Cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, concretely relates to a cleaning robot. The cleaning robot includes the body and sets up the mechanical arm on the body, is equipped with the cover body subassembly on the body, the cover body subassembly sets up can open when the mechanical arm is in the working condition, and can be covered in its outer periphery when the mechanical arm is in the non - working condition. Under this kind of design mode, through setting up the cover body subassembly can protect the mechanical arm when the mechanical arm is in the non - working condition, increases the service life of mechanical arm.

Description

[0001] This application is a divisional application of Chinese patent application No. 202520030073.9, filed on January 3, 2025, entitled "Robotic Arm and Cleaning Robot". Technical Field

[0002] This utility model relates to the field of cleaning equipment, and more specifically to a cleaning robot. Background Technology

[0003] Cleaning robots are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. They typically use a combination of brushing and vacuuming to collect debris into their own dustbin, thus completing the cleaning process.

[0004] With economic development, robotic vacuum cleaners have entered many households. Although current robotic vacuum cleaners can navigate autonomously and avoid obstacles, their functions are limited to wide, level surfaces. They are mainly used for cleaning open, level surfaces and have difficulty entering narrow gaps, low areas, and hard-to-reach areas such as walls and the bottom of appliances. As a result, their functionality is limited and they are only suitable for specific types of cleaning tasks, which limits their use.

[0005] Among them, the robotic arm can be installed on the cleaning robot, increasing the robot's range of use and extending its cleaning scenarios from open horizontal ground to narrow gaps and low areas. It also has the ability to throw away garbage and work with cleaning parts to clean, making the cleaning robot's cleaning functions more comprehensive and its cleaning effect more excellent. Utility Model Content

[0006] In order to protect the robotic arm when it is not in use and to increase its service life, this utility model provides a cleaning robot.

[0007] To achieve the above objectives, this utility model provides a cleaning robot, which includes a body and a robotic arm mounted on the body. The body is provided with a cover assembly. The cover assembly is configured to open when the robotic arm is in working condition and to cover its outer periphery when the robotic arm is not in working condition.

[0008] In some embodiments, the cover assembly includes a first cover and a second cover disposed opposite to each other, and the body is provided with a first flipping member and a second flipping member. The first flipping member can drive the first cover to flip, the second flipping member can drive the second cover to flip, and the flipped second cover can be stacked on the first cover.

[0009] In some embodiments, the end of the first cover away from the second cover is hinged to the body.

[0010] In some embodiments, the first flipping component includes a first flipping drive component and a first flipping linkage. The first flipping drive component is disposed on the body, and the first cover is connected to the first flipping drive component through the first flipping linkage.

[0011] In some embodiments, the first flipping link includes a first driving rod and a first support rod. One end of the first driving rod is connected to the output end of the first flipping drive member, and the other end of the first driving rod is hinged to the end of the first support rod. The end of the first support rod away from the first driving rod is hinged to the first cover.

[0012] In some embodiments, the end of the first support rod connected to the first drive rod has a protrusion, such that the end of the first support rod connected to the first drive rod has a hook structure.

[0013] In some embodiments, the end of the first support rod is hinged to the portion of the first cover near the second cover.

[0014] In some embodiments, the second flipping member includes a second flipping drive member and a second flipping link. The second flipping link includes a second drive rod and a second support rod. The end of the second drive rod is bent, and the bent end of the second drive rod is connected to the output end of the second flipping drive member. The other end of the second drive rod is hinged to the second cover. One end of the second support rod is hinged to the machine body, and the other end of the second support rod is hinged to the second cover.

[0015] In some embodiments, the second flipping drive is disposed on the body.

[0016] In some embodiments, the cleaning robot further includes a robotic arm capable of gripping items to be cleaned and assembling cleaning components. The robotic arm is mounted on the body and is capable of rotating horizontally and swinging vertically.

