cleaning robot

Abstract

A cleaning robot, characterized in that it comprises: a chassis (1); a cleaning device (2) comprising: a cleaning element (22) and a pivoting mechanism (21) connected to each other; wherein the pivoting mechanism (21) is rotatably arranged on a bottom side of the chassis (1); the pivoting mechanism (21) has a spread position, and a first hidden position and a second hidden position on both sides of the spread position; and a spreading mechanism (3) separately connected to the chassis (1) and the pivoting mechanism (21); wherein the spreading mechanism (3) is capable of holding the pivoting mechanism (21) in the spreading position when the pivoting mechanism (21) is not subjected to any external force; wherein the pivoting mechanism (21) is capable of moving between the spreading position and the first hidden position and between the spreading position and the second hidden position under a joint action of the external force and the spreading mechanism (3).

Description

Technical area

[0001] The present application relates to the technical field of cleaning devices, in particular a cleaning robot. State of the art

[0002] In the prior art, a cleaning robot cleans an inaccessible area around a wall corner and other obstacles by a motor extending a cleaning element from a machine body.

[0003] However, this cleaning method requires, on the one hand, the inaccessible area to be identified first, which is not very accurate and can easily lead to misjudgments. On the other hand, it takes some time for the motor to extend the cleaning element from the machine body, which delays cleaning and impairs cleaning efficiency. Contents of this application

[0004] The present application relates to a cleaning robot that can clean the hard-to-reach area around corners of walls and other obstacles accurately, timely, and efficiently.

[0005] A cleaning robot comprising: a chassis; a cleaning device comprising: a cleaning element and a pivoting mechanism connected to each other; wherein the pivoting mechanism is rotatably arranged on a bottom side of the chassis; the pivoting mechanism has a spread position, and a first hidden position and a second hidden position on both sides of the spread position; and a spreading mechanism separately connected to the chassis and the pivot mechanism; wherein the spreading mechanism is capable of maintaining the pivot mechanism in the spreading position when the pivot mechanism is not subjected to an external force; wherein the pivot mechanism is capable of moving between the spreading position and the first hidden position, and between the spreading position and the second hidden position, under a joint action of the external force and the spreading mechanism.

[0006] According to the solutions provided in the embodiments of the present application, the swing mechanism, which is not subