A cleaning robot structure suitable for cleaning corners, angles and skirting

Abstract

The utility model discloses a kind of cleaning robot structures suitable for cleaning wall corner, corner and skirting, it is related to cleaning equipment technical field, and cleaning robot structure includes body, travelling mechanism and cleaning mechanism.The mosquito coil box, power supply, dust box are set in body;Travelling mechanism includes four macnamera wheels and four corresponding drive motors;Cleaning mechanism includes a group of cleaning assembly, and cleaning assembly includes first drive system and Lailuo triangle cleaning column, and first drive system includes cleaning column drive motor and synchronous belt transmission group;Three edges of Lailuo triangle cleaning column are provided with first cleaning piece, second cleaning piece is installed in side surface, and third cleaning piece is installed in lower part;The utility model can effectively clean ground, wall corner, corner area, skirting and narrow area, improve cleaning efficiency and quality, reduce the labor intensity of cleaning personnel.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a cleaning robot structure suitable for cleaning corners, bends, and baseboards. Background Technology

[0002] Robotics, a comprehensive technology developed in the 1950s, involves scientific fields such as mechanics, mechanical engineering, electrical engineering, automatic control, sensor technology, and computer technology. A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, able to perform tasks such as work or movement through programming and automatic control. Robots can automatically, accurately, and efficiently complete various planned tasks, combining the advantages of both humans and machines in terms of structure and performance. Robots are expected to play an increasingly important role in the future.

[0003] In recent years, with the development of artificial intelligence and related technologies, robotics has gradually entered people's lives and is increasingly penetrating all aspects of human activity. As a commonly used household service robot, cleaning robots, equipped with a certain level of artificial intelligence, can effectively clean designated areas in a room, such as tile floors, cement floors, and wooden floors. The emergence of cleaning robots not only keeps the home environment clean at all times but also frees up people's hands.

[0004] Currently available robotic vacuum cleaners have the following problems: ① Because the cleaning brush head is installed at the bottom of the robot, it is mainly used for cleaning the floor, thus failing to clean the sides and top edges of baseboards. However, manual cleaning requires workers to bend over, resulting in low efficiency and high labor intensity. ② Robotic vacuum cleaners cannot clean narrow spaces, such as the narrow area between a dining table or sofa (usually placed against a wall) and the wall. ③ Because most robotic vacuum cleaners use a disc-shaped body, the cleaning brush head cannot effectively contact corner areas, thus failing to effectively clean corners. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a cleaning robot structure suitable for cleaning corners, bends, and baseboards, solving the problem that existing disc-shaped cleaning robots cannot effectively clean corner areas, baseboards, and narrow areas. This invention improves cleaning efficiency and quality while reducing the workload of cleaning personnel.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A cleaning robot structure suitable for cleaning corners, bends, and baseboards includes a main body, a walking mechanism, and a cleaning mechanism.

[0007] The body contains a mosquito coil box, a power supply, and a dust box, while the exterior has a Type-C charging port and heat dissipation holes.

[0008] The walking mechanism includes four Mecanum wheels and four corresponding drive motors.

[0009] The cleaning mechanism includes a set of cleaning components distributed at the right front corner of the main body. The cleaning components include a cleaning column drive system and a vertically arranged Leroy triangular cleaning column. The cleaning column drive system includes a cleaning column drive motor and a synchronous belt drive assembly connected to the rotating shaft of the cleaning column drive motor. The three sides of the Leroy triangular cleaning column are recessed in corresponding positions and have second cleaning components embedded therein. A third cleaning component is installed at the lower end of the Leroy triangular cleaning column. The third cleaning component can effectively fit with the ground when the main body is placed on the ground and can clean the ground, corners, and the lower part of the sides of the baseboard during operation.

