A multi-dimensional intelligent companion cleaning robot

Abstract

The present invention discloses a multi-dimensional intelligent companion cleaning robot, including a shell assembly, a walking mechanism, a five-axis leg mechanism, a software structure, a sensing assembly and a dust storage mechanism. The shell assembly protects and supports the exterior of the robot; the walking mechanism is fixedly connected to multiple end faces of the shell assembly, and the walking mechanism includes track wheels and air intake and exhaust mechanisms, the track wheels are provided with air cavities, and multiple end faces of the track wheels are provided with fins and spines, and the air intake and exhaust mechanisms cooperate with each other to form negative pressure airflow, and the airflow expands the air cavity, lifts the fins, and erects the spines. The five-axis leg mechanism is located at the bottom end face of the shell assembly. The present invention realizes the ability to achieve stable movement between vertical, inclined and even complex surfaces, greatly broadens its operating range and flexibility, and enables it to clean areas that are difficult to reach with traditional cleaning tools, such as walls and French windows.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning robots, and in particular relates to a multi-dimensional intelligent companion cleaning robot. Background Art

[0002] A sweeping robot is a smart home appliance that can automatically clean the floor in a room through artificial intelligence technology. It is widely loved by the public. However, existing sweeping robots have the following shortcomings:

[0003] 1) Existing wall-climbing robots, the adsorption mechanism of some wall-climbing cleaning robots may rely on friction or specific surface textures to maintain stability. On extremely smooth surfaces such as glass curtain walls, polished marble, etc., it is difficult to obtain sufficient adhesion, resulting in inability to work stably.

[0004] 2) When performing wall-climbing operations, the robot needs to move from one plane to another, such as from a wall to a floor-to-ceiling window. During this process, the robot may face challenges such as angle adjustment and center of gravity control. Some existing technologies find it difficult to achieve smooth and stable conversions.

[0005] 3) When dealing with walls with height differences, protrusions or corners, the wall-climbing cleaning robot may face problems such as weakened adsorption force and decreased stability.

[0006] Therefore, in response to the above technical problems, it is necessary to provide a multi-dimensional intelligent companion cleaning robot.

[0007] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0008] The purpose of the present invention is to provide a multi-dimensional intelligent companion cleaning robot that can solve the problems raised by the background technology.

[0009] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0010] A multi-dimensional intelligent companion cleaning robot includes a shell component, a walking mechanism, a five-axis leg mechanism, a software structure, a sensing component and a dust storage mechanism. The shell component protects and supports the outside of the robot; the walking mechanism is fixedly connected to multiple end faces of the shell component, and the walking mechanism includes track wheels and an air intake and exhaust mechanism. The track wheels are provided with an air cavity, and multiple end faces of the track wheels are provided with fins and spines. The air intake and exhaust mechanisms cooperate with each other to form a negative pressure airflow, and the airflow expands the air cavity, lifts the fins, and erects the spines. The five-axis leg mechanism is located at the bottom end face of the shell component, and the five-axis leg mechanism is connected to the walking mechanism; the software structure is arranged on a pair of opposite end faces of the shell component; the sensing component is arranged on multiple end faces of the robot; the dust storage mechanism is located on multiple side end faces of the shell component, and the dust storage mechanism includes a rotating mop and a robotic arm cleaning component.

[0011] In one or more embodiments of the present invention, the shell assembly includes a screen shell, a rear shell, a screen and an ear rotating structure, the screen shell includes a screen front shell, a first screen shell and a screen rear shell, a memory alloy spring is fixedly connected between the software structure and the screen front shell; the rear shell is located on the rear end face of the screen shell, and the upper end face of the screen shell is provided with a first limiting groove, a charging electrode is arranged in the first limiting groove, the charging electrode is connected to a battery, and the battery is located on the inner end face of the rear shell; the screen is fixedly connected to one side end face of the screen front shell; the ear rotating structure is fixedly connected to the top end face of the screen front shell, the ear rotating structure includes an ear piece, a first motor and an ear gear, a rotating shaft is fixedly connected to the ear piece, the rotating shaft is connected to the ear gear, and the ear gear is connected to the first motor.

[0012] In one or more embodiments of the present invention, the five-axis leg mechanism includes a first leg connecting shaft, a second leg connecting shaft and a third leg connecting shaft, a second motor is connected between the first leg connecting shaft, the second leg connecting shaft and the third leg connecting shaft, a second leg gear is connected between the second leg connecting shaft and the third leg connecting shaft, and the outer end face of the third leg connecting shaft is fixedly connected to the front leg.

