A radar-liftable cleaning robot

Abstract

The application provides a radar liftable cleaning robot, comprising: a robot body, a radar and a lifting assembly; the robot body is provided with a containing groove matched with the shape of the radar, and a buckle groove is formed in the side wall of the containing groove; the radar is arranged in the containing groove; the lifting assembly is arranged in the robot body and movably connected with the radar, and is used for driving the radar to lift along the extension direction of the containing groove, so that the radar extends out of the containing groove to detect the environment in a use state, and falls into the containing groove and exposes the buckle groove to be clamped by the buckle part of a hand-held rod in a storage state. The radar is liftable, has good flexibility and freedom, and is suitable for diversified cleaning scenes.

Description

Technical Field

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

[0002] Existing cleaning robots generally include automatic cleaning mode and manual cleaning mode. Radar is one of the core sensors of cleaning robots. It detects the environment, builds maps, and achieves precise navigation and obstacle avoidance by emitting laser beams and receiving reflected signals.

[0003] In existing technologies, radar is generally fixed in position with the cleaning robot and protrudes from the outer surface of the cleaning robot. However, due to the influence of the radar module, the cleaning robot often cannot enter low-lying blind spots such as under sofas, beds, or cabinets to clean. Furthermore, after being connected to the handheld stick, the radar often affects the operation of the handheld stick, reducing the freedom and flexibility of operation. Utility Model Content

[0004] In view of the deficiencies in the prior art, the technical solution adopted in this application is to propose a radar-equipped and liftable cleaning robot.

[0005] A radar-guided lifting cleaning robot includes:

[0006] The robot body has a receiving groove that matches the shape of the radar, and the side wall of the receiving groove has a snap-fit ​​groove.

[0007] The radar is disposed in the receiving slot;

[0008] A lifting assembly is disposed in the robot body and is movably connected to the radar. It is used to drive the radar to move up and down along the extension direction of the receiving slot, so that the radar extends out of the receiving slot to perform environmental detection in the use state, and descends into the receiving slot and exposes the buckle slot for the buckle of the hand handle to engage.

[0009] The lifting mechanism allows the radar to switch between active and retracted states, providing excellent flexibility. The lifting design enables the radar to adjust its working state according to different cleaning needs. When in active state, the radar extends out of the housing, improving obstacle avoidance and cleaning efficiency, and also enhancing the accuracy of the cleaning robot's automatic cleaning. When in retracted state, it avoids occupying too much space, making the cleaning robot more compact and adaptable to different cleaning scenarios, meeting the needs of use in confined spaces.

[0010] In an optional embodiment, the lifting assembly includes a drive element, a first link, and a second link;

[0011] One end of the first link is connected to the output end of the drive component, and the other end is rotatably connected to one end of the second link, the other end of the second link being connected to the radar;

[0012] The first link is used to drive the second link to move under the drive of the drive member, so that the radar moves up and down along the extension direction of the receiving groove.

[0013] The radar is raised and lowered using a linkage structure. The connection design of the first and second linkages, under the guidance or restriction of the receiving groove, can effectively distribute and transmit the force generated during the raising and lowering process, achieving smooth raising and lowering action, reducing possible vibration or instability problems during transmission, and thus ensuring the stability of the radar.

[0014] In an optional embodiment, a clutch is further connected between the drive member and the first link for controllable transmission of the driving force between the drive member and the first link to protect the lifting assembly.

[0015] The clutch design enables more flexible power transmission control between the drive component and the first linkage, allowing for precise start and stop of the lifting motion. The lifting process of the radar can be more accurately adjusted, providing a smooth connection and disconnection process and reducing the mechanical shock that may occur during the start and stop of the lifting assembly.

[0016] In an optional embodiment, the first link and / or the second link are further provided with a plurality of reinforcing structures, the reinforcing structures being distributed along the length direction of the first link and / or the second link.

[0017] Several reinforcing structures are provided on the first link and / or the second link, which enhances the strength and rigidity of the first link and / or the second link, and improves the reliability and safety during use.

[0018] In an optional embodiment, the first link is further provided with a support portion for supporting the radar.

