Cleaning robot

Abstract

The cleaning robot comprises a mechanical arm and a cleaning assembly, the mechanical arm serves as an execution end, the cleaning assembly is provided with a roller, a cleaning movable seat and a buffering guide part fixedly connected to the cleaning movable seat, the roller is contained in the cleaning movable seat, and the mechanical arm is movably connected with the cleaning movable seat through the buffering guide part. The cleaning movable seat is in a stressed state, and the buffer guide part can guide the cleaning movable seat to do reciprocating translation along the central axis direction of the roller relative to the manipulator and absorb mechanical energy of external force so as to drive the cleaning movable seat to reset in a state of removing the external force. According to the technical scheme, the problem that the contact pressure between the roller and the to-be-cleaned surface is unstable due to the fact that a cleaning assembly and manipulator connecting structure of an existing wall and glass cleaning robot lacks self-adaptive adjusting capacity and the position of the cleaning movable seat cannot be adjusted under the action of external force in the central axis direction of the roller can be effectively solved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a cleaning robot. Background Technology

[0002] In the cleaning of building surfaces such as walls and glass, cleaning robots have been widely used because they can replace manual labor to complete cleaning tasks at heights and over large areas, effectively improving operational safety and efficiency. Existing robots used for cleaning walls and glass typically include a robotic arm as the actuator, and a cleaning assembly equipped with rollers and a cleaning seat. The rollers are housed within the cleaning seat, and the robotic arm drives the cleaning assembly to move, bringing the rollers into contact with the surface to be cleaned and performing the cleaning action.

[0003] However, the actual walls and glass surfaces to be cleaned inevitably have minor unevenness. Furthermore, tolerances that may arise during robot assembly, and slight deviations in the robotic arm's movement trajectory during operation, all contribute to the external force acting on the cleaning components along the roller's central axis. Because the connection structure between the cleaning components and the robotic arm in existing technologies lacks adaptive adjustment capabilities, it cannot effectively cope with these external forces. This prevents the cleaning seat from adaptively displacing relative to the robotic arm to offset the effects of external forces, resulting in consistently unstable contact pressure between the roller and the surface to be cleaned. This instability in contact pressure not only leads to incomplete cleaning and poor cleaning results but may also cause accelerated roller wear or scratches on the surface due to excessive localized pressure, affecting the cleaning robot's lifespan and operational reliability. Summary of the Invention

[0004] This application provides a cleaning robot that can effectively solve the problem that the existing wall and glass cleaning robots lack adaptive adjustment capabilities in the connection structure between the cleaning components and the robotic arm, and cannot adjust the position of the cleaning seat when subjected to external force in the direction of the central axis of the roller, resulting in unstable contact pressure between the roller and the surface to be cleaned.

[0005] This application provides a cleaning robot, which includes a robotic arm and a cleaning assembly. The robotic arm serves as the actuator, and the cleaning assembly has a roller, a cleaning seat, and a buffer guide fixed to the cleaning seat. The roller is housed in the cleaning seat, and the robotic arm is movably connected to the cleaning seat through the buffer guide. The cleaning seat is under stress, and the buffer guide can guide the cleaning seat to reciprocate relative to the robotic arm along the central axis of the roller and absorb the mechanical energy of external forces, so as to drive the cleaning seat to reset when the external forces are removed.

[0006] In one embodiment, the buffer guide includes a guide portion and a buffer portion. The guide portion extends along the central axis of the roller to restrict the cleaning seat from sliding with the robot arm in the central axis direction. The buffer portion is at least disposed on one side of the robot arm on the sliding path, and the buffer portion is capable of elastic deformation when the cleaning seat is under stress and can recover its deformation when the external force is removed.

[0007] In one embodiment, the guide portion includes a first conductor and a second conductor. The first conductor is disposed on the robot arm, and the second conductor extends along the central axis of the roller and is disposed on the cleaning seat, and slides in cooperation with the first conductor.

[0008] In one embodiment, the first conductor is disposed on one side of the second conductor and is in high-pair contact with the side surface of the second conductor.

[0009] In one embodiment, a first conductor is disposed on each of the two opposite sides of the second conductor and is in high-pair contact with the side surface of the second conductor.

[0010] In one embodiment, one of the first conductor and the second conductor is provided with a guide groove, and the other of the first conductor and the second conductor is provided with a high pair, which is slidably or rollingly connected to the inside of the guide groove.

[0011] In one embodiment, the buffer includes a first elastic element and a second elastic element. The second elastic element and the first elastic element are respectively disposed on two opposite sides of the robot. The first elastic element and the second elastic element cooperate to absorb the mechanical energy generated by the relative sliding of the cleaning seat and the robot.

[0012] In one embodiment, the first central axis of the first elastic element and the second central axis of the second elastic element are arranged collinearly or parallel.

[0013] In one embodiment, the robotic arm is provided with a first fixing part and a second fixing part, the cleaning movable seat is provided with a first connecting part and a second connecting part, the two ends of the first elastic member are respectively connected to the first fixing part and the first connecting part, and the two ends of the second elastic member are respectively connected to the second fixing part and the second connecting part. In the direction perpendicular to the upper surface of the guide portion, the first fixing portion, the second fixing portion, the first connecting portion, and the second connecting portion are all located on the same side of the upper surface, and the distance between the upper surface and the connecting end of the first fixing portion used to connect the first elastic element is equal to the distance between the upper surface and the connecting end of the first connecting portion used to connect the first elastic element, and the distance between the upper surface and the connecting end of the second fixing portion used to connect the second elastic element is equal to the distance between the upper surface and the connecting end of the second connecting portion used to connect the second elastic element.

[0014] In one embodiment, the buffer portion is made of an elastic material and extends along the central axis, and the buffer portion has a plurality of deformation notches along the central axis; or The buffer is a spring; or The buffer part is made of elastic material and extends along the central axis. The buffer part is provided with deformation grooves that extend spirally along the central axis.

