Cleaning robot

Abstract

The utility model relates to a cleaning robot which comprises a machine shell, at least two negative pressure systems which are independent from each other, and an air pressure detection element is arranged in each negative pressure system. The walking cleaning components and the negative pressure systems are distributed in a one-to-one mode and communicate with each other, and the walking cleaning components are configured to be capable of being adsorbed to the face to be cleaned under the action of the negative pressure systems; the driving parts are arranged in the machine shell and connected with the walking cleaning parts in a one-to-one mode so as to drive the walking cleaning parts to rotate; the control device is in communication connection with the air pressure detection element and the driving part, and the control device is configured to output an obstacle crossing work instruction when receiving part of the air leakage signals sent by the air pressure detection element; the obstacle crossing work instruction comprises outputting a signal for increasing the pressure difference to the negative pressure system without air leakage and outputting a signal for driving the walking cleaning component to continuously rotate to cross the gap to the driving component corresponding to the negative pressure system with air leakage. The driving component continuously operates to drive the walking cleaning component to cross the gap while falling is avoided.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robots, and in particular to a cleaning robot. Background Technology

[0002] In recent years, window cleaning robots, as an important component of smart home cleaning equipment, have been gradually applied to the automated cleaning of various glass curtain walls and windows. Traditional window cleaning robots typically employ a structural design using a single negative pressure adsorption system combined with a set of wheels, maintaining adsorption force through a vacuum pump to achieve planar movement. However, in actual use, when the robot encounters gaps in the window frame, such as seams, sealing strips, or areas of broken glass, localized air leakage can easily occur on the adsorption surface, causing the negative pressure system to become unstable and posing a safety hazard of the entire machine falling off.

[0003] To address the aforementioned issues, existing technologies primarily employ obstacle avoidance strategies. For instance, some products trigger a shutdown protection mechanism upon detecting a gap, controlling the robot to retreat or detour along its original path. While this approach reduces the risk of falls, frequent obstacle avoidance actions can lead to redundant cleaning paths and reduced coverage, especially in complex window frame scenarios where blind spots can easily form. Furthermore, for cleaning scenarios involving multiple window frame seams and sealing strips, users must manually move and place the robot in different areas, making the product cumbersome and labor-intensive, thus deviating from the product's original intention of automation and unmanned operation.

[0004] Therefore, how to achieve reliable gap-crossing function while maintaining stable adsorption, and at the same time ensure the continuity and integrity of the cleaning path, remains a technical challenge that urgently needs to be solved in this field. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a cleaning robot that can cross gaps and crevices, aiming to solve at least one of the problems of the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a cleaning robot, comprising:

[0008] The casing has at least two independent negative pressure systems, each of which is equipped with a pressure detection element;

[0009] At least two walking cleaning components are distributed and communicated with the negative pressure system in a one-to-one manner, and the walking cleaning components are configured to adhere to the surface to be cleaned under the action of the negative pressure system;

[0010] At least two drive components are disposed within the housing and connected one-to-one with the walking cleaning component to drive its rotation;

[0011] A control device is communicatively connected to the negative pressure system and the drive component. The control device is configured to output an obstacle-crossing operation command when it receives a leakage signal from a portion of the air pressure detection elements. The obstacle-crossing operation command includes outputting a signal to the non-leaking negative pressure system to increase the pressure difference and outputting a signal to the drive component corresponding to the leaking negative pressure system to drive its walking cleaning component to continue rotating and crossing the gap.

[0012] This invention utilizes an independently controlled negative pressure system and a walking cleaning component in synergy. When a localized air leak is detected, an obstacle-crossing mode is automatically activated. This increases the internal and external pressure difference through the negative pressure system on the non-leaking side, enhancing the suction force to maintain the overall balance of the machine and preventing the risk of the robot falling through gaps or crevices. Simultaneously, the driving component on the leaking side continuously operates, driving the walking cleaning component to cross the gaps. The continuous rotation of the walking cleaning component during obstacle crossing effectively overcomes the shortcomings of traditional solutions that require stopping to adjust the posture. This allows the robot to smoothly transition between different surface height differences, reducing path backtracking and cleaning blind spots, significantly reducing the frequency of user operations, and improving cleaning coverage efficiency. It avoids the risk of falling due to localized pressure loss and ensures the continuity of the cleaning path.

