Cleaning robot

Abstract

The invention provides a cleaning robot. The cleaning robot comprises a robot body; the walking module is arranged on the machine body; the removing module is movably arranged on the robot body, the removing module is configured to move between an initial position and a working position, when the removing module is located at the initial position, the removing module forms a part of a shell of the robot body, and when the removing module is located at the working position, the removing module is separated from the robot body to remove objects around the cleaning robot; and the driving module is arranged on the machine body and is in driving connection with the removing module, so that the removing module moves between the working position and the initial position. Through the scheme, the problems that in the prior art, the cleaning coverage rate of a cleaning robot is low, and the cleaning function has certain limitation can be solved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly, to a cleaning robot. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, cleaning robots have entered the lives of more and more people.

[0003] For existing cleaning robots, their bodies are usually of a cylindrical structure, and a traveling device is provided on the body. However, for existing cleaning robots, during the cleaning process, when encountering movable obstacles such as slippers on the ground and larger-sized garbage such as paper balls and aluminum cans, they can only choose to avoid the obstacles and go around. After the cleaning robot bypasses the above-mentioned movable obstacles, it cannot clean the environment near the obstacles, resulting in a relatively low cleaning coverage rate of the robot and certain limitations in the cleaning function. Summary of the Invention

[0004] Embodiments of the present invention provide a cleaning robot to solve the problems of low cleaning coverage rate and certain limitations in the cleaning function of the cleaning robot in the prior art.

[0005] Embodiments of the present invention provide a cleaning robot, which includes: a body; a traveling module provided on the body; a removal module movably provided on the body, the removal module being configured to move between an initial position and a working position, in the initial position, the removal module forms a part of the body shell, and in the working position, the removal module is separated from the body to remove items around the cleaning robot; a driving module provided on the body and drivingly connected to the removal module to move the removal module between the working position and the initial position.

[0006] Further, the removal module is provided at the front part of the side surface of the body.

[0007] Further, when the removal module is in the initial position, there is also a buffer interval between the removal module and the body for buffering the collision between the cleaning robot and the obstacle.

[0008] Further, there are two removal modules, symmetrically arranged along the front-back axis of the cleaning robot at the front part of the body. When the removal modules move from the initial position to the working position, the two removal modules move towards each other to clamp the items.

[0009] Further, the driving module includes: a driving part provided on the body; a folding assembly provided between the driving part and the removal module, the driving part being drivingly connected to the removal module through the folding assembly. When the folding assembly is in the folded state, the removal module is in the initial position, and when the folding assembly is in the unfolded state, the removal module is in the working position.

[0010] Further, the removal module is hinged to the folding component.

[0011] Further, the folding component includes: a first swing arm, a first end of the first swing arm is hinged to the fuselage, and a second end of the first swing arm is hinged to the fuselage; a second swing arm, a first end of the second swing arm is hinged to the fuselage, and a second end of the second swing arm is hinged to the fuselage; wherein, the first ends of the first swing arm and the second swing arm are distributed at intervals along the circumferential direction of the fuselage, the driving part is drivingly connected to the first end of the first swing arm, and / or the driving part is drivingly connected to the first end of the second swing arm, so that the first swing arm and the second swing arm swing synchronously.

[0012] Further, the distance between the first ends of the first swing arm and the second swing arm is equal to the distance between the second ends of the first swing arm and the second swing arm.

[0013] Further, an avoidance space is provided on a side of the second swing arm close to the first swing arm. When the removal module is in the folded state, the first swing arm is located outside the second swing arm, and at least a part of the first swing arm is arranged corresponding to the avoidance space.

[0014] Further, when the removal module is in the initial position, the folding component is located within the buffer interval.

[0015] Further, two removal modules cooperate to form a handling component, and at least one group of handling components is provided.

[0016] Further, at least one removal module is provided.

[0017] Further, a plurality of removal modules are provided, and the driving module is respectively drivingly connected to the plurality of removal modules.

[0018] Further, the removal module includes: a body part, the driving module is drivingly connected to the body part, and the body part has a removal end; a lifting part, which is slidably arranged at the removal end of the body part in the vertical direction, and the lifting parts of two removal modules cooperate to clamp an article.

[0019] Further, the removal module includes: a driving structure, which is arranged between the body part and the lifting part, and the lifting part slides relative to the body part through the driving structure.

[0020] Further, a driving hole is provided at the removal end of the body part, the top of the driving hole is inclined towards the direction close to the lifting part, the lifting part includes a sliding column, the sliding column is slidably arranged in the driving hole, and the sliding column cooperates with the driving hole to drive the lifting part to rise; when two removal modules move away from each other, the lifting part descends.

[0021] Applying the technical solution provided by the embodiments of the present invention, by setting a removal module and a driving module, movable obstacles around the cleaning robot can be removed, so as to facilitate the cleaning robot to clean the position where the above-mentioned obstacles are located. In the traditional technical solution, when the cleaning robot encounters an obstacle, it will bypass the obstacle, and the cleaning robot cannot clean the area where the obstacle is located. Compared with the traditional technical solution, the setting of this solution can clamp and move the movable obstacle, so that the cleaning robot can clean the position where the above-mentioned obstacle is located, improving the cleaning coverage rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 Shows a schematic structural diagram of the removal module of the cleaning robot provided by the embodiment of the present invention when it is in the initial position;

[0024] Figure 2 Shows a schematic structural diagram of the removal module of the cleaning robot provided by the embodiment of the present invention when it is in the working position;

[0025] Figure 3 Shows the removal module of the cleaning robot provided by the embodiment of the present invention when it is in Figure 2 Another perspective structural diagram of the state shown;

[0026] Figure 4 Shows another schematic structural diagram of the removal module of the cleaning robot provided by the embodiment of the present invention when it is in the working state;

[0027] Figure 5 Shows a bottom view of the removal module provided by the embodiment of the present invention when it is in the initial position;

[0028] Figure 6 Shows another perspective structural diagram of the removal module provided by the embodiment of the present invention when it is in the initial position;

[0029] Figure 7 Shows a schematic structural diagram of the removal module provided by the embodiment of the present invention when it is in the working position;

[0030] Figure 8 Shows another perspective structural diagram of the removal module provided by the embodiment of the present invention when it is in the working position;

[0031] Figure 9Shows a schematic structural diagram of the lifting part of the removal module cooperating with two mounting plates according to an embodiment of the present invention;

[0032] Figure 10 Shows a schematic structural diagram of the lifting part of the removal module cooperating with one of the mounting plates according to an embodiment of the present invention.

[0033] Among them, the above-mentioned drawings include the following reference numerals:

[0034] 10, fuselage;

[0035] 20, removal module;

[0036] 21, body part; 2101, driving hole;

[0037] 211, mounting plate;

[0038] 22, lifting part;

[0039] 221, sliding column; 222, lifting rod; 223, connecting rod;

[0040] 30, driving part;

[0041] 31, driving member; 32, transmission part;

[0042] 40, folding assembly;

[0043] 41, first swing arm;

[0044] 411, first section; 412, first transition section; 413, second section;

[0045] 42, second swing arm; 4201, avoidance space.

[0046] 421, third section; 422, second transition section; 423, fourth section. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation to the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0048] As Figures 1 to 4As shown in the figure, an embodiment of the present invention provides a cleaning robot, which includes a body 10, a walking module, a removal module 20, and a driving module. Among them, the walking module is arranged on the body 10. The removal module 20 is movably arranged on the body 10. The removal module 20 moves between an initial position and a working position. In the initial position, the removal module 20 forms a part of the outer shell of the body 10. In the working position, the removal module 20 is separated from the body 10 to remove the items around the cleaning robot. The driving module is arranged on the body 10 and is drivingly connected to the removal module 20 to enable the removal module 20 to move between the working position and the initial position.

[0049] Applying the technical solution provided by the embodiment of the present invention, by setting the removal module 20 and the driving module, the movable obstacles around the cleaning robot can be removed, so that the cleaning robot can clean the position where the above obstacles are located. In the traditional technical solution, when the cleaning robot encounters an obstacle, it will bypass the obstacle, and the cleaning robot cannot clean the area where the obstacle is located. Compared with the traditional technical solution, the setting of this solution can clamp and move the movable obstacle, so that the cleaning robot can clean the position where the above obstacle is located, improving the cleaning coverage rate.

[0050] The specific position of the removal module 20 in this solution is not limited. The removal module 20 can be arranged on the side or top of the body 10, as long as it is ensured that when the removal module 20 is in the working position, the removal module 20 is separated from the body, and the removal module 20 can protrude from the side wall of the body to the outer periphery of the body, that is, it is ensured that the removal module 20 removes the obstacles around the cleaning robot.