[0015] Based on the above embodiments, this application proposes that during the operation of the cleaning robot, when the cleaning component is subjected to an external force along the central axis of the roller, the buffer guide connected to both the robotic arm and the cleaning seat can play a dual role. On the one hand, it guides the cleaning seat to reciprocate relative to the robotic arm along the central axis of the roller, causing the cleaning seat to produce adaptive displacement to offset the positional interference caused by the external force. On the other hand, it absorbs the mechanical energy of the external force to weaken the impact of the external force on the cleaning component. When the external force is removed, the buffer guide can drive the cleaning seat to return to its initial position, thereby realizing the dynamic adaptive adjustment of the position of the cleaning seat, ensuring that the contact pressure between the roller and the surface to be cleaned remains stable, and thus effectively avoiding the adverse consequences of incomplete cleaning, increased roller wear, and scratches on the surface to be cleaned caused by unstable contact pressure. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a first structural schematic diagram of a cleaning robot in an assembled state according to an embodiment of the present invention; Figure 2This is a schematic diagram of the second structure of a cleaning robot in an assembled state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the cleaning robot in an assembled state according to another embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a cleaning robot in an exploded state according to another embodiment of the present invention; Figure 5 This is a side view schematic diagram of a cleaning robot in an assembled state according to another embodiment of the present invention; Figure 6 for Figure 5 A cross-sectional view at point AA.

[0018] Explanation of icon numbers: 1000 - Cleaning robot, 100 - Robotic arm, 110 - Main body, 111 - Sliding connector, 120 - Limiting cover, 130 - Detector, 141 - First fixing part, 142 - Second fixing part. 200 - Cleaning component, 210 - Cleaning movable seat, 2101 - First connecting part, 2102 - Second connecting part, 220 - Buffer guide, 221 - Guide part, 2211 - First conductor, 2212 - Second conductor, 2213a - Guide groove, 2213b - High pair part, 222 - Buffer part, 222a - First elastic element, 222b - Second elastic element, 223 - Sliding part.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0022] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] Please refer to the details. Figures 1 to 6 This application proposes a cleaning robot 1000, which is an automated cleaning device specifically designed for cleaning vertical or inclined surfaces such as walls and glass. The cleaning robot 1000 typically utilizes a combination of mechanical structure and control module to achieve unmanned wiping of the target surface, aiming to solve problems such as low efficiency of manual cleaning, high risks associated with working at heights, and poor consistency in cleaning results. This cleaning robot 1000 can be widely used in cleaning vertical or inclined hard surfaces such as walls, glass, and tiles in scenarios such as homes, commercial buildings, industrial plants, and transportation vehicles (such as buses). It is suitable for daily dust removal and stain wiping, and can also meet high-precision cleaning needs.

[0025] For details, please refer to Figures 1 to 6The cleaning robot 1000 includes a robot body, a robotic arm 100, a cleaning component 200, and a drive control module. The robotic arm 100, as the actuator, is movably mounted on the robot body, and its power input is electrically connected to and controlled by the drive control module. The cleaning component 200 is detachably mounted on the actuator of the robotic arm 100, achieving an indirect connection between the cleaning component 200 and the robot body. The cleaning component 200 includes a cleaning seat 210 and a roller rotatably housed within the cleaning seat 210. The cleaning seat 210 and the robotic arm 100 are assembled via a rigid connector or a fixed structure. Preferably, the robotic arm 100 is also equipped with a drive motor for driving the roller to rotate, a liquid storage and delivery unit for supplying cleaning medium, and a detector 130 for detecting the state of the cleaning surface. The detector 130 can be a sensor module or a vision module. The detection range of the detector 130 evenly covers the space in front of the cleaning movable seat 210, where the front side is the other side of the cleaning movable seat 210 relative to the robotic arm 100. The drive motor, the liquid storage and delivery unit and the detector 130 are all electrically connected to the drive control module to establish signal interaction and power transmission relationship.

[0026] Understandably, the operating principle of the cleaning robot 1000 is as follows: The drive control module issues commands to drive the robotic arm 100 to move the cleaning component 200 along a preset trajectory on the target cleaning surface. Simultaneously, the drive motor drives the roller to rotate at high speed around its own axis, causing the cleaning layer (such as a fiber cloth or sponge) on the outer surface of the roller to form frictional contact with the cleaning surface. This frictional force removes dust, stains, and other contaminants from the cleaning surface. Simultaneously, the liquid storage and delivery unit delivers cleaning liquid to the roller or cleaning surface. The synergistic effect of chemical cleaning by the cleaning liquid and physical friction enhances the cleaning effect. During this process, the detector 130 provides real-time feedback on the flatness of the cleaning surface and the concentration of contaminants, which is used to adjust the moving speed of the robotic arm 100 or the rotation speed of the roller to adapt to different cleaning scenarios.

[0027] It is important to clarify that vertical or inclined cleaning surfaces such as walls and glass have fundamentally different stress characteristics and operational constraints compared to floor cleaning surfaces. These differences directly determine that the adhesion requirements of cleaning components differ significantly from those for floor cleaning. In floor cleaning, the cleaning components naturally adhere vertically to the horizontal cleaning surface under the influence of gravity. The force direction is unidirectional and stable. Even with slight deviations in the robotic arm's transmission or microscopic protrusions on the cleaning surface, gravity can quickly compensate for the adhesion pressure, making unstable adhesion less likely. However, in vertical or inclined cleaning operations such as cleaning walls and glass, the cleaning components must overcome their own weight and the reaction force of the cleaning surface to maintain adhesion. The force direction is multidirectional and dynamically changing. At the same time, the surfaces of walls and glass are usually highly smooth, requiring more stringent uniformity and stability of adhesion pressure. Insufficient pressure will lead to insufficient friction and incomplete cleaning, while excessive pressure may cause scratches on the cleaning surface or excessive wear on the cleaning components.

[0028] In existing technologies, the cleaning seat and the robot arm are assembled using rigid connectors or fixed structures. Such connection structures lack the ability to adjust relative displacement. Tolerances that may occur during assembly, slight deviations in the robot arm's movement trajectory during actual operation, unavoidable microscopic unevenness of the cleaning surface, and tolerances arising from equipment assembly will all subject the cleaning components to external forces along the central axis of the roller. Since the rigid connection structure cannot guide the cleaning seat to make adaptive displacement relative to the robot arm, nor can it absorb and dissipate the mechanical energy of the aforementioned external forces, it is impossible to dynamically adjust the contact pressure between the roller and the cleaning surface. Under special stress conditions of vertical or inclined cleaning surfaces, this structural defect will directly amplify the fluctuation range of contact pressure, causing the contact pressure between the roller and the cleaning surface to remain unstable. Ultimately, this leads to a series of problems such as poor cleaning effect, scratches on the cleaning surface, and accelerated wear of the cleaning components.