[0019] The support section enhances the stability of the radar support, providing stable support for the radar and making it less prone to shaking or displacement after storage. This effectively reduces damage to the radar caused by vibration or collision. Combining the support section with the first link can reduce the required space and make the entire lifting assembly design more compact.

[0020] In an optional embodiment, the robot body is provided with a mounting groove that matches the shape of the drive component for fixing the drive component.

[0021] The mounting slot matches the shape of the drive component, allowing the drive component to be precisely fixed in the robot body. This reduces the impact of mechanical vibration and shock on the drive component and enhances the stability and reliability of the drive component installation.

[0022] In an optional embodiment, an abutment portion is further provided at the connection between the first link and the second link to limit the rotation angle of the first link and the second link.

[0023] The design of the abutment part can limit the rotation angle between the first link and the second link to prevent excessive rotation. On the other hand, it can enhance the stability of the connection. The abutment part increases the contact area between the first link and the second link, providing more stable support, so that the first link and the second link can achieve good stability after being folded and stored.

[0024] In an optional embodiment, the first link also has a storage portion that matches the shape of the second link, for storing the second link in a folded storage state.

[0025] The storage compartment design allows the first and second links to fit more tightly when folded and stored, optimizing the overall structural layout and effectively improving the safety and aesthetics of the overall design. The storage compartment also limits the radial sway or offset of the second link, reducing vibration and enabling precise transmission of driving force.

[0026] In an optional embodiment, the receiving slot is further provided with a position detection device for detecting the position of the handheld lever.

[0027] The position detection device can monitor the position of the handheld stick in real time, improving the movement accuracy and positioning precision of the handheld stick.

[0028] In an optional embodiment, the sidewall of the receiving groove is provided with anti-slip texture extending along the extending direction of the receiving groove.

[0029] The anti-slip texture effectively increases the friction between the handgrip and the receiving groove, preventing the handgrip from sliding circumferentially during operation, thereby improving the stability, accuracy, and safety of the handgrip operation.

[0030] The anti-slip texture extends along the direction of the receiving groove, which can play a guiding role, making the docking process between the hand handle and the receiving groove more precise and stable.

[0031] Beneficial effects:

[0032] This application provides a cleaning robot with a liftable radar. The radar is liftable, providing good flexibility and freedom, and is suitable for diverse cleaning scenarios. Specifically, the radar state is switched through a lifting component. When in use, the radar extends out of the receiving slot and performs its detection function normally. When in storage, the radar descends into the receiving slot, allowing the cleaning robot to enter confined spaces and facilitating docking with the handheld lever, thus reducing obstruction to the operation of the handheld lever. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is an exploded view of the radar-liftable cleaning robot of this embodiment;

[0035] Figure 2 This is a schematic diagram of the radar-liftable cleaning robot of this embodiment;

[0036] Figure 3 This is a schematic diagram of the lifting assembly and the receiving slot in this embodiment;

[0037] Figure 4 This is a schematic diagram of the lifting assembly in this embodiment. Figure 1 ;

[0038] Figure 5 This is a schematic diagram of the lifting assembly in this embodiment. Figure 2 ;

[0039] Figure 6 for Figure 5 Enlarged detail view of point A in the middle;

[0040] Figure 7 This is a schematic diagram of the handheld lever in this embodiment.

[0041] Figure label:

[0042] 1-Robot body; 2-Radar; 3-Lifting assembly; 31-First link; 310-Reinforcing structure; 311-Supporting part; 312-Abutting part; 313-Storage part; 32-Second link; 33-Drive component; 34-Clutch; 4-Receiving groove; 41-Snap-on groove; 42-Anti-slip texture; 5-Dating part; 51-Snap-on component. Detailed Implementation

[0043] Various embodiments of this disclosure will be described more fully below. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0044] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0045] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0046] The terms used in the various embodiments of this disclosure (such as "first," "second," etc.) may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above terms do not limit the order and / or importance of the components. The above terms are only used for the purpose of distinguishing one component from others. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first component may be referred to as a second component without departing from the scope of the various embodiments of this disclosure, and similarly, a second component may also be referred to as a first component.

[0047] It should be noted that if a description is made of "connecting" one component to another, then the first component can be directly connected to the second component, and a third component can be "connected" between the first and second components. Conversely, when a component is "directly connected" to another component, it can be understood that there is no third component between the first and second components.

[0048] The term "user" as used in various embodiments of this disclosure may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0049] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this disclosure.

[0050] See Figures 1 to 5 As shown in the figure, an embodiment of this application provides a radar-liftable cleaning robot, including: robot body 1, radar 2 and lifting assembly 3;

[0051] Among them, radar 2 is one of the core sensors of the robot body 1. It detects the environment, builds maps, and achieves precise navigation and obstacle avoidance by emitting laser beams and receiving reflected signals.

[0052] The robot body 1 has a receiving groove 4 that matches the shape of the radar 2, and the side wall of the receiving groove 4 has a snap-fit ​​groove 41.

[0053] Radar 2 is placed in the receiving slot 4;

[0054] The lifting assembly 3 is installed in the robot body 1 and is movably connected to the radar 2. It is used to drive the radar 2 to rise and fall along the extension direction of the receiving groove 4, so that the radar 2 extends out of the receiving groove 4 to perform environmental detection in the use state, and descends into the receiving groove 4 in the storage state and exposes the buckle groove 41 for the buckle of the hand handle to engage.

[0055] For example, the lifting assembly 3 can be a linear guide rail structure, composed of components such as a guide rail, a slider, a lead screw / worm gear and a motor; the lifting assembly 3 can also be a helical guide rail structure, composed of a helical track, a slider and a stepper motor; the lifting assembly 3 can also be a linkage lifting structure, composed of a linkage and a motor.

[0056] Of course, the above are merely some illustrative examples of the lifting component 3, intended to illustrate a possible implementation to aid in understanding the technical solution of this application. This application does not impose any limitations on the specific structure of the lifting component 3. In practical applications, adjustments can be made according to actual needs; for example, hydraulic lifting structures and electromagnetic lifting structures should both be covered within the scope of protection of this application.

[0057] Understandably, the lifting assembly 3 enables the radar 2 to switch between its working state and its storage state, providing excellent flexibility in use. The lifting design allows the radar 2 to flexibly adjust its working state according to different cleaning needs.

[0058] When in use, radar 2 extends out of the receiving slot 4 and can detect the surrounding environment through laser, helping the robot to accurately judge the surrounding obstacles and cleaning areas, improving obstacle avoidance ability and cleaning efficiency, and also improving the accuracy of automatic cleaning by the cleaning robot.

[0059] When in storage, Radar 2 can be neatly stored in the receiving slot 4, avoiding excessive space occupation and making the cleaning robot more compact, adaptable to different cleaning scenarios, and meeting the needs of using it in confined spaces such as under beds and tables. Radar 2 is also effectively protected during storage, preventing it from being subjected to external impacts. Furthermore, when stored, Radar 2 avoids contact with the handle, ensuring it does not obstruct the rotation or flipping operation of the handle and improving its operational flexibility.

[0060] Specifically, in some embodiments of this application, such as Figure 7 As shown, the handheld lever is provided with a buckle 51 that matches the shape of the buckle groove 41, and the docking part 5 of the handheld lever matches the shape and size of the receiving groove 4; the docking part 5 of the handheld lever extends into the receiving groove 4, and the buckle 51 is snapped into the buckle groove 41, thereby enhancing the connection stability between the handheld lever and the cleaning robot.

[0061] Of course, there are no restrictions on the specific connection method between the handheld stick and the cleaning robot.

[0062] In an optional embodiment, combined with Figures 3 to 6 As shown, the lifting assembly 3 includes a drive component 33, a first link 31, and a second link 32;

[0063] One end of the first link 31 is connected to the output end of the drive unit 33, and the other end is rotatably connected to one end of the second link 32. The other end of the second link 32 is connected to the radar 2.

[0064] The first link 31 is used to drive the second link 32 under the drive of the drive member 33, so that the radar 2 moves up and down along the extension direction of the receiving groove 4.