[0051] As shown in Figure 1, the body 10 includes a front part and a rear part, and has an approximate circular shape (circular both front and rear), and can also have other shapes, including but not limited to an approximate D-shaped shape with a round front and a square or rectangular shape with a front and a rear. In the embodiment of the present application, the removal module 20 can be arranged at the front and / or rear of the side of the body 10.

[0052] As Figure 1 shown, in the embodiment of this solution, the removal module 20 is arranged at the front of the body 10. Specifically, it is arranged at a position close to the front on the side of the body 10. With such an arrangement, it is convenient for the removal module 20 to remove the obstacles located in front of the running direction of the body 10.

[0053] Further, when the removal module 20 is in the initial position, there is also a buffer interval between the removal module 20 and the fuselage 10, which is used to buffer the collision between the cleaning robot and obstacles. During the movement of the cleaning robot, it may encounter situations where there are immovable obstacles such as walls or tables around. When the removal module 20 collides with an immovable obstacle, the above setting makes the rigid contact between the cleaning robot and the obstacle become a flexible contact, which can play an effective buffering role and reduce the damage of the cleaning robot. Moreover, the above setting enables the removal module 20 to integrate the removal function and the buffering function. This solution does not require an additional buffer component to buffer the cleaning robot, improving the structural compactness of the cleaning robot in this solution and reducing the cost of the cleaning robot at the same time.

[0054] This solution does not limit the specific number of the removal modules 20. Among them, at least one removal module 20 is provided in this solution.

[0055] In the embodiment of this solution, there are two removal modules 20, which are symmetrically arranged at the front part of the fuselage 10 along the front-back axis of the cleaning robot. When the removal modules 20 move from the initial position to the working position, the two removal modules 20 move towards each other to clamp an item. The two removal modules 20 cooperate with each other to be able to clamp the item and facilitate the removal of the item.

[0056] This solution does not limit the specific shape of the removal module 20, as long as when the removal module 20 is in the initial position, the removal module 20 and the fuselage 10 cooperate to form a regular structure.

[0057] As Figure 1 and Figure 2 shown, in this embodiment, a concave portion is provided on the side of the fuselage 10, and the concave portion extends circumferentially along the outer side wall of the fuselage 10, and the concave portion is provided corresponding to each removal module. The removal module 20 is generally in an arc-shaped plate structure. When the removal module 20 is in the initial position, the removal module 20 is arranged corresponding to the concave portion, and the overall outer contour of the fuselage 10 and the overall outer contour of the removal module 20 are generally in a complete cylindrical structure.

[0058] As Figures 4 to 6As shown, specifically, the driving module includes a driving unit 30 and a folding assembly 40. The driving unit 30 is arranged on the fuselage 10. The folding assembly 40 is arranged between the driving unit 30 and the removal module 20. The driving unit 30 is connected to the removal module 20 through the folding assembly 40. When the folding assembly 40 is in a folded state, the removal module 20 is in an initial position. When the folding assembly 40 is in an unfolded state, the removal module 20 is in a working position. Such a configuration can facilitate the switching of the position of the removal module 20. And the driving module is arranged in the form of the driving unit 30 and the folding assembly 40, which can reduce the space occupied by the folding assembly 40 as much as possible when the folding assembly 40 is in a folded state, thereby improving the compactness of the overall structure.

[0059] Furthermore, the removal module 20 is hinged to the folding assembly 40. With such a configuration, when the removal module 20 is in the initial position, the removal module 20 can move slightly within the buffer interval to achieve a buffering effect. Moreover, with the above configuration, there is no need to set an additional buffer component between the removal module 20 and the folding assembly 40 to allow the removal module 20 to move slightly. That is, the buffering effect of the removal module 20 can be achieved through the connection relationship between the removal module 20 and the folding assembly 40, and the structure is simple and easy to process.

[0060] In this embodiment, when the removal module 20 is in the initial position, the folding assembly 40 is located in the buffer interval. This arrangement can further improve the compactness of the cleaning robot of this solution and the rationality of the layout. At the same time, the aesthetics of the cleaning robot is improved when the removal module 20 is in the initial position.

[0061] like Figures 3 to 6 As shown, specifically, the folding assembly 40 includes a first swing arm 41 and a second swing arm 42. The first end of the first swing arm 41 is hinged to the fuselage 10, and the second end of the first swing arm 41 is hinged to the fuselage 10. The first end of the second swing arm 42 is hinged to the fuselage 10, and the second end of the second swing arm 42 is hinged to the fuselage 10. Among them, the first end of the first swing arm 41 and the first end of the second swing arm 42 are spaced apart along the circumference of the fuselage 10, and the driving unit 30 is drivingly connected to the first end of the first swing arm 41 and / or the driving unit 30 is drivingly connected to the first end of the second swing arm 42, so that the first swing arm 41 and the second swing arm 42 swing synchronously. In this way, the fuselage 10, the first swing arm 41, the second swing arm 42 and the removal module 20 form a form similar to a connecting rod mechanism, which can ensure the stability of the removal module 20 switching between the initial position and the working position. Furthermore, the above arrangement enables two connection positions between each removal module 20 and the folding assembly 40, thereby improving the stability of the two removal modules 20 when clamping objects and reducing the swinging or shaking of the removal modules 20 when clamping objects.

[0062] Further, the second ends of the first swing arm 41 and the second swing arm 42 are respectively hinged to positions near the middle of the removal module 20. When the folding assembly 40 is switched from the folded state to the unfolded state, the first swing arm 41 and the second swing arm 42 swing forward towards the front of the fuselage 10.

[0063] In this embodiment, the distance between the first ends of the first swing arm 41 and the second swing arm 42 is equal to the distance between the second ends of the first swing arm 41 and the second swing arm 42. With such a setting, when the folding assembly 40 is in the folded state, the first swing arm 41 and the second swing arm 42 occupy a sufficiently small space, further improving the structural compactness of the device.

[0064] In the embodiment of this solution, when the removal module 20 is in the folded state, the first swing arm 41 is located outside the second swing arm 42; when the removal module 20 is in the unfolded state, the first swing arm 41 is located in front of the second swing arm 42. The above setting enables the removal module 20, the first swing arm 41 and the second swing arm 42 to be distributed in sequence along the radial direction of the fuselage 10 when the removal module 20 is in the folded state. When the removal module 20 is in the folded state, the above setting can minimize the space occupied by the removal module 20, the first swing arm 41 and the second swing arm 42, improving the structural compactness of the removal module 20 when it is in the folded state.

[0065] As Figure 5 shown, specifically, an avoidance space 4201 is provided on the side of the second swing arm 42 close to the first swing arm 41, and at least part of the first swing arm 41 is arranged corresponding to the avoidance space 4201. With such a setting, when the folding assembly 40 is in the folded state, the first swing arm 41 can be as close as possible to the second swing arm 42, further improving the structural compactness of the folding assembly 40.

[0066] As Figure 3 and Figure 6 shown, in this embodiment, the first swing arm 41 includes a first section 411, a first transition section 412 and a second section 413 arranged in sequence along the extension direction. The first transition section 412 forms an angle with the first section 411 and the second section 413 respectively. One end of the first section 411 away from the first transition section 412 is hinged to the removal module 20, and one end of the second section 413 away from the first transition section 412 is hinged to the fuselage 10. When the removal module is in the folded state, the first section 411 is arranged closer to the inner side of the removal module 20 than the second section 413, and the second section 413 is arranged closer to the fuselage 10 than the first section 411.

[0067] The second swing arm 42 includes a third section 421, a second transition section 422, and a fourth section 423 arranged in sequence along the extension direction. The second transition section 422 forms an angle with the third section 421 and the fourth section 423 respectively. One end of the third section 421 away from the second transition section 422 is hinged to the removal module 20, and one end of the fourth section 423 away from the second transition section 422 is hinged to the fuselage 10. When the removal module is in the folded state, the third section 421 is arranged closer to the inner wall of the removal module 20 than the fourth section 423, and the fourth section 423 is arranged closer to the fuselage 10 than the third section 421.

[0068] Further, a clearance space 4201 is formed between the fourth section 423 and the second transition section 422. When the removal module is in the folded state, at least a part of the first swing arm 41 is located in the clearance space 4201.

[0069] The length of the third section 421 is less than that of the fourth section 423. When the removal module is in the folded state, the third section 421 is located on the extension line of the first section 411. With such an arrangement, when the removal module is in the folded state, the outer side of the first swing arm 41 is almost close to the inner wall of the removal module 20, the outer side of the second swing arm 42 is almost close to the inner side of the first swing arm 41, and the inner side of the second swing arm 42 is almost close to the outer wall of the fuselage 10. Further improving the structural compactness when the removal module is in the folded state.