[0029] To resolve the above technical issues, please refer to the following: Figures 1 to 6In this application, a buffer guide 220 is fixedly connected to the cleaning movable seat 210 of the cleaning component 200. This buffer guide 220 enables the movable connection between the robot arm 100 and the cleaning movable seat 210, ensuring that the cleaning movable seat 210 is always under stress. When the cleaning robot 1000 operates on vertical or inclined cleaning surfaces such as walls and glass, if the cleaning component 200 is subjected to external force along the central axis of the roller due to deviations in the robot arm 100's movement trajectory, microscopic unevenness of the cleaning surface, or equipment assembly tolerances, the buffer guide 220 will first act as a guide, precisely guiding the cleaning movable seat 210 to reciprocate relative to the robot arm 100 along the central axis of the roller. This adaptive translation compensates for positional shifts caused by external forces, preventing rigid collisions of the cleaning movable seat 210 due to external forces. Simultaneously, the buffer guide... The component 220 can simultaneously absorb the mechanical energy applied by external forces, weaken the impact of external forces on the cleaning component 200, and prevent external forces from being directly transmitted to the contact area between the roller and the cleaning surface. When the external force is removed, the buffer guide component 220, which is under stress, will drive the cleaning movable seat 210 to quickly return to its initial position, thereby realizing the dynamic adaptive adjustment of the position of the cleaning movable seat 210. This keeps the contact pressure between the roller and the cleaning surface within a stable range, effectively avoiding the problem of incomplete cleaning caused by insufficient friction due to insufficient contact pressure. At the same time, it can also prevent scratches on the cleaning surface and excessive wear of the cleaning component 200 caused by excessive contact pressure, ensuring the cleaning effect and operational reliability of the cleaning robot 1000 during vertical or inclined cleaning surface operations, and extending the service life of the cleaning component 200.

[0030] Understandably, the adaptive displacement generated by the cleaning seat 210 can maintain a stable contact area between the roller and the cleaning surface while offsetting positional disturbances caused by external forces. The positional disturbances mentioned here specifically refer to the disturbances caused by slight deviations in the movement trajectory of the robotic arm 1000, the inherent microscopic unevenness of the cleaning surface such as walls or glass, and tolerances in the equipment assembly process. These disturbances act on the cleaning component 200 and drive the cleaning seat 210 to deviate from the preset working position along the roller's central axis. These positional disturbances are not triggered by the robot's active control commands; they are unintended passive positional offsets that directly change the initial relative position of the cleaning seat 210 with respect to the robotic arm 100, thereby disrupting the originally stable contact state between the roller and the cleaning surface. The adaptive displacement effectively offsets these positional disturbances. This adaptive displacement avoids localized warping or excessive compression of the roller due to external forces, resulting in a more uniform distribution of friction between the cleaning layer and the cleaning surface on the outer surface of the roller. This ensures consistent coating coverage of the cleaning medium on the cleaning surface, significantly improving the uniformity and consistency of the cleaning operation. Simultaneously, this adaptive displacement effectively weakens the reverse force of external forces on the transmission structure of the robot 100, preventing the robot 100 drive module from experiencing decreased transmission accuracy or component fatigue damage due to continuous exposure to additional impact loads, thus extending the service life of the robot 100. Furthermore, this adaptive displacement reduces the impact of the assembly tolerances of the cleaning component 200 on the operational effect, ensuring that the cleaning component 200 maintains a stable operating state during the assembly of different batches of robot 100s. This enhances the versatility and interchangeability of the cleaning component 200, further strengthening the adaptability and operational reliability of the entire cleaning robot 1000.

[0031] Preferred options, please refer to the specific options. Figures 1 to 6 As shown, the buffer guide 220 mentioned above includes a guide portion 221 and a buffer portion 222. The guide portion 221 extends along the central axis of the roller to limit the cleaning movable seat 210 from forming a stable sliding engagement with the robot arm 100 in the central axis direction. This strictly limits the reciprocating translational trajectory of the cleaning movable seat 210, ensuring that the displacement direction of the cleaning movable seat 210 is always consistent with the direction of the external force. This prevents the cleaning movable seat 210 from twisting or shifting away from the central axis direction during translation, ensuring that the adaptive displacement of the cleaning movable seat 210 can accurately correspond to the positional deviation caused by positional interference. This further ensures that the contact posture between the roller and the cleaning surface is always stable, preventing problems such as partial contact of the roller or edge scraping of the cleaning surface caused by displacement trajectory deviation.

[0032] The buffer portion 222 is disposed at least on one side of the robot arm 100 along the sliding path, preferably symmetrically disposed on both sides of the sliding path. It is capable of elastic deformation when the cleaning movable seat 210 is under stress and can recover its deformation when the external force is removed. When the cleaning movable seat 210 is subjected to external force and moves along the central axis, the buffer portion 222 absorbs the mechanical energy applied by the external force through its own elastic deformation process, while simultaneously converting some of the mechanical energy into elastic potential energy for storage. This process not only further weakens the impact of external force on the cleaning components... The impact load of the transmission structure of the 200 and the robot arm 100 avoids component wear or transmission accuracy reduction caused by rigid contact. It can also continuously provide a stable preload for the cleaning movable seat 210 under stress. When the external force is removed, the deformation recovery function of the buffer part 222 can quickly release the stored elastic potential energy, driving the cleaning movable seat 210 to accurately and timely reset to the initial working position. There is no need to add an additional drive reset device, which effectively simplifies the overall structure of the cleaning component 200 and reduces the assembly complexity and subsequent maintenance cost of the cleaning component 200.

[0033] In this way, the guide section 221 and the buffer section 222 work together to ensure the accuracy and stability of the displacement adjustment of the cleaning seat 210, and improve the efficiency of eliminating position interference. This allows the contact pressure between the roller and the cleaning surface to remain stable within a preset reasonable range for a long time. In addition to improving the uniformity and consistency of cleaning operations, this further enhances the adaptability of the cleaning robot 1000 in complex operating scenarios such as vertical and inclined cleaning surfaces, extends the service life of the cleaning component 200 and the robotic arm 100, reduces the failure rate of the cleaning robot 1000, and improves the overall operational reliability.

