Cleaning robot

Abstract

The utility model relates to a cleaning robot which comprises a machine body provided with a negative pressure system. The at least two walking cleaning parts are movably arranged on the machine body and can ascend and descend relative to the machine body, the walking cleaning parts are communicated with the negative pressure system, and the walking cleaning parts are configured to be capable of being adsorbed to a to-be-cleaned surface under the action of the negative pressure system; the at least two driving parts are arranged in the machine body and connected with the walking cleaning parts in a one-to-one mode, and the driving parts are configured to be capable of driving the walking cleaning parts connected with the driving parts to ascend or descend so as to be close to or away from the machine body. According to the utility model, the driving component continuously operates to drive the walking cleaning component to cross obstacles while falling is avoided. The cleaning robot provided by the utility model can actively adapt to and cross obstacles with different heights on the surface of glass, the cleaning route is more reasonable, the situation that a user manually carries the cleaning robot is greatly avoided, and the cleaning robot is particularly suitable for complex building facade scenes with window frames, adhesive tapes or decorative bulges.

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 are prone to localized air leakage on the suction surface when encountering obstacles such as window frames, leading to instability of the negative pressure system 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 window frame, 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. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a cleaning robot that can overcome obstacles, aiming to solve at least one of the problems of the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a cleaning robot, comprising:

[0007] The machine body is equipped with a negative pressure system;

[0008] At least two walking cleaning components are movably disposed on the machine body and can be raised and lowered relative to the machine body. The walking cleaning components are connected to the negative pressure system and are configured to adhere to the surface to be cleaned under the action of the negative pressure system.

[0009] At least two drive components are disposed within the body and connected one-to-one with the walking cleaning component. The drive components are configured to drive the walking cleaning component connected thereto to perform raising or lowering movements to move closer to or away from the body.

[0010] In the above technical solution, the driving component includes:

[0011] The first transmission component is connected to the walking cleaning component;

[0012] The second transmission component is connected to the first transmission component. The rotation of the second transmission component is linked to the first transmission component, so that the first transmission component can rotate relative to the second transmission component and be raised or lowered.

[0013] A driving component is connected to the second transmission component, and the driving component drives the second transmission component to rotate.

[0014] In the above technical solution, the first transmission component includes a connecting cylinder, and the second transmission component includes a sleeve. The connecting cylinder is movably disposed inside the sleeve. One of the connecting cylinder and the sleeve is provided with a threaded groove, and the other is provided with a guide structure. The sleeve rotates so that the guide structure can move along the threaded groove structure.

[0015] In the above technical solution, the guide structure includes the spiral strip adapted to the threaded groove.

[0016] In the above technical solution, the lower end of the threaded groove is provided with a stop wall, and the stop wall is in a stop-and-resist engagement with the guide structure.

[0017] In the above technical solution, the machine body is provided with at least two independent negative pressure systems, and the walking cleaning component is distributed and connected to the negative pressure system one-to-one.

[0018] In the above technical solution, each of the negative pressure systems includes an air duct and a fan installed in the air duct.

[0019] In the above technical solution, the body includes:

[0020] Chassis;

[0021] 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.

[0022] In the above technical solution, the machine body is equipped with a control device, which is communicatively connected to the negative pressure system and the drive component.

[0023] The control device is configured to output an obstacle-crossing command upon receiving an obstacle signal.

[0024] The obstacle-crossing operation command includes outputting a signal to a portion of the drive components to drive their walking cleaning components to rise, outputting a signal to another portion of the drive components to drive their walking cleaning components to rotate, and outputting a signal to the negative pressure system corresponding to the other portion of the drive components to increase the pressure difference.

[0025] In the above technical solution, the machine body is equipped with a control device, and the control device is communicatively connected to the drive component.

[0026] The control device is configured to output an obstacle-crossing command upon receiving an obstacle signal.

[0027] The obstacle-crossing operation command includes outputting a signal to a portion of the drive components to drive their walking cleaning components to perform an elevation movement, and outputting a signal to another portion of the drive components to drive their walking cleaning components to perform a rotational movement.

[0028] The cleaning robot drive component of this invention can drive the connected walking cleaning component to rise or fall relative to the robot body. When the drive component lowers the walking cleaning component, the component, under the action of a negative pressure system, closely adheres to the surface to be cleaned, achieving stable walking and cleaning operations through suction force. When the drive component raises the walking cleaning component, a clearance is formed between its bottom and the surface to be cleaned, allowing the robot to cross window frames, seams, or protruding obstacles without having to avoid them. The walking cleaning component combines suction, walking, cleaning, and obstacle-crossing functions, and the working mode can be directly switched through the lifting and lowering action, simplifying the mechanical structure and improving efficiency. The robot offers improved motion response efficiency while reducing energy consumption and the risk of malfunction. Furthermore, the collaborative action of the drive components and the walking cleaning components allows the walking cleaning components to rise and fall independently relative to the main body. During obstacle crossing, at least one walking cleaning component remains continuously attached to the cleaning surface, preventing the main body from becoming unstable and falling, ensuring product safety, and extending service life. In summary, the cleaning robot provided by this invention can actively adapt to and overcome obstacles of different heights on the glass surface, with a more reasonable cleaning route, greatly reducing the need for manual handling by the user. It is especially suitable for complex building facades with window frames, rubber strips, or decorative protrusions. Attached Figure Description

[0029] Figure 1 This is a front view of a cleaning robot (partial structure omitted) according to an embodiment of the present invention;

[0030] Figure 2 This is a cross-sectional view of a cleaning robot according to an embodiment of the present invention;

[0031] Figure 3 A perspective view of the drive components and the walking and cleaning components;

[0032] Figure 4 A cross-sectional view of the drive unit and the walking cleaning unit;

[0033] Figure 5 This is a cross-sectional view of the first transmission member in the driving component according to an embodiment of the present invention when it moves upward;

[0034] Figure 6This is a cross-sectional view of the first transmission member in the driving component according to an embodiment of the present invention when it moves downward;

[0035] Figure 7 This is a perspective view of the first transmission component according to an embodiment of the present utility model;

[0036] Figure 8 This is a perspective view of the second transmission component according to an embodiment of the present invention;

[0037] Figure 9 This is a cross-sectional view of the second transmission component according to an embodiment of the present invention;

[0038] Figure 10 This is an exploded view of a cleaning robot according to an embodiment of the present invention;

[0039] Figure 11 This is an exploded view of the housing according to an embodiment of the present invention;

[0040] Figure 12 This is a perspective view of the lower cover according to an embodiment of the present utility model;

[0041] Figure 13 This is a perspective view of a wheel according to an embodiment of the present invention.

[0042] The correspondence between the reference numerals and the component names is as follows:

[0043] 10. Cleaning robot; 100. Body; 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; 200. Walking cleaning component; 210. Wheel; 211. First air intake; 2111. Stop structure; 220. Cleaning component; 230. Sealing component; 300. Drive component; 310. Drive component; 320. First transmission component; 330. Second transmission component; 340. Threaded groove; 341. Stop wall; 350. Guide structure. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] The following is a reference to the appendix. Figure 1 To be continued Figure 13 The present invention describes a cleaning robot 1010 according to some embodiments.

[0047] like Figure 1 , Figure 2 and Figure 3 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.

[0048] like Figure 1 and Figure 2 As shown, the cleaning robot 10 proposed in the embodiment of this utility model includes a body 100, at least two walking cleaning components 200, and at least two driving components 300.

[0049] The body 100 is equipped with a negative pressure system 110. The walking cleaning component 200 is movably disposed on the body 100 and can be raised and lowered relative to the body 100. The walking cleaning component 200 is connected to the negative pressure system 110 and is configured to adhere to the surface to be cleaned under the action of the negative pressure system 110.

[0050] The drive unit 300 is disposed inside the body 100 and is connected one-to-one with the walking cleaning unit 200. The drive unit 300 is configured to drive the walking cleaning unit 200 connected thereto to move up or down to approach or move away from the body 100.

[0051] The cleaning robot 10 of this invention has a drive component 300 that can drive the connected walking cleaning component 200 to rise or fall relative to the body 100. When the drive component 300 drives the walking cleaning component 200 to fall, the walking cleaning component 200, under the action of the negative pressure system 110, closely adheres to the surface to be cleaned, achieving stable walking and cleaning operations through suction force. When the drive component 300 drives the walking cleaning component 200 to rise, an obstacle clearance is formed between its bottom and the surface to be cleaned, allowing the robot to cross window frames, seams, or protruding obstacles without having to avoid or detour. The walking cleaning component 200 has suction, walking, cleaning, and obstacle-crossing functions, and the working mode can be directly switched through the lifting and lowering action, simplifying the robot's operation. The mechanical structure improves the efficiency of action response, while reducing energy consumption and failure risk. Furthermore, the drive component 300 and the walking cleaning component 200 work together to enable the walking cleaning component 200 to rise and fall independently relative to the body 100. During the process of crossing obstacles, at least one walking cleaning component 200 is continuously attached to the cleaning surface to prevent the body from becoming unstable and falling, thus ensuring the safety of product use and extending its service life. In summary, the cleaning robot 10 provided by this utility model can actively adapt to and cross obstacles of different heights on the glass surface, with a more reasonable cleaning route, and greatly saves users from manually moving it. It is especially suitable for complex building facade scenarios with window frames, rubber strips, or decorative protrusions.