[0013] In one or more embodiments of the present invention, the dust storage mechanism includes a pair of rotating mops, a cleaning brush assembly, an exhaust fan, a dust storage box, a hydraulic mechanism and a water tank. The top end faces of the pair of rotating mops are connected with a rotator; the cleaning brush assembly includes a cleaning brush box and a long brush, the long brush is fixedly connected to the inner wall end face of the cleaning brush box, and the cleaning brush box is fixed to the bottom end face of the rear shell; the exhaust fan is fixedly connected to the end face of one side of the rear shell close to the cleaning brush box; the dust storage box is fixedly connected to a pair of opposite end faces of the rotating mops; the hydraulic mechanism includes a hydraulic pump, and the hydraulic mechanism is connected to the water tank; the first flip cover and the second flip cover are respectively rotatably connected to the pair of opposite end faces of the rear shell, and the first storage frame and the second storage frame are respectively arranged between the rear shell and the first flip cover and the second flip cover, and the second storage frame is fixedly connected to the water tank, and the water tank is provided with a plurality of water pipes, and the plurality of water pipes are respectively connected to the rotating mops and the long brush, and the second storage frame is located on the end face of one side of the water tank and is fixedly connected to the detergent box.

[0014] In one or more embodiments of the present invention, the robotic arm cleaning assembly includes a six-axis robotic arm and a soft clamp, a pair of opposite end faces of the six-axis robotic arm are fixedly connected to the soft clamp, and one side end face of the soft clamp is fixedly connected in the first storage frame.

[0015] In one or more embodiments of the present invention, the sensing component includes a laser sensor, a fan sensor, a recharging sensor, a six-dimensional force sensor, a gyroscope, a temperature sensor, a water tank sensor and a vacuum sensor.

[0016] In one or more embodiments of the present invention, the walking mechanism includes an outer cover plate and an inner cover plate, a middle frame plate is fixedly connected between the outer cover plate and the inner cover plate, a soft track is arranged on the middle frame plate, the inner wall end surfaces of the inner cover plate and the outer cover plate are rotatably connected with an inducer wheel and a driving wheel, a fifth motor is arranged in the driving wheel, and the inducer wheel and the driving wheel are both engaged with the soft track.

[0017] In one or more embodiments of the present invention, a plurality of soft tracks are arranged on the track wheel, fins are arranged on the plurality of soft tracks, a plurality of spines are arranged on the fins, and air cavities are arranged on the bottom end surfaces of the middle frame plate located at the plurality of fins.

[0018] In one or more embodiments of the present invention, an air inlet is provided on the end face of the track wheel close to the multiple soft tracks, an air inlet connecting pipe and an air outlet connecting pipe are respectively provided on one side end face of the outer cover plate, the inner wall end face of the outer cover plate is connected to the first vacuum sensor, the top end face of the inner cover plate is provided with a first air outlet connecting port, and the end face of the inner cover plate close to the first air outlet connecting port is connected to the second vacuum sensor.

[0019] In one or more embodiments of the present invention, the air intake and exhaust mechanism includes an air intake pipeline in the cavity of the outer cover plate, an exhaust pipeline, a solenoid valve and an air pump. A filter is provided in the air intake pipeline in the cavity of the outer cover plate. The air pump and the solenoid valve are located at the top end surface of the dust storage box. The air pump connects the air intake pipeline and the exhaust pipeline in the cavity of the outer cover plate. An exhaust pipeline is provided between the outer cover plate and the inner cover plate. The exhaust pipeline is located at the bottom end surface of the fin. The top of the outer cover plate is located at the bottom end surface of the fin and is provided with an air intake pipeline in the cavity of the outer cover plate. The air intake pipeline in the cavity of the outer cover plate includes an air intake connecting pipe, and the exhaust pipeline includes an air outlet connecting pipe.

[0020] Compared with the prior art, the multi-dimensional intelligent companion cleaning robot of the present invention has the following benefits:

[0021] 1The ability to achieve stable movement between vertical, inclined and even complex surfaces greatly broadens its operating range and flexibility, enabling it to clean areas that are difficult to reach with traditional cleaning tools, such as walls, French windows, etc.

[0022] 2Through its flexible mechanical structure, the robot can easily pass over raised parts on the plane, such as decorative lines on the wall, switch boxes, etc., avoiding cleaning dead corners caused by obstacles. At the same time, the adjustable height design enables it to enter shorter spaces, such as corners, the bottom of furniture, etc., to achieve all-round cleaning coverage.

[0023] 3. The unique robotic arm design allows the robot to reach into various narrow spaces, such as gaps and holes, accurately grasp and remove the garbage in them, improving the thoroughness and meticulousness of cleaning.

[0024] 4 The five-axis leg structure and the lifting 360-degree laser sensor can easily lower their own height to enter a shorter space for work.

[0025] 5. Equipped with multiple sensors, the robot has a keen perception of the environment and can detect changes in the surrounding environment in real time, including obstacles, edges, etc., so as to make precise movement and obstacle avoidance decisions to ensure the safety and efficiency of the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1This is a schematic diagram of the structure of a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention;

[0028] Figure 2 The structure of a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 3 Schematic diagram of the use status of a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention Figure 1 ;

[0030] Figure 4 Schematic diagram of the use status of a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention Figure 2 ;

[0031] Figure 5 An exploded view of a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention;

[0032] Figure 6 for Figure 5 A schematic diagram of the structure at A;

[0033] Figure 7 for Figure 5 Schematic diagram of the structure at B;

[0034] Figure 8 It is a structural schematic diagram of a walking mechanism in one embodiment of the present invention;

[0035] Fig. 9 This is a schematic diagram of the structure of the outer cover plate in one embodiment of the present invention;

[0036] Fig.10 A cross-sectional view of a walking mechanism in one embodiment of the present invention;

[0037] Fig.11 for Fig.10 Schematic diagram of the structure at C;

[0038] Fig.12 The structure diagram of the walking mechanism Figure 2 ;

[0039] Fig.13 It is a structural schematic diagram of the intake and exhaust mechanism;

[0040] Fig.14 This is a schematic diagram of the air path of the air intake and exhaust mechanism in a multi-dimensional intelligent companion cleaning robot.

[0041] Description of main reference numerals:

[0042] 1- walking mechanism, 101- outer cover plate, 1011- air inlet connecting pipe, 1012- first vacuum sensor, 1013- air outlet connecting pipe, 1014- air inlet, 102- track wheel, 1021- fin, 1022- air cavity, 1023- thorn piece, 1024- air inlet pipeline of inner cavity of outer cover plate, 1025- exhaust pipeline, 103- first leg connecting shaft, 104- second leg connecting shaft, 105- front leg, 106- first leg gear, 107- second leg gear, 108- inner cover plate, 1081- first vacuum sensor, 1082- first air outlet connecting port, 109- inducer wheel, 110- third leg connecting shaft, 111- driving wheel, 112- soft track, 113- middle frame plate, 2- dust storage mechanism, 201- induced draft fan, 202- Dust storage box, 3-rotating side brush, 4-rotating mop, 401-rotator, 5-housing assembly, 501-screen, 502-screen housing, 5021-screen front housing, 5022-memory alloy spring, 5023-first screen housing, 5024-screen back housing, 503-laser sensor housing, 504-camera, 506-rear housing, 507-first flip cover, 508-second flip cover, 509-ear rotating structure, 5091-ear piece, 5092-first motor, 5093-ear gear, 6-six-axis robotic arm, 7-soft gripper, 8-water tank, 9-detergent box, 10-wall sensor, 11-charging electrode, 12-cleaning brush box, 1201-long brush, 13-battery, 14-soft structure, 15-air pump, 16-hydraulic mechanism, 17-solenoid valve. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0044] like Figure 1-Figure 10 As shown, a multi-dimensional intelligent companion cleaning robot in one embodiment of the present invention includes a housing assembly 5, a walking mechanism 1, a five-axis leg mechanism, a software structure 14 and a dust storage mechanism 2. The ability to achieve stable movement between vertical, inclined and even complex surfaces greatly broadens its operating range and flexibility, enabling it to clean areas that are difficult for traditional cleaning tools to reach, such as walls, French windows, etc.

[0045] The housing assembly 5 protects and supports the exterior of the robot and includes a screen housing 502 , a rear housing 506 , a screen 501 and an ear rotating structure 509 .

[0046] The screen housing 502 includes a screen front housing 5021, a first screen housing 5023 and a screen rear housing 5024. The screen front housing 5021, the first screen housing 5023 and the screen rear housing 5024 are fixed in sequence to form a housing body. That is, the screen front housing 5021, the first screen housing 5023 and the screen rear housing 5024 are fixed by buckles. The buckle design ensures a tight connection between the soft silicone and the housing cover, which is both beautiful and practical.

[0047] like Figure 1-3 As shown, the software structure 14 is arranged on a pair of opposite end faces of the housing assembly 5. A memory alloy spring 5022 is fixedly connected between the software structure 14 and the screen front housing 5021, wherein the memory alloy spring 5022 is an SMA spring seamlessly embedded in the silicone housing, connecting the screen housing 502 and the rear housing 506 to achieve a flexible connection.

[0048] Furthermore, electrodes are connected at both ends of the memory alloy spring 5022, and the power is controlled by the circuit. When the power is turned on and heated, stress and strain can be generated, causing the soft body to deform. This enables the robot to perform well in scenes such as transferring from one plane to another and crossing obstacles. The two ends of the electrode are connected to the circuit, and the power state is precisely controlled to achieve flexible deformation and firm fixation of the soft body structure.

[0049] The rear shell 506 is located on the rear end face of the screen shell 502. A first limiting groove is provided on the upper end face of the screen shell 502. A charging electrode 11 is provided in the first limiting groove. The charging electrode 11 is connected to a battery 13. The battery 13 is located on the inner end face of the rear shell 506. The battery 13 is connected to a device inside the robot that requires power to supply power.

[0050] The screen 501 is fixedly connected to one side end surface of the screen front shell 5021, and can display interesting expressions to increase the fun, and can also display the current working status for easy viewing.

[0051] like Figure 1-Figure 7 As shown, the ear rotating structure 509 is fixedly connected to the top end surface of the screen front shell 5021, and the ear rotating structure 509 includes an ear piece 5091, a first motor 5092 and an ear gear 5093. The ear piece 5091 is fixedly connected with a rotating shaft, and the rotating shaft is connected to the ear gear 5093. The ear gear 5093 is connected to the first motor 5092. The first motor 5092 drives the ear gear 5093 to rotate, and then drives the ear piece 5091 to rotate, which is both interesting and practical, and improves the user experience.

[0052] The five-axis leg mechanism is located at the bottom end surface of the housing assembly 5, and the five-axis leg mechanism is connected to the walking mechanism 1 to achieve precise speed and force control of the robot's movement, so that the legs can move flexibly in five degrees of freedom to adapt to a variety of working environments.

[0053] The five-axis leg mechanism includes a first leg connecting shaft 103, a second leg connecting shaft 104 and a third leg connecting shaft 110. A second motor is connected between the first leg connecting shaft 103, the second leg connecting shaft 104 and the third leg connecting shaft 110, and the two are connected to each other through the second motor. A second leg gear 107 is connected between the second leg connecting shaft 104 and the third leg connecting shaft 110, and the second leg gear 107 is connected to the second motor. The second motor drives the second leg gear 107 to rotate, thereby realizing all-round rotation adjustment, so that the five-axis leg mechanism can flexibly rotate at an angle to adapt to different environments, can flexibly lift and lower the chassis to realize ground cleaning work, and can also interact with people by displaying various body languages, matching display screen expressions and ear movements, thereby enhancing practicality and fun.

[0054] The outer end surface of the third leg connecting shaft 110 is fixedly connected to the front leg 105 to protect the outer end surface of the second leg gear 107. The first leg connecting shaft 103 is fixedly connected to one end surface of the inner cover plate 108 to control the movement of the crawler wheel 102.

[0055] The sensing components are arranged on multiple end faces of the robot, including laser sensors, fan sensors, recharging sensors, six-dimensional force sensors, gyroscopes, temperature sensors, water tank sensors and vacuum sensors.

[0056] The laser sensor is fixedly connected to the inner wall end face of the laser sensor housing 503 . The laser sensor is connected to the pressure sensor. The laser sensor can detect whether there is an obstacle on the top of the robot and the distance information of the obstacle.

[0057] Furthermore, a first threaded hole is provided on the bottom end face of the laser sensor housing 503, a threaded column is connected to the first threaded hole, a third motor is connected to the threaded column, and the third motor drives the threaded column to rotate, thereby driving the laser sensor housing 503 to rise and fall, thereby achieving the rise and fall of the laser sensor, and flexibly adjusting the height of the laser sensor to adapt to different working environments. The liftable laser sensor is mainly used to scan the surrounding environment, detect obstacles in the environment and draw maps. When the sensor is raised and lowered, it can also detect obstacles on the top, helping the robot to better identify the environment and perform operations. The external laser sensor housing 503 tightly wraps the laser sensor and is firmly installed on the top of the front housing by screws, which not only protects the sensor but also facilitates maintenance.

[0058] A camera 504 is connected to one end surface of the screen housing 502 , and a fourth motor is connected to the bottom of the camera 504 . The fourth motor is connected to the camera 504 to drive the camera 504 to rotate and capture images at different angles.

[0059] Preferably, a belt is fixedly connected to one end face of the camera 504, and the belt is connected to the rotating shaft of the fourth motor to drive the camera 504 to rotate. Of course, the camera 504 can also adopt other rotating structures to achieve 360° rotation, so as to achieve the rotation of the camera 504.

[0060] The fan sensor is fixedly connected to multiple end faces of the robot. Through pulse detection, the fan speed can be tested. When the filter is clogged, the user will be notified to clean the filter.

[0061] A pair of opposite end faces of the screen housing 502 are both connected with wall sensors, so that the screen housing 502 can always maintain an accurate distance from the wall during the process of cleaning the gaps along the wall.

[0062] The recharging sensor is set on one side of the robot. When the robot is cleaning a large area, the laser scan will record the location of the charging pile. When the battery is too low, it will automatically find the charging pile for charging.

[0063] The six-dimensional force sensor is set on one side of the robot, so that it can sense the shape, texture, surface state and other information of the wall, providing the robot with more comprehensive and accurate environmental perception information.

[0064] The gyroscope is arranged on the inner wall end face of the screen housing 502, and can detect the tilt angle and the turning angle to achieve autonomous navigation and precise positioning.

[0065] The temperature sensor is arranged on the inner wall end face of the screen housing 502 to monitor the working temperature inside the robot. When the temperature reaches a certain limit, the robot is stopped to dissipate heat.

[0066] The water tank sensor is fixed on the inner wall end face of the water tank 8 and is a commonly used liquid level detection device. The water level of the liquid is detected by the principle of a photoelectric sensor. When the water volume is lower than the set value, a signal will be immediately sent to add water in time.

[0067] The vacuum sensor is arranged on one side end surface of the plurality of walking mechanisms 1. When the medium pressure acts on the diaphragm of the sensor, a micro displacement proportional to the medium pressure will be generated, causing the resistance of the sensor to change, thereby realizing the measurement of the vacuum degree in the area.

[0068] By using perception components to plan and optimize the robot's path based on sensor data, the robot can avoid getting stuck and overloading, and improve its stability and adaptability.

[0069] Sensors can be used to achieve fine control of the robot. For example, during the climbing process, the robot's force and torque status can be monitored in real time to avoid situations such as the robot's loose grip or excessive force.

[0070] The sensor can also monitor the force and torque status of the robot in real time, and when dangerous situations arise, timely measures can be taken to intervene and protect, ensuring the safety and stability of the robot.

[0071] The dust storage mechanism 2 is located on multiple side end surfaces of the housing assembly 5, and the dust storage mechanism 2 includes a rotating mop 4 and a mechanical arm cleaning assembly.

[0072] The dust storage mechanism 2 includes a pair of rotating mops 4, a cleaning brush assembly, an induced draft fan 201, a dust storage box 202, a hydraulic mechanism 16, a water tank 8 and a robotic arm cleaning assembly to achieve cleaning of different areas.

[0073] like Figure 1-Figure 4 As shown, the top end surfaces of a pair of rotating mops 4 are connected with a rotator 401 to realize rotation for cleaning, and the rotating mops 4 are fixedly connected to the bottom end surface of the screen housing 502 .

[0074] The cleaning brush assembly includes a cleaning brush box 12 and a long brush 1201. The long brush 1201 is fixedly connected to the inner wall end face of the cleaning brush box 12. The cleaning brush box 12 is fixed to one side end face of the bottom of the rear shell 506 to achieve a wide range of cleaning work.

[0075] The induced draft fan 201 is fixedly connected to one end surface of the rear housing 506 close to the cleaning brush box 12 , and the dust storage box 202 is fixedly connected to a pair of opposite end surfaces of the rotating mop 4 .

[0076] Furthermore, the hydraulic mechanism 16 includes a hydraulic pump, the hydraulic mechanism 16 is fixedly connected to the top end surface of the cleaning brush box 12, and the hydraulic mechanism 16 is connected to the water tank 8. A pair of opposite end surfaces of the rear housing 506 are rotatably connected to the first flip cover 507 and the second flip cover 508, respectively. A first storage frame and a second storage frame are respectively arranged between the rear housing 506 and the first flip cover 507 and the second flip cover 508. The second storage frame is fixedly connected to the water tank 8. The water tank 8 is provided with a plurality of water pipes, and the plurality of water pipes are respectively connected to the rotating mop 4 and the long brush 1201. The second storage frame is located on one side of the water tank 8 and is fixedly connected to the detergent box 9. The water source is supplied through the water tank 8 for cleaning, and the detergent can also be transported through the detergent box 9. According to the dirtiness, cleaning is performed to achieve rapid cleaning.

[0077] Specifically, a pair of rotating side brushes 3 are installed at the bottom of the screen housing 502, and the rotating side brushes 3 are connected to a fourth motor, which drives the high-speed rotation to effectively clean the floor. The bottom of the rear housing 506 is provided with a dust storage box 202, a rotating mop 4, and a long brush 1201 that work together with the induced draft fan 201 to form a strong suction force. The left water tank 8 supplies water to the rotating mop 4 through a water pipe, and the induced draft fan 201 is provided with a heater, which intelligently adjusts the humidity of the rotating mop 4 to ensure the cleaning effect while protecting the floor.

[0078] The first flap 507 and the second flap 508 are designed to be flipped on the left and right, and the built-in motor-driven pinions of the first flap 507 and the second flap 508 can be opened and closed conveniently. The water tank 8 and the detergent box 9 on the left are cleverly designed for easy replenishment. The six-axis robot arm 6 on the right is fully motor-controlled, and the end is equipped with a soft gripper 7 to enhance operational flexibility. The switch and circuit control area are integrated in the top middle, and key components such as the solenoid valve 17 and the air pump 15 are located below. The cleaning area is equipped with a long brush 1201, a dust storage box 202 and a rotating mop 4 to ensure the cleaning effect. The rear part is also supported by a five-axis leg mechanism, and a battery 13 and a charging electrode 11 are arranged on the top to ensure battery life. The overall structure fixes the inner cover plate 108 with screws, and a software connection interface is reserved.

[0079] The robotic arm cleaning assembly includes a six-axis robotic arm 6 and a soft clamp 7. A pair of opposite end faces of the six-axis robotic arm 6 are fixedly connected to the soft clamp 7. One side end face of the soft clamp 7 is fixedly connected in the first storage frame. The six-axis robotic arm 6 allows the robot to reach into various narrow spaces, such as gaps and holes, to accurately clamp and remove garbage therein, thereby improving the thoroughness and meticulousness of cleaning.

[0080] Preferably, the six-axis robot arm 6 includes a plurality of robot arms, and motors are provided between the plurality of robot arms to achieve multi-angle adjustment between the plurality of robot arms, and to perform flexible movement in six degrees of freedom to adapt to a variety of working environments.