[0034] As a preferred embodiment, please refer to the following for details. Figure 1 and Figure 2The guide section 221 includes a first conductor 2211 and a second conductor 2212. The first conductor 2211 is disposed on the robot arm 100, and the second conductor 2212 extends along the central axis of the roller and is disposed on the cleaning movable seat 210 and forms a sliding fit with the first conductor 2211, thereby forming a stable constraint on the movement trajectory of the cleaning movable seat 210. That is, it limits the cleaning movable seat 210 to better perform reciprocating translation along the central axis of the roller, effectively preventing the cleaning movable seat 210 from twisting, lateral deflection and other unexpected movements during the displacement process, ensuring that the adaptive displacement direction of the cleaning movable seat 210 always accurately corresponds to the direction of the external force, avoiding the problem of local contact or edge scraping between the roller and the cleaning surface due to trajectory deviation, and thus ensuring the uniformity of the contact pressure between the roller and the cleaning surface. In addition, it can effectively reduce the sliding friction resistance between the cleaning movable seat 210 and the robot arm 100, making the cleaning movable seat 210 move more smoothly when it reciprocates along the central axis, without any jamming or sticking. When the cleaning component 200 is subjected to external force, the cleaning movable seat 210 can respond quickly and generate adaptive displacement to promptly offset position interference. After the external force is removed, the elastic deformation recovery force of the buffer part 222 can drive the cleaning movable seat 210 to return to the initial position without sticking, thus efficiently completing the position adjustment process.

[0035] For further details, please refer to Figure 1 and Figure 2 The first conductor 2211 is disposed on one side of the second conductor 2212 and makes high-pair contact with the side of the second conductor 2212. That is, the first conductor 2211 and the second conductor 2212 form a precise line contact or point contact. Compared with the low-pair contact of the surface contact, this contact form significantly reduces the contact area between the first conductor 2211 and the second conductor 2212, thereby significantly reducing the sliding friction resistance between them and enabling the cleaning moving seat 210 to have better performance when reciprocating along the central axis of the roller. The smoothness of the cleaning component 200 allows the cleaning seat 210 to respond quickly to external forces and generate adaptive displacement when the cleaning component 200 is subjected to external forces, thus promptly offsetting positional interference. After the external forces are removed, the elastic deformation recovery force of the buffer 222 can drive the cleaning seat 210 to return to its initial position without any sticking, efficiently completing the position adjustment process. At the same time, the smaller contact area can reduce the amount of wear between the first conductor 2211 and the second conductor 2212, maintain the guiding accuracy of the guide 221, and extend the service life of the guide 221.

[0036] In addition to the configuration where the first conductor 2211 is disposed on one side of the second conductor 2212, the first conductor 2211 can also be disposed on both opposite sides of the second conductor 2212, making high-pair contact with the side surfaces of the second conductor 2212. Compared to the single-sided configuration, this bilaterally symmetrical high-pair contact structure can form a balanced and bidirectional constraint from both sides of the second conductor 2212. This not only effectively avoids unintended movements such as tilting and twisting of the cleaning seat 210 caused by uneven force on one side, but also prevents unintended movements even when subjected to alternating external forces or when the movement trajectory of the robot arm 100 deviates from the specified path. Even with complex deviations, the cleaning seat 210 can be precisely limited to reciprocating translation along the central axis of the roller, ensuring that the adaptive displacement direction of the cleaning seat 210 always precisely corresponds to the direction of the external force. This prevents problems such as partial contact of the roller or edge scraping of the cleaning surface caused by the tilting of the cleaning seat 210. At the same time, the symmetrical contact form on both sides makes the cleaning seat 210 more evenly stressed during sliding, avoiding stress concentration caused by unilateral contact, reducing the wear rate of the guide part 221's mating structure, and maintaining the mating accuracy of the guide part 221 over a long period of time.

[0037] Furthermore, the bilaterally symmetrical high-pair contact structure makes the sliding friction resistance of the cleaning seat 210 more evenly distributed, preventing sliding jamming or sticking due to excessive resistance on one side, and maintaining good sliding performance. This ensures that the cleaning seat 210 can respond quickly and generate adaptive displacement when subjected to external forces, promptly offsetting position interference. After the external force is removed, the elastic deformation recovery force of the buffer part 222 can drive the cleaning seat 210 to return to the initial position without sticking and accurately, efficiently completing the position adjustment process. This bilaterally symmetrical high-pair contact structure has superior sliding stability and smoothness.

[0038] Furthermore, please refer to the following for details. Figure 2One of the first conductor 2211 and the second conductor 2212 is provided with a guide groove 2213a, and the other of the first conductor 2211 and the second conductor 2212 is provided with a high-pair part 2213b. The high-pair part 2213b can be a roller, a bearing, or a ball assembly. The high-pair part 2213b is slidably or rollingly connected to the inside of the guide groove 2213a. Through the cooperation between the guide groove 2213a and the high-pair part 2213b, the contact position of the first conductor 2211 and the second conductor 2212 is prevented from shifting during relative sliding. At the same time, the sliding or rolling connection between the high-pair part 2213b and the guide groove 2213a can be flexibly adapted to different motion resistances according to actual operation requirements. The force requirements are as follows: the rolling connection can replace the sliding friction through rolling friction, which greatly reduces the friction coefficient between the two, further improves the smoothness of sliding, and reduces the wear of the mating structure. The sliding connection can ensure higher guiding accuracy through the precise fit of the contact surface. Both connection types can ensure the smoothness of the movement of the cleaning movable seat 210 when it reciprocates along the central axis of the roller, effectively avoiding phenomena such as jamming and sticking. This allows the cleaning movable seat 210 to generate adaptive displacement more quickly and accurately when subjected to external force, and to promptly offset position interference. After the external force is removed, the elastic deformation recovery force of the buffer part 222 can drive the cleaning movable seat 210 to return to the initial position without sticking, thus efficiently completing the position adjustment process.

[0039] As a preferred embodiment, please refer to the following for details. Figures 3 to 6 The guide portion 221 extends along the central axis of the roller and is fixed to the cleaning movable seat 210. Simultaneously, a buffer portion 222 passes through it and the robot arm 100, allowing the cleaning movable seat 210 to slide in conjunction with the robot arm 100 along the central axis of the roller. This provides a precise and stable displacement guide path for the cleaning movable seat 210, preventing displacement deviation from the preset adjustment direction during force application. During this process, the buffer portion 222 can elastically deform along the central axis of the roller, thus forming an elastic support and buffering medium between the cleaning movable seat 210 and the robot arm 100.

[0040] When the robotic arm 100 drives the cleaning component 200 to move on vertical or inclined cleaning surfaces such as walls and glass, the force fluctuations or displacement changes along the central axis of the roller caused by mechanical transmission precision deviations, minor imperfections on the cleaning surface, and gravity will directly act on the buffer part 222. This causes the buffer part 222 to undergo adaptive elastic deformation along the central axis of the roller according to the actual force. This elastic deformation process simultaneously drives the cleaning movable seat 210 to slide axially relative to the robotic arm 100 along the extension direction of the guide part 221. In turn, the axial displacement of the cleaning movable seat 210 adjusts and changes the contact state between the roller and the cleaning surface in different areas along the axial direction, thereby achieving dynamic compensation for the axial contact pressure of the roller. When a certain side of the roller is affected by a local convexity of the cleaning surface, When the axial forward displacement of the robot arm 100 causes excessive contact pressure on that side, the buffer part 222 undergoes corresponding compression deformation along the central axis of the roller and drives the cleaning movable seat 210 to slide along the axial direction of the guide part 221, thereby relieving the excessive pressure on that side and preventing scratches on the cleaning surface or excessive wear of the cleaning component 200 due to excessive local pressure. When the contact pressure on one side of the roller axis is too small or even loses contact due to local concavity of the cleaning surface or reverse axial displacement of the robot arm 100, the elastic restoring force of the buffer part 222 will push the cleaning movable seat 210 to slide along the guide part 221 in the axial direction of that side, thereby supplementing the contact pressure on that side and ensuring that the effective contact and friction between the roller and the cleaning surface on that side are within the effective cleaning range.

[0041] Through the aforementioned dynamic adjustment process, the cleaning seat 210 can adjust the axial contact state of the roller in real time according to the changes in axial force during actual operation, ensuring that each area of ​​the roller maintains uniform and stable contact pressure with the wall, glass, and other cleaning surfaces. This completely solves the problem of uneven contact pressure caused by the lack of axial adaptive adjustment capability in existing rigid fit structures. On this basis, the contact consistency between the roller and the cleaning surface is significantly improved. Cleaning dead corners caused by insufficient axial contact pressure and surface damage caused by excessive pressure are effectively avoided. The cleaning robot 1000's operational quality stability on large-area vertical or inclined cleaning surfaces is guaranteed. At the same time, the wear of the cleaning component 200 is greatly reduced, and its service life is extended, thereby promoting the application expansion of the cleaning robot 1000 in high-precision cleaning scenarios.

[0042] As a further preferred embodiment, please refer to Figure 4 , Figure 5 and Figure 6The buffer guide 220 is further provided with a sliding part 223. The sliding part 223 is inserted into the guide part 221 and forms a sliding connection with the guide part 221 along the central axis of the roller. The end of the sliding part 223 away from the guide part 221 is used for assembly connection with the robot 100. The connection method can be selected according to the execution end structure of the robot 100, such as snap connection, tight fit or abutment fit, etc., and is a detachable assembly form.

[0043] In this way, the sliding part 223 can effectively reduce or even avoid the interference of the structural tolerance of the actuator of the robot arm 100 on the sliding accuracy of the guide part 221. At the same time, it reduces the frictional resistance and component wear generated during the axial sliding of the cleaning movable seat 210, ensuring that the displacement movement of the cleaning movable seat 210 along the central axis remains smooth and stable. In actual operation, when the buffer part 222 undergoes elastic deformation along the central axis of the drum and drives the cleaning movable seat 210 to adjust its axial displacement, the sliding part 223 can slide synchronously along the guide part 221 with the displacement of the cleaning movable seat 210. Its precise sliding guidance can strictly limit the displacement trajectory of the cleaning movable seat 210, ensuring that it always moves along the central axis of the drum, avoiding adjustment failure caused by radial offset due to uneven force.

[0044] Furthermore, the axial displacement adjustment response speed of the cleaning seat 210 is significantly improved, enabling more timely dynamic compensation of the contact pressure in various areas of the roller's axial direction. This results in a more uniform contact pressure between the roller and the cleaning surface, effectively eliminating localized pressure anomalies caused by adjustment jamming or misalignment. The sliding part 223 also enhances the compatibility of the cleaning component 200 with different specifications of the robotic arm 100, broadening its application range. Because the sliding part 223 effectively reduces the wear rate of the guide part 221 and the robotic arm 100, it extends the service life of the buffer guide 220 and the cleaning component 200, further reducing the later maintenance costs of the cleaning robot 1000. This ensures that the cleaning robot 1000 maintains a stable and efficient operating state during long-term, high-frequency wall and glass cleaning operations, further enhancing its high-precision cleaning capabilities and operational reliability.

[0045] In a preferred embodiment, the sliding part 223 includes a self-lubricating body. This self-lubricating body is integrally formed from materials with excellent self-lubricating properties and wear resistance, such as polytetrafluoroethylene (PTFE) or ultra-high molecular weight polyethylene (UHMWPE). Alternatively, it can be integrally formed from high-strength metal materials such as stainless steel, aluminum alloy, or copper alloy. The sliding part 223 has an overall annular structure and extends around the periphery of the guide part 221. The inner ring surface of the self-lubricating body forms a lubricating inner surface layer, and the outer ring surface forms a lubricating outer surface layer. The lubricating inner surface layer is in close contact with the outer surface of the guide part 221, forming a sliding friction fit along the central axis of the roller. The lubricating outer surface layer forms a sliding friction fit with the inner wall of the mounting hole of the robot arm 100, also along the central axis of the roller. Of course, the outer surface of the self-lubricating body can be coated with wear-resistant self-lubricating materials such as PTFE or UHMWPE, or a wear-resistant coating such as titanium nitride or diamond-like carbon can be added to form a lubricating outer surface layer. If necessary, a wear-resistant self-lubricating coating can be simultaneously added to the inner ring surface of the metal self-lubricating body.

[0046] With this configuration, the inner and outer lubricating layers of the self-lubricating body can act simultaneously on both mating surfaces of the guide 221 and the robot 100. This effectively avoids hard friction damage caused by direct contact between the guide 221 and the actuator of the robot 100. At the same time, it significantly reduces the frictional resistance experienced by the sliding part 223 during axial sliding, eliminates sliding jamming or displacement stagnation caused by uneven frictional resistance, and ensures that the sliding movement of the sliding part 223 along the guide 221 always remains smooth and stable. During the actual operation of the cleaning component 200, when the buffer part 222 undergoes elastic deformation along the central axis of the roller due to force and drives the cleaning movable seat 210 to perform axial displacement adjustment, the self-lubricating body of the sliding part 223 can drive the cleaning movable seat 210 to quickly respond to the deformation action of the buffer part 222 by means of the smooth cooperation between the inner lubricating layer and the guide part 221, and the smooth cooperation between the outer lubricating layer and the robot arm 100. This accurately follows the elastic expansion and contraction of the buffer part 222 to achieve axial displacement, ensuring the timeliness and accuracy of dynamic compensation of the contact pressure. At the same time, the wear-resistant properties of the self-lubricating body can effectively resist the wear and loss caused by high-frequency sliding, avoid the problem of decreased guiding accuracy caused by wear of the sliding mating surface, and maintain the structural stability and adjustment reliability of the buffer guide 220 during long-term use.

[0047] In addition, the self-lubricating body eliminates the need for additional lubricant, significantly reducing the maintenance frequency and cost of the cleaning component 200. This makes it suitable for the long-term, high-frequency operation needs of the cleaning robot 1000 in various scenarios such as residential homes and commercial buildings. At the same time, the reduced wear rate of the sliding mating surfaces extends the service life of the sliding part 223, the guide part 221, and even the entire buffer guide 220, further enhancing the operational stability and economy of the cleaning robot 1000.

[0048] In a preferred embodiment, the sliding part 223 includes an inner ring component, an outer ring component, a cage, and several rolling elements. The inner ring component is preferably made of a high-strength, wear-resistant metal material and is fitted and fixed to the outer wall of the guide part 221 by an abutment fit or interference fit, allowing the inner ring component to move only along the central axis of the roller, thus avoiding radial offset that could affect the adjustment accuracy of the cleaning movable seat 210. The outer ring component may be made of a wear-resistant material and forms an abutment fit with the inner wall of the sliding insertion hole 111 of the robot arm 100 for assembling the sliding part 223. The cage is made of an engineering plastic with rigidity and wear resistance. The rolling element is injection molded and positioned within the annular gap between the inner and outer ring components. The cage has several evenly spaced grooves along its circumference, with each rolling element partially encased in its corresponding groove. This ensures the rolling elements are evenly distributed along the circumference of the inner ring component. The portion of each rolling element exposed outside the cage engages with both the inner and outer ring components through rolling friction. This significantly reduces the frictional resistance of the sliding part 223 as it moves along the central axis of the roller. Simultaneously, the cage's limiting effect on the rolling elements effectively prevents them from shifting, accumulating, or experiencing uneven wear, ensuring the rolling elements consistently roll stably along a predetermined trajectory. High-precision steel balls or rollers can be used, with surfaces hardened to enhance hardness and wear resistance.

[0049] During the actual operation of the cleaning component 200, when the buffer part 222 undergoes elastic deformation along the central axis of the roller due to minor imperfections on the wall or glass cleaning surface or transmission deviation of the robot arm 100, the sliding part 223 can quickly respond to the deformation of the buffer part 222 by means of the rolling friction characteristics of the rolling elements, driving the cleaning movable seat 210 to make precise axial displacement along the guide part 221. Compared with the sliding friction structure, the low resistance characteristics of rolling friction make the displacement adjustment of the cleaning movable seat 210 smoother and without jamming, and can more timely dynamically compensate for the contact pressure of each area of ​​the roller axis, effectively avoiding the problem of abnormal local contact pressure caused by adjustment sluggishness. At the same time, the uniform distribution of the rolling elements can make the force transmission between the inner ring component and the outer ring component more balanced, avoiding component damage caused by local stress concentration.

[0050] With this design, the friction loss of the sliding part 223 is significantly reduced, thus extending its service life considerably compared to sliding friction structures. Simultaneously, the low resistance of rolling friction further enhances the motion response speed of the sliding part 223. This also improves the accuracy and timeliness of the cleaning seat 210's adjustment of the roller's axial contact pressure, further enhancing the uniformity of the roller's contact with the wall and glass cleaning surfaces. This completely eliminates cleaning dead zones and surface damage caused by adjustment jamming. Furthermore, the cooperation of the rolling elements, inner ring components, outer ring components, and cage allows the sliding part 223 to have a stronger load-bearing capacity. Moreover, this rolling sliding part 223 requires no additional lubricant during operation, effectively reducing the later maintenance costs and frequency of the cleaning robot 1000, ensuring stable and reliable operation during long-term, high-frequency cleaning operations.

[0051] Understandably, please refer to Figure 5 and Figure 6 The inner diameter of the sliding insertion hole 111 on the main body 110 of the robot 100 is precisely matched with the outer diameter of the sliding part 223, which effectively ensures the smooth sliding of the sliding part 223 along the central axis of the roller, while preventing radial wobble of the sliding part 223 during movement. Both ends of each sliding part 223 inserted into the sliding insertion hole 111 are located inside the sliding insertion hole 111, thus preventing the ends of the sliding part 223 from being exposed and preventing it from scraping against walls, glass cleaning surfaces, or other robot components during cleaning operations.

[0052] As a further preferred embodiment, please refer to the following for details. Figures 3 to 6 As shown, the robotic arm 100 is also equipped with a limiting cover 120. The limiting cover 120 is assembled to the end of the main body 110 using a detachable connection method such as bolt connection or snap-fit ​​connection. Its assembly position corresponds to the port of the sliding insertion hole 111, which can stably confine the sliding part 223 within the sliding insertion hole 111, preventing the sliding part 223 from disengaging from the sliding insertion hole 111 during axial sliding. Simultaneously, the side of the limiting cover 120 facing the buffer part 222 can connect with the end of the buffer part 222. This connection can be either abutment or insertion. It can also be a snap-fit ​​connection, or a combination of any two of the aforementioned connection methods. This not only achieves a stable connection between the limiting cover 120 and the buffer part 222, but also improves the ease of disassembly and maintenance of the cleaning component 200. When the sliding part 223 is worn and needs to be replaced, the operator can directly disassemble the limiting cover 120 and take out the sliding part 223 and the buffer part 222 from the sliding insertion hole 111 for maintenance or replacement. There is no need to disassemble the main body 110 of the robot arm 100, which effectively reduces the later maintenance cost and operation difficulty of the cleaning robot 1000.

[0053] During the actual operation of the cleaning component 200, when the buffer part 222 undergoes elastic deformation along the central axis of the roller, the limiting cover 120 can serve as a force support point for the buffer part 222, allowing the elastic force of the buffer part 222 to be transmitted more evenly to the robot arm 100, preventing the buffer part 222 from undergoing eccentric deformation due to unstable force support point. At the same time, the limiting cover 120 also ensures that both ends of the sliding part 223 are completely embedded in the sliding joint 111, completely eliminating the risk of scratches that may be caused by exposed sliding parts, and ensuring the safety of the cleaning component 200 when moving on complex cleaning surfaces such as walls and glass.

[0054] Furthermore, the end of the sliding part 223 abuts against the limiting cover 120. Preferably, the end of the sliding part 223 facing the limiting cover 120 is configured as a flat limiting contact surface. The limiting cover 120 is correspondingly provided with a pressure-bearing surface that mates with this limiting contact surface. This prevents wear or deformation of the end of the sliding part 223 caused by localized stress concentration, thus limiting the sliding part 223 from sliding along the central axis of the guide part 221. During the actual operation of the cleaning assembly 200, when the buffer part 222 undergoes compression deformation due to transmission deviation of the robotic arm 100 or a protrusion on the cleaning surface, causing the sliding part 223 to slide along the central axis of the guide part 221 towards the limiting cover 120, the reverse support force of the limiting cover 120 will prevent the sliding part 223 from sliding in that direction because the end of the sliding part 223 abuts against the limiting cover 120.

[0055] It is worth mentioning that, as a preferred embodiment, the buffer portion 222 mentioned above can be a spring. The spring's elastic coefficient can be selected to match the weight of the cleaning component 200 and the contact pressure requirements of the cleaning surface. The buffer portion 222 is sleeved on the outside of the guide portion 221 along the central axis of the roller, and both ends of the buffer portion 222 abut against the cleaning movable seat 210 and the robot arm 100, respectively, achieving elastic buffering by means of the spring's own axial extension and contraction characteristics.

[0056] In addition, in some other embodiments, the buffer part 222 is made of elastic material and extends along the central axis of the drum. The buffer part 222 has a plurality of deformation notches along the central axis. The distribution spacing and number of the plurality of deformation notches can be designed according to the axial length of the cleaning component 200 and the actual force requirements. The plurality of deformation notches are preferably evenly distributed along the central axis or spirally arranged along the central axis, so as to guide the elastic deformation of the buffer part 222 to occur along the central axis of the drum and avoid adjustment failure caused by radial offset.

[0057] In some other embodiments, the buffer part 222 is made of elastic material and extends along the central axis of the roller. The buffer part 222 has a deformation groove that extends spirally along the central axis. The spiral angle and groove width of the spiral deformation groove are precisely calculated. Under the premise of ensuring the structural strength of the buffer part 222, it can guide the buffer part 222 to undergo uniform and controllable elastic deformation along the central axis, while dispersing the internal stress generated during the deformation process, and avoiding fatigue damage to the buffer part 222 due to local stress concentration.

[0058] It should be noted that, for details, please refer to [the relevant documentation / reference]. Figures 1 to 6 As shown, the symmetrically arranged buffer section 222 includes a first elastic element 222a and a second elastic element 222b. Both the first elastic element 222a and the second elastic element 222b are made of elastic materials that match the force requirements of the cleaning component 200, or springs of the same specifications can be directly selected. The first elastic element 222a and the second elastic element 222b are respectively located on two opposite sides of the robot 100, and preferably coaxially arranged. In this case, the arrangement of the first elastic element 222a and the second elastic element 222b is mirrored with the robot 100 as the center of symmetry, ensuring that the first elastic element 222a and the second elastic element 222b can generate synchronous and balanced elastic deformation during the force process. In this way, the first elastic element 222a and the second elastic element 222b cooperate to form a two-way elastic buffer structure. When the cleaning movable seat 210 and the robot arm 100 slide relative to each other along the central axis of the roller, the two can simultaneously participate in the absorption and dissipation of mechanical energy. Compared with the buffer structure of a single elastic element, the synergistic effect of the two-way elastic elements can make the impact force on the cleaning movable seat 210 more evenly distributed, avoiding elastic fatigue or plastic deformation of a single elastic element due to force concentration.

[0059] It is understandable that in the structural design of the guide section 221, when the first conductor 2211 and the second conductor 2212 cooperate, the first central axis of the first elastic element 222a and the second central axis of the second elastic element 222b can also be arranged in parallel. The effect produced is the same as or very similar to the effect of the collinear arrangement described earlier. Therefore, to avoid redundancy, it will not be repeated here. It is worth mentioning that this parallel arrangement also provides flexibility in spatial adjustment. In practical applications, the positions of the first elastic element 222a and the second elastic element 222b can be adjusted according to the specific structural requirements of the cleaning seat 210 to adapt to different usage scenarios and functional requirements, thereby making the overall structural design more user-friendly and its application range wider.

[0060] Thus, during the actual operation of the cleaning component 200, when the robot arm 100 drives the cleaning component 200 to move along vertical cleaning surfaces such as walls and glass, and the cleaning movable seat 210 slides towards the robot arm 100 due to local protrusions on the cleaning surface or the positive displacement of the robot arm 100, the first elastic element 222a located on the side of the robot arm 100 near the cleaning movable seat 210 will undergo compression deformation, and at the same time, the second elastic element 222b located on the side of the robot arm 100 away from the cleaning movable seat 210 will undergo tensile deformation. The first elastic element 222a and the second elastic element 222b quickly absorb the mechanical energy generated by relative sliding through the synergistic effect of compression and tension, dissipating the impact force between the cleaning movable seat 210 and the robot arm 100. This makes the displacement adjustment of the cleaning movable seat 210 more stable, avoids the problem of excessive adjustment inertia caused by unidirectional elastic buffering, and ensures that the contact pressure between the roller and the cleaning surface is always in a stable dynamic adjustment state.

[0061] In addition, the symmetrical arrangement of the bidirectional elastic elements makes the force on the buffer part 222 more balanced, which greatly reduces the risk of fatigue damage caused by unidirectional force concentration of the elastic elements and extends the overall service life of the buffer part 222. The bidirectional elastic buffer structure also makes the displacement adjustment of the cleaning movable seat 210 more precise and controllable, further optimizing the uniformity of the contact pressure between the roller and the wall and glass cleaning surface, completely eliminating the problem of abnormal local contact pressure caused by excessive adjustment inertia, and improving the operational stability and cleaning effect consistency of the cleaning robot 1000 in complex cleaning surface scenarios.