[0017] The technical solution provided by this utility model has the following advantages compared with the prior art: The cover assembly is designed to open when the robotic arm is in operation and cover the outer periphery of the robotic arm when it is not in operation. This design protects the robotic arm when it is not in operation and increases its service life. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the robotic arm mounted on the cleaning robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the mechanical claw described in an embodiment of the present invention; Figure 3 This is a schematic diagram of the robotic arm in its retracted state according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the cleaning robot described in this embodiment of the utility model; Figure 5 This is a schematic diagram of the cover assembly in the open position according to an embodiment of the present invention; Figure 6 This is a cross-sectional view of the cover assembly in the closed state according to an embodiment of the present invention; Figure 7 This is a cross-sectional view of the cover assembly in the open state according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures 1. Robotic arm body; 11. First arm; 12. Second arm; 13. Third arm; 2. Mechanical gripper; 21. Base; 22. Drive component; 221. First drive component; 2211. Worm gear; 222. Transmission component; 2221. Transmission gear set; 22211. First gear; 22212. Second gear; 22213. Third gear; 2222. Linkage structure; 22221. First link; 22222. Second link; 222 23. Third rod; 23. Gripper; 231. Arc groove; 3. Body; 31. Rotating seat; 32. First flipping component; 321. First flipping drive component; 322. First flipping connecting rod; 3221. First drive rod; 3222. First support rod; 33. Second flipping component; 332. Second flipping connecting rod; 3321. Second drive rod; 3322. Second support rod; 4. Cover assembly; 41. First cover; 42. Second cover. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the solution of this utility model will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of this utility model can be combined with each other.

[0023] The following description sets forth many specific details to provide a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the embodiments described in the specification are only some embodiments of the present invention, and not all embodiments.

[0024] like Figure 1 As shown, the robotic arm provided in this embodiment of the invention is applied to a cleaning robot. The cleaning robot includes a robotic arm body 1 and a robotic claw 2 disposed on the robotic arm body 1. The robotic arm body 1 can be mounted on the body 3 of the cleaning robot. It is understood that the robotic arm body 1 can also be mounted on other equipment as needed, and these are not limiting factors. The robotic claw 2 is disposed at one end of the robotic arm body 1 so that the robotic arm body 1 can drive the robotic claw 2 to move.

[0025] The robotic arm body 1 is capable of driving the robotic gripper 2 to rotate horizontally and swing vertically. The specific configuration of the robotic arm body 1 is not limited, as long as it meets the requirement of driving the robotic gripper 2 to rotate horizontally and swing vertically. The robotic gripper 2 includes a base 21, a drive component 22 mounted on the base 21, and two grippers 23. The base 21 is mounted on the robotic arm body 1, and the two grippers 23 are positioned opposite each other on the base 21, extending beyond the ends of the base 21 for easy gripping and cleaning operations. The drive component 22 can drive the two grippers 23 to move closer or further away. The grippers 23 are used to grip items to be cleaned or to assemble cleaning parts. Specifically, when the drive component 22 drives the two grippers 23 closer, the two grippers 23 can grip the garbage awaiting cleaning; when the drive component 22 drives the two grippers 23 further away, the two grippers 23 can release the garbage awaiting cleaning for operations such as picking up objects and disposing of garbage. In addition, when the two grippers 23 are far apart, cleaning components such as brushes and sponges can be assembled to perform cleaning operations in cooperation with the robotic arm body 1.

[0026] The robotic arm provided by this utility model can be installed on a cleaning robot. By driving the robotic arm body 1 to rotate the robotic claw 2 in the horizontal direction and swing it in the vertical direction, the range of motion of the robotic claw 2 can be increased so as to support the robotic arm in a designated position. The robotic claw 2 can grasp and hold the items to be cleaned, and can clean walls, narrow gaps, low areas, behind doors and other scenes by assembling cleaning parts such as brushes and sponge brushes, thereby increasing the scope of use of the cleaning robot.

[0027] In some implementations, such as Figure 2As shown, the driving component 22 includes a first driving component 221 and two transmission components 222. The first driving component 221 and the two transmission components 222 are both disposed on the base 21. The first driving component 221 can drive the two grippers 23 to move through the two transmission components 222 respectively, so as to drive the two grippers 23 to move closer or further away, and the transmission components 222 can support the grippers 23 on the outside of the base 21.

[0028] In this design, the two grippers 23 can be moved closer or further away by a first driving component 221 and two transmission components 222, reducing the cost of the driving components. The two grippers 23 can move synchronously, which facilitates the positioning of the two grippers 23.

[0029] It is understood that in other embodiments, the driving member 22 includes two driving components, which respectively drive the two grippers 23 to move, or the two driving components respectively drive the two grippers 23 to move through two transmission components, so that the two grippers 23 can move closer or further apart. These are not limiting.

[0030] In some implementations, reference continues. Figure 2 The output end of the first driving member 221 is provided with a worm gear 2211, which drives the worm gear 2211 to rotate. The transmission member 222 includes a transmission gear set 2221 and a connecting rod structure 2222. The transmission gear set 2221 includes multiple gears meshing in sequence. The first gear of the transmission gear set 2221 can mesh with the worm gear 2211. The last gear of the transmission gear set 2221 is connected to the gripper 23 through the connecting rod structure 2222, so that the last gear of the transmission gear set 2221 drives the gripper 23 to move through the connecting rod structure 2222, thereby realizing the two grippers 23 moving closer or further apart.

[0031] In this transmission gear set 2221, multiple gears can be helical gears. The first gear of the transmission gear set 2221 acts as a turbine and meshes with the worm gear 2211, so that the worm gear 2211 can drive the turbine to rotate, thereby transmitting power through the transmission gear set 2221. Alternatively, multiple gears of the transmission gear set 2221 can be spur gears. The first gear of the transmission gear set 2221 is coaxially connected to a turbine, and the turbine and the first gear of the transmission gear set 2221 can rotate synchronously, thereby driving the transmission gear set 2221 to rotate through the rotation of the turbine.

[0032] In this design, the driving direction of the first driving component 221 can be changed through the cooperation of the worm gear 2211, which facilitates the placement of the first driving component 221 and reduces the space occupied in the vertical direction. The gear transmission set can change the transmission path, which facilitates the design of the position of the first driving component 221. In other words, the design of the worm gear 2211 and the gear transmission set makes the structure of the mechanical claw 2 more compact. The first driving component 221 includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0033] In some implementations, reference continues. Figure 2 The linkage structure 2222 includes a first rod 22221 and a second rod 22222. One end of the first rod 22221 is connected to the end gear of the transmission gear set 2221, and the other end of the first rod 22221 is hinged to the gripper 23. One end of the second rod 22222 is hinged to the base 21, and the second end of the second rod 22222 is hinged to the gripper 23. The second rod 22222 is located inside the first rod 22221, and the first rod 22221 and the second rod 22222 extend parallel to each other. It is understood that there may also be a certain angle between the first rod 22221 and the second rod 22222.

[0034] In this design, the second lever 22222 supports the gripper 23, while the first lever 22221 rotates with the rotation of the end gear of the transmission gear set 2221, thereby driving the gripper 23 to rotate. This allows the two grippers 23 to move closer or further apart, facilitating driving and ensuring the support effect of the grippers 23. Furthermore, this mechanical gripper 2 design allows the gripper 23 to open horizontally and retract horizontally. This design not only enhances the stability and accuracy of clamping but also provides greater flexibility, enabling the gripper 23 to adapt to objects of different shapes and sizes.

[0035] In some embodiments, the linkage structure 2222 further includes a third link 22223, which is disposed on the gripper 23. The ends of the first link 22221 and the second link 22222 are respectively hinged to the two ends of the third link 22223, increasing the convenience of connection.

[0036] In some implementations, reference continues. Figure 2The transmission gear set 2221 includes a first gear 22211, a second gear 22212, and a third gear 22213 that mesh sequentially. All three gears are helical gears. The first gear 22211 acts as a worm gear and meshes with a worm shaft 2211. The second gear 22212 meshes with the first gear 22211, and the third gear 22213 meshes with the second gear 22212. The first lever 22221 is mounted on the third gear 22213. The positions of the first gear 22211, second gear 22212, and third gear 22213 are not restricted and can be designed according to actual needs.

[0037] It is understood that the transmission gear set 2221 of this application may also adopt other numbers of gears, as long as the transmission requirements are met.

[0038] In some embodiments, the two grippers 23 have arc-shaped grooves 231 on their corresponding sides. The two arc-shaped grooves 231 on the two grippers 23 are arranged opposite each other to grip the garbage awaiting disposal. Specifically, they can grip small flexible objects and regularly shaped hard objects. The gripping of the garbage awaiting disposal can be based on sensors and intelligent algorithms to locate the garbage awaiting disposal and place it into a designated area. This sensing, feedback, and positioning method is conventional technology in the field and has not been described in detail here, nor is it the focus of this application.

