A cleaning robot

Abstract

The application provides a cleaning robot, and belongs to the technical field of intelligent cleaning, which comprises a robot main body, a bionic spider leg assembly connected to the robot main body and used for driving the whole cleaning robot to move, an adsorption structure arranged at the bionic spider leg assembly and the robot main body and used for adsorbing and fixing the cleaning robot to a surface to be cleaned, a cleaning assembly connected to the robot main body and used for cleaning the surface to be cleaned, and a controller arranged in the robot main body and used for controlling the operation of the bionic spider leg assembly, the adsorption structure and the cleaning assembly. The cleaning robot provided by the application can easily cross or avoid obstacles by imitating the movement of spiders, and can realize automatic cleaning of various use scenarios in living environments such as the ground, the wall and glass, etc. by the cooperation of the bionic spider leg assembly and the adsorption assembly. The cleaning robot can not only clean the whole house, but also has a high degree of automation and low use cost.

Description

Technical Field

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

[0002] As living standards continue to improve, family living spaces are becoming larger and more complex, with diverse flooring materials such as solid wood floors, tiles, and marble. This leads to an increase in the workload and complexity of cleaning, requiring more time for household chores and increasing the cost of hiring professional cleaning services. Existing cleaning robots often only clean single areas, such as floors or windows, and cannot meet the needs of switching between multiple scenarios. This necessitates purchasing separate robotic vacuum cleaners and window cleaning robots to meet different usage needs, which are space-consuming and expensive.

[0003] Therefore, there is a current need for a cleaning robot that is highly automated, low in operating cost, and capable of cleaning the entire house, in order to at least partially solve the problems existing in the current technology. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a cleaning robot with a high degree of automation, low operating cost and the ability to perform whole-house cleaning.

[0005] To address the aforementioned technical problems, the present invention provides a cleaning robot, comprising: Robot body; A biomimetic spider leg assembly is connected to the robot body and is used to drive the cleaning robot to move as a whole. An adsorption structure is provided on the biomimetic spider leg assembly and the robot body to adsorb and fix the cleaning robot to the surface to be cleaned. A cleaning component, connected to the robot body, is used to clean the surface to be cleaned; A controller, located inside the robot body, is used to control the operation of the bionic spider leg assembly, the adsorption structure, and the cleaning assembly.

[0006] Furthermore, the cleaning robot also includes: A wireless communication module, electrically connected to the controller, is used to receive cleaning task instructions; The scanning module, electrically connected to the controller, is used to scan the information of the environment to be cleaned and send the scanned environment to the controller so that the controller can generate a cleaning route; The information about the environment to be cleaned includes spatial images of the environment to be cleaned, information about obstacles in the environment to be cleaned, and areas with dense stains in the environment to be cleaned.

[0007] Furthermore, the biomimetic spider leg assembly includes: The mounting platform is connected to the robot body; Multiple biomimetic spider legs are evenly distributed on the mounting platform, and the movement of a spider is simulated by the coordination of the multiple biomimetic spider legs.

[0008] Furthermore, the biomimetic spider legs include: The first movable joint is rotatably connected to the mounting platform and is used to control the horizontal swinging of the bionic spider leg; The second movable joint is rotatably connected to the first movable joint and is used to control the vertical flexion and extension of the bionic spider leg; The third movable joint is rotatably connected to the second movable joint and is used to control the contact angle between the bionic spider leg and the surface to be cleaned. A drive servo is disposed at the connection between the first movable joint and the mounting platform, the connection between the first movable joint and the second movable joint, and the connection between the second movable joint and the third movable joint. The controller controls the operation of the drive servo.

[0009] Further, the adsorption structure includes: A cylinder is installed in the main body of the robot, and the piston rod of the cylinder passes through the middle of the mounting platform. The piston rod can move towards or away from the mounting platform. A suction cup is connected to the bottom of the third movable joint and to the end of the piston rod; An air pump, located on the piston rod, is used to adjust the amount of air in the suction cup connected to the end of the piston rod; The controller controls the operation of the cylinder and the air pump.

[0010] Furthermore, the cleaning component includes: A robotic arm is connected to the robot body. The robotic arm has at least three degrees of freedom, and the controller controls the operation of the robotic arm. A cleaning component, attached to the end of the robotic arm, comprising at least two circular cloths.

[0011] Furthermore, the cleaning component also includes: A press-type spray structure is disposed between the cleaning component and the robotic arm. When the pressure of the cleaning component pressing against the surface to be cleaned reaches a preset pressure, the press-type spray structure sprays cleaning liquid onto the surface to be cleaned. A liquid storage tank, connected to the press-type spray structure, is used to supply cleaning liquid to the press-type spray structure.

[0012] Furthermore, the cleaning robot also includes: A cleaning unit, located on the robot body, is used to clean the cleaning components.

[0013] Furthermore, the cleaning unit includes: The support frame is connected to the main body of the robot; Water tank, connected to the bracket; An ultrasonic cleaning structure is provided in the water tank for emitting ultrasonic waves into the water tank.

[0014] Furthermore, the cleaning robot also includes: A level, connected to the bracket, is used to detect the tilt of the cleaning section. When the tilt is greater than or equal to a preset angle, the controller controls the bionic spider leg assembly to adjust its movement posture.

[0015] This invention provides a cleaning robot comprising a robot body, a biomimetic spider leg assembly, an adsorption structure, a cleaning component, and a controller. The cleaning component, located on the robot body, cleans the surface to be cleaned. The biomimetic spider leg assembly, connected to the robot body, mimics the movement of a spider, enabling the robot to move easily over or avoid obstacles. The adsorption structure, located at both the biomimetic spider leg assembly and the robot body, allows the robot to be adhered to the surface to be cleaned for deep cleaning of stubborn stains, or to a window for cleaning. The combination of the biomimetic spider leg assembly and the adsorption structure makes the cleaning robot suitable for various scenarios in a residential environment, enabling whole-house cleaning.

[0016] Furthermore, the cleaning robot provided by this invention has a controller that can control the operating status of the bionic spider leg component, the adsorption structure, and the cleaning component according to the condition of the surface to be cleaned, so as to realize the automatic cleaning of the cleaning robot. It has a high degree of automation, saves users' labor costs and cleaning costs, and improves the user experience. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a biomimetic spider leg component structure for a cleaning robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the cleaning component structure of a cleaning robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a partial explosion structure of a cleaning component of a cleaning robot provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 100 Cleaning robot, 110 Robot body, 120 Bionic spider leg assembly, 121 Mounting platform, 122 Bionic spider leg, 1221 First movable joint, 1222 Second movable joint, 1223 Third movable joint, 130 Adsorption structure, 131 Cylinder, 132 Suction cup, 140 Cleaning component, 141 Robotic arm, 142 Cleaning part, 1421 Circular cloth, 1422 Press-type spray structure, 1423 Liquid storage tank, 143 Gear and rack mechanism, 150 Cleaning section, 151 Support, 152 Water tank, 160 Level. Detailed Implementation

[0019] See Figure 1 The present invention provides a cleaning robot 100, including a robot body 110 and a biomimetic spider leg assembly 120 connected to the bottom of the robot body 110. The biomimetic spider leg assembly 120 imitates the movement of a spider and can drive the cleaning robot 100 to move as a whole, enabling the cleaning robot 100 to easily cross or avoid obstacles encountered during the cleaning process.

[0020] The cleaning robot 100 is equipped with adsorption structures 130 at the ends of the bionic spider leg assembly 120 and at the bottom of the robot body 110. These adsorption structures 130 allow the cleaning robot 100 to be adhered to and fixed to the surface to be cleaned, enabling deep cleaning of stubborn stains. The surface to be cleaned can be a floor, the interior or exterior surfaces of vertical walls, window glass on vertical walls, or even an indoor ceiling. Through the combination of the bionic spider leg assembly 120 and the adsorption structure 130, the cleaning robot 100 can be used in various scenarios within a residential environment.

[0021] Furthermore, a cleaning component 140 is provided on the robot body 110, which can clean the various surfaces to be cleaned.

[0022] Meanwhile, a controller (not shown in the figure) is installed inside the robot body 110. The controller is electrically connected to the bionic spider leg assembly 120, the adsorption structure 130 and the cleaning assembly 140 respectively, and is used to control the operation and / or operating status of the bionic spider leg assembly 120, the adsorption structure 130 and the cleaning assembly 140, so as to realize the automatic and controllable cleaning of the surface to be cleaned by the cleaning robot 100, save users' labor costs and cleaning costs, and improve user experience.

[0023] In one specific embodiment of the present invention, the cleaning robot 100 further includes: a wireless communication module electrically connected to the controller for receiving cleaning task instructions; and a scanning module electrically connected to the controller for scanning the environment to be cleaned and sending the scanned environment to be cleaned to the controller so that the controller can generate a cleaning route. The environment to be cleaned includes spatial images of the environment, obstacle information in the environment, and areas with dense stains in the environment.

[0024] In use, users can issue commands to the cleaning robot 100 via the wireless communication module. After receiving the commands from the user, the controller will control the scanning module, the adsorption structure 130, the cleaning component 140 and the simulated spider leg component 120 to operate according to the command content, thereby meeting the user's cleaning needs.

[0025] The scanning module is equipped with an infrared scanner, a dual-frequency millimeter-wave radar, and a laser sensor. The infrared scanner scans the environment to be cleaned, while the dual-frequency millimeter-wave radar and laser sensor detect obstacles and stains in real time. This detection information is sent to the controller, which plans a three-dimensional cleaning path and prioritizes marking areas with dense stains to ensure effective cleaning.

[0026] Specifically, after receiving a user's instruction to clean the floor, the controller controls the scanning module to scan the floor environment to be cleaned. The controller plans the floor cleaning route based on the scanning results and controls the simulated spider leg component 120 to move along the floor cleaning route, and the cleaning component 140 cleans the stains on the floor cleaning route.

[0027] After receiving a user's instruction to clean the window, the controller can control the scanning module to scan the window to be cleaned. The controller plans the window cleaning route based on the scanning results and controls the simulated spider leg component 120 to move along the window cleaning route. During the movement, the controller can adjust the adsorption force of the adsorption structure 130 so that the cleaning robot 100 can move stably on the window, while the cleaning component 140 cleans the stains on the window cleaning route.

[0028] When encountering stubborn stains or areas with dense stains on windows that require targeted deep cleaning, the controller can adjust the adsorption structure 130 to operate at full power to increase the adsorption force, ensuring that the cleaning robot 100 can stably maintain itself at a fixed position, thus improving reliability and stability.

[0029] When cleaning the floors and windows of the whole house, the biomimetic spider leg component 120 simulates the movement of a spider, and the position and magnitude of the adsorption force distribution of the adsorption structure 130 are precisely controlled, which allows the cleaning robot 100 to move from the floor to the wall, and then to the window, to achieve fully automatic cleaning.

[0030] See Figure 2 The bionic spider leg assembly 120 includes an installation platform 121 connected to the robot body 110. Multiple bionic spider legs 122 are evenly distributed around the installation platform 121. The multiple bionic spider legs 122 can work together to simulate the movement of a spider, allowing the cleaning robot 100 to move freely.

[0031] In one specific embodiment of the present invention, six bionic spider legs 122 are installed around the mounting platform 121, and the movement of the six bionic spider legs 122 can simulate the movement of a spider.

[0032] The six bionic spider legs 122 are evenly arranged around the mounting platform 121, which is connected to the bottom of the robot body 110. All six bionic spider legs 122 are electrically connected to the controller, which can control the movement of each bionic spider leg 122, ensuring more flexible movement, making it easier to simulate spider movement, and improving applicability.

[0033] The bionic spider leg 122 includes: a first movable joint 1221, rotatably connected to the mounting platform 121, used to control the horizontal swing of the bionic spider leg 122; a second movable joint 1222, rotatably connected to the first movable joint 1221, used to control the vertical flexion and extension of the bionic spider leg 122; and a third movable joint 1223, rotatably connected to the second movable joint 1222, used to control the contact angle between the bionic spider leg 122 and the surface to be cleaned. A drive servo motor is respectively provided at the connection points of the first movable joint 1221 and the mounting platform 121, the connection points of the first movable joint 1221 and the second movable joint 1222, and the connection points of the second movable joint 1222 and the third movable joint 1223. Furthermore, the drive servo motors are electrically connected to a controller, which can control the operation of each drive servo motor.

[0034] The first movable joint 1221 is connected to the mounting platform 121 and can swing horizontally to control the overall horizontal swing amplitude of the bionic spider leg 122. The second movable joint 1222 is connected to the first movable joint 1221 via a connector. Specifically, the connector is located at the end of the first movable joint 1221 away from the mounting platform 121, and one end of the second movable joint 1222 is hinged to the connector, so that the second movable joint 1222 can rotate relative to the first movable joint 1221, thereby controlling the overall vertical flexion and extension amplitude of the bionic spider leg 122. One end of the third movable joint 1223 is hinged to the other end of the second movable joint 1222, so that the third movable joint 1223 can swing relative to the second movable joint 1222. The other end of the third movable joint 1223 is used to contact the surface to be cleaned, thereby controlling the contact angle between the bionic spider leg 122 and the surface to be cleaned. The drive servo motors are respectively located at the connection between the first movable joint 1221 and the mounting platform 121, the connection between the first movable joint 1221 and the second movable joint 1222, and the connection between the second movable joint 1222 and the third movable joint 1223. The drive servo motors can be controlled by the controller to drive the bionic spider legs 122 to move in three degrees of freedom, making the cleaning robot 100 more flexible and improving its applicability.

[0035] See Figure 2 The adsorption structure 130 includes a cylinder 131 and multiple suction cups 132. The cylinder 131 is located on the robot body 110, and its piston rod passes through the middle of the mounting platform 121, allowing it to move towards or away from the platform 121. The suction cups 132 are respectively connected to the bottom of the third movable joint 1223 of each bionic spider leg 122. Additionally, one suction cup 132 is connected to the end of the piston rod of the cylinder 131 that is away from the mounting platform 121.

[0036] Meanwhile, the adsorption structure 130 includes an air pump (not shown in the figure) disposed on the piston rod of the cylinder 131, which can adjust the amount of air in the suction cup 132 connected to the end of the piston rod.

[0037] The cylinder 131 and the air pump are electrically connected to the controller, which can control the operation of the cylinder 131 and the air pump.

[0038] When the cleaning robot 100 needs to perform spot cleaning or window cleaning, the bionic spider leg 122 can apply pressure to the surface to be cleaned. The suction cup 132 located at the bottom of the third movable joint 1223 adheres to the surface to be cleaned. At the same time, the piston rod drives the suction cup 132 to move closer to the surface to be cleaned. The air inside the suction cup 132 is expelled, and there is a pressure difference between the inside and outside of the suction cup 132. The atmospheric pressure presses down on the suction cup 132, causing it to adhere to the surface to be cleaned. At this time, the cleaning robot 100 can perform spot cleaning or window cleaning.

[0039] When the cleaning robot 100 needs to move, the piston rod can be controlled to move the suction cup 132 away from the surface to be cleaned. The external force of the piston rod causes the suction cup 132 at the end of the piston rod to detach from the surface. Simultaneously, the bionic spider leg 122 at the front of the mounting platform 121 lifts its third movable joint 1223 via its second movable joint 1222, allowing the suction cup 132 located at the bottom of its third movable joint 1223 to separate from the surface to be cleaned. After separating from the surface, the suction cup 132 swings forward horizontally under the action of the first movable joint 1221 of the bionic spider leg 122. After swinging a certain distance, the bionic spider leg 122 at the front of the mounting platform 121 applies pressure to the surface to be cleaned, causing the suction cup 132 to adhere to the surface again. Subsequently, the bionic spider legs 122 at the rear of the mounting platform 121, through their second movable joint 1222, drive the third movable joint 1223 to lift, causing the suction cups 132 at the bottom of the third movable joint 1223, which were adsorbed onto the surface to be cleaned, to detach from the surface. Then, under the action of the first movable joint 1221, they swing forward horizontally. After swinging to an appropriate distance, the bionic spider legs 122 at the rear of the mounting platform 121 apply pressure to the surface to be cleaned, and these suction cups 132 then adhere to the surface. Meanwhile, the suction cups 132 at the bottom of the bionic spider legs 122 at the front of the mounting platform 121, which were previously adsorbed onto the surface, begin to detach, swing forward horizontally, and then adhere again. In this way, by the continuous alternation of detachment, horizontal swinging, and adsorption by the suction cups 132 at the bottom of the two parts of the bionic spider legs 122 at the front and rear of the mounting platform 121, the cleaning robot 100 can continuously move towards the predetermined surface to be cleaned.

[0040] Furthermore, since an air pump is installed on the piston rod of the cylinder 131 in the middle of the mounting platform 121, this air pump can continuously extract air from the suction cup 132 at the end of the piston rod connected to it. This allows the suction cup 132 to quickly form a negative pressure adsorption, which can greatly improve the adsorption force of the suction cup 132 on the surface to be cleaned. This ensures that the cleaning robot 100 can be stably attached to a relatively smooth surface to be cleaned, and can focus on cleaning heavily soiled surfaces. Alternatively, the air pump can inject air into the suction cup 132 at the end of the piston rod of the cylinder 131 in the middle of the mounting platform 121, which can quickly separate the suction cup 132 from the surface to be cleaned, increasing the movement speed.

[0041] With the above settings, the cleaning robot 100 can move and adhere stably on vertical surfaces to be cleaned or surfaces with steep slopes. This not only ensures the stability of the cleaning robot 100 during movement but also guarantees the cleaning effect, greatly improving the applicability of the cleaning robot 100.

[0042] As a specific embodiment of the present invention, the suction cup 132 may be a silicone suction cup 132 to improve its durability.

[0043] See Figure 3 The cleaning component 140 includes a robotic arm 141 connected to the robot body 110 and a cleaning element 142 connected to the end of the robotic arm 141. The robotic arm 141 is electrically connected to a controller, which can control the operation of the robotic arm 141. Under the control of the controller, the robotic arm 141 has at least three degrees of freedom in the forward, backward, left, right, and up / down directions, ensuring flexible movement and use.

[0044] The cleaning component 142 includes at least two circular cloths 1421, and the cleaning component 142 may be composed of a combination of multiple circular cloths 1421.

[0045] Furthermore, the cleaning component 142 is connected to the end of the robotic arm 141 via a rack and pinion mechanism 143, which is electrically connected to the controller. By controlling the operation of the rack and pinion mechanism 143 through the controller, the cleaning component 142 can extend or retract according to the actual usage scenario, thereby improving its applicability.

[0046] See Figure 3 and Figure 4 The cleaning component 142 also includes a press-type spray structure 1422 disposed between the cleaning component 142 and the robotic arm 141, and a liquid storage tank 1423 connected to the press-type spray structure 1422.

[0047] During cleaning operations, the robotic arm 141 drives the cleaning component 142 to press against the surface to be cleaned. When the pressure of the cleaning component 142 pressing against the surface to be cleaned reaches its preset pressure, the press-type spray structure 1422 will automatically spray cleaning liquid onto the surface to be cleaned, thereby enabling the circular cloth 1421 of the cleaning component 142 to clean the surface to be cleaned in conjunction with the cleaning liquid, thus improving the cleaning effect.

[0048] The cleaning fluid sprayed by the press-type spray structure 1422 onto the surface to be cleaned is provided by the liquid storage tank 1423, which is connected to the press-type spray structure 1422.

[0049] See Figure 1 The cleaning robot 100 also includes an ultrasonic cleaning unit 150. The ultrasonic cleaning unit 150 includes a bracket 151 connected to the robot body 110, a water tank 152 disposed on the bracket 151, and an ultrasonic cleaning structure (not shown in the figure) disposed in the water tank 152.

[0050] The water tank 152 is connected to the robot body 110 via a bracket 151. The water tank 152 contains cleaning liquid such as water with detergent. An ultrasonic cleaning structure is set inside the water tank 152, which can emit ultrasonic waves into the water tank 152, thereby causing the water to vibrate at a high frequency for cleaning the round cloth 1421.

[0051] After the cleaning operation reaches the predetermined working time, the robotic arm 141 carries the circular cloth 1421 into the water tank 152 for washing to remove dirt from the circular cloth 1421 and ensure the cleanliness of subsequent cleaning operations. After the robotic arm 141 carries the circular cloth 1421 into the cleaning solution in the water tank, the ultrasonic cleaning structure in the water tank 152 can emit vibrations of 40KHz to 50KHz. Through dual-band vibration switching, deep cleaning of the circular cloth 1421 can be achieved.

[0052] As a specific embodiment of the present invention, the cleaning robot 100 also includes a level 160, which is mounted on the bracket 151. The level 160 can detect the tilt of the ultrasonic cleaning section 150 in real time. When the tilt of the ultrasonic cleaning section 150 is greater than or equal to a preset angle, the controller can control the bionic spider leg assembly 120 to adjust its movement posture to avoid the ultrasonic cleaning section 150 tilting too much and causing water to spill from the water tank 152, thereby ensuring the stability of the tilt of the ultrasonic cleaning section 150.

[0053] After completing the cleaning operation, the cleaning robot 100 can return to its initial position along the planned path and automatically power off. The user can separate the liquid storage tank 1423 to add cleaning fluid, and remove the water tank 152 to clean it, thus completing the consumable maintenance.

[0054] It should be understood that the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Although the present invention may use the terms "first," "second," etc., to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the present invention.

[0055] It should be understood that the term "and / or" in this invention is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this invention describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can represent two cases: A exists alone, and A and B exist alone. In addition, the character " / " in this invention generally indicates that the related objects before and after are in an "or" relationship.

[0056] It should be understood that in the description of this invention, the terms "upper," "vertical," "inner," "outer," etc., indicate the orientation or positional relationship as commonly placed when the product disclosed in this invention is used, or the orientation or positional relationship commonly understood by those skilled in the art. They are only for the convenience of describing this invention 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, they should not be construed as limitations on this invention.

[0057] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] The terminology used in this invention is for describing particular embodiments only and is not intended to limit the exemplary embodiments of the invention. The singular forms “a,” “an,” and “the” as used in this invention are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” “containing,” and / or “including”, when used in this invention, specify the presence of the stated features, integers, steps, operations, units, and / or components, and do not exclude the presence or addition of one or more other features, quantities, steps, operations, units, components, and / or combinations thereof.

[0059] Specific details are provided in the following description to provide a complete understanding of the exemplary embodiments. However, those skilled in the art will understand that the exemplary embodiments can be implemented without these specific details. In other embodiments, well-known processes, structures, and techniques may be omitted in the depiction of non-essential details to avoid obscuring the exemplary embodiments.

[0060] The above are merely specific embodiments of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention.

[0061] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art.

Claims

1. A cleaning robot, characterized in that, include: Robot body; A biomimetic spider leg assembly is connected to the robot body and is used to drive the cleaning robot to move as a whole. An adsorption structure is provided on the biomimetic spider leg assembly and the robot body to adsorb and fix the cleaning robot to the surface to be cleaned. A cleaning component, connected to the robot body, is used to clean the surface to be cleaned; A controller, located inside the robot body, is used to control the operation of the bionic spider leg assembly, the adsorption structure, and the cleaning assembly.

2. The cleaning robot according to claim 1, characterized in that, Also includes: A wireless communication module, electrically connected to the controller, is used to receive cleaning task instructions; The scanning module, electrically connected to the controller, is used to scan the information of the environment to be cleaned and send the scanned environment to the controller so that the controller can generate a cleaning route; The information about the environment to be cleaned includes spatial images of the environment to be cleaned, information about obstacles in the environment to be cleaned, and areas with dense stains in the environment to be cleaned.

3. The cleaning robot according to claim 1, characterized in that, The biomimetic spider leg component includes: The mounting platform is connected to the robot body; Multiple biomimetic spider legs are evenly distributed on the mounting platform, and the movement of a spider is simulated by the coordination of the multiple biomimetic spider legs.

4. The cleaning robot according to claim 3, characterized in that, The biomimetic spider legs include: The first movable joint is rotatably connected to the mounting platform and is used to control the horizontal swinging of the bionic spider leg; The second movable joint is rotatably connected to the first movable joint and is used to control the vertical flexion and extension of the bionic spider leg; The third movable joint is rotatably connected to the second movable joint and is used to control the contact angle between the bionic spider leg and the surface to be cleaned. A drive servo is disposed at the connection between the first movable joint and the mounting platform, the connection between the first movable joint and the second movable joint, and the connection between the second movable joint and the third movable joint. The controller controls the operation of the drive servo.

5. The cleaning robot according to claim 4, characterized in that, The adsorption structure includes: A cylinder is installed in the main body of the robot, and the piston rod of the cylinder passes through the middle of the mounting platform. The piston rod can move towards or away from the mounting platform. A suction cup is connected to the bottom of the third movable joint and to the end of the piston rod; An air pump, located on the piston rod, is used to adjust the amount of air in the suction cup connected to the end of the piston rod; The controller controls the operation of the cylinder and the air pump.

6. The cleaning robot according to claim 1, characterized in that, The cleaning components include: A robotic arm is connected to the robot body. The robotic arm has at least three degrees of freedom, and the controller controls the operation of the robotic arm. A cleaning component, attached to the end of the robotic arm, comprising at least two circular cloths.

7. The cleaning robot according to claim 6, characterized in that, The cleaning component also includes: A press-type spray structure is disposed between the cleaning component and the robotic arm. When the pressure of the cleaning component pressing against the surface to be cleaned reaches a preset pressure, the press-type spray structure sprays cleaning liquid onto the surface to be cleaned. A liquid storage tank, connected to the press-type spray structure, is used to supply cleaning liquid to the press-type spray structure.

8. The cleaning robot according to claim 6, characterized in that, Also includes: A cleaning unit, located on the robot body, is used to clean the cleaning components.

9. The cleaning robot according to claim 8, characterized in that, The cleaning unit includes: The support frame is connected to the main body of the robot; Water tank, connected to the bracket; An ultrasonic cleaning structure is provided in the water tank for emitting ultrasonic waves into the water tank.

10. The cleaning robot according to claim 9, characterized in that, Also includes: A level, connected to the bracket, is used to detect the tilt of the cleaning section. When the tilt is greater than or equal to a preset angle, the controller controls the bionic spider leg assembly to adjust its movement posture.

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