[0013] In the above technical solution, the control device is further configured to output an avoidance work command when it receives a signal that the air pressure of the leaking negative pressure system has not recovered to the set value within a predetermined time. The avoidance work command includes outputting a signal to increase the pressure difference to the non-leaking negative pressure system and outputting a signal to the drive component corresponding to the leaking negative pressure system to drive its walking cleaning component to rotate in the opposite direction to avoid the gap.

[0014] In this technical solution, when the negative pressure on the leaking side is continuously abnormal, the machine automatically determines that the current gap exceeds the obstacle-crossing capability range, and then increases the adsorption force on the normal side to maintain the stability of the machine body. At the same time, it controls the obstructed side to rotate in the opposite direction to get out of the gap area, avoiding the risk of adsorption failure caused by repeated attempts to cross, realizing the robot's autonomous path replanning capability. When encountering complex gaps, it quickly switches the cleaning direction, which not only prevents the overall shutdown problem caused by local jamming, but also ensures the cleaning coverage rate through continuous operation.

[0015] In the above technical solution, each negative pressure system includes an air duct and a fan installed in the air duct. The control device is communicatively connected to the fan and is configured to control the fan to independently draw negative pressure from the air duct in which it is located.

[0016] In this technical solution, firstly, each negative pressure system has an air duct, and each air duct is independent of the others. When a part of the walking cleaning component encounters a gap or crevice, causing the negative pressure in its negative pressure system to fail, the other walking cleaning components are not affected, thus avoiding the occurrence of falling. Secondly, compared with the existing design of multiple air ducts sharing a single fan, this embodiment has a fan in each air duct, making each negative pressure system completely independent and unaffected by others. When the negative pressure in one part of the negative pressure system fails, the control device can control the fan of another part of the negative pressure system to increase the output power to obtain a greater internal and external pressure difference, increase the adsorption force, and enable the machine to firmly adhere to the surface to be cleaned. This achieves both safe adsorption through independent pressurization and precise driving of obstructed components to complete obstacle-crossing actions.

[0017] In the above technical solution, the walking cleaning component includes:

[0018] A wheel is rotatably mounted on the housing, the wheel having a bottom wall facing the surface to be cleaned, and a first air intake port communicating with the air duct on the bottom wall;

[0019] A cleaning component is mounted on the wheel.

[0020] In the above technical solution, the cleaning component covers the first air intake;

[0021] The cleaning component has a breathable structure in at least the area opposite to the first air inlet;

[0022] The breathable structure is a liquid-proof breathable structure that allows gas to pass through while blocking liquids and dust, or the first air inlet is provided with a liquid-proof breathable structure.

[0023] In the above technical solution, a plurality of first air intake ports are provided at intervals along the circumference of the wheel;

[0024] The first air intake is provided with a stop structure to prevent the cleaning component from being recessed into the first air intake.

[0025] In the above technical solution, the wheel is constructed in a ring shape, and the inner ring wall of the wheel defines a second air intake that communicates with the air duct. The cleaning component has an avoidance opening in the area opposite to the second air intake.

[0026] In the above technical solution, the air duct has an air inlet, which is located on the side of the housing opposite to the wheel.

[0027] The walking cleaning component also includes a seal, one end of which is connected to the housing and the other end is fitted around the outer periphery of the wheel.

[0028] In the above technical solution, the housing includes:

[0029] Chassis;

[0030] A cover is provided on the chassis, and either or both of the chassis and the cover are provided with a partition wall. The partition wall extends from one of the chassis and the cover in the other direction to divide the space enclosed by the chassis and the cover into at least two air ducts.

[0031] In the above technical solution, the cover includes:

[0032] The lower cover has a top wall and a peripheral side wall connected to the top wall. The peripheral side wall is connected to the chassis. The top wall has at least two openings, and each opening has a downwardly extending guide ring. The fan is disposed within the guide ring. The driving component includes a motor part and a transmission part that is kinetically connected to the motor part. The walking cleaning component is connected to the transmission part. The transmission part is located below the guide ring, and the motor part is located to the side of the guide ring.

[0033] The upper cover is placed over the lower cover and covers the opening. Attached Figure Description

[0034] Figure 1 This is a perspective view of a cleaning robot (partial structure omitted) according to an embodiment of the present invention;

[0035] Figure 2 This is a cross-sectional view of a cleaning robot according to an embodiment of the present invention;

[0036] Figure 3 for Figure 2 Enlarged view of section A;

[0037] Figure 4 This is an exploded view of a cleaning robot according to an embodiment of the present invention;

[0038] Figure 5 This is an exploded view of the housing according to an embodiment of the present invention;

[0039] Figure 6 This is a perspective view of the lower cover according to an embodiment of the present utility model;

[0040] Figure 7 This is a perspective view of a wheel according to an embodiment of the present invention.

[0041] The correspondence between the reference numerals and the component names is as follows:

[0042] 10. Cleaning robot; 100. Housing; 101. Chassis; 102. Cover; 1021. Lower cover; 10211. Top wall; 10212. Side wall; 10213. Opening; 10214. Guide ring; 1022. Top cover; 103. Isolation wall; 110. Negative pressure system; 111. Air duct; 1111. Air inlet; 112. Fan; 120. Air pressure detection element; 200. Walking cleaning component; 210. Wheel; 211. First air intake; 2111. Stop structure; 220. Cleaning component; 230. Sealing component; 300. Drive component; 310. Motor section; 320. Transmission section. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0044] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0045] The following is a reference to the appendix. Figure 1 To be continued Figure 7 The present invention describes a cleaning robot 10 according to some embodiments.

[0046] like Figure 1 and Figure 2 As shown, the cleaning robot 10 proposed in the embodiment of this utility model is mainly used in cleaning scenarios such as walls, roofs, and glass.

[0047] The cleaning robot 10 includes a housing 100, at least two walking cleaning parts, at least two drive parts 300, and a control device (not shown in the figure).

[0048] The housing 100 has at least two independent negative pressure systems 110, each of which has a pressure detection element 120. For example, the pressure detection element 120 includes a pressure sensor. The independent negative pressure systems 110 mean that the structure and control of each negative pressure system 110 are independent of each other, so that the internal pressure of each system is not affected by the other negative pressure systems 110.

[0049] The walking cleaning component is distributed and connected to the negative pressure system 110 in a one-to-one manner. The walking cleaning component is configured to adhere to the surface to be cleaned under the action of the negative pressure system 110 to prevent the machine from falling.

[0050] The drive component 300 is disposed inside the housing 100 and is connected one-to-one with the walking cleaning component to drive it to rotate. The walking cleaning component can rotate under the drive of the drive component 300 to realize the movement and walking of the whole machine, and at the same time realize the wiping and cleaning of the surface to be cleaned.

[0051] The control device is communicatively connected to the negative pressure system 110 and the drive component 300. The control device is configured to output an obstacle-crossing operation command when it receives a leakage signal from the partial pressure detection element 120. The obstacle-crossing operation command includes outputting a signal to increase the pressure difference to the non-leaking negative pressure system 110 and outputting a signal to the drive component 300 corresponding to the leaking negative pressure system 110 to drive its walking cleaning component to continue rotating and crossing the gap.

[0052] In detail, when the cleaning robot 10 starts working, the drive component 300 drives the walking cleaning component to rotate, causing the cleaning robot 10 to move and wipe the surface to be cleaned. The air pressure detection element 120 detects the air pressure of the negative pressure system 110 in real time. When the cleaning robot 10 is in normal working condition, that is, when it does not encounter gaps or gaps, the air pressure of the negative pressure system 110 can maintain a relatively stable threshold, allowing the cleaning robot 10 to adhere to the surface to be cleaned. When a walking cleaning component encounters a gap or gap, a gap is formed between the walking cleaning component and the surface to be cleaned, causing the negative pressure system 110 to depressurize. Therefore, when the air pressure detection element 120 detects a large fluctuation in the negative pressure system 110, that is, when the current walking cleaning component encounters a gap or gap, it sends a leak signal to the control device. After receiving the leak signal, the control device outputs a corresponding obstacle-crossing operation command.

[0053] Among them, the obstacle crossing command outputs a signal to the non-leaking negative pressure system 110 to increase the pressure difference, which enhances the suction of the walking cleaning component on the non-leaking side, allowing it to adhere more firmly to the surface to be cleaned and preventing it from falling off. The obstacle crossing command also outputs a signal to the drive component 300 corresponding to the leaking negative pressure system 110 to drive its walking cleaning component to continue rotating and cross the gap, enabling the walking cleaning component to cross the gap.

[0054] The control device is also configured to output a normal operation command when it receives a signal that the air pressure of the leaking negative pressure system 110 has returned to a set value. The normal operation command includes outputting a normal operation signal to all negative pressure systems 110 and drive components 300.

[0055] This invention utilizes an independently controlled negative pressure system 110 and a walking cleaning component in synergy. When a local air leak is detected, an obstacle-crossing mode is automatically activated. This causes the negative pressure system 110 on the non-leaking side to increase the internal and external pressure difference, enhancing the adsorption force to maintain the overall balance of the machine and avoiding the risk of falling through gaps or crevices. Simultaneously, the driving component 300 on the leaking side continuously operates, driving the walking cleaning component to cross the gap. The continuous rotation of the walking cleaning component during obstacle crossing effectively overcomes the shortcomings of traditional solutions that require stopping to adjust the posture. This allows the robot to smoothly transition between different surface height differences, reducing path backtracking and cleaning blind spots, significantly reducing the frequency of user operations, and improving cleaning coverage efficiency. It avoids the risk of falling due to local pressure loss and ensures the continuity of the cleaning path.

[0056] Furthermore, the control device is also configured to output an avoidance operation command when it receives a signal that the air pressure of the leaking negative pressure system 110 has not recovered to the set value within a predetermined time. The avoidance operation command includes outputting a signal to increase the pressure difference to the non-leaking negative pressure system 110 and outputting a signal to drive the walking cleaning component 300 corresponding to the leaking negative pressure system 110 to drive its walking cleaning component to rotate in the opposite direction to avoid the gap.

[0057] It is worth noting that this utility model does not impose specific limitations on the predetermined time or set value, and those skilled in the art can set it according to the specific model and specific application experiment.

[0058] In this embodiment, when the negative pressure on the leaking side remains abnormal, the machine automatically determines that the current gap exceeds the obstacle-crossing capability range. It then increases the adsorption force on the normal side to maintain the stability of the machine body, while controlling the obstructed side to rotate in the opposite direction to disengage from the gap area. This avoids the risk of adsorption failure caused by repeated attempts to cross the gap, and realizes the robot's autonomous path replanning capability. When encountering complex gaps, it quickly switches the cleaning direction, which not only prevents the overall shutdown problem caused by local jamming, but also ensures the cleaning coverage rate through continuous operation.

[0059] In one embodiment, such as Figure 3 As shown, each negative pressure system 110 includes an air duct 111 and a fan 112 disposed in the air duct 111. The control device is communicatively connected to the fan 112 and is configured to control the fan 112 to independently draw negative pressure from the air duct 111 in which it is located.

[0060] In this embodiment, firstly, each negative pressure system 110 has an air duct 111, and each air duct 111 is independent of the others. When a part of the walking cleaning component encounters a gap or crevice, causing the negative pressure in its negative pressure system 110 to fail, the other walking cleaning components are not affected, thus avoiding the occurrence of falling. Secondly, compared with the existing design where multiple air ducts 111 share a single fan 112, this embodiment has a fan 112 in each air duct 111, making each negative pressure system 110 completely independent and not affecting each other. When the negative pressure in a part of the negative pressure system 110 fails, the control device can control the fan 112 of another part of the negative pressure system 110 to increase the output power to obtain a greater internal and external pressure difference, increase the adsorption force, and enable the machine to firmly adhere to the surface to be cleaned. This achieves both safe adsorption through independent pressurization and precise driving of obstructed components to complete obstacle-crossing actions.

[0061] Furthermore, such as Figure 4 and Figure 5 As shown, the mobile cleaning component includes a wheel 210 and a cleaning element 220. The wheel 210 is rotatably mounted on the housing 100 and has a bottom wall facing the surface to be cleaned. A first air intake 211 communicating with the air duct 111 is provided on the bottom wall. The cleaning element 220 is mounted on the wheel 210. For example, the cleaning element 220 includes a cloth, a silicone scraper, etc. By integrating the first air intake 211 into the bottom wall of the wheel 210, the negative pressure adsorption point acts directly on the contact area of ​​the surface to be cleaned, resulting in better adsorption.