[0010] The upper end of the Lelo triangular cleaning column protrudes from the body to form a limiting triangle. A square limiting frame is also provided above the Lelo triangular cleaning column. The square limiting frame is connected to the body. The limiting triangle moves inside the square limiting frame. A vertical mounting hole is provided at the upper part of the square limiting frame, and a rolling bearing is provided in the mounting hole. The axis of the limiting triangle coincides with the axis of the Lelo triangular cleaning column, so as to correct the running trajectory to be approximately square during operation.

[0011] The main body contains a dust box with a removable filter. An exhaust vent on the dust box below the filter connects it to the outside. The dust box is connected to the Lailo triangular cleaning column via a channel within the main body. The Lailo triangular cleaning column has an internal fan for dust extraction and a dust channel that ultimately forms a complete dust channel. Three edges of the Lailo triangular cleaning column have arc-shaped notches with side air intakes connecting to the internal dust channel. Brush mounting holes and bearings are located on the outer sides of the arc-shaped notches. Three first cleaning components are mounted on the bearings and equipped with brush drive motors. The upper part of each first cleaning component has a long brush for cleaning the upper and sides of the baseboard, while the lower part has a short brush for cleaning the sides of the baseboard. The Lailo triangular cleaning column rotates under the drive of the cleaning column drive system.

[0012] Robotic vacuum cleaners have a relatively small structure, allowing them to clean narrow spaces, such as the narrow area between a dining table or sofa (which is usually placed against a wall) and the wall.

[0013] The working principle of this utility model is as follows: When it is necessary to clean the baseboard and corner areas, the structure of this cleaning robot is activated. Driven by the walking mechanism, it moves forward and begins to walk in a straight line along the wall. The cleaning column drive motor drives the Lailo triangular cleaning column to rotate through the synchronous belt transmission. This ensures that the first, second, and third cleaning components can always effectively adhere to the baseboard when cleaning. The Lailo triangular cleaning column, powered by the internal power supply, drives the fan to suck up air, and the brush drive motor drives the first cleaning component to improve cleaning efficiency.

[0014] When the cleaning robot reaches the corner area, the walking mechanism stops. At this time, the Leroy triangular cleaning column in front of the cleaning robot continues to rotate to clean the corner area. The first cleaning component on the three edges of the Leroy triangular cleaning column cleans the baseboard, the second cleaning component installed on the side of the Leroy triangular cleaning column performs a secondary cleaning of the baseboard, and the third cleaning component installed at the bottom of the Leroy triangular cleaning column cleans the floor, the corner, and the lower part of the side of the baseboard.

[0015] After the corner area is cleaned, the walking mechanism drives the cleaning robot away from the corner area. Once it reaches the designated position, it rotates and continues to clean the remaining floor, corners, and baseboards using the same method.

[0016] Therefore, during the forward movement along the wall, the first and second cleaning components of this cleaning robot effectively clean the baseboard; the third cleaning component cleans the floor, corners, and the lower part of the baseboard side. Upon reaching a corner, the first and second cleaning components effectively clean the baseboard; the third cleaning component cleans the floor, corners, and the lower part of the baseboard side. Simultaneously, to ensure the Lailuo triangular cleaning column, driving the first, second, and third cleaning components, more effectively conforms to the corner trajectory when cleaning, this design incorporates an eccentric cylinder. The cleaning column's drive motor, via a synchronous belt transmission system, rotates the Lailuo triangular cleaning column. A square limiting frame and a limiting triangle are used simultaneously to correct the trajectory, approximating a square shape. This square trajectory allows the Lailuo triangular cleaning column to more effectively conform to the corner area, thus achieving effective cleaning of right-angled corners and corners greater than 90 degrees.

[0017] By optimizing the length, width, and height of the cleaning robot's structure, the height was increased to effectively clean the baseboards, while the width was reduced to clean narrow areas. This resulted in a larger cleaning range and improved cleaning quality.