[0052] Furthermore, such as Figure 4 , Figure 5 and Figure 6 As shown, the driving component 300 includes a first transmission member 320, a second transmission member 330, and a driving member 310. The first transmission member 320 is connected to the walking cleaning component 200, and the second transmission member 330 is drivenly connected to the first transmission member 320. The rotation of the second transmission member 330 is linked to the first transmission member 320, so that the first transmission member 320 can rotate and rise or fall relative to the second transmission member 330. The driving member 310 is drivenly connected to the second transmission member 330, and the driving member 310 drives the second transmission member 330 to rotate.

[0053] Through the transmission cooperation between the first transmission component 320 and the second transmission component 330 in the drive component 300, the drive component 310 only needs to drive the second transmission component 330 to rotate, which can synchronously drive the first transmission component 320 to generate rotational and lifting motion. When the drive component 300 drives the walking cleaning component 200, so that the walking cleaning component 200 is in a position away from the body 100, the drive component 300 drives the walking cleaning component 200 to rotate, realizing the walking and cleaning functions of the walking cleaning component 200. When the drive component 300 drives the walking cleaning component 200, so that the walking cleaning component 200 is in a position close to the body 100, it can overcome obstacles. The rotation drive and lifting control functions of the walking cleaning component 200 are integrated into a single drive unit, eliminating the separate structure of the rotary motor and the lifting motor in the traditional design. While ensuring the rotation cleaning force and lifting accuracy, it significantly reduces the number of parts and assembly complexity, reduces the space occupied by the drive module, and reduces the difficulty of multi-motor collaborative control. It is especially suitable for equipment with high compactness requirements such as the cleaning robot 10.

[0054] In some embodiments, such as Figure 7 and Figure 8 As shown, the first transmission component 320 includes a connecting cylinder, and the second transmission component 330 includes a sleeve. The connecting cylinder is movably disposed inside the sleeve. One of the connecting cylinder and the sleeve is provided with a threaded groove 340, and the other is provided with a guide structure 350. When the sleeve rotates, the guide structure 350 can move along the threaded groove 340.

[0055] By cooperating with the threaded groove 340 of the connecting cylinder and the sleeve and the guide structure 350, the rotational motion is directly converted into lifting displacement. When the sleeve rotates, the guide structure 350 moves along the spiral trajectory of the threaded groove 340, so that the connecting cylinder rotates synchronously and lifts and lowers axially within the sleeve. Compared with the independent nut or complex guide track in the traditional lead screw and nut pair, the transmission chain is simplified, the number of parts and the accumulation of assembly tolerances are reduced, and the drive module structure is more compact. The nested design of the connecting cylinder and the sleeve makes full use of the axial space, which helps to reduce the height of the machine body 100.

[0056] Furthermore, such as Figure 9 As shown, the guide structure 350 includes a spiral strip adapted to the threaded groove 340. The adaptation design of the spiral strip and the threaded groove 340 increases the contact area of ​​the spiral meshing surfaces between the connecting cylinder and the sleeve, dispersing local stress concentration during the transmission process, reducing vibration during the lifting and lowering of the walking cleaning component 200, maintaining the overall machine's stable posture during obstacle-crossing lifting or suction-down descent, and preventing the risk of accidental tilting or falling due to instability in the center of gravity during high-altitude operations.