[0062] Furthermore, the cleaning component 220 covers the first air intake 211, which allows the cleaning component 220 to have a larger size and ensure cleaning effect.

[0063] The cleaning component 220 has a breathable structure in at least the area opposite to the first air intake 211. For example, the breathable structure includes a breathable membrane, a microporous structure, etc. This prevents the cleaning component 220 from blocking the first air intake 211 and affecting the operation of the negative pressure system 110.

[0064] The breathable structure is a liquid-proof breathable structure that allows gas to pass through while blocking liquids and dust, or the first air intake 211 is provided with a liquid-proof breathable structure. The liquid-proof breathable structure can block liquids and dust while allowing airflow, thus preventing liquids and dust from entering the air duct 111 along the first air intake 211 and causing the air duct 111 to be blocked.

[0065] In some embodiments, such as Figure 7 As shown, multiple first air intake ports 211 are arranged at intervals along the circumference of the wheel 210. By arranging multiple first air intake ports 211 at intervals along the circumference of the wheel 210, a ring-shaped negative pressure adsorption is formed, which increases the adsorption force and greatly reduces the risk of overall adsorption failure due to local air leakage.

[0066] A stop structure 2111 is provided on the first air intake 211 to prevent the cleaning component 220 from being recessed into the first air intake 211. By preventing the cleaning component 220 from being recessed inward under the suction of the negative pressure system 110, the stop structure 2111 ensures that the cleaning component 220 remains largely flat, allowing it to better contact the surface to be cleaned and guaranteeing the cleaning effect of the cleaning component 220. At the same time, it also prevents the cleaning component 220 from clogging the first air intake 211 and affecting the operation of the negative pressure system 110, ensuring that the robot can better adhere to the surface to be cleaned.

[0067] In some embodiments, the wheel 210 is constructed in a ring shape, and the inner ring wall of the wheel 210 defines a second air intake (not shown in the figure) that communicates with the air duct 111. The cleaning component 220 has a clearance opening in the area opposite to the second air intake. This makes full use of the space of the wheel 210, and the second air intake serves as a supplementary air intake to provide auxiliary suction, further ensuring that the robot can firmly adhere to the surface to be cleaned and avoid falling off.

[0068] In some embodiments, the air duct 111 has an air inlet 1111, which is located on the side of the housing 100 opposite to the wheel 210. The walking cleaning component also includes a seal 230, one end of which is connected to the housing 100, and the other end is fitted around the outer periphery of the wheel 210. More specifically, the seal 230 includes silicone, rubber, injection molded parts, etc., and is annular in shape adapted to the circumference of the wheel 210. One end of the seal is connected to the housing 100, and the other end is fitted around the outer periphery of the wheel 210, thereby forming a relatively sealed environment to prevent air leakage.

[0069] In some embodiments, such as Figure 6 As shown, the housing 100 includes a chassis 101 and a cover 102 covering the chassis 101. Either or both of the chassis 101 and the cover 102 are provided with a partition wall 103. The partition wall 103 extends from one of the chassis 101 and the cover 102 in the other direction to divide the space enclosed by the chassis 101 and the cover 102 into at least two air ducts 111.

[0070] In detail, the isolation wall 103 can be set according to the required number of negative pressure systems 110. In one specific embodiment, there are two negative pressure systems 110. The negative pressure system 110 is a straight plate that extends to the top wall 10211 of the cover 102 and the bottom wall of the chassis 101, so as to divide the space enclosed by the chassis 101 and the cover 102 into two air ducts 111. The structure is simple and easy to process.

[0071] Furthermore, the cover 102 includes a lower cover 1021 and an upper cover 1022. The lower cover 1021 has a top wall 10211 and a peripheral side wall 10212 connected to the top wall 10211. The peripheral side wall 10212 is connected to the chassis 101. The top wall 10211 has at least two openings 10213, and each opening 10213 has a downwardly extending guide ring 10214. The fan 112 is disposed within the guide ring 10214. The drive unit 300 includes a motor unit 310 and a transmission unit that is driveably connected to the motor unit 310. The walking cleaning unit is connected to the transmission unit. The transmission unit is located below the guide ring 10214, and the motor unit 310 is located to the side of the guide ring 10214. In this way, the space inside the housing 100 can be fully utilized to achieve a compact arrangement, which helps to reduce the height of the machine, making the center of gravity of the machine lower and allowing it to adhere more stably to the surface to be cleaned.