[0018] The beneficial effects of this utility model are as follows: Before reaching corner areas, the robot's structure moves along the wall. The first cleaning component effectively adheres to the baseboard and cleans the top and sides of the baseboard. The second cleaning component provides a secondary, intensified cleaning of the baseboard sides, improving efficiency. The third cleaning component, when the main body is placed on the ground, effectively adheres to the floor and cleans the floor, corners, and the sides of the baseboard near the floor during operation. This achieves cleaning of the top and sides of the baseboard, corners, and the floor.

[0019] When the robot vacuum reaches a corner, it stops and intensifies its cleaning of that area. By using an eccentric cylinder, a square limiting frame, and a limiting triangle to correct the trajectory of the Leroy triangular cleaning column, making its trajectory approximately square, the first and second cleaning components move in a similarly square pattern when cleaning the corner. This results in the first and second cleaning components' trajectories closely resembling the shape of a right-angled corner, allowing for more effective contact with the corner and improved cleaning efficiency. This method is also applicable to corners of 90 degrees or more. Currently, most robot vacuums on the market use a disc-shaped body, and the brush heads of common household robot vacuums cannot effectively contact corners, resulting in ineffective cleaning and significant blind spots. This utility model includes a corner cleaning area, achieving thorough cleaning without any blind spots.

[0020] By optimizing the length, width, and height of the cleaning robot structure, the height of the cleaning robot structure was increased to complete the cleaning of the baseboard, and the width of the cleaning robot structure was reduced to complete the cleaning of narrow areas.

[0021] Therefore, this utility model enables effective cleaning of the ground, corners, baseboards, and narrow areas, improving cleaning efficiency and quality, and reducing the labor intensity of cleaning personnel.

[0022] Preferably, the three edges of the Lelo triangular cleaning column are equipped with brush drive motors, and brush bearings are installed, through which the first cleaning component is mounted, which can greatly improve cleaning efficiency. An internal fan and dust channel are provided, with arc-shaped areas and side air intakes on the three edges. A dust box is located within the main body, connected to the Lelo triangular cleaning column via the dust channel, ultimately forming a complete dust channel that guides dust into the dust box. The dust box has an easily openable cover, and a filter is installed inside, with a dust box exhaust vent below the filter. The Lelo triangular cleaning column rotates under the drive of the cleaning column drive system. This allows dust from the bottom to be sucked in through the bottom air intake and dust from the kickboard to be sucked in through the side air intakes as the cleaning robot moves, ultimately collecting on the filter in the dust box. After cleaning, simply open the dust box cover to replace or clean the filter.

[0023] Preferably, the height of the Lelo triangular cleaning column is greater than the height of the baseboard to be cleaned. The first cleaning component is a brush detachably connected to the three edges of the Lelo triangular cleaning column; the second cleaning component is a cleaning sponge detachably connected to the three sides of the Lelo triangular cleaning column; and the third cleaning component is a circular brush detachably connected to the bottom of the Lelo triangular cleaning column. The first cleaning component consists of a long-bristled brush and a short-bristled brush. The height of the Lelo triangular cleaning column is greater than the height of the baseboard to be cleaned, thus ensuring that the installation height of the first cleaning component is higher than the upper edge of the baseboard. Simultaneously, the first cleaning component, consisting of both long and short bristles, effectively cleans the upper edge and sides of the baseboard. Being detachably connected to the three edges of the Lelo triangular cleaning column allows for easy brush replacement after a period of use. Similarly, the second cleaning component uses a cleaning sponge and is detachably connected to the side of the Lelo triangular cleaning column; the third cleaning component is a circular brush and is detachably connected to the bottom of the Lelo triangular cleaning column. The Lelo triangular sweeping column has a separate power supply and switch, and consists of two parts: the Lelo triangular sweeping column top cover and the Lelo triangular sweeping column bracket, which facilitates disassembly, maintenance, and charging.

[0024] Preferably, the walking mechanism includes four Mecanum wheels mounted on the bottom of the main body and their corresponding motors. Thus, when the walking mechanism drives the cleaning robot structure, the separation and control of the four Mecanum wheels allows the cleaning robot structure to move in various directions. Attached Figure Description

[0025] Figure 1 A structural schematic diagram of the cleaning robot structure from the front view, provided in an embodiment of this utility model; Figure 2A structural schematic diagram of the cleaning robot provided in an embodiment of this utility model from the rear view. Figure 3 An internal sectional view of the cleaning robot structure provided in an embodiment of this utility model; Figure 4 for Figure 1 Enlarged schematic diagram of section A with part of the structure removed; Figure 5 for Figure 1 A partial sectional view of BB; Figure 6 A schematic diagram illustrating the cleaning capabilities of the cleaning robot provided in this embodiment of the utility model; Figure 7 A schematic diagram of the complete dust channel of the cleaning robot structure provided in this embodiment of the utility model; Figure 8 A schematic diagram illustrating the limiting and correction functions of the cleaning robot structure based on the Reilly triangle provided in this embodiment of the utility model; Figure 9 Exploded view of the Leylow triangular cleaning column provided in this embodiment of the utility model; Figure 10 A comparative schematic diagram of the structure of the cleaning robot provided in this embodiment of the utility model and common existing household cleaning robots; Attached diagram labels: 1. Lelo triangular cleaning column; 2. Mecanum wheel; 4. Ventilation vent; 5. Mosquito coil box; 6. Dust box vent; 7. Dust box; 8. Filter; 8-1. Dust box cover; 8-2. Square limit frame; 11. Power supply; 14. Corner area; 17. Common household cleaning robots; 18. Cleaning dead corner; 19. Wall; 21. Upper edge of baseboard; 22-1. Side of baseboard; 22-2. Floor; 23. Type-C charging port; 24. Corner; 26. Eccentric cylinder; 1-1. Brush drive motor; 1-2. Lelo triangular cleaning column top cover; 1-3. Lelo triangular cleaning column support. Frame 1-4, Limiting triangle 1-5, First cleaning component 1-6, Long brush 1-6-1, Short brush 1-6-2, Second cleaning component 1-7, Third cleaning component 1-8, Cleaning column drive motor 1-9, Mounting hole 1-10, Side air intake 1-11, Arc-shaped notch 1-12, Rolling bearing 1-13, Bottom air intake 1-14, Synchronous belt drive assembly 1-15, Brush mounting hole 1-16, Brush bearing 1-17, Complete dust channel 1-18, Drive motor 2-1, Cleaning column switch 1-1-1, Cleaning column power supply 1-1-2, Fan 1-1-3. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0031] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] As attached Figure 1 To the attached Figure 5 As shown, a cleaning robot structure suitable for cleaning corners, bends, and baseboards includes a main body, a walking mechanism, and a cleaning mechanism.

[0034] The feature is that the body is provided with a mosquito coil box 6, a power supply 14, and a dust box 8, and the exterior is provided with a Type-C charging interface 24 and a heat dissipation hole 4.

[0035] The walking mechanism includes four Mecanum wheels 2 and four corresponding drive motors 2-1.

[0036] The cleaning mechanism includes a set of cleaning components distributed at the right front corner of the main body. The cleaning components include a cleaning column drive system and a vertically arranged Leroy triangular cleaning column 1. The cleaning column drive system includes a cleaning column drive motor 1-9 and a synchronous belt drive group 1-15 connected to the rotating shaft of the cleaning column drive motor 1-9. The side of the Leroy triangular cleaning column 1 is recessed in the corresponding position and embedded with a cleaning sponge as a second cleaning component 1-7. A third cleaning component 1-8 is installed at the lower end of the Leroy triangular cleaning column 1. The third cleaning component 1-8 can effectively fit with the ground 23 when the main body is placed on the ground 23 and can clean the ground 23, the corner 26, and the side 22-2 of the skirting board near the ground 23 during operation.