[0062] To achieve the parallel or collinear arrangement of the first elastic element 222a and the second elastic element 222b, please refer to the following in this embodiment. Figure 1 and Figure 2 The robotic arm 100 is provided with a first fixing part 141 and a second fixing part 142. The cleaning movable seat 210 is provided with a first connecting part 2101 and a second connecting part 2102. The two ends of the first elastic member 222a are respectively connected to the first fixing part 141 and the first connecting part 2101. The two ends of the second elastic member 222b are respectively connected to the second fixing part 142 and the second connecting part 2102. Along the direction of the upper surface of the vertical guide part 221, the first fixing part 141, the second fixing part 142, the first connecting part 2101, and the second connecting part 2102 are all located on the same side of the upper surface. The distance between the upper surface and the connecting end of the first fixing part 141 used to connect the first elastic member 222a is equal to the distance between the upper surface and the connecting end of the first connecting part 2101 used to connect the first elastic member 222a. The distance between the upper surface and the connecting end of the second fixing part 142 used to connect the second elastic member 222b is equal to the distance between the upper surface and the connecting end of the second connecting part 2102 used to connect the second elastic member 222b.

[0063] This configuration ensures that both the first elastic element 222a and the second elastic element 222b are initially positioned horizontally parallel to the upper surface of the guide portion 221. This prevents the elastic elements from generating additional lateral forces due to initial installation angle deviations, thus preventing unnecessary frictional resistance caused by these lateral forces acting on the mating structure of the guide portion 221. Furthermore, the equidistant arrangement ensures that the first elastic element 222a and the second elastic element 222b maintain synchronized and balanced deformation during the reciprocating translation of the cleaning movable seat 210 relative to the robot arm 100. This allows the force of the bidirectional elastic buffer structure to be evenly applied to the cleaning movable seat 210, effectively preventing tilting or jamming of the cleaning movable seat 210 due to differences in elastic element deformation, further improving the stability and accuracy of the cleaning movable seat 210's displacement adjustment.

[0064] The above is an explanation of the cleaning components proposed in the embodiments of this application. Since the cleaning robot 1000 proposed in the embodiments of this application adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be repeated here.

[0065] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0066] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning robot, characterized in that, The utility model relates to a cleaning device, comprising: a mechanical hand (100) as an execution end; and a cleaning assembly (200) with a roller, a cleaning movable seat (210) and a buffer guide (220) fixed to the cleaning movable seat (210), the roller is accommodated in the cleaning movable seat (210), the mechanical hand (100) is movably connected with the cleaning movable seat (210) through the buffer guide (220), and the cleaning movable seat (210) is in a force state, the buffer guide (220) can guide the cleaning movable seat (210) to reciprocate along the central axis direction of the roller relative to the mechanical hand (100) and absorb the mechanical energy of external force, so as to remove the external force state and drive the cleaning movable seat (210) to reset. The buffer guide (220) comprises:

2. The cleaning robot of claim 1, wherein, a guide part (221) extending along the central axis direction of the roller to limit the sliding fit of the cleaning movable seat (210) and the mechanical hand (100) in the central axis direction; and a buffer part (222) arranged at least on one side of the mechanical hand (100) on the sliding path, and the buffer part (222) can be elastically deformed when the cleaning movable seat (210) is in the force state and can be deformed to recover when the external force state is removed. The guide part (221) comprises:

3. The cleaning robot of claim 2, wherein, a first guide body (2211) arranged on the mechanical hand (100); and a second guide body (2212) extending along the central axis direction of the roller and arranged on the cleaning movable seat (210) and slidingly fitted with the first guide body (2211). The first guide body (2211) is arranged on one side of the second guide body (2212) and in high pair contact with the side surface of the second guide body (2212).

4. The cleaning robot according to claim 3, wherein, Both opposite sides of the second guide body (2212) are arranged with the first guide body (2211) and in high pair contact with the side surface of the second guide body (2212).

5. The cleaning robot according to claim 4, wherein, One of the first guide body (2211) and the second guide body (2212) is provided with a guide groove (2213a), and the other one is provided with a high pair part (2213b), and the high pair part (2213b) is slidingly connected or rollingly connected in the inside of the guide groove (2213a).

6. The cleaning robot according to claim 4 or 5, wherein The buffer part (222) comprises:

7. The cleaning robot according to claim 2 or 3 or 4 or 5, wherein, a first elastic member (222a); and a second elastic member (222b) arranged on the opposite sides of the mechanical hand (100) respectively with the first elastic member (222a); The first elastic member (222a) and the second elastic member (222b) are matched to simultaneously absorb the mechanical energy generated by the relative sliding of the cleaning movable seat (210) and the mechanical hand (100). The first central axis of the first elastic member (222a) and the second central axis of the second elastic member (222b) are arranged in line or in parallel.

8. The cleaning robot of claim 7, wherein, ​ 9. The cleaning robot of claim 8, wherein, The mechanical arm (100) is provided with a first fixed part (141) and a second fixed part (142), the cleaning movable seat (210) is provided with a first connecting part (2101) and a second connecting part (2102), two ends of the first elastic member (222a) are connected with the first fixed part (141) and the first connecting part (2101) respectively, and two ends of the second elastic member (222b) are connected with the second fixed part (142) and the second connecting part (2102) respectively; Wherein, along the direction of the upper surface of the guide part (221) in the vertical direction, the first fixed part (141), the second fixed part (142), the first connecting part (2101), the second connecting part (2102) are located on the same side of the upper surface, and the distance between the upper surface and the connecting end of the first fixed part (141) for connecting the first elastic member (222a) is equal to the distance between the upper surface and the connecting end of the first connecting part (2101) for connecting the first elastic member (222a), and the distance between the upper surface and the connecting end of the second fixed part (142) for connecting the second elastic member (222b) is equal to the distance between the upper surface and the connecting end of the second connecting part (2102) for connecting the second elastic member (222b).

10. The cleaning robot according to claim 8 or 9, wherein, The buffer part (222) is made of elastic material, and the buffer part (222) is arranged in the direction of the central axis, and the buffer part (222) is provided with a plurality of deformation gaps in the direction of the central axis; or The buffer part (222) is a spring; or The buffer part (222) is made of elastic material, and the buffer part (222) is arranged in the direction of the central axis, and the buffer part (222) is provided with a deformation slot, and the deformation slot extends spirally in the direction of the central axis.

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