Cleaning robot

Abstract

The utility model provides a cleaning robot. The cleaning robot comprises a chassis, a cleaning device and an external expansion mechanism. The cleaning device comprises a cleaning piece and a swing mechanism which are connected, and the swing mechanism is rotationally arranged at the bottom of the chassis; the swing mechanism is provided with an external expansion position, and a first hiding position and a second hiding position on two sides of the external expansion position; the external expansion mechanism is respectively connected with the chassis and the swing mechanism, and the external expansion mechanism can keep the swing mechanism at the external expansion position under the condition of no external force; and under the combined action of external force and the external expansion mechanism, the swing mechanism can move between the external expansion position and the first hiding position and between the external expansion position and the second hiding position. According to the invention, cleaning of cleaning dead areas around obstacles such as wall corners and the like can be accurately, timely and efficiently realized.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot. Background Art

[0002] In the related art, a cleaning robot drives a cleaning member through a motor to extend out of the body to clean the dead zone around obstacles such as corners.

[0003] However, this cleaning method first requires identifying the cleaning dead zone, but the accuracy of identifying the cleaning dead zone is not high and misjudgment is prone to occur; on the other hand, it takes time for the motor to drive the cleaning part to extend out of the body, resulting in cleaning delays and affecting cleaning efficiency. Utility Model Content

[0004] The present application provides a cleaning robot that can accurately, timely and efficiently clean dead zones around obstacles such as corners.

[0005] The present application provides a cleaning robot, comprising:

[0006] Chassis;

[0007] A cleaning device, comprising a connected cleaning member and a swing mechanism, wherein the swing mechanism is rotatably arranged at the bottom of the chassis; the swing mechanism has an outward expansion position and a first hidden position and a second hidden position on both sides of the outward expansion position; and

[0008] An outward expansion mechanism, connected to the chassis and the swing mechanism respectively, and in the absence of external force, the outward expansion mechanism can keep the swing mechanism in the outward expansion position;

[0009] Wherein, under the combined action of external force and the outward expansion mechanism, the swing mechanism can move between the outward expansion position and the first hidden position and between the outward expansion position and the second hidden position.

[0010] In the present application, the swing mechanism that is not subject to external force is always kept in the outward expansion position, and the swing mechanism in the outward expansion position is at least partially exposed to the outside of the chassis, so that the cleaning member connected to the swing mechanism can immediately clean the cleaning dead zone around obstacles such as corners. When the swing mechanism is acted upon by external force (such as the reaction force exerted by the wall on the swing mechanism), the swing mechanism moves from the outward expansion position to the first hidden position or the second hidden position on both sides of the outward expansion position. When the external force is large enough, the swing mechanism finally moves to the first hidden position or the second hidden position on both sides of the outward expansion position. The present application does not need to identify the cleaning dead zone, and the cleaning robot can clean the cleaning dead zone by moving to the cleaning dead zone, and the swing mechanism is at least partially kept in the outward expansion position exposed to the outside of the chassis when not subject to external force, and does not need to be extended by motor drive, so it will not cause cleaning delay and reduce cleaning efficiency. It can be seen that the present application can accurately, timely and efficiently clean the cleaning dead zone around obstacles such as corners.

[0011] In some possible implementations, the outward expansion mechanism includes:

[0012] A protrusion, arranged on the peripheral side of the swing mechanism;

[0013] Two elastic members are arranged around the swing mechanism at intervals on the chassis; the first end of the elastic member is fixedly connected to the chassis, and the second end of the elastic member acts on the protrusion.

[0014] In combination with the above implementations, in some possible implementations, the chassis is provided with a mounting hole;

[0015] The swing mechanism comprises:

[0016] A transmission structure, the cleaning member is connected to one side of the transmission structure; the cleaning member and the transmission structure are located on the lower side of the chassis; and

[0017] A drive motor is connected to the other side of the transmission structure; at least a portion of the drive motor extends to the upper side of the chassis through the mounting hole.

