the moving process, the stair climbing assembly topples over.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning robot that is adaptable to multiple terrains. Background Art

[0002] A cleaning robot is an intelligent household appliance used to automatically complete cleaning tasks in homes or offices. It sweeps and vacuums the floor to absorb debris into its own garbage storage box, thereby completing the floor cleaning function. However, when existing cleaning robots are faced with stairs in duplex buildings and villas, they need to be manually moved from one floor to another, which undoubtedly weakens the automation and convenience advantages of cleaning robots as smart home products.

[0003] In order to solve the above-mentioned problem, some cleaning robots have added stair-climbing mechanisms to enable them to perform stair climbing operations. However, in the process of going up and down the stairs, the change in the shape of the cleaning robot will cause the center of gravity to change. Specifically, when a part of the climbing mechanism is lifted to be able to climb to the upper steps, its center of gravity will change during the lifting, and it will inevitably shift to the left or right, depending on the distribution of the overall weight of the cleaning robot, resulting in the risk of tipping over during the climbing process. When moving to the lower steps, the overall center of gravity of the cleaning robot will still shift. Based on this, the present invention purposely provides a multi-terrain adaptable cleaning robot that actively changes the center of gravity to ensure a stable center of gravity when going up and down the stairs and prevents tipping. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and to provide a multi-terrain adaptable cleaning robot that can actively change the center of gravity to ensure the stability of the center of gravity when going up and down stairs and prevent tipping over, so as to solve the technical problem that the existing cleaning robots are prone to tipping over due to the shift of the center of gravity when going up and down stairs.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A multi-terrain adaptive cleaning robot comprises: a cleaning robot body, which is placed on a stair climbing assembly, wherein the stair climbing assembly comprises a first support frame, a second support frame, a connecting frame and a linkage assembly, wherein an outlet end of the first support frame faces an ascending direction, and an outlet end of the second support frame faces a descending direction, and Mecanum wheels are arranged at the bottom of the first support frame and the second support frame, and the second support frame is slidably sleeved on the first support frame, a hydraulic rod is fixedly installed on the top of the first support frame, and a movable end of the hydraulic rod is fixedly connected to the second support frame and is connected to a controller, and two connecting frames are slidably installed on both sides of the second support frame, and each connecting frame A corresponding weight block is slidably installed in the frame, and the weight block is driven to move by a linkage assembly. When the cleaning robot body goes upstairs, it is placed on the second support frame, and the connecting frame is clamped with the first support frame through the connecting assembly. When the hydraulic rod extends to drive the second support frame to rise, the second support frame drives the weight block to move away from the cleaning robot body through the linkage assembly; when the cleaning robot body goes downstairs, it is placed on the first support frame, and the connecting frame is clamped with the second support frame through the connecting assembly. When the hydraulic rod extends to drive the first support frame to descend, the first support frame drives the weight block to move away from the cleaning robot body through the linkage assembly.

[0007] As a further solution of the present invention: a first locking block and a second locking block are slidably installed at the bottom end of the connecting frame, the first locking block and the second locking block are respectively driven to move by two output sources, and the two output sources are asynchronously opened and closed, both output sources are connected to the controller, one end of the first locking block is slidably inserted into the side wall of the first support frame, and one end of the second locking block is slidably inserted into the side wall of the second support frame. When the cleaning robot body goes upstairs, the first locking block is slidably inserted into the side wall of the first support frame, and the second locking block is retracted in the connecting frame.

[0008] As a further solution of the present invention: the linkage assembly includes a cross bar, a slide groove, an inclined groove and a clamping assembly, the cross bar is alternately clamped with the first support frame and the second support frame through the clamping assembly, the slide groove is opened on the connecting frame, the inclined groove is opened on the weight block, and it is arranged obliquely, the horizontal height of the inclined groove close to one end of the first support frame is higher than the horizontal height of the inclined groove close to one end of the second support frame, the slide groove and the inclined groove are both slidably connected to one end of the cross bar, and when the cleaning robot body goes upstairs, the cross bar is clamped with the second support frame through the clamping assembly.

[0009] As a further solution of the present invention: the card connection assembly includes a connecting frame, an electric cylinder, a first slot and a second slot, the top of the connecting frame is slidably installed in the cross bar, the electric cylinder is fixedly installed on the cross bar, its movable end is fixedly connected to the top of the connecting frame, and it is connected to the controller, the first slot is opened on the first support frame, the second slot is opened on the second support frame, the bottom end of the connecting frame is alternately inserted into the first slot and the second slot, when the cleaning robot body goes upstairs, the controller controls the electric cylinder to extend, and at this time the bottom end of the connecting frame is inserted into the second slot.