[0037] The upper end of the Lelo triangular cleaning post 1 protrudes from the body to form a limiting triangle 1-5. A square limiting frame 11 is also provided above the Lelo triangular cleaning post 1. The square limiting frame 11 is connected to the body. The axis of the limiting triangle 1-5 coincides with the axis of the Lelo triangular cleaning post 1 and moves inside the limiting frame 11. A vertical mounting hole 1-10 is provided on the upper part of the square limiting frame 11. A rolling bearing 1-13 is provided in the mounting hole 1-10.

[0038] The main body contains a dust box 8, which houses a removable filter 8-1. Below the filter 8-1, the dust box 8 has an exhaust vent 7. The dust box 8 is connected to the Lelo triangular cleaning column 1 via a channel within the main body. The Lelo triangular cleaning column 1 contains a fan 1-1-3 for dust extraction and an internal dust channel. Three edges of the Lelo triangular cleaning column 1 have arc-shaped notches 1-12, with side air intakes 1-11 on these notches communicating with the internal dust channel. Brush mounting holes 1-16 are located outside the arc-shaped notches 1-12, housing brush bearings 1-17. Three first cleaning components 1-6 are mounted via the brush bearings 1-17, along with a brush drive motor 1-2. The bottom of the Lelo triangular cleaning column 1 has a bottom air intake 1-14 communicating with the internal dust channel. All dust channels ultimately form a complete dust channel 1-18.

[0039] The upper part of the first cleaning component 1-6 consists of a long-bristled brush 1-6-1 for cleaning the upper edge 22-1 and the side surface 22-2 of the baseboard, while the lower part consists of a short-bristled brush 1-6-2 for cleaning the side surface 22-2 of the baseboard. The Lelo triangular cleaning column 1 has a separate power supply 1-1-2 and a switch 1-1-1, and is divided into two parts: the Lelo triangular cleaning column top cover 1-3 and the Lelo triangular cleaning column bracket 1-4, facilitating disassembly, maintenance, and charging.

[0040] As attached Figure 6 To the attached Figure 10 As shown, when cleaning the baseboard and corner areas is required, the cleaning robot's structure is activated. Driven by the walking mechanism, it moves forward and begins to walk in a straight line along the wall. The cleaning column drive motor 1-9 drives the Lailo triangular cleaning column 1 to rotate via a synchronous belt. This ensures that the first cleaning component 1-6, the second cleaning component 1-7, and the third cleaning component 1-8 can always effectively adhere to the baseboard when cleaning. Powered by its internal power supply, the Lailo triangular cleaning column 1 drives the fan 1-1-3 to perform suction, and the brush drive motor 1-2 drives the first cleaning component 1-6 to improve cleaning efficiency.

[0041] Once the cleaning robot reaches corner area 17, the walking mechanism stops, and the Leroy triangular cleaning column 1 at the front of the cleaning robot continues to rotate and clean corner area 17. Specifically, the first cleaning components 1-6 on the three edges of the Leroy triangular cleaning column 1 clean the baseboard; the second cleaning components 1-7 installed on the sides of the Leroy triangular cleaning column 1 perform a secondary cleaning of the baseboard; and the third cleaning component 1-8 installed at the bottom of the Leroy triangular cleaning column 1 cleans the ground 23, the corner 26, and the lower part of the baseboard side 22-2. After cleaning corner area 17, the walking mechanism drives the cleaning robot away from corner area 17. Upon reaching the designated position, it rotates and continues cleaning other areas using the same method.

[0042] Therefore, as the cleaning robot moves along the wall 21, the first cleaning component 1-6 and the second cleaning component 1-7 can effectively clean the baseboard; the third cleaning component 1-8 can clean the floor 23, the corner 26, and the lower part of the baseboard side 22-2. When it reaches the corner area 17, the first cleaning component 1-6 and the second cleaning component 1-7 can effectively clean the baseboard; the third cleaning component 1-8 can clean the floor 23, the corner 26, and the lower part of the baseboard side 22-2. Meanwhile, to ensure that the Leroy triangular cleaning column 1, driving the first cleaning component 1-6, the second cleaning component 1-7, and the third cleaning component 1-8, can more effectively conform to the trajectory of the corner area 17 during cleaning, this solution uses an eccentric cylinder 1-1. The cleaning column drive motor 1-9 drives the Leroy triangular cleaning column 1 to rotate via a synchronous belt transmission system. The square limiting frame 11 and the limiting triangle 1-5 are used simultaneously to correct the running trajectory into a square shape. This square motion trajectory allows the Leroy triangular cleaning column 1 to more effectively conform to the corner area 17 for cleaning, thus achieving effective cleaning of right-angled corner areas 17. Furthermore, this method can also clean corner areas 17 with angles greater than 90 degrees.

[0043] Compared with existing common household cleaning robots 18, which have cleaning dead corners 19 that cannot be cleaned, the cleaning area of ​​this utility model solution includes this area, thus completing cleaning without dead corners.

[0044] This novel experimental design optimizes the length, width, and height of the cleaning robot. The increased height allows for cleaning of the baseboards, while the reduced width enables cleaning of narrow areas. This results in a larger cleaning range and improved cleaning quality.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of this utility model that do not depart from the spirit and scope of this technical solution should be covered within the scope of the claims of this utility model.

Claims

1. A cleaning robot structure suitable for cleaning a corner of a wall, a corner and a skirting line, characterized in that, The cleaning robot structure includes a body, a walking mechanism, and a cleaning mechanism; The body is equipped with a mosquito coil box (6), a power supply (14), and a dust box (8), and is equipped with a Type-C charging port (24) and heat dissipation holes (4) on the outside. The walking mechanism includes four Mecanum wheels (2) and four corresponding drive motors (2-1); The cleaning mechanism includes a set of cleaning components distributed at the right front corner of the main body; the cleaning components include a cleaning column drive system and a vertically arranged Leroy triangular cleaning column (1); the cleaning column drive system includes a cleaning column drive motor (1-9) and a synchronous belt drive group (1-15) connected to the rotating shaft of the cleaning column drive motor (1-9); the three sides of the Leroy triangular cleaning column (1) are recessed in corresponding positions and are fitted with second cleaning components (1-7), which can effectively clean the sides of the baseboard (22-2); a third cleaning component (1-8) is installed at the lower part of the Leroy triangular cleaning column (1); the third cleaning component (1-8) can effectively fit with the ground (23) when the main body is placed on the ground (23) and can clean the ground (23), the corner (26) and the sides of the baseboard (22-2) near the ground (23) during operation. The upper end of the Lelo triangular cleaning column (1) protrudes from the body to form a limiting triangle (1-5), and the axis of the limiting triangle (1-5) coincides with the axis of the Lelo triangular cleaning column (1). A square limiting frame (11) is provided above the Lelo triangular cleaning column (1) and is fixedly installed on the body. A vertical mounting hole (1-10) is opened in the upper part of the square limiting frame (11), and a rolling bearing (1-13) is provided in the mounting hole (1-10). This makes the running trajectory of the Lelo triangular cleaning column (1) approximately square, which can effectively clean the corner area (17). The Lelo triangular cleaning column (1) is equipped with a fan (1-1-3) for dust suction and has a dust channel inside. The three edges of the Lelo triangular cleaning column (1) are respectively provided with arc-shaped notches (1-12) and side air intakes (1-11) are provided on the arc-shaped notches (1-12) to communicate with the internal dust channel. A brush mounting hole (1-16) is provided on the outside of the arc-shaped notches (1-12), and a brush bearing (1-17) is installed in the hole and the first cleaning component (1-6) is installed through the brush bearing. The bottom of the Lelo triangular cleaning column (1) is provided with a bottom air intake (1-14) to communicate with the internal dust channel. The various dust channels form a complete dust channel (1-18). The Lelo triangular cleaning column (1) rotates under the drive of the cleaning column drive system, so that the dust after cleaning enters the complete internal dust channel (1-18) through the side air intake (1-11) and the bottom air intake (1-14) and is finally guided to the dust box (8).