[0070] In some embodiments of this solution, the driving part 30 is respectively drivingly connected to the first end of the first swing arm 41 and the first end of the second swing arm 42.

[0071] In some other embodiments of this solution, the driving part 30 is drivingly connected to the first end of the first swing arm 41.

[0072] As Figure 7 and Figure 8 shown, in the embodiments of this solution, the driving part 30 is drivingly connected to the first end of the second swing arm 42. The fuselage 10, the first swing arm 41, the second swing arm 42, and the removal module 20 form a form similar to a linkage mechanism, enabling the first swing arm 41 and the second swing arm 42 to achieve linkage. The driving part 30 is drivingly connected to the first end of the second swing arm 42. With such an arrangement, the smoothness and consistency of the movement process of the first swing arm 41 and the second swing arm 42 can be ensured.

[0073] In this embodiment, the driving part 30 is respectively drivingly connected to two second swing arms 42.

[0074] Further, the driving part 30 includes a driving member 31 and a transmission part 32. Among them, there are two sets of the transmission parts 32, and the transmission parts 32 are arranged in one-to-one correspondence with the second swing arms 42. The driving member 31 is drivingly connected to the two second swing arms 42 respectively through the two sets of transmission parts 32, so that the two second swing arms 42 rotate synchronously. With such a setting, it can be ensured that the two removal modules 20 synchronously switch between the folded state and the opened state.

[0075] In the embodiment, the driving member 31 has two driving shafts, and the driving shafts are arranged in one-to-one correspondence with the transmission parts 32. The transmission part 32 includes a bevel gear set. The driving shaft is drivingly connected to the input shaft of the bevel gear set, and the output shaft of the bevel gear set is drivingly connected to the second swing arm 42. With the setting of the bevel gear set, its structure is simple, the transmission smoothness is high, and the structural stability is strong. Moreover, with the above setting, the same driving member 31 drives the two second swing arms 42 to rotate simultaneously, improving the consistency of the synchronous movement of the two sets of removal modules 20. At the same time, with the above setting, the number of components of the driving part 30 can be reduced, and the structural compactness is strong. Specifically, the driving member 31 is a first driving motor, and the first driving motor is arranged inside the fuselage 10, and the first driving motor has two driving shafts.

[0076] In other embodiments of this solution, the transmission part 32 includes a gear set. There are two driving members 31, and the driving members 31 are arranged in one-to-one correspondence with the gear set. Each driving member 31 is drivingly connected to one of the second swing arms 42 through the corresponding gear set. Specifically, the driving member 31 is a second driving motor, and the two second driving motors are arranged inside the fuselage 10.

[0077] In other embodiments of this solution, the two removal modules 20 cooperate to form a moving assembly, and at least one set of the moving assembly is provided. With such a setting, the removal range of the removal module 20 for the movable obstacles around the cleaning robot can be further improved, and the adaptability of this cleaning robot is further improved.

[0078] In other embodiments of this solution, there are multiple removal modules 20, and the driving module is drivingly connected to the multiple removal modules 20 respectively. With such a setting, the driving control of the multiple removal modules 20 can be realized through one driving module, reducing the number of components of the device, improving the structural compactness, and achieving light weight.

[0079] Such as Figure 4 、 Figure 9 and Figure 10As shown in the figure, in this embodiment, the removal module 20 includes a main body part 21 and a lifting part 22. The driving module is drivingly connected to the main body part 21. The main body part 21 has a removal end. In this embodiment, the front end of the main body part 21 forms the removal end. The lifting part 22 is slidably arranged in the removal end of the main body part 21 in the vertical direction. The lifting parts 22 of the two removal modules 20 cooperate to clamp an object. With such an arrangement, the lifting part 22 can lift the obstacle off the ground after clamping the obstacle, avoiding or reducing the possibility of contact between the obstacle and the ground during the cleaning process of the cleaning robot, improving the cleaning effect of the cleaning robot. Moreover, the above arrangement can avoid the situation of generating friction between the obstacle and the ground, reduce the resistance of the cleaning robot to move, and improve the smoothness of the operation of the cleaning robot.

[0080] This solution does not limit the specific movement form of the lifting part 22.