[0018] In combination with the above implementations, in some possible implementations, the chassis has a recessed portion for accommodating the transmission structure;

[0019] The cleaning robot also includes:

[0020] A collision member is located on the peripheral side of the cleaning robot, and an avoidance gap is arranged on the collision member corresponding to the transmission structure.

[0021] In combination with the above implementations, some possible implementations further include:

[0022] An installation component, the installation component comprising:

[0023] A limiting flange is formed on the peripheral side of the transmission structure;

[0024] A limiting member, detachably arranged on the peripheral side of the driving motor;

[0025] Wherein, the contours of the limiting flange and the limiting member are both larger than the aperture of the mounting hole, so as to limit the movement of the swing mechanism along the axis of the mounting hole.

[0026] In combination with the above implementations, in some possible implementations, the limiting member is a ring-shaped member, and the limiting member is sleeved on the outer circumference of the driving motor;

[0027] An arc-shaped notch is formed on the outer periphery of the limiting member to form the protrusion.

[0028] In combination with the above implementations, in some possible implementations, the outward expansion mechanism further includes:

[0029] A slider is connected to the second end of the elastic member, and the slider abuts against the protrusion.

[0030] In combination with the above implementations, in some possible implementations, along the movement trajectory of the slider, one of the slider or the chassis is provided with a guide groove, and the other is provided with a guide protrusion that matches the guide groove.

[0031] In combination with the above implementations, in some possible implementations, a stopper is provided on the chassis at both ends corresponding to the guide groove or the guide protrusion.

[0032] In combination with the above implementations, in some possible implementations, a baffle is provided on the chassis at a side of the slider away from the drive motor, and both ends of the baffle are connected to the two stop portions.

[0033] In combination with the above implementations, in some possible implementations, the swing mechanism further includes:

[0034] A protective shell is arranged on the driving motor and is fixedly connected to the chassis.

[0035] In combination with the above implementations, in some possible implementations, an end cover flange is provided at the end of the protective shell;

[0036] The end cover flange is buckled on the stopper and the baffle to wrap the slider, the guide groove and the guide protrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the embodiments below. The accompanying drawings are only for the purpose of illustrating the embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0038] Figure 1 It is a schematic diagram of the overall structure of a cleaning robot provided in an embodiment of the present application;

[0039] Figure 2 yes Figure 1 A schematic diagram of the structure of the cleaning robot removing the cleaning device;

[0040] Figure 3 yes Figure 1 Schematic diagram of the local structure of the cleaning robot with collision parts and top cover removed;

[0041] Figure 4 yes Figure 3 Schematic diagram of the three-dimensional structure of the cleaning device;

[0042] Figure 5 yes Figure 3 Schematic diagram of the top view of the structure without the protective shell;

[0043] Figure 6 yes Figure 5 Schematic diagram of the three-dimensional structure of the middle slider;

[0044] Figure 7 yes Figure 5 A schematic diagram of the structure of the middle limiter;

[0045] Figure 8 It is a bottom view of the right cleaning device of the cleaning robot of the present application in an expanded position;

[0046] Fig. 9 It is a bottom view of the right cleaning device of the cleaning robot of the present application in a first hidden position;

[0047] Fig.10 This is a bottom view of the right cleaning device of the cleaning robot of the present application in the second hidden position. The description of the reference numerals in the figure is as follows:

[0048] 1—chassis; 111—mounting hole; 112—recess; 121—guide protrusion; 122—stopper; 123—baffle;

[0049] 2—cleaning device; 21—swing mechanism; 211—transmission structure; 212—drive motor; 22—cleaning member; 23—protective shell; 231—end cover flange;

[0050] 3—outward expansion mechanism; 31—protrusion; 32—elastic member; 33—slider; 331—guide groove; 332—guide column;

[0051] 4—collision member; 41—avoidance gap;

[0052] 5—installation assembly; 51—limiting flange; 52—limiting member; 521—arc-shaped notch;

[0053] 6—Top cover. DETAILED DESCRIPTION

[0054] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0056] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0057] In the related art, a cleaning robot drives a cleaning member through a motor to extend out of the body to clean the dead zone around obstacles such as corners.

[0058] However, on the one hand, this cleaning method first needs to identify the cleaning dead zone, and the accuracy of identifying the cleaning dead zone is not high, and misjudgment is easy to occur. For example, a cleaning dead zone exists but is not identified, so the cleaning element is not driven to extend, or there is no cleaning dead zone but it is mistakenly identified as a cleaning dead zone, thereby controlling the cleaning element to extend; on the other hand, it takes time for the motor to drive the cleaning element to extend out of the body, so the cleaning dead zone cannot be cleaned immediately, and the cleaning dead zone can only be cleaned after the cleaning element extends out of the body. This undoubtedly causes cleaning delays and affects the cleaning efficiency.

[0059] In order to solve the above technical problems, the embodiment of the present application provides a cleaning robot. The cleaning robot provided by the embodiment of the present application is introduced below with reference to the drawings of the specification.

[0060] Please refer to Figures 1 to 3 The cleaning robot proposed in the present application includes a chassis 1, a cleaning device 2 and an outward expansion mechanism 3. The cleaning device 2 includes a connected cleaning member 22 and a swing mechanism 21, and the swing mechanism 21 is rotatably arranged at the bottom of the chassis 1; the swing mechanism 21 has an outward expansion position and a first hidden position and a second hidden position on both sides of the outward expansion position; the outward expansion mechanism 3 is respectively connected to the chassis 1 and the swing mechanism 21, and in the absence of external force, the outward expansion mechanism 3 can keep the swing mechanism 21 in the outward expansion position; wherein, under the joint action of the external force and the outward expansion mechanism 3, the swing mechanism 21 can move between the outward expansion position and the first hidden position and between the outward expansion position and the second hidden position.

[0061] In the solution provided by the embodiment of the present application, the swing mechanism 21 that is not subject to external force is always kept in the outward expansion position, and the swing mechanism 21 in the outward expansion position is at least partially exposed to the outside of the chassis 1, so that the cleaning member 22 connected to the swing mechanism 21 can immediately realize the cleaning of the cleaning dead zone around obstacles such as corners. When the swing mechanism 21 is acted upon by an external force (such as the reaction force exerted by the wall on the swing mechanism 21), the swing mechanism 21 moves from the outward expansion position to the first hidden position or the second hidden position on both sides of the outward expansion position. When the external force is large enough, the swing mechanism 21 finally moves to the first hidden position or the second hidden position on both sides of the outward expansion position. The solution of the present application does not need to identify the cleaning dead zone, and the cleaning robot can clean the cleaning dead zone by moving to the cleaning dead zone, and the swing mechanism 21 is at least partially kept in the outward expansion position exposed to the outside of the chassis 1 when it is not subject to external force, and does not need to be extended by motor drive, so it will not cause cleaning delay and reduce cleaning efficiency. It can be seen that the solution of the present application can accurately, timely and efficiently realize the cleaning of the cleaning dead zone around obstacles such as corners.

[0062] The following combination Figures 1 to 10 The specific structure of the cleaning robot provided in the application embodiment is introduced in detail.

[0063] See also Figure 1 and Figure 2 , the chassis 1 serves as the supporting base of the cleaning robot, and is usually made of corrosion-resistant metal parts such as aluminum alloy to improve durability. A mounting hole 111 for mounting the cleaning device 2 is provided on the chassis 1. In order to accommodate the cleaning device 2, the chassis 1 is also provided with a recessed portion 112, wherein the recessed portion 112 may be U-shaped, V-shaped, etc. Correspondingly, when a collision member 4 is provided at the peripheral side of the cleaning robot corresponding to the cleaning device 2, the collision member 4 is also provided with an avoidance gap 41 for avoiding the cleaning device 2. Designers can flexibly design the shapes of the recessed portion 112 and the avoidance gap 41 according to the actual structure of the cleaning device 2, and the embodiments of the present application do not specifically limit this. The recessed portion 112 and the avoidance gap 41 will be described below in conjunction with the position state of the cleaning device 2.

[0064] For each cleaning robot, the number of cleaning devices 2 is at least one. Figure 3 A cleaning device 2 can be provided with one cleaning device 2 in the front and rear directions of the cleaning robot, and the cleaning device 2 can usually be provided at the front end of the cleaning robot.

[0065] Each cleaning device 2 comprises a connected cleaning member 22 and a swing mechanism 21. Figures 3 to 5 , the cleaning member 22 may be a side brush, and the rotation axis of the side brush is perpendicular to the surface to be cleaned. The number of side brushes may be only one, or may be multiple, such as two, three, four, etc. Multiple side brushes may be evenly distributed around their rotation axis. In addition, the cleaning member 22 may also be a disc-shaped mop, wherein the rotation axis of the mop is also perpendicular to the surface to be cleaned. The swing mechanism 21 may include a transmission structure 211 and a drive motor 212. The output end of the drive motor 212 is connected to the input end of the transmission structure 211, and the output end of the transmission structure 211 is connected to the cleaning member 22. The transmission structure 211 may adopt a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc. The drive motor 212 can drive the cleaning member 22 to rotate through the transmission structure 211. In addition, in order to protect the drive motor 212, see Figure 3 The swing mechanism 21 may further include a protective shell 23 , which covers the drive motor 212 and is fixedly connected to the chassis 1 .

[0066] The swing mechanism 21 is rotatably mounted on the bottom of the chassis 1 through the mounting hole 111. Figure 3 The cleaning member 22 is connected to one side of the transmission structure 211; the cleaning member 22 and the transmission structure 211 are located as a whole on the lower side of the chassis 1; and the driving motor 212 is connected to the other side of the transmission structure 211, and at least part of the driving motor 212 extends to the upper side of the chassis 1 through the mounting hole 111.

[0067] The swing mechanism 21 can be mounted on the chassis 1 via the mounting assembly 5. In a possible implementation, see Figure 3 and Figure 4The mounting assembly 5 may include a limiting flange 51 and a limiting member 52. The limiting flange 51 is formed on the peripheral side of the transmission structure 211. The limiting member 52 is detachably arranged on the peripheral side of the driving motor 212. The limiting member 52 may be an arc-shaped member, an annular member, a polygonal member, etc., and the limiting member 52 may be sleeved on the outer periphery of the driving motor 212. The contours of the limiting flange 51 and the limiting member 52 are both larger than the aperture of the mounting hole 111 of the chassis 1. The limiting flange 51 cooperates with the limiting member 52 to limit the movement of the swing mechanism 21 along the axis of the mounting hole 111. When installing the swing mechanism 21, the driving motor 212 may be first extended into the mounting hole 111 so that part of the driving motor 212 is exposed on the upper side of the chassis 1, and then the limiting member 52 is sleeved on the driving motor 212 and the limiting member 52 is connected to the limiting flange 51 by screws or the like. In this way, the cleaning device 2 can smoothly rotate around the axis of the mounting hole 111. In another possible implementation, a bearing may be provided in the mounting hole 111 , and the driving motor 212 may be installed in the bearing to achieve a rotational connection between the swing mechanism 21 and the chassis 1 .