[0057] Furthermore, the lower end of the threaded groove 340 is provided with a stop wall 341, which is in a stop-and-resist engagement with the guide structure 350. The stop wall 341 at the lower end of the threaded groove 340 is engaged with the guide structure 350. When the drive member 310 is driven in the first rotation direction, the sleeve rotates, and at the same time, the guide structure 350 moves down along the threaded groove 340 until it contacts and limits the stop wall 341. At this time, the walking cleaning component 200 moves away from the machine body 100 so that it can fit with the surface to be cleaned. The drive member 310 continues to drive in the first rotation direction. Under the rigid block of the stop wall 341, the sleeve and the connecting cylinder rotate synchronously, and the walking cleaning component 200 can rotate. This realizes the conversion of the continuous output torque of the drive member 310 into the rotation driving force of the walking cleaning component 200, so that the walking cleaning component 200 can perform adsorption, walking and cleaning operations. When the drive member 310 rotates in the opposite direction, the guide structure 350 moves up along the threaded groove 340, driving the walking cleaning component 200 to be lifted smoothly to cross obstacles. The mechanical structure realizes the switching of "descending to position - rotation drive", which significantly simplifies the control logic and improves the reliability of the operation in high-altitude operations.

[0058] It should be noted that the above is only a preferred embodiment of the present invention, and those skilled in the art can design other structural forms according to their needs.

[0059] In some embodiments, such as Figure 10 and Figure 11 As shown, the body 100 is provided with at least two independent negative pressure systems 110, and the walking cleaning component 200 is distributed and connected to the negative pressure system 110 one-to-one.

[0060] Through the coordinated operation of the independently controlled negative pressure system 110 and the walking cleaning component 200, the obstacle-crossing mode is automatically activated when an obstacle is detected. This causes part of the negative pressure system 110 to work, increasing the internal and external pressure difference and enhancing the suction force to maintain the balance of the entire machine, thus avoiding the risk of falling when encountering obstacles or gaps. At the same time, the driving component 300 corresponding to another part of the negative pressure system 110 drives the walking cleaning component 200 to approach the body 100 to cross obstacles. This effectively overcomes the shortcomings of traditional solutions that require stopping to adjust the posture, enabling 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. This not only avoids the risk of falling when encountering malfunctions but also ensures the continuity of the cleaning path.

[0061] Furthermore, each negative pressure system 110 includes an air duct 111 and a fan 112 disposed within the air duct 111. First, 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 components 200 encounters an obstacle or gap, causing the negative pressure in its negative pressure system 110 to fail, the other walking cleaning components 200 are not affected, thus avoiding the occurrence of falling. Second, compared with the existing design where multiple air ducts 111 share a single fan 112, this embodiment has a fan 112 disposed within each air duct 111, making each negative pressure system 110 completely independent and unaffected by others. 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 its 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.

[0062] Furthermore, the walking cleaning component 200 includes a wheel 210 and a cleaning element 220. The wheel 210 is rotatably mounted on the body 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.

[0063] Furthermore, such as Figure 13 As shown, 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.

[0064] 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.

[0065] 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.

[0066] In some embodiments, such as Figure 13As 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.

[0067] The first air intake 211 is provided with a stop structure 2111 to prevent the cleaning component 220 from concave into the air intake 1111. By preventing the cleaning component 220 from concave inward under the suction of the negative pressure system 110, the stop structure 2111 prevents the cleaning component 220 from being concave inward, allowing the cleaning component 220 to remain largely flat and make better contact with the surface to be cleaned, thus ensuring the cleaning effect of the cleaning component 220. At the same time, it also avoids the situation where the cleaning component 220 blocks the first air intake 211, which would affect the operation of the negative pressure system 110, and ensures that the robot can better adhere to the surface to be cleaned.

[0068] 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.

[0069] In some embodiments, the air duct 111 has an air inlet 1111, which is located on the side of the body 100 opposite to the wheel 210. The walking cleaning component 200 also includes a seal 230, one end of which is connected to the body 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. The seal 230 is annular and adapted to the circumference of the wheel 210. One end of the seal is connected to the body 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.

[0070] In some embodiments, the body 100 includes a chassis 101 and a cover 102. The cover 102 covers the chassis 101, and 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.

[0071] In detail, the isolation wall 103 can be configured 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.

[0072] Furthermore, such as Figure 12 As shown, 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 is provided with at least two openings 10213. Each opening 10213 is provided with a downwardly extending guide ring 10214. The fan 112 is disposed in the guide ring 10214.

[0073] In some embodiments, the body 100 is provided with a control device (not shown in the figure), which 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 an obstacle signal. The obstacle-crossing operation command includes outputting a signal to a portion of the drive components 300 to drive their walking cleaning components 200 to perform an upward movement, outputting a signal to another portion of the drive components 300 to drive their walking cleaning components 200 to perform a rotational movement, and outputting a signal to the negative pressure system 110 corresponding to the other portion of the drive components 300 to increase the pressure difference.