2. The cleaning robot structure suitable for cleaning a corner, a corner and a skirting line according to claim 1, characterized in that The walking mechanism includes four Mecanum wheels (2) and four corresponding drive motors (2-1). The four Mecanum wheels (2) are distributed at the bottom of the body, and the four drive motors (2-1) are connected to the Mecanum wheels (2) and arranged at the bottom of the body, so that the cleaning robot structure can move in any direction.

3. The cleaning robot structure suitable for cleaning the corner, the elbow and the skirting line according to claim 1, characterized in that The height of the Lelo triangular cleaning column (1) is greater than the height of the baseboard, and the height of the first cleaning component (1-6) installed is also higher than the height of the baseboard, so that the height of the area that can be cleaned is higher than the upper edge of the baseboard (22-1). The first cleaning component (1-6) is a detachable brush connected to the three edges of the Lelo triangular cleaning column (1). The upper part of the brush is a long brush (1-6-1) that can effectively clean the upper surface (22-1) and the side surface (22-2) of the baseboard, and the lower part is a short brush (1-6-2) that can effectively clean the side surface (22-2) of the baseboard. The second cleaning component (1-7) is a detachable cleaning sponge connected to the three sides of the Lelo triangular cleaning column (1) that can perform enhanced cleaning of the side surface (22-2) of the baseboard. The third cleaning component (1-8) is a detachable circular brush connected to the bottom of the Lelo triangular cleaning column that can clean the ground (23), the corner (26), and the side surface (22-2) of the baseboard near the ground (23).

4. The cleaning robot structure suitable for cleaning a corner, a corner and a skirting line according to claim 1, characterized in that The bottom and top of the three edges of the Lelo triangular cleaning column (1) are reserved with brush mounting holes (1-16). Brush bearings (1-17) are installed in the brush mounting holes (1-16). The first cleaning component (1-6) is installed on the Lelo triangular cleaning column (1) through the brush bearings (1-17). The cleaning mechanism also includes a brush drive motor (1-2) arranged inside the Lelo triangular cleaning column (1). The first cleaning component (1-6) rotates under the drive of the brush drive motor (1-2), which improves the cleaning efficiency.

5. The cleaning robot structure suitable for cleaning the corner, the elbow and the skirting line according to claim 1, characterized in that The Lelo triangular cleaning column (1) has a dust channel inside and a bottom air intake (1-14) connected to the dust channel. The three edges of the Lelo triangular cleaning column (1) are respectively provided with arc-shaped notches (1-12) and side air intakes (1-11) are provided on the arc-shaped notches (1-12) to connect with the internal dust channel. The dust channels eventually form a complete dust channel (1-18). The dust box (8) is provided with a dust box cover (8-2) that is easy to open. The dust box (8) is provided with a filter screen (8-1) that is easy to disassemble. The dust box (8) is provided with dust box exhaust holes (7) on both sides below the filter screen (8-1) to connect with the outside. This allows the dust to enter the complete internal dust channel (1-18) through the side air intake (1-11) and the bottom air intake (1-14) and finally be guided to the dust box (8). After cleaning, it is only necessary to open the dust box cover (8-2) to replace or clean the filter screen (8-1).

6. The cleaning robot structure suitable for cleaning the corner, the elbow and the skirting line according to claim 1, characterized in that The Lelo triangular sweeping column (1) has a separate sweeping column power supply (1-1-2) and sweeping column switch (1-1-1), and is divided into two parts: the Lelo triangular sweeping column top cover (1-3) and the Lelo triangular sweeping column bracket (1-4), which are easy to disassemble for maintenance or charging.

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