[0039] In some embodiments, the inner side of the two grippers 23 near the base 21 is provided with a ramp to avoid affecting the movement of the grippers 23 and to prevent the grippers 23 from scraping against the base 21.

[0040] In some embodiments, the gripper 23 has a strip-shaped structure, wherein the outer side of the end of the gripper 23 is provided with a slope to facilitate the assembly of cleaning parts such as brushes and sponges.

[0041] Furthermore, this method enables automatic head changing. The cleaning components, such as brushes and sponges, are placed horizontally in the head changing area. When a head change is needed, the cleaning robot moves to the area and uses the robotic arm 1 to horizontally position the gripper 23. The robot then moves to insert the gripper 23 into the brush or sponge, achieving automatic assembly. Alternatively, the gripper 23 can be inserted into its placement position to reset the brush or sponge, thus achieving automatic head changing. This automatic head changing method is conventional technology and has not been described in detail here, nor is it a focus of this application.

[0042] In some implementations, such as Figure 1As shown, the robotic arm includes a second drive unit and a rotating base 31 for mounting on the body 3 of the cleaning robot. The second drive unit can drive the rotating base 31 to rotate, and the robotic arm body 1 is mounted on the rotating base 31.

[0043] This design allows the rotating base 31 to rotate via the second driving component, which in turn drives the robotic arm body 1 to rotate 360° in the horizontal plane. This provides convenient operation and saves space. The second driving component includes a drive motor or a combination of a drive motor and a reducer, and can be designed according to specific requirements.

[0044] In some implementations, reference continues. Figure 1 The robotic arm body 1 includes a first arm 11, a second arm 12, and a third arm 13 connected in sequence. The first arm 11 is mounted on a rotating base 31, and the robotic gripper 2 is mounted on the third arm 13. The first arm 11 can swing vertically relative to the rotating base 31, the second arm 12 can swing vertically relative to the first arm 11, and the third arm 13 can swing vertically relative to the second arm 12.

[0045] In this design, the robotic arm body 1 uses a combination of the first arm 11, the second arm 12 and the third arm 13 to increase the swing range and flexibility of the robotic claw 2 in the vertical direction, so that the robotic arm body 1 can drive the robotic claw 2 to move to narrow gaps and low areas, thereby increasing the working range of the cleaning robot.

[0046] It is understood that the number of segments of the robotic arm body 1 may include, but is not limited to, the above-mentioned methods, and can be designed according to actual needs.

[0047] In some embodiments, the first arm 11 is internally provided with a third driving member for swinging the first arm 11 vertically relative to the rotating base 31. Specifically, the third driving member is located at the bottom end of the first arm 11, and its output shaft extends out of the side of the first arm 11 and connects to a support on the rotating base 31. Since the position of the base 21 in the vertical direction remains unchanged, the rotation of the output shaft of the third driving member causes the first arm 11 to swing vertically. The third driving member may include a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0048] In some embodiments, the first arm 11 is internally provided with a fourth driving member for driving the second arm 12 to swing vertically relative to the first arm 11. Specifically, the fourth driving member is located at the top end of the first arm 11, and its output shaft extends out of the side of the first arm 11 and connects to the second arm 12, so as to drive the second arm 12 to rotate 360° in the vertical plane. The fourth driving member includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0049] In some embodiments, the second arm 12 is internally provided with a fifth driving member for driving the third arm 13 to swing vertically relative to the second arm 12. Specifically, the fifth driving member is located at the top end of the second arm 12, and its output shaft extends out of the side of the second arm 12 and connects to the third arm 13, so as to drive the third arm 13 to swing vertically. The fifth driving member includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0050] In this design, the robotic arm body 1 has four independent axes of motion, enabling four degrees of freedom of movement. The first arm 11 has two degrees of freedom, allowing the robotic arm body 1 to rotate in both the horizontal and vertical planes, enabling left-right swinging in the horizontal plane and providing up-down movement capability, allowing the robotic arm body 1 to swing up and down in the vertical plane. The second arm 12 allows the robotic arm body 1 to rotate in the vertical direction, controlling the spatial position of the robotic gripper 2. The third arm 13 is used to rotate the robotic gripper 2 in the vertical direction, adapting to different tool angles and directions.