[0010] As a further solution of the present invention: a channel is opened on the first support frame, and the first support frame is connected with the second support frame through the channel. When the first support frame is flush with the second support frame, the cleaning robot body can pass through the channel.

[0011] As a further solution of the present invention: a movable counterweight block is arranged in the first support frame and the second support frame. When the cleaning robot body is placed on the first support frame, the counterweight block is placed on the second support frame; when the cleaning robot body is placed on the second support frame, the counterweight block is placed on the first support frame.

[0012] As a further solution of the present invention: when the first support frame is flush with the second support frame, the two form a trapezoidal structure.

[0013] As a further solution of the present invention: the outlet ends of the first support frame and the second support frame are both arranged with slopes.

[0014] Beneficial effects of the present invention:

[0015] 1. In the present invention, by setting up a stair climbing assembly, the cleaning robot body can be carried up and down the stairs, and according to the situation of going up and down the stairs, the connecting frame is connected to one of the first support frame and the second support frame through the connecting assembly to form a whole, so as to change the different forms of the stair climbing assembly to meet the different needs of going up and down the stairs, because the height of the component carrying the cleaning robot body will change when going up and down the stairs, and when the component carrying the cleaning robot body is raised or lowered, the load block will be driven to move on the connecting frame through the linkage assembly, and the load block moves in the direction away from the cleaning robot body, which can stabilize the center of gravity of the stair climbing assembly at the connection between the first support frame and the second support frame, and avoid the problem of the stair climbing assembly tipping over during the movement due to the center of gravity shifting to one side of the component carrying the cleaning robot body;

[0016] 2. In the present invention, the cleaning robot body is placed in the first support frame to climb the stairs, and the cleaning robot body is placed in the second support frame to go down the stairs, and the outlet end of the first support frame is arranged to face the direction of going up stairs, and the outlet end of the second support frame is arranged to face the direction of going down stairs, so that after the climbing component completes the operation of going up stairs or going down stairs, the cleaning robot body can directly reach the designated floor through the corresponding outlet;

[0017] 3. In the present invention, the connecting frame can be clamped with the first support frame or the second support frame, and the cross bar can also be clamped with the first support frame or the second support frame. Through the combined clamping between different components, diversified forms and functions can be achieved, thereby more flexibly adapting to the specific needs of going up and down stairs and improving the adaptability of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the split structure of the stair climbing component in the present invention;

[0021] Figure 3 is a schematic diagram of the structure of the second slot in the present invention;

[0022] Figure 4 It is a schematic diagram of the stair climbing component being located at the lower step when climbing stairs in the present invention;

[0023] Figure 5 It is a schematic diagram of the lifting structure of the second support frame when climbing stairs in the present invention;

[0024] Figure 6 It is a schematic diagram of the second support frame being located on the upper step when climbing stairs in the present invention;

[0025] Figure 7 It is a schematic diagram of the second support frame being located on the upper step and the first support frame being lifted when climbing stairs in the present invention;

[0026] Figure 8 This is a schematic diagram of the stair climbing component of the present invention being located on an upper step;

[0027] Fig. 9 It is a schematic diagram of the first supporting frame descending to the lower step when going downstairs in the present invention.