[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a housing, which is provided with at least two independent negative pressure systems, and each of the negative pressure systems is provided with a pressure detection element; at least two walking cleaning components, which are distributed one by one with the negative pressure systems and communicate with the negative pressure systems, and the walking cleaning components are configured to be adsorbed on a surface to be cleaned under the action of the negative pressure systems; at least two driving components, which are arranged in the housing and connected with the walking cleaning components one by one to drive the rotation of the walking cleaning components; a control device, which is communicatively connected with the negative pressure systems and the driving components, and the control device is configured to output an over-obstacle working instruction when receiving a gas leakage signal from part of the pressure detection elements, and the over-obstacle working instruction comprises a signal of outputting an increased pressure difference to the negative pressure system without gas leakage and a signal of outputting a signal of driving the corresponding driving component of the negative pressure system with gas leakage to continue rotating the walking cleaning component to cross the gap.

2. The cleaning robot according to claim 1, wherein the control device is further configured to output an avoidance working instruction when receiving a signal that the pressure of the negative pressure system with gas leakage has not recovered to a set value within a predetermined time, and the avoidance working instruction comprises a signal of outputting an increased pressure difference to the negative pressure system without gas leakage and a signal of outputting a signal of driving the corresponding driving component of the negative pressure system with gas leakage to reverse rotate the walking cleaning component to avoid the gap.

3. The cleaning robot according to claim 1 or 2, wherein each of the negative pressure systems comprises an air duct and a fan arranged in the air duct, the control device is communicatively connected with the fan, and the control device is configured to control the fan to independently draw negative pressure in the air duct.

4. The cleaning robot according to claim 3, wherein, The walking cleaning component comprises: a wheel disc, which is rotatably arranged on the housing, the wheel disc has a bottom wall facing the surface to be cleaned, and the bottom wall is provided with a first air suction port communicating with the air duct; a cleaning piece arranged on the wheel disc.

5. The cleaning robot according to claim 4, wherein the cleaning piece covers the first air suction port; the cleaning piece is provided with a breathable structure at least in the area opposite to the first air suction port; wherein the breathable structure is a liquid-separation breathable structure that allows gas to pass through and blocks liquid and dust, or the first air suction port is provided with a liquid-separation breathable structure.

6. The cleaning robot according to claim 4, wherein a plurality of first air suction ports are arranged at intervals along the circumference of the wheel disc; the first air suction port is provided with a stop structure to stop the cleaning piece from being recessed into the first air suction port.

7. The cleaning robot according to claim 4, wherein the wheel disc is configured in a ring structure, an inner ring wall of the wheel disc defines a second air suction port communicating with the air duct, and the cleaning piece is provided with an avoidance port in the area opposite to the second air suction port.

8. The cleaning robot according to claim 4, wherein the air duct has an air inlet, and the air inlet is arranged on the side of the housing opposite to the wheel disc; the walking cleaning component further comprises a sealing piece, one end of the sealing piece is connected with the housing, and the other end of the sealing piece is sleeved on the outer periphery of the wheel disc.

9. The cleaning robot according to claim 3, wherein, The housing comprises: a bottom plate; A cover is arranged on the bottom plate, and either one or both of the bottom plate and the cover is provided with a partition wall extending from one to the other to divide the space enclosed by the bottom plate and the cover into at least two air ducts. 10.The cleaning robot according to claim 9, wherein, The cover comprises: A lower cover having a top wall and a peripheral side wall connected to the top wall, the peripheral side wall being connected to the bottom plate, the top wall being provided with at least two openings, each of which is provided with a downwardly extending flow guide ring, and a fan arranged in the flow guide ring; the driving component comprises a motor portion and a transmission portion in transmission connection with the motor portion, and the walking cleaning component is connected to the transmission portion, wherein the transmission portion is located below the flow guide ring, and the motor portion is located laterally of the flow guide ring; An upper cover arranged on the lower cover and covering the openings.

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