[0051] In some implementations, combined Figure 1 and Figure 2 As shown, the second arm 12 is located on one side of the first arm 11, and the third arm 13 is located at the end of the second arm 12.

[0052] In this design approach, such as Figure 3 As shown, when the robotic arm body 1 is retracted, it can fit against the top of the body 3 of the cleaning robot, reducing the space occupied in the vertical direction and making the structure of the body 3 of the cleaning robot more compact.

[0053] It is understood that in other embodiments, the second arm 12 is located at the end of the first arm 11 and the third arm 13 is located at the end of the second arm 12, such that when the robotic arm body 1 is in the retracted state, the first arm 11, the second arm 12 and the third arm 13 are stacked on top of the body 3 of the cleaning robot. These are not limiting.

[0054] like Figure 1As shown, this utility model also provides a cleaning robot, including a body 3 and the aforementioned robotic arm mounted on the body 3. The robotic arm includes all the technical features of the aforementioned robotic arm. The cleaning and heating process can be any type of sweeping machine, and the robotic arm can be used not only with a sweeping machine but also with other types of mechanical equipment.

[0055] This design greatly extends the cleaning range of the cleaning robot, extending its cleaning scenarios from open, level ground to narrow crevices and low-lying areas. It also has the ability to dispose of trash and work with cleaning accessories to perform cleaning, making the cleaning robot's functions more comprehensive and its cleaning effect more excellent.

[0056] In some implementations, such as Figure 4 As shown, the body 3 is provided with a cover assembly 4, which is configured to open when the robotic arm is in working state and cover the outer periphery of the robotic arm when it is not in working state.

[0057] With this design, the cover assembly 4 can protect the robotic arm when it is not in operation, thus increasing its service life.

[0058] In some implementations, combined Figures 4 to 7 As shown, the cover assembly 4 includes a first cover 41 and a second cover 42 disposed opposite to each other. Here, "relatively disposed" refers to the first cover 41 and the second cover 42 being positioned opposite each other in the horizontal direction. The body 3 is provided with a first flipping member 32 and a second flipping member 33. The first flipping member 32 can drive the first cover 41 to flip, and the second flipping member 33 can drive the second cover 42 to flip, and the flipped second cover 42 can be stacked on top of the first cover 41.

[0059] In this design, the second cover 42, once opened, is stacked on top of the first cover 41, which reduces the space occupied by the unfolded cover assembly 4. Furthermore, the mating first cover 41 and second cover 42 ensure a seamless and non-overlapping connection of the cover assembly 4 during storage, improving its sealing performance and structural stability, and resulting in a more complete appearance.

[0060] In some implementations, combined Figure 6 and Figure 7As shown, the end of the first cover 41 away from the second cover 42 is hinged to the body 3. The first flipping member 32 includes a first flipping drive member 321 and a first flipping connecting rod 322. The first flipping drive member 321 is disposed on the body 3, and the first cover 41 is connected to the first flipping drive member 321 through the first flipping connecting rod 322. The first flipping connecting rod 322 includes a first drive rod 3221 and a first support rod 3222. One end of the first drive rod 3221 is connected to the output end of the first flipping drive member 321 so that the first drive rod 3221 can be driven to rotate by the first flipping drive member 321. The other end of the first drive rod 3221 is hinged to the end of the first support rod 3222. The end of the first support rod 3222 away from the first drive rod 3221 is hinged to the first cover 41. Specifically, the end of the first support rod 3222 is hinged to the part of the first cover 41 near the second cover 42. The first flipping drive component 321 includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0061] In the initial state, the first drive rod 3221 extends downward or tilts downward, and the end of the first support rod 3222 is hinged to the end of the first drive rod 3221. When the cover is opened, the first flipping drive member 321 drives the first drive rod 3221 to rotate (counterclockwise), which in turn drives the first support rod 3222 to move upward, so that the end of the first support rod 3222 away from the first drive rod 3221 lifts the first cover 41 to make way for the removal of the robotic arm body 1, and then returns to its original position for the second cover 42 to be stacked.