[0028] In the figure: 1. first support frame; 101. first slot; 102. channel; 2. second support frame; 201. second slot; 3. cleaning robot body; 4. hydraulic rod; 5. connecting frame; 501. first locking block; 502. second locking block; 6. load-bearing block; 7. linkage assembly; 701. cross bar; 702. connecting frame; 703. electric cylinder; 704. slide; 705. inclined slot; 8. stair climbing assembly. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 9 As shown, the present invention is a multi-terrain adaptive cleaning robot, comprising: a cleaning robot body 3, which is placed on a stair climbing assembly 8, wherein the stair climbing assembly 8 comprises a first support frame 1, a second support frame 2, a connecting frame 5 and a linkage assembly 7, wherein the outlet end of the first support frame 1 faces the direction of ascending stairs, and the outlet end of the second support frame 2 faces the direction of descending stairs, and Mecanum wheels are arranged at the bottom of the first support frame 1 and the second support frame 2, and the second support frame 2 is slidably sleeved on the first support frame 1, and a hydraulic rod 4 is fixedly installed on the top of the first support frame 1, and the movable end of the hydraulic rod 4 is fixedly connected to the second support frame 2 and is connected to a controller, and two connecting frames 5 are slidably installed on both sides of the second support frame 2, and each connecting frame 5 is slidably mounted on both sides of the second support frame 2. A corresponding weight block 6 is slidably installed in the frame 5, and the weight block 6 is driven to move by the linkage assembly 7. When the cleaning robot body 3 goes upstairs, it is placed on the second support frame 2, and the connecting frame 5 is clamped with the first support frame 1 through the connecting assembly. When the hydraulic rod 4 extends to drive the second support frame 2 to rise, the second support frame 2 drives the weight block 6 to move away from the cleaning robot body 3 through the linkage assembly 7; when the cleaning robot body 3 goes downstairs, it is placed on the first support frame 1, and the connecting frame 5 is clamped with the second support frame 2 through the connecting assembly. When the hydraulic rod 4 extends to drive the first support frame 1 to descend, the first support frame 1 drives the weight block 6 to move away from the cleaning robot body 3 through the linkage assembly 7.

[0031] In one case of this embodiment, it should be noted that the controller described in the present invention includes a control box, a PLC control system, a signal receiving / transmitting module, etc. The cleaning robot body 3 includes but is not limited to a control system, a sensor system, a communication system, a cleaning system, and a driving system. The above components are all prior arts, and the present invention does not improve them. Therefore, it is not necessary to disclose their specific mechanical structures and circuit structures, and it does not affect the integrity of the present invention.

[0032] In practical application, if Figure 4-Figure 8 As shown, in the process of climbing stairs with the cleaning robot body 3 carried by the climbing assembly 8, the cleaning robot body 3 is placed on the second support frame 2, and the connecting frame 5 is connected to the first support frame 1 through the connecting assembly to form a whole, as shown in FIG. Figure 4 As shown, at this time, the controller controls the hydraulic rod 4 to push the second support frame 2 to move upward until the second support frame 2 can reach the upper step, and when the second support frame 2 rises, the linkage assembly 7 will drive the load block 6 to move away from the cleaning robot body 3; forming Figure 5 In the state shown, in this state, since the second support frame 2 rises and the weight of the cleaning robot body 3 is on the second support frame 2, the center of gravity of the climbing assembly 8 will be biased toward the side close to the second support frame 2, and the load-bearing block 6 is located on the side away from the cleaning robot body 3. The gravity of the load-bearing block 6 can offset the problem of center of gravity shift caused by the rise of the second support frame 2, so that the center of gravity of the climbing assembly 8 is stabilized at the connection between the first support frame 1 and the second support frame 2, and then moves forward through the Mecanum wheels at the bottom of the first support frame 1; when it comes to Figure 6 In the state shown, the bottom of the second support frame 2 falls on the upper step, and the controller controls the hydraulic rod 4 to retract. Since the second support frame 2 cannot descend, its reaction force will cause the first support frame 1 and the connecting frame 5 to rise, and under the action of the linkage assembly 7, the load block 6 returns to its original position in the connecting frame 5, which means that during the lifting process of the first support frame 1, the center of gravity of the climbing assembly 8 is offset to the side of the second support frame 2 to prevent the climbing assembly 8 from tipping down; finally, the structure is as shown in FIG. Figure 7 The state shown in FIG. 1 is shown in FIG. 2 , and then the Mecanum wheel at the bottom of the second support frame 2 is used to move forward to the state shown in FIG. Figure 8 The state shown in the figure shows that the steps of climbing stairs are completed, and the climbing stairs can be completed by repeating the cycle in this way;

[0033] like Fig. 9As shown, when the stair climbing assembly 8 carries the cleaning robot body 3 downstairs, the cleaning robot body 3 is placed on the first support frame 1, and the connecting frame 5 is connected to the second support frame 2 through the connecting assembly to form a whole. In short, it first descends to the lower step through the first support frame 1, and during the descent of the first support frame 1, the load-bearing block 6 is also moved away from the cleaning robot body 3 through the action of the linkage assembly 7, and the center of gravity of the stair climbing assembly 8 is still kept at the connection between the first support frame 1 and the second support frame 2, so as to avoid the problem of easy tipping during movement due to the offset of the center of gravity;