[0065] Understandably, in some embodiments of this application, a linkage structure is used to realize the lifting and lowering of the radar 2; the connection design of the first linkage 31 and the second linkage 32, under the guidance or restriction of the receiving groove 4, can effectively distribute and transmit the force generated during the lifting and lowering process, realize a smooth lifting and lowering action, reduce the shaking or instability problems that may occur during the transmission process, and thus ensure the stability of the radar 2.

[0066] The first link 31 and the second link 32 have a simple and compact structure, which reduces the space occupied and is suitable for the small space inside the cleaning robot; and can improve the accuracy of the lifting and lowering of the radar 2.

[0067] For example, the drive unit 33 can transmit power through an electric motor, hydraulic pump, pneumatic system or stepper motor. Furthermore, a transmission steering component, such as a gear, bevel gear, screw or other structure, can be provided to change the direction of power transmission.

[0068] Of course, no restrictions are placed on the specific implementation structure of the drive component 33, whether or not a transmission steering component is set, or the specific structure of the transmission steering component.

[0069] In an optional embodiment, combined with Figures 3 to 5 As shown, a clutch 34 is also connected between the drive component 33 and the first connecting rod 31 to controllably transmit the driving force between the drive component 33 and the first connecting rod 31 in order to protect the lifting assembly 3.

[0070] Understandably, the design of the clutch 34 enables more flexible power transmission control between the drive component 33 and the first connecting rod 31, allowing for precise initiation and stopping of the lifting motion. This avoids premature or delayed power transmission, allowing for more precise adjustment of the lifting process of the radar 2. The clutch 34 provides a smooth engagement and disengagement process, thus avoiding sudden force transmission and reducing potential mechanical shocks to the lifting assembly 3 during start-up and stopping, ensuring smoother movement. Furthermore, one of the main functions of the clutch 34 is to prevent damage to the drive system due to excessive load or unexpected resistance. When the radar 2 system encounters overload or jamming, the clutch 34 can quickly cut off power transmission, preventing excessive pressure or damage to the drive component 33, thereby effectively protecting the lifting assembly 3.

[0071] Alternatively, the clutch 34 may be an electromagnetic clutch 34, a mechanical clutch 34, or a friction clutch 34.

[0072] Of course, the above are merely some illustrative examples of the clutch 34, intended to illustrate a possible implementation to aid in understanding the technical solution of this application. This application does not impose any limitations on the specific structure of the clutch 34. In practical applications, adjustments can be made according to actual needs, and all such adjustments should be covered within the scope of protection of this application.

[0073] In an optional embodiment, such as Figure 6 As shown, the first link 31 and / or the second link 32 are further provided with a plurality of reinforcing structures 310, which are distributed along the length direction of the first link 31 and / or the second link 32.

[0074] Understandably, several reinforcing structures 310 are disposed on the first link 31 and / or the second link 32, enhancing the strength and stiffness of the first link 31 and / or the second link 32. Specifically, they strengthen the tensile, compressive, and bending resistance of the first link 31 and / or the second link 32, reducing fatigue damage caused by prolonged use, helping to disperse and eliminate microcracks caused by repeated loads, thereby improving the fatigue life of the link structure and preventing deformation or fracture under load or impact, thus extending the service life of the link structure. The reinforcing structures 310 are distributed along the length of the first link 31 and / or the second link 32, effectively dispersing and bearing the transmitted power, reducing local stress concentration, allowing the forces to be distributed more evenly among the parts of the first link 31 and the second link 32, enhancing load-bearing capacity, and improving reliability and safety during use.

[0075] Furthermore, the reinforced structure 310 effectively enhances the performance of the linkage structure, allowing for the use of less material to achieve the required strength during design, thereby reducing the overall weight.

[0076] In an optional embodiment, such as Figure 6 As shown, the first link 31 is also provided with a support part 311 for supporting the radar 2.

[0077] Specifically, in some embodiments of this application, the support portion 311 is in the shape of an arc-shaped groove, matching the shape of the bottom of the radar 2, such as a raised shape.

[0078] Of course, no specific restrictions are placed on the specific form of the support part 311.