[0081] In some implementations of this solution, the lifting part 22 can be driven to move in the height direction by setting a driving member such as a cylinder or a telescopic member.

[0082] In this embodiment, the removal module 20 includes a driving structure. The driving structure is arranged between the main body part 21 and the lifting part 22. The lifting part 22 slides relative to the main body part 21 through the driving structure. The setting of the driving structure enables the lifting part 22 to slide in the vertical direction relative to the main body part 21.

[0083] Specifically, a driving hole 2101 is arranged at the removal end of the main body part 21. The top of the driving hole 2101 is inclined towards the direction close to the lifting part 22. The lifting part 22 includes a sliding column 221. The sliding column 221 is slidably arranged in the driving hole 2101. The sliding column 221 cooperates with the driving hole 2101 to drive the lifting part 22 to rise; when the two removal modules 20 move away from each other, the lifting part 22 descends. When the two lifting parts 22 respectively contact the object, the two main body parts 21 continue to move towards each other. Due to a certain frictional force between the lifting part 22 and the object, under the guiding action of the driving hole 2101 on the sliding column 221, the two lifting parts 22 drive the clamped object to move upward. With such an arrangement, this solution does not require an additional power device to drive the lifting part 22 to rise or fall.

[0084] Specifically, the front end of the main body part 21 includes two mounting plates 211. The two mounting plates 211 are symmetrically arranged along the thickness direction of the main body part 21, and the two mounting plates 211 are buckled with each other. Two driving holes 2101 are arranged on each mounting plate 211, and the two driving holes 2101 are parallelly distributed along the height direction of the mounting plate 211.

[0085] The lifting part 22 further includes a lifting rod 222 and two connecting rods 223. The lifting rod 222 extends in the height direction. The two connecting rods 223 are spaced apart along the height direction of the lifting rod 222. The connecting rods 223 are perpendicular to the lifting rod 222. One sliding column 221 is provided at one end of each connecting rod 223 away from the lifting rod 222. Both ends of each sliding column 221 are slidably matched with two oppositely arranged driving holes 2101 on the two mounting plates 211. With such a setting, the stability and smoothness of the relative sliding of the lifting part 22 with respect to the body part 21 can be ensured.

[0086] Further, the cleaning robot according to the embodiment of the present invention further includes a first sensor. The first sensor can be arranged between the body 10 and the removal module 20. The first sensor is used to detect whether the removal module 20 contacts an obstacle when it is in the initial position. The first sensor is electrically connected to the traveling module to change the traveling path of the traveling module. The setting of the first sensor can timely judge whether the removal module 20 collides with an obstacle and timely adjust the running path of the cleaning robot.

[0087] When the removal module 20 is in the initial position and the first sensor detects a small swing of the removal module 20, the first sensor senses that the removal module 20 collides with an obstacle. The first sensor transmits the sensing signal to the traveling module so that the traveling module changes the running direction.

[0088] In the embodiment of this solution, the first sensor is arranged in the concave part of the body 10.

[0089] In other embodiments of this solution, the first sensor is arranged on the inner side wall of the removal module 20.

[0090] Further, the cleaning robot according to the embodiment of the present invention may further include a second sensor. The second sensor can be arranged on at least one of the body 10 or the removal module 20. The second sensor is used to detect whether there is a removable obstacle around the body 10 and determine whether to remove it through the removal module 20 according to the detection result. In the embodiment of the present invention, the second sensor can be a sensor such as a camera or a line laser arranged at the front of the body 10. During the traveling process of the cleaning robot, the second sensor detects the obstacle in front of the body 10 and judges whether the obstacle is a movable obstacle. For example, when the second sensor is a camera arranged at the front of the body 10, the cleaning robot can judge whether the obstacle is a movable obstacle according to the obstacle picture collected by the camera. If it is judged to be a movable obstacle, the cleaning robot can control the removal module 20 to move to the working position and remove the obstacle; if it is judged to be an immovable obstacle or a difficult-to-move obstacle, the cleaning robot can control the traveling module to change the traveling path to reduce the possibility of the cleaning robot colliding with the obstacle.

[0091] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0092] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0093] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0094] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used herein will be made accordingly.