[0034] According to the situation of going up and down stairs, the connecting frame 5 is connected to one of the first support frame 1 and the second support frame 2 through the connecting component to form a whole. When going up and down stairs, the height of the component carrying the cleaning robot body 3 will change, and when the component carrying the cleaning robot body 3 is raised or lowered, the load block 6 will be driven to move on the connecting frame 5 through the linkage component 7, and the load block 6 moves away from the cleaning robot body 3, which can stabilize the center of gravity of the climbing component 8 at the connection between the first support frame 1 and the second support frame 2, and avoid the problem of the climbing component 8 tipping over during the movement due to the center of gravity shifting to the side of the component carrying the cleaning robot body 3.

[0035] like Figure 2 As shown, as a preferred embodiment of the present invention, a first locking block 501 and a second locking block 502 are slidably installed at the bottom end of the connecting frame 5, the first locking block 501 and the second locking block 502 are respectively driven to move by two output sources, and the two output sources are asynchronously opened and closed, and the two output sources are connected to the controller, one end of the first locking block 501 is slidably inserted into the side wall of the first support frame 1, and one end of the second locking block 502 is slidably inserted into the side wall of the second support frame 2. When the cleaning robot body 3 goes upstairs, the first locking block 501 is slidably inserted into the side wall of the first support frame 1, and the second locking block 502 is retracted in the connecting frame 5.

[0036] In one case of this embodiment, the output source may be an electric telescopic rod, a reciprocating cylinder or other components, or other mechanisms capable of realizing telescopic motion, which is not specifically limited in this embodiment.

[0037] In actual application of this embodiment, when the stair climbing component 8 carries the cleaning robot body 3 upstairs, the controller will be activated through an output source to push the first locking block 501 to be inserted into the side wall of the first support frame 1 and locked. At this time, the connecting frame 5 forms a whole with the first support frame 1 through the first locking block 501, and the other output source is turned off to shrink the second locking block 502 into the connecting frame 5, and the second support frame 2 can move freely; when the stair climbing component 8 carries the cleaning robot body 3 downstairs, the first locking block 501 shrinks back into the connecting frame 5 to be unlocked, and the second locking block 502 will be slidably inserted into the side wall of the second support frame 2. At this time, the connecting frame 5 forms a whole with the second support frame 2 through the second locking block 502, so that the first support frame 1 can move freely.

[0038] like Figure 1-Figure 2 As shown, as a preferred embodiment of the present invention, the linkage assembly 7 includes a cross bar 701, a slide groove 704, an inclined groove 705 and a clamping assembly. The cross bar 701 is alternately clamped with the first support frame 1 and the second support frame 2 through the clamping assembly. The slide groove 704 is opened on the connecting frame 5, and the inclined groove 705 is opened on the load-bearing block 6, and they are arranged obliquely. The horizontal height of the inclined groove 705 close to the first support frame 1 is higher than the horizontal height of the inclined groove 705 close to the second support frame 2. The slide groove 704 and the inclined groove 705 are both slidably connected to one end of the cross bar 701. When the cleaning robot body 3 goes upstairs, the cross bar 701 is clamped with the second support frame 2 through the clamping assembly.

[0039] In practical application, this embodiment is based on Figure 1 As shown in the example, when the cross bar 701 moves upward, its two ends will slide upward in the slide slot 704, and the positions of its two ends in the inclined slot 705 will also change, thereby driving the weight block 6 to move to the right; conversely, when the cross bar 701 moves downward, the change in the position of its two ends in the inclined slot 705 will cause the weight block 6 to move to the left. During the climbing process of the stair climbing assembly 8, the second support frame 2 will actively rise, and during the going down process of the stair climbing assembly 8, the first support frame 1 will actively descend. Therefore, when climbing, the second support frame 2 and the cross bar 701 are clamped together to form a whole through the clamping assembly, and when going down, the first support frame 1 and the cross bar 701 are clamped together to form a whole. The cross bar 701 is connected to the second support frame 2 or the first support frame 1 through the clamping assembly as needed, so that the climbing or going down action of the climbing assembly 8 can be flexibly adjusted. This adjustability improves the overall adaptability and scope of use.