[0079] Understandably, the support part 311 enhances the stability of the radar 2, providing stable support for the radar 2, making it less prone to shaking or displacement after storage, thereby effectively reducing damage to the radar 2 caused by vibration or collision; by combining the support part 311 with the first connecting rod 31, the radar 2 can be installed and supported without adding an additional support structure, which helps to reduce the weight of the overall equipment, while also reducing the required space, making the entire lifting assembly 3 more compact and suitable for use in space-constrained environments, and also reducing the load on the drive component 33.

[0080] In addition, the support part 311 also improves the radar 2's shock and vibration resistance. For example, when using a handheld stick to operate the cleaning robot, the support part 311 helps absorb external impact and vibration, avoiding affecting the performance of the radar 2 and enhancing safety.

[0081] The arc-shaped design of the support groove provides a larger contact area, which can precisely match the shape of the bottom of the radar 2, making the contact between the bottom of the radar 2 and the support part 311 more compact and uniform. This helps to improve the stability of the contact surface, so that the radar 2 can be firmly fixed in the support part 311 and is not easy to slip or shift.

[0082] In an optional embodiment, the robot body 1 is provided with a mounting groove (not shown in the figure) that matches the shape of the drive member 33 for fixing the drive member 33.

[0083] Understandably, the mounting slot matches the shape of the drive component 33, allowing the drive component 33 to be precisely fixed in the robot body 1. This reduces the impact of mechanical vibration and shock on the drive component 33, enhances the stability and reliability of the drive component 33 installation, and prevents the drive component 33 from loosening or slipping during operation. The mounting slot can also effectively absorb and disperse external vibrations, thereby improving the overall stability and performance of the cleaning robot.

[0084] Furthermore, the mounting slot allows the drive component 33 to be installed quickly and accurately, effectively improving assembly efficiency and shortening production time.

[0085] In addition, the drive unit 33 matches the mounting slot, achieving a compact design that allows for better utilization of the space in the robot body 1 and optimizes the spatial layout.

[0086] In an optional embodiment, such as Figure 6 As shown, an abutment portion 312 is also provided at the connection between the first link 31 and the second link 32 to limit the rotation angle of the first link 31 and the second link 32.

[0087] Understandably, the design of the abutment portion 312 can, on the one hand, limit the rotation angle between the first link 31 and the second link 32 to prevent excessive rotation; on the other hand, it enhances the stability of the connection. The abutment portion 312 increases the contact area between the first link 31 and the second link 32, providing more stable support, so that the first link 31 and the second link 32 can obtain good stability after folding and storage; furthermore, the abutment portion 312 can help to evenly distribute the load and stress at the connection, reduce local stress concentration, avoid damage or fatigue caused by excessive stress, and extend service life.

[0088] In an optional embodiment, such as Figure 6 As shown, the first link 31 also has a storage part 313 that matches the shape of the second link 32, for storing the second link 32 in the folded storage state.

[0089] The design of the storage section 313 allows the first link 31 and the second link 32 to be more tightly connected when folded and stored, optimizing the overall structural layout, reducing unnecessary space occupation, and effectively improving the safety and aesthetics of the overall design. Furthermore, the storage section 313 also ensures smoother rotation of the first link 31 and the second link 32, limiting radial sway or offset of the second link 32, reducing vibration, and achieving precise transmission of driving force. In addition, by incorporating the storage section 313, which matches the shape of the second link 32, the first link 31 enhances the strength and precision of the connection, improving the stability of the overall structure and enhancing the safety of the connection point.

[0090] In an optional embodiment, the receiving slot 4 is also provided with a position detection device (not shown in the figure) for detecting the position of the handheld lever.

[0091] Understandably, the position detection device can monitor the position of the handheld stick in real time, improving the motion accuracy and positioning precision of the handheld stick. Based on the detection of the handheld stick by the position detection device, the cleaning robot system is made intelligent. When the handheld stick is detected to be connected to the cleaning robot, the cleaning robot's functions can be automatically switched, such as switching between self-cleaning mode and manual cleaning mode, which improves the convenience of operation and the efficiency of switching.