[0062] This driving method is convenient, and the first cover 41 can be lifted by a small rotation of the output shaft of the first flipping drive 321, which increases efficiency.

[0063] In some embodiments, the end of the first support rod 3222 connected to the first drive rod 3221 has a protrusion, so that the end of the first support rod 3222 connected to the first drive rod 3221 has a hook structure.

[0064] In this configuration, the first support rod 3222 can provide sufficient support.

[0065] In some embodiments, the second flipping component 33 includes a second flipping drive component and a second flipping connecting rod 332. The second flipping drive component is mounted on the machine body 3. The second flipping connecting rod 332 includes a second driving rod 3321 and a second support rod 3322. The end of the second driving rod 3321 is bent, and the bent end of the second driving rod 3321 is connected to the output end of the second flipping drive component to increase the rotation angle of the second driving rod 3321. The other end of the second driving rod 3321 is hinged to the second cover 42 so that the second cover 42 can be flipped around the axis of the output shaft of the second flipping drive component. One end of the second support rod 3322 is hinged to the machine body 3, and the other end of the second support rod 3322 is hinged to the second cover 42. The second flipping drive component includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0066] In this design, the second drive rod 3321, in cooperation with the second support rod 3322, can cause the second cover 42 to rotate, so that the second cover 42 can always extend horizontally, thereby allowing the second cover 42 to cover the top of the first cover 41.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0068] The above description is merely a specific embodiment of this utility model, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this utility model. Therefore, this utility model is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the utility model described herein.

Claims

1. A cleaning robot, characterized in that, Includes a body (3) and a robotic arm mounted on the body (3), wherein the body (3) is provided with a cover assembly (4); the cover assembly (4) is configured to be able to open when the robotic arm is in working state and to cover its outer periphery when the robotic arm is not in working state.

2. The cleaning robot according to claim 1, characterized in that, The cover assembly (4) includes a first cover (41) and a second cover (42) arranged opposite to each other. The body (3) is provided with a first flipping member (32) and a second flipping member (33). The first flipping member (32) can drive the first cover (41) to flip, and the second flipping member (33) can drive the second cover (42) to flip. The flipped second cover (42) can be stacked on the first cover (41).

3. The cleaning robot according to claim 2, characterized in that, The end of the first cover (41) away from the second cover (42) is hinged to the body (3).

4. The cleaning robot according to claim 2, characterized in that, The first flipping component (32) includes a first flipping drive component (321) and a first flipping link (322). The first flipping drive component (321) is disposed on the body (3), and the first cover (41) is connected to the first flipping drive component (321) through the first flipping link (322).

5. The cleaning robot according to claim 4, characterized in that, The first flipping linkage (322) includes a first driving rod (3221) and a first support rod (3222). One end of the first driving rod (3221) is connected to the output end of the first flipping drive (321), and the other end of the first driving rod (3221) is hinged to the end of the first support rod (3222). The end of the first support rod (3222) away from the first driving rod (3221) is hinged to the first cover (41).

6. The cleaning robot according to claim 5, characterized in that, The end of the first support rod (3222) connected to the first drive rod (3221) has a protrusion, so that the end of the first support rod (3222) connected to the first drive rod (3221) has a hook structure.

7. The cleaning robot according to claim 5, characterized in that, The end of the first support rod (3222) is hinged to the portion of the first cover (41) near the second cover (42).

8. The cleaning robot according to claim 2, characterized in that, The second flipping component (33) includes a second flipping drive component and a second flipping link (332). The second flipping link (332) includes a second drive rod (3321) and a second support rod (3322). The end of the second drive rod (3321) is bent. The bent end of the second drive rod (3321) is connected to the output end of the second flipping drive component. The other end of the second drive rod (3321) is hinged to the second cover (42). One end of the second support rod (3322) is hinged to the body (3). The other end of the second support rod (3322) is hinged to the second cover (42).

9. The cleaning robot according to claim 8, characterized in that, The second flipping drive is disposed on the body (3).

10. The cleaning robot according to any one of claims 1-9, characterized in that, The cleaning robot also includes a robotic arm capable of gripping items to be cleaned and assembling cleaning parts. The robotic arm is mounted on the body (3) and is capable of rotating in the horizontal direction and swinging in the vertical direction.

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