[0040] like Figure 1-Figure 2As shown, as a preferred embodiment of the present invention, the card connection assembly includes a connecting frame 702, an electric cylinder 703, a first slot 101 and a second slot 201, the top of the connecting frame 702 is slidably installed in the cross bar 701, the electric cylinder 703 is fixedly installed on the cross bar 701, its movable end is fixedly connected to the top of the connecting frame 702, and it is connected to the controller, the first slot 101 is opened on the first support frame 1, the second slot 201 is opened on the second support frame 2, the bottom end of the connecting frame 702 is alternately inserted in the first slot 101 and the second slot 201, when the cleaning robot body 3 goes upstairs, the controller controls the electric cylinder 703 to extend, and at this time the bottom end of the connecting frame 702 is inserted in the second slot 201.

[0041] When this embodiment is actually applied, the controller controls the electric cylinder 703 to extend, at which time the electric cylinder 703 will push the connecting frame 702 to slide on the cross bar 701, and one end of the bottom of the connecting frame 702 will be inserted into the second slot 201. At the same time, the other end of the bottom will move out of the first slot 101. At this time, the cross bar 701 and the second support frame 2 are snap-fitted to form a whole; when the electric cylinder 703 contracts, one end of the bottom of the connecting frame 702 will be inserted into the first slot 101, and the other end of the bottom will move out of the second slot 201. At this time, the cross bar 701 and the first support frame 1 are snap-fitted to form a whole. It should be noted that during the movement of the connecting frame 702, the bottom end of the connecting frame 702 is inserted into the first slot 101 and the second slot 201 at the same time. This switching connection method is fast and stable, thereby improving the flexibility and adaptability of the overall equipment.

[0042] like Figure 1-Figure 2 As shown, as a preferred embodiment of the present invention, a channel 102 is opened on the first support frame 1, and the first support frame 1 is connected with the second support frame 2 through the channel 102. When the first support frame 1 is flush with the second support frame 2, the cleaning robot body 3 can pass through the channel 102.

[0043] In actual application of this embodiment, the first support frame 1 and the second support frame 2 are connected through the channel 102, so that the cleaning robot body 3 can be easily moved between the first support frame 1 and the second support frame 2, and can be moved to a suitable position according to the needs of going up and down the stairs.

[0044] like Figure 1-Figure 2 As shown, as a preferred embodiment of the present invention, a movable counterweight block is arranged in the first support frame 1 and the second support frame 2. When the cleaning robot body 3 is placed on the first support frame 1, the counterweight block is placed on the second support frame 2; when the cleaning robot body 3 is placed on the second support frame 2, the counterweight block is placed on the first support frame 1.

[0045] In actual application of this embodiment, by adding a counterweight block, its placement position is always opposite to the position of the cleaning robot body 3. By adding weight, it is ensured that the first support frame 1 can be stabilized on the ground when the second support frame 2 is lifted, or the second support frame 2 can be stabilized on the upper step when the first support frame 1 is lowered, thereby further improving the stability of the overall device.

[0046] like Figure 3 As shown, as a preferred embodiment of the present invention, when the first support frame 1 is flush with the second support frame 2, the two form a trapezoidal structure. The trapezoidal structure has better stability in the horizontal direction due to its wider bottom and narrower top.

[0047] like Figure 1-Figure 8 As shown, as a preferred embodiment of the present invention, the outlet ends of the first support frame 1 and the second support frame 2 are both provided with slopes. Through the arrangement of the slopes, the cleaning robot body 3 can move to the first support frame 1 and the second support frame 2 more smoothly.

[0048] Working principle of the present invention: The above-mentioned embodiment of the present invention provides a multi-terrain adaptive cleaning robot. According to the situation of going up and down stairs, the connecting frame 5 is clamped with one of the first support frame 1 and the second support frame 2 to form a whole through the connecting component. When going up and down stairs, the height of the component carrying the cleaning robot body 3 will change, and when the component carrying the cleaning robot body 3 is raised or lowered, the linkage component 7 will drive the load block 6 to move on the connecting frame 5, and the load block 6 moves in the direction away from the cleaning robot body 3, which can stabilize the center of gravity of the climbing component 8 at the connection between the first support frame 1 and the second support frame 2.