[0081] like Figure 4-Figure 12 As shown, the walking mechanism 1 is fixedly connected to multiple end surfaces of the housing assembly 5, and the walking mechanism 1 includes a track wheel 102 and an air intake and exhaust mechanism. The track wheel 102 is provided with an air cavity, and multiple end surfaces of the track wheel 102 are provided with fins and spines. The air intake and exhaust mechanisms cooperate with each other to form a negative pressure airflow, and the airflow expands the air cavity, lifts the fins, and erects the spines.

[0082] Furthermore, the walking mechanism 1 includes an outer cover plate 101 and an inner cover plate 108, and a middle frame plate 113 is fixedly connected between the outer cover plate 101 and the inner cover plate 108, and a soft track 112 is arranged on the middle frame plate 113. The inner wall end surfaces of the inner cover plate 108 and the outer cover plate 101 are rotatably connected with an inducer wheel 109 and a driving wheel 111, and a fifth motor is arranged in the driving wheel 111, and the inducer wheel 109 and the driving wheel 111 are both engaged with the soft track 112, so that the fifth motor drives the driving wheel 111 to rotate, and the driving wheel 111 rotates, which in turn drives the inducer wheel 109 and the soft track 112 to rotate, and then drives the track wheel 102 to move.

[0083] Preferably, the inducer 109, the driving wheel 111 and the soft track 112, the outer cover plate 101 and the inner cover plate 108 are fixed by large bolts.

[0084] An air inlet 1014 is provided on the end surface of the track wheel 102 near the multiple soft tracks 112, an air inlet connecting pipe 1011 and an air outlet connecting pipe 1013 are respectively provided on one side end surface of the outer cover plate 101, the inner wall end surface of the outer cover plate 101 is connected to the first vacuum sensor 1012, the top end surface of the inner cover plate 108 is provided with a first air outlet connecting port 1082, and the end surface of the inner cover plate 108 near the first air outlet connecting port 1082 is connected to the second vacuum sensor 1081. A negative pressure area is formed by the multiple air inlets 1014, thereby enabling the walking mechanism 1 to walk against the wall.

[0085] The track wheel 102 is provided with a plurality of soft tracks 112 , each of which is provided with fins 1021 , each of which is provided with a plurality of spines 1023 , and the middle frame plate 113 is provided with air cavities 1022 at the bottom end surfaces of the plurality of fins 1021 .

[0086] Specifically, the myofibrils tightly surround the double wheels, and each fin 1021 is inlaid with 50 carbon fiber spines [half in front and half in back] to enhance grip and wear resistance. The components are fastened externally with large screws. At the same time, the intake and exhaust system cleverly runs through the leg structure and directly reaches the solenoid valve 17 and air pump 15 of the inner cover plate 108, achieving efficient airflow circulation.

[0087] like Fig.12 As shown, further, the air intake and exhaust mechanism includes an air intake pipeline 1024, an exhaust pipeline 1025, a solenoid valve 17 and an air pump 15 in the inner cavity of the outer cover plate. A filter is provided in the air intake pipeline 1024 in the inner cavity of the outer cover plate. The air pump 15 and the solenoid valve 17 are located on the top end surface of the dust storage box 202 and are fixed. The air pump 15 is connected to the air intake pipeline 1024 and the exhaust pipeline 1025 in the inner cavity of the outer cover plate.

[0088] An exhaust pipe 1025 [the red part in the figure] is arranged between the outer cover plate 101 and the inner cover plate 108. The exhaust pipe 1025 is located at the bottom end surface of the fin 1021. The top of the outer cover plate 101 is located at the bottom end surface of the fin 1021. An outer cover plate inner cavity air intake pipe 1024 [the blue part in the figure] is arranged. The outer cover plate inner cavity air intake pipe 1024 includes an air intake connecting pipe 1011, and the exhaust pipe 1025 includes an air outlet connecting pipe 1013.

[0089] The track suction technology is inspired by the biological adhesion mechanism of remora. That is, there are small pieces on the suction cup that can rise and fall, called "fin petals". The hair-like structure on the top, called "spiny pieces", can stand up under the control of nerves and muscles, squeeze out air and form a vacuum. This allows the fish to firmly adhere to the surface of the object under the action of external pressure.

[0090] like Figure 8 As shown, the groove of the track is inserted into the outer cover plate 101 and the inner cover plate 108. And lubricating oil is applied to the contact part so that the air flow area has better sealing and does not affect the rotation of the soft track 112. When the system is started, the air pump 15 quickly draws air from the air inlet 1014, and after purification by the precision filter, it is discharged from the air inlet connecting pipe 1011 through the air inlet pipeline 1024 in the inner cavity of the outer cover, forming a negative pressure area, and the first vacuum sensor 1012 will detect the vacuum degree in the area. That is, the air in the concave interval area between adjacent fins 1021 is drawn away by the air inlet 1014 to form a negative pressure area, and the external pressure presses the track firmly on various surfaces.

[0091] like Figure 12-14 As shown, the airflow enters from the air inlet 1014 in the outer cover plate 101, and goes out from the air inlet connecting pipe 1011 through the air inlet pipe 1024 in the outer cover plate cavity of the outer cover plate 101, and passes through the air inlet connecting pipe 1011 and the air inlet pipe 1024 in the outer cover plate cavity (blue line), passes through the entire leg structure to the body, and after being regulated by the solenoid valve 17, flows to the air pump 15, and then passes through the leg structure through the exhaust pipe 1025 (yellow line) to enter the air outlet connecting port 1082, and flows into the air cavity 1022 through the inner cavity exhaust pipe 1025 of the inner cover plate 108, so that the air cavity 1022 expands, lifts up the fin 1021, and makes it produce micro-motion, so that the spines 1023 on the top of the fin 1021 stand up, and cooperate with the soft track 112 made of myofibrils to maximize the contact area, generate adsorption force and tangential friction force. Finally, the air is discharged from the air outlet connecting pipe 1013. The robot can be adsorbed on various surfaces under the action of external pressure.

[0092] When using, Figure 2 As shown, when the robot is targeting a flat ground, it can clean by starting the rotating mop 4, the rotating side brush 3 and the long brush 1201.

[0093] When the garbage piled on the ground is high, the five-axis leg mechanism can be controlled to rotate, the legs can be adjusted to stand or squat, and the rotating mop 4 and the rotating side brush 3 can be raised and lowered for cleaning work.

[0094] When user interaction is required, the ear rotating structure 509 can be controlled to rotate and the five-axis leg mechanism can be controlled to adjust the angle to make interesting movements and interact with the user.

[0095] When the wall surface needs to be cleaned, the walking mechanism 1 can be controlled to start, and the negative pressure formed by the air intake and exhaust mechanism is used to adsorb and fix the wall surface, so as to clean the wall surface.

[0096] like Figure 3 When it is necessary to clean and extend into various narrow spaces, such as gaps, holes and the like, the six-axis robot arm 6 can be started to rotate and adjust the angle, and the soft gripper 7 can be controlled to accurately grip and remove the garbage therein.

[0097] This application has the following benefits;

[0098] 1. Multi-faceted stable mobility:

[0099] The present invention has the ability to achieve stable movement between vertical, inclined and even complex surfaces, which greatly broadens its operating range and flexibility, enabling it to clean areas that are difficult to reach with traditional cleaning tools, such as walls, French windows, etc.

[0100] 2. Flexible mechanical structure design:

[0101] Through its flexible mechanical structure, the robot can easily pass over raised parts on the plane, such as decorative lines on the wall, switch boxes, etc., avoiding cleaning dead corners caused by obstacles. At the same time, the adjustable height design enables it to enter shorter spaces, such as corners, the bottom of furniture, etc., to achieve all-round cleaning coverage.

[0102] 3. Powerful perception ability:

[0103] Equipped with multiple sensors, the robot has a keen sense of the environment and can detect changes in the surrounding environment in real time, including obstacles, edges, etc., so as to make precise movement and obstacle avoidance decisions to ensure the safety and efficiency of the cleaning process.

[0104] 4. Robotic arm gripping function:

[0105] The unique robotic arm design allows the robot to reach into various narrow spaces, such as gaps and holes, accurately grasp and remove the garbage therein, improving the thoroughness and meticulousness of cleaning.

[0106] 5. Low noise operation:

[0107] During the working process, the robot does not produce much noise. This feature is particularly important for cleaning operations in places such as homes and offices that require a quiet environment, ensuring that the cleaning work does not interfere with people's lives or work.

[0108] 6. Height adjustment capability:

[0109] The five-axis leg structure and the liftable 360-degree laser sensor can easily lower their own height, allowing them to enter shorter spaces to work.

[0110] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0111] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-dimensional intelligent companion cleaning robot, characterized in that: Included are: Shell assembly, which protects and supports the exterior of the robot; A walking mechanism is fixedly connected to multiple end surfaces of the housing assembly, the walking mechanism includes a track wheel and an air intake and exhaust mechanism, the track wheel is provided with an air cavity, multiple end surfaces of the track wheel are provided with fins and spines, the air intake and exhaust mechanisms cooperate with each other to form a negative pressure airflow, the airflow expands the air cavity, lifts the fins, and erects the spines; Five-axis leg mechanism: located at the bottom end surface of the housing assembly, the five-axis leg mechanism is connected to the walking mechanism; A soft structure is disposed on a pair of opposite end surfaces of the housing assembly; Sensing components are arranged on multiple end faces of the robot; The dust storage mechanism is located on multiple side end surfaces of the housing component, and the dust storage mechanism includes a rotating mop and a mechanical arm cleaning component.