[0074] The control device coordinates the negative pressure system 110 and the drive component 300. When an obstacle signal is detected, it automatically outputs a lifting command to part of the walking cleaning components 200, bringing them closer to the machine body 100 to create space for obstacle crossing. Simultaneously, it enhances the negative pressure adsorption force of another part of the walking cleaning components 200 and drives them to rotate. The pressure difference multiplication effect at local adsorption points offsets the adsorption force loss caused by the lifting components detaching from the cleaning surface, ensuring that the entire machine can still stably adhere to the surface to be cleaned in a unilateral adsorption state. It also drives the rotation of this part of the walking cleaning components 200 to generate lateral thrust to adjust the machine's posture and achieve obstacle crossing. Through lifting, rotation, and negative pressure enhancement actions, a safe adhesion is maintained with minimal adsorption contact area without the need for the entire machine to detach from the cleaning surface. At the same time, the posture is adjusted to achieve adsorption stability and movement flexibility during obstacle crossing.

[0075] In some embodiments, the body 100 is provided with a control device, which is communicatively connected to the drive component 300. The control device is configured to output an obstacle-crossing operation command when it receives an obstacle signal. The obstacle-crossing operation command includes outputting a signal to a portion of the drive components 300 to drive their walking cleaning component 200 to perform a lifting movement, and outputting a signal to another portion of the drive components 300 to drive their walking cleaning component 200 to perform a rotational movement.

[0076] 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.

[0077] 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, include: The machine body is equipped with a negative pressure system; At least two walking cleaning components are movably disposed on the machine body and can be raised and lowered relative to the machine body. The walking cleaning components are connected to the negative pressure system and are configured to adhere to the surface to be cleaned under the action of the negative pressure system. At least two drive components are disposed within the body and connected one-to-one with the walking cleaning component. The drive components are configured to drive the walking cleaning component connected thereto to perform raising or lowering movements to move closer to or away from the body.

2. The cleaning robot according to claim 1, wherein, The driving component includes: The first transmission component is connected to the walking cleaning component; The second transmission component is connected to the first transmission component. The rotation of the second transmission component is linked to the first transmission component, so that the first transmission component can rotate relative to the second transmission component and be raised or lowered. A driving component is connected to the second transmission component, and the driving component drives the second transmission component to rotate.

3. The cleaning robot according to claim 2, characterized in that, The first transmission component includes a connecting cylinder, and the second transmission component includes a sleeve. The connecting cylinder is movably disposed within the sleeve. One of the connecting cylinder and the sleeve is provided with a threaded groove, and the other is provided with a guide structure. When the sleeve rotates, the guide structure can move along the threaded groove structure.

4. The cleaning robot according to claim 3, characterized in that, The guide structure includes a helical strip adapted to the threaded groove.

5. The cleaning robot according to claim 3, characterized in that, The lower end of the threaded groove is provided with a stop wall, which is in a stop-and-resist engagement with the guide structure.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that, The machine body is provided with at least two independent negative pressure systems, and the walking cleaning component is distributed and connected to the negative pressure system one-to-one.

7. The cleaning robot according to claim 6, characterized in that, Each of the negative pressure systems includes an air duct and a fan disposed within the air duct.

8. The cleaning robot according to claim 7, wherein, The body includes: Chassis; 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.

9. The cleaning robot according to claim 6, characterized in that, The machine body is equipped with a control device, which is communicatively connected to the negative pressure system and the drive component; The control device is configured to output an obstacle-crossing command upon receiving an obstacle signal. The obstacle-crossing operation command includes outputting a signal to a portion of the drive components to drive their walking cleaning components to rise, outputting a signal to another portion of the drive components to drive their walking cleaning components to rotate, and outputting a signal to the negative pressure system corresponding to the other portion of the drive components to increase the pressure difference.

10. The cleaning robot according to any one of claims 1 to 5, characterized in that, The machine body is equipped with a control device, which is communicatively connected to the drive component. The control device is configured to output an over-obstacle operation instruction when receiving the obstacle signal, The over-obstacle operation instruction comprises outputting a signal to a part of the driving components to drive the walking cleaning components to perform lifting movement, and outputting a signal to another part of the driving components to drive the walking cleaning components to perform rotating movement.

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