[0049] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A multi-terrain adaptive cleaning robot, characterized in that: include: The cleaning robot body (3) is placed on a stair climbing assembly (8), wherein the stair climbing assembly (8) comprises a first support frame (1), a second support frame (2), a connecting frame (5) and a linkage assembly (7), wherein the outlet end of the first support frame (1) faces the direction of ascending stairs, and the outlet end of the second support frame (2) faces the direction of descending stairs, and the bottoms of the first support frame (1) and the second support frame (2) are both provided with Mecanum wheels, and the second support frame (2) is slidably sleeved on the first support frame (1), and a hydraulic rod (4) is fixedly installed on the top of the first support frame (1), and the movable end of the hydraulic rod (4) is fixedly connected to the second support frame (2) and is connected to a controller, and two connecting frames (5) are respectively slidably installed on both sides of the second support frame (2), and a corresponding negative pressure element is slidably installed in each connecting frame (5). The weight block (6) is driven to move by a linkage assembly (7). When the cleaning robot body (3) goes upstairs, the weight block (6) is placed on the second support frame (2), and the connecting frame (5) is clamped with the first support frame (1) through the connecting assembly. When the hydraulic rod (4) extends to drive the second support frame (2) to rise, the second support frame (2) drives the weight block (6) to move in a direction away from the cleaning robot body (3) through the linkage assembly (7); when the cleaning robot body (3) goes downstairs, the weight block (6) is placed on the first support frame (1), and the connecting frame (5) is clamped with the second support frame (2) through the connecting assembly. When the hydraulic rod (4) extends to drive the first support frame (1) to descend, the first support frame (1) drives the weight block (6) to move in a direction away from the cleaning robot body (3) through the linkage assembly (7).

2. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: A first locking block (501) and a second locking block (502) are slidably mounted at the bottom end of the connecting frame (5); the first locking block (501) and the second locking block (502) are respectively driven to move by two output sources, and the two output sources are asynchronously opened and closed; both output sources are connected to a controller; one end of the first locking block (501) is slidably plugged into the side wall of the first support frame (1), and one end of the second locking block (502) is slidably plugged into the side wall of the second support frame (2); when the cleaning robot body (3) goes upstairs, the first locking block (501) is slidably plugged into the side wall of the first support frame (1), and the second locking block (502) is retracted in the connecting frame (5).

3. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: The linkage assembly (7) comprises a cross bar (701), a slide groove (704), an inclined groove (705) and a clamping assembly. The cross bar (701) is alternately clamped with the first support frame (1) and the second support frame (2) through the clamping assembly. The slide groove (704) is provided on the connecting frame (5). The inclined groove (705) is provided on the load-bearing block (6) and is arranged obliquely. The horizontal height of the inclined groove (705) close to one end of the first support frame (1) is higher than the horizontal height of the inclined groove (705) close to one end of the second support frame (2). The slide groove (704) and the inclined groove (705) are both slidably connected to one end of the cross bar (701). When the cleaning robot body (3) goes upstairs, the cross bar (701) is clamped with the second support frame (2) through the clamping assembly.

4. The multi-terrain adaptive cleaning robot according to claim 3, characterized in that: The clamping assembly comprises a connecting frame (702), an electric cylinder (703), a first slot (101) and a second slot (201); the top of the connecting frame (702) is slidably mounted in the cross bar (701); the electric cylinder (703) is fixedly mounted on the cross bar (701); its movable end is fixedly connected to the top of the connecting frame (702), and is connected to a controller; the first slot (101) is provided on the first support frame (1); the second slot (201) is provided on the second support frame (2); the bottom end of the connecting frame (702) is alternately inserted into the first slot (101) and the second slot (201); when the cleaning robot body (3) goes upstairs, the controller controls the electric cylinder (703) to extend, and at this time, the bottom end of the connecting frame (702) is inserted into the second slot (201).

5. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: The first support frame (1) is provided with a channel (102), and the first support frame (1) is connected to the second support frame (2) through the channel (102); when the first support frame (1) is flush with the second support frame (2), the cleaning robot body (3) can pass through the channel (102).

6. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: A movable counterweight block is arranged inside the first support frame (1) and the second support frame (2); when the cleaning robot body (3) is placed on the first support frame (1), the counterweight block is placed on the second support frame (2); when the cleaning robot body (3) is placed on the second support frame (2), the counterweight block is placed on the first support frame (1).

7. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: When the first support frame (1) and the second support frame (2) are flush with each other, the two form a trapezoidal structure.

8. The multi-terrain adaptive cleaning robot according to claim 1, characterized in that: The outlet ends of the first support frame (1) and the second support frame (2) are both provided with slopes.

Images