2. A multi-dimensional intelligent companion cleaning robot according to claim 1, characterized in that: The housing assembly comprises: The screen shell comprises a screen front shell, a first screen shell and a screen rear shell, wherein a memory alloy spring is fixedly connected between the software structure and the screen front shell; The rear housing is located on the rear side of the screen housing, the upper side of the screen housing is provided with a first limiting groove, a charging electrode is provided in the first limiting groove, the charging electrode is connected to a battery, and the battery is located on the inner side of the rear housing; The screen is fixedly connected to one end surface of the front shell of the screen; The ear rotating structure is fixedly connected to the top end surface of the front shell of the screen. The ear rotating structure includes an ear piece, a first motor and an ear gear. The ear piece is fixedly connected to a rotating shaft, the rotating shaft is connected to the ear gear, and the ear gear is connected to the first motor.

3. A multi-dimensional intelligent companion cleaning robot according to claim 1 or 2, characterized in that: The five-axis leg mechanism includes a first leg connecting shaft, a second leg connecting shaft and a third leg connecting shaft, a second motor is connected between the first leg connecting shaft, the second leg connecting shaft and the third leg connecting shaft, a second leg gear is connected between the second leg connecting shaft and the third leg connecting shaft, and the outer end face of the third leg connecting shaft is fixedly connected to the front leg.

4. The multi-dimensional intelligent companion cleaning robot according to claim 2, characterized in that: The dust storage mechanism comprises: A pair of rotating mops, with a rotator connected to the top end surface; A cleaning brush assembly, comprising a cleaning brush box and a long brush, wherein the long brush is fixedly connected to the inner wall end surface of the cleaning brush box, and the cleaning brush box is fixed to the bottom end surface of the rear shell; The induced draft fan is fixedly connected to the end surface of one side of the rear housing close to the cleaning brush box; A dust storage box is fixedly connected to a pair of opposite end surfaces of the rotating mop; A hydraulic mechanism, including a hydraulic pump, wherein the hydraulic mechanism is connected to a water tank; A water tank, a pair of opposite end surfaces of the rear shell are rotatably connected with a first flip cover and a second flip cover respectively, a first storage frame and a second storage frame are respectively arranged between the rear shell and the first flip cover and the second flip cover, the second storage frame is fixedly connected with the water tank, the water tank is provided with a plurality of water pipes, the plurality of water pipes are respectively connected with a rotating mop and a long brush, and the second storage frame is located on one side end surface of the water tank and is fixedly connected with a detergent box.

5. The multi-dimensional intelligent companion cleaning robot according to claim 4, characterized in that: The robot arm cleaning assembly includes a six-axis robot arm and a soft clamp. A pair of opposite end faces of the six-axis robot arm are fixedly connected to the soft clamp, and one side end face of the soft clamp is fixedly connected in the first storage frame.

6. A multi-dimensional intelligent companion cleaning robot according to claim 1 or 5, characterized in that: The sensing components include a laser sensor, a fan sensor, a recharging sensor, a six-dimensional force sensor, a gyroscope, a temperature sensor, a water tank sensor and a vacuum sensor.

7. The multi-dimensional intelligent companion cleaning robot according to claim 6, characterized in that: The walking mechanism includes an outer cover plate and an inner cover plate, a middle frame plate is fixedly connected between the outer cover plate and the inner cover plate, a soft track is arranged on the middle frame plate, an inducer wheel and a driving wheel are rotatably connected to the inner wall end surfaces of the inner cover plate and the outer cover plate, a fifth motor is arranged in the driving wheel, and the inducer wheel and the driving wheel are both engaged with the soft track.

8. The multi-dimensional intelligent companion cleaning robot according to claim 7, characterized in that: The track wheel is provided with a plurality of soft tracks, each of which is provided with fins, each of which is provided with a plurality of spines, and the middle frame plate is provided with air cavities on the bottom end surfaces of the plurality of fins.

9. The multi-dimensional intelligent companion cleaning robot according to claim 8, characterized in that: An air inlet is arranged on the end surface of the track wheel close to the multiple soft tracks, an air inlet connecting pipe and an air outlet connecting pipe are respectively arranged on one side end surface of the outer cover plate, the inner wall end surface of the outer cover plate is connected to the first vacuum sensor, the top end surface of the inner cover plate is provided with a first air outlet connecting port, and the end surface of the inner cover plate close to the first air outlet connecting port is connected to the second vacuum sensor.

10. The multi-dimensional intelligent companion cleaning robot according to claim 9, characterized in that: The air intake and exhaust mechanism includes an air intake pipeline in the inner cavity of the outer cover plate, an exhaust pipeline, a solenoid valve and an air pump. A filter is arranged in the air intake pipeline in the inner cavity of the outer cover plate. The air pump and the solenoid valve are located on the top end surface of the dust storage box. The air pump is connected to the air intake pipeline and the exhaust pipeline in the inner cavity of the outer cover plate. An exhaust pipeline is arranged between the outer cover plate and the inner cover plate, and the exhaust pipeline is located at the bottom end surface of the fin. The top of the outer cover plate is located at the bottom end surface of the fin and an outer cover plate inner cavity air intake pipeline is arranged. The outer cover plate inner cavity air intake pipeline includes an air intake connecting pipe, and the exhaust pipeline includes an air outlet connecting pipe.

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