[0095] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0096] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that, comprising: a fuselage (10); a traveling module disposed on the fuselage (10); a removal module (20) movably disposed on the fuselage (10), the removal module (20) being configured to move between an initial position and a working position, in the initial position, the removal module (20) forms part of the outer shell of the fuselage (10), and in the working position, the removal module (20) is separated from the fuselage (10) to remove items around the cleaning robot; a driving module disposed on the fuselage (10) and drivingly connected to the removal module (20) to move the removal module (20) between the working position and the initial position.

2. The cleaning robot according to claim 1, characterized in that, the removal module (20) is disposed at the front of the side surface of the fuselage (10).

3. The cleaning robot according to claim 2, characterized in that, when the removal module (20) is in the initial position, there is also a buffer interval between the removal module (20) and the fuselage (10) for buffering the collision between the cleaning robot and an obstacle.

4. The cleaning robot according to claim 3, characterized in that, there are two removal modules (20), symmetrically disposed along the front-rear axis of the cleaning robot at the front of the fuselage (10), and when the removal modules (20) move from the initial position to the working position, the two removal modules (20) move towards each other to clamp an item.

5. The cleaning robot according to claim 3, characterized in that, the driving module includes: a driving part (30) disposed on the fuselage (10); a folding assembly (40) disposed between the driving part (30) and the removal module (20), the driving part (30) being drivingly connected to the removal module (20) through the folding assembly (40), when the folding assembly (40) is in a folded state, the removal module (20) is in the initial position, and when the folding assembly (40) is in an unfolded state, the removal module (20) is in the working position.

6. The cleaning robot according to claim 5, characterized in that, the removal module (20) is hinged to the folding assembly (40).

7. The cleaning robot according to claim 6, characterized in that, the folding assembly (40) includes: a first swing arm (41), the first end of the first swing arm (41) being hinged to the fuselage (10), and the second end of the first swing arm (41) being hinged to the fuselage (10); a second swing arm (42), the first end of the second swing arm (42) being hinged to the fuselage (10), and the second end of the second swing arm (42) being hinged to the fuselage (10); The first end of the first swing arm (41) and the first end of the second swing arm (42) are spaced apart along the circumference of the fuselage (10), the driving unit (30) is drivingly connected to the first end of the first swing arm (41), and / or the driving unit (30) is drivingly connected to the first end of the second swing arm (42), so that the first swing arm (41) and the second swing arm (42) swing synchronously.

8. The cleaning robot according to claim 7, It is characterized in that The distance between the first end of the first swing arm (41) and the first end of the second swing arm (42) is equal to the distance between the second end of the first swing arm (41) and the second end of the second swing arm (42).

9. The cleaning robot according to claim 7, It is characterized in that A side of the second swing arm (42) close to the first swing arm (41) is provided with an avoidance space (4201); when the removal module (20) is in the folded state, the first swing arm (41) is located on the outside of the second swing arm (42), and at least a portion of the first swing arm (41) is arranged corresponding to the avoidance space (4201).

10. The cleaning robot according to claim 5, It is characterized in that When the removal module (20) is in the initial position, the folding assembly (40) is located in the buffer interval.

11. The cleaning robot according to claim 4, It is characterized in that The two removal modules (20) cooperate to form a moving assembly, and at least one set of the moving assembly is provided.

12. The cleaning robot according to claim 1, It is characterized in that At least one removal module (20) is provided.

13. The cleaning robot according to claim 1, It is characterized in that The removing modules (20) are provided in plurality, and the driving module is respectively drivingly connected to the plurality of removing modules (20).

14. The cleaning robot according to claim 4, It is characterized in that The removal module (20) comprises: A main body (21), the driving module being drivingly connected to the main body (21), and the main body (21) having a removal end; The lifting part (22) is slidably arranged at the removal end of the main body (21) in a vertical direction, and the lifting parts (22) of the two removal modules (20) cooperate to clamp an object.

15. The cleaning robot according to claim 14, It is characterized in that The removal module (20) comprises: The driving structure is arranged between the main body (21) and the lifting part (22), and the lifting part (22) slides relative to the main body (21) through the driving structure.

16. The cleaning robot according to claim 15, It is characterized in that A driving hole (2101) is provided at the removal end of the main body portion (21). The top of the driving hole (2101) is inclined towards the direction close to the lifting portion (22). The lifting portion (22) includes a sliding column (221). The sliding column (221) is slidably disposed in the driving hole (2101). The sliding column (221) and the driving hole (2101) cooperate with each other to drive the lifting portion (22) to rise; when the two removal modules (20) move away from each other, the lifting portion (22) descends.

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