[0092] For example, the position detection device may be a photoelectric sensor, a magnetic sensor, a potentiometer, an encoder, a lidar, or a 3D sensor.

[0093] Of course, the above are just some examples of position detection devices, and no restrictions are placed on the specific implementation of position detection devices.

[0094] In an optional embodiment, such as Figure 3 As shown, the sidewall of the receiving groove 4 is provided with anti-slip texture 42 extending along the extending direction of the receiving groove 4.

[0095] Specifically, in some embodiments of this application, the shape of the anti-slip texture 42 matches the shape of the handgrip docking portion 5.

[0096] Of course, there are no restrictions on the specific shape of the anti-slip texture 42.

[0097] Understandably, the anti-slip texture 42 can effectively increase the friction between the handheld lever and the receiving groove 4, prevent the handheld lever from sliding circumferentially during operation, and ensure that the handheld lever can be firmly fixed in the receiving groove 4, thereby improving the stability, accuracy and safety of the handheld lever operation.

[0098] The anti-slip texture 42 also enhances the stability of the handheld stick or cleaning robot under vibration or external impact, making the handheld stick less prone to displacement and reducing operational errors caused by external forces.

[0099] In addition, the anti-slip texture 42 extends along the extension direction of the receiving groove 4, which can play a guiding role, making the docking process between the hand handle and the receiving groove 4 more precise and stable.

[0100] The embodiments of this application have at least the following beneficial effects:

[0101] This application provides a cleaning robot with a liftable radar 2. The radar 2 is liftable, which has good flexibility and freedom and is suitable for various cleaning scenarios. Specifically, the lifting component 3 realizes the switching of the radar 2's state. When in use, the radar 2 extends out of the receiving slot 4 and performs its detection function normally. When in storage, the radar 2 descends into the receiving slot 4, allowing the cleaning robot to enter narrow spaces and facilitating docking with the handheld lever, reducing the obstruction to the operation of the handheld lever.

[0102] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0103] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0104] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0105] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A radar-equipped, liftable cleaning robot, characterized in that, include: The robot body has a receiving groove that matches the shape of the radar, and the side wall of the receiving groove has a snap-fit ​​groove. The radar is disposed in the receiving slot; A lifting assembly is disposed in the robot body and is movably connected to the radar. It is used to drive the radar to move up and down along the extension direction of the receiving slot, so that the radar extends out of the receiving slot to perform environmental detection in the use state, and descends into the receiving slot and exposes the buckle slot for the buckle of the hand handle to engage.

2. The cleaning robot according to claim 1, characterized in that, The lifting assembly includes a drive component, a first link, and a second link; One end of the first link is connected to the output end of the drive component, and the other end is rotatably connected to one end of the second link, the other end of the second link being connected to the radar; The first link is used to drive the second link to move under the drive of the drive member, so that the radar moves up and down along the extension direction of the receiving groove.

3. The cleaning robot according to claim 2, characterized in that, A clutch is also connected between the drive component and the first connecting rod to controllably transmit the driving force between the drive component and the first connecting rod, so as to protect the lifting assembly.

4. The cleaning robot according to claim 2 or 3, characterized in that, The first link and / or the second link are further provided with a plurality of reinforcing structures, which are distributed along the length direction of the first link and / or the second link.

5. The cleaning robot according to claim 2 or 3, characterized in that, The first link is also provided with a support for supporting the radar.

6. The cleaning robot according to claim 2, characterized in that, The robot body is provided with a mounting groove that matches the shape of the drive component, for fixing the drive component.

7. The cleaning robot according to claim 2, characterized in that, The connection between the first link and the second link is also provided with an abutment portion to limit the rotation angle of the first link and the second link.

8. The cleaning robot according to claim 7, characterized in that, The first link also has a storage part that matches the shape of the second link, for storing the second link in the folded storage state.

9. The cleaning robot according to claim 1, characterized in that, The receiving slot is also equipped with a position detection device for detecting the position of the handheld lever.

10. The cleaning robot according to claim 1, characterized in that, The sidewall of the receiving groove is provided with anti-slip texture extending along the extending direction of the receiving groove.

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