[0068] By rotating the swing mechanism 21, the swing mechanism 21 can be located at the outward expansion position and the first hidden position and the second hidden position on both sides of the outward expansion position. Figure 8 The swing mechanism 21 shown on the left is in the expanded position. Fig. 9 The swing mechanism 21 shown on the left is located Figure 8 The first hidden position on the side of the expanded position, Fig.10 The swing mechanism 21 shown on the left is located Figure 8 The second hidden position on the other side of the extended position. Figure 2 , Figure 8 , Fig. 9 and Fig.10 It can be seen that due to the existence Figure 2 The avoidance gap 41 shown, when located at Figure 8 In the extended position shown on the left, the transmission structure 211 of the swing mechanism 21 is at least partially exposed outside the chassis 1. Figure 2 The recessed portion 112 shown in FIG. Fig. 9 The first hide situation shown on the left and Fig.10 In the second hidden position shown on the left side, the transmission structure 211 of the swing mechanism 21 is hidden inside the chassis 1 .

[0069] The outward expansion mechanism 3 is used to keep the swing mechanism 21, which is not subject to external force, in the outward expansion position. The outward expansion mechanism 3 is connected to the chassis 1 and the swing mechanism 21 respectively. Figure 5 The outward expansion mechanism 3 may include a protrusion 31 and two elastic members 32 .

[0070] The protrusion 31 may be disposed on the peripheral side of the driving motor 212 of the swing mechanism 21. The number of the protrusion 31 may be one or two. When the number of the protrusion 31 is one, as shown in FIG. Figure 5 and Figure 7 As shown, the protrusion 31 can be formed on the stopper 52 by providing an arc-shaped notch 521. When the number of the protrusions 31 is two, the two protrusions 31 can be arranged at intervals on the peripheral side of the drive motor 212. For example, it can be imagined that the two protrusions 31 are arranged at intervals on the stopper 52, and of course it can also be imagined that the two protrusions 31 are directly arranged at intervals on the outer periphery of the drive motor 212.

[0071] Two elastic members 32 are arranged at intervals on the chassis 1 around the driving motor 212 of the swing mechanism 21. The first end of the elastic member 32 is fixedly connected to the chassis 1, and the second end of the elastic member 32 acts on the protrusion 31. The elastic member 32 can be made of Figure 5 The spring shown may also be a rubber column or the like. The two elastic members 32 may be the same or different. For example, one elastic member 32 may be a spring and the other elastic member 32 may be a rubber column. In another example, the two elastic members 32 may be springs or rubber columns at the same time. Moreover, the elastic members 32 that are springs or rubber columns at the same time may also be the same or different in shape and structure. For example, the two elastic members 32 that are springs at the same time may have the same or different lengths. Designers may flexibly set the elastic members 32 according to actual needs, and the embodiments of the present application do not specifically limit this. When the protrusion 31 of the outward expansion mechanism 3 is only acted upon by two elastic members 32, the swing mechanism 21 connected to the protrusion 31 may be kept in the outward expansion position.

[0072] It should be noted that, under the combined action of the external force and the outward expansion mechanism 3, the swing mechanism 21 can move between the outward expansion position and the first hidden position and between the outward expansion position and the second hidden position. Figure 8 , Fig. 9 and Fig.10 As shown, when the external force overcomes the elastic force of the elastic member 32, the swing mechanism 21 shown on the left side of the figure can be moved from Figure 8 The expanded position shown on the left moves to Fig. 9 The first hiding situation shown on the left, or from Figure 8 The expanded position shown on the left moves to Fig.10 The second hidden position shown on the left; when the external force is removed, the swing mechanism 21 can be moved from the elastic member 32 under the elastic force Fig. 9 The first hiding position shown on the left is moved to Figure 8 The expanded position shown on the left, or from Fig.10 The second hiding position shown on the left is moved to Figure 8 The expanded position shown on the left.

[0073] When in use, if the cleaning device 2 of the cleaning robot does not touch an obstacle, then Figure 8 The swing mechanism 21 of the cleaning device 2 shown on the left is kept in the outward expansion position. In this case, the cleaning member 22 connected to the swing mechanism 21 can immediately clean the dead zone around obstacles such as corners. When the cleaning device 2 contacts the obstacle, as the reaction force of the obstacle overcomes the elastic force of the elastic member 32, the swing mechanism 21 gradually moves toward Fig. 9 The first hide situation shown on the left, or Fig.10 The second hidden position shown on the left side moves until the reaction force of the obstacle completely overcomes the elastic force of the elastic member 32, so that the swing mechanism 21 is in Fig. 9 The first hide situation shown on the left, or Fig.10 The second hiding position motion shown on the left.

[0074] For a cleaning robot with a collision member 4 provided corresponding to the cleaning device 2, when an obstacle acts on the swing mechanism 21 and causes it to move to Fig. 9 The first hide situation shown on the left, or Fig.10 After the second hidden position shown on the left moves, the obstacle will contact the collision member 4. The collision member 4 is displaced by the force of the obstacle, which can trigger the collision switch inside the cleaning robot, and then the controller controls the cleaning robot to retreat or bypass the obstacle. When the cleaning robot leaves the obstacle, the collision member 4 returns to its original position. Then, as the distance between the cleaning robot and the obstacle increases, until the swing mechanism 21 is free from the obstacle, the swing mechanism 21 can move from the original position. Fig. 9 The first hide situation shown on the left, or Fig.10 The second hiding position shown on the left is restored to Figure 8 The expanded position shown on the left.

[0075] Considering that the elastic force of the elastic member 32 is effectively applied to the protrusion 31, the outward expansion mechanism 3 may further include a slider 33, which is connected to the second end of the elastic member 32 and abuts against the protrusion 31. Since it is difficult to directly connect the elastic member 32 to the protrusion 31 and the connection is not strong enough, the elastic member 32 can be easily connected to the slider 33. For example, when the elastic member 32 is formed as Figure 6 When the spring is shown, a guide column 332 can be provided on the slider 33, and the end of the spring can be easily mounted on the guide column 332. When the elastic member 32 is a rubber column, it can be easily bonded to the surface of the slider 33, so the slider 33 can be easily connected to the elastic member 32. And because the slider 33 is only in contact with the protrusion 31 and is not connected, it is also convenient to install and remove the swing mechanism 21 and the expansion mechanism 3.

[0076] In order to ensure that the slider 33 moves stably along its motion trajectory, the present application can also provide a guide groove 331 on one of the slider 33 or the chassis 1 along the motion trajectory of the slider 33, and provide a guide protrusion 121 that matches the guide groove 331 on the other. Figure 5 and Figure 6 A guide groove 331 may be provided at the bottom of the slider 33, and a guide protrusion 121 adapted to the guide groove 331 may be provided on the chassis 1. In this way, the slider 33 may move stably under the guidance of the guide protrusion 121 and the guide groove 331.

[0077] In order to prevent the guide protrusion 121 of the slider 33 from being separated from the guide groove 331, a stopper 122 may be provided on the chassis 1 at both ends corresponding to the guide groove 331 or the guide protrusion 121. Figure 5 As shown, a stopper 122 can be provided at both ends of the guide protrusion 121 on the chassis 1. In addition to limiting the slider 33, the stopper 122 can also provide a mounting base for the first end of the elastic member 32, facilitating the connection between the elastic member 32 and the chassis 1.

[0078] In addition, in order to protect and guide the elastic member 32 and the slider 33, a baffle 123 is provided on the chassis 1 on the side of the slider 33 away from the drive motor 212, and the two ends of the baffle 123 are connected to the two stoppers 122. In addition, for the swing mechanism 21 provided with the protective shell 23, an end cover flange 231 can also be provided at the end of the protective shell 23; the end cover flange 231 is buckled on the stopper 122 and the baffle 123, and can wrap the slider 33, the guide groove 331 and the guide protrusion 121, reduce dust, mosquitoes and other foreign objects from entering the gap between the guide groove 331 and the guide protrusion 121, and further improve the movement stability of the slider 33.

[0079] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A cleaning robot, characterized in that: include: Chassis (1); A cleaning device (2) comprising a connected cleaning member (22) and a swing mechanism (21), wherein the swing mechanism (21) is rotatably arranged at the bottom of the chassis (1); the swing mechanism (21) has an outwardly extending position and a first hidden position and a second hidden position on both sides of the outwardly extending position; and An outward expansion mechanism (3) is connected to the chassis (1) and the swing mechanism (21) respectively, and in the absence of external force, the outward expansion mechanism (3) can keep the swing mechanism (21) in the outward expansion position; Wherein, under the combined action of an external force and the outward expansion mechanism (3), the swing mechanism (21) can move between the outward expansion position and the first hidden position and between the outward expansion position and the second hidden position.

2. The cleaning robot according to claim 1, characterized in that: The outward expansion mechanism (3) comprises: A protrusion (31) is arranged on the peripheral side of the swing mechanism (21); Two elastic members (32) are arranged at intervals on the chassis (1) around the swing mechanism (21); a first end of the elastic member (32) is fixedly connected to the chassis (1), and a second end of the elastic member (32) acts on the protrusion (31).

3. The cleaning robot according to claim 2, characterized in that: The chassis (1) is provided with a mounting hole (111); The swing mechanism (21) comprises: A transmission structure (211), wherein the cleaning member (22) is connected to one side of the transmission structure (211); the cleaning member (22) and the transmission structure (211) are located on the lower side of the chassis (1); and A drive motor (212) is connected to the other side of the transmission structure (211); at least a portion of the drive motor (212) extends through the mounting hole (111) to the upper side of the chassis (1).

4. The cleaning robot according to claim 3, characterized in that: The chassis (1) has a recessed portion (112) for accommodating the transmission structure (211); The cleaning robot also includes: A collision member (4), the collision member (4) being located on the peripheral side of the cleaning robot, and the collision member (4) being provided with an avoidance notch (41) corresponding to the transmission structure (211).

5. The cleaning robot according to claim 3, characterized in that: Also includes: An installation component (5), the installation component (5) comprising: A limiting flange (51) is formed on the peripheral side of the transmission structure (211); A limiting member (52) is detachably arranged on a peripheral side of the driving motor (212); The contours of the limiting flange (51) and the limiting member (52) are both larger than the diameter of the mounting hole (111), so as to limit the movement of the swing mechanism (21) along the axis of the mounting hole (111).

6. The cleaning robot according to claim 5, characterized in that: The limiting member (52) is a ring-shaped member, and the limiting member (52) is sleeved on the outer circumference of the driving motor (212); An arc-shaped notch (521) is provided on the outer periphery of the limiting member (52) to form the protruding portion (31).

7. The cleaning robot according to any one of claims 3 to 6, characterized in that: The outward expansion mechanism (3) further comprises: A slider (33) is connected to the second end of the elastic member (32), and the slider (33) abuts against the protruding portion (31).

8. The cleaning robot according to claim 7, characterized in that: Along the movement track of the slider (33), one of the slider (33) or the chassis (1) is provided with a guide groove (331), and the other is provided with a guide protrusion (121) matched with the guide groove (331).

9. The cleaning robot according to claim 8, characterized in that: A stopper (122) is provided on the chassis (1) at each of the two ends corresponding to the guide groove (331) or the guide protrusion (121).

10. The cleaning robot according to claim 9, characterized in that: A baffle (123) is provided on the chassis (1) at a side of the slider (33) away from the drive motor (212), and two ends of the baffle (123) are connected to the two stoppers (122).

11. The cleaning robot according to claim 10, characterized in that: The swing mechanism (21) further comprises: A protective shell (23) is provided to cover the driving motor (212) and is fixedly connected to the chassis (1).

12. The cleaning robot according to claim 11, characterized in that: An end cover flange (231) is provided at the end of the protective shell (23); The end cover flange (231) is buckled onto the stopper (122) and the baffle (123) to wrap around the slider (33), the guide groove (331) and the guide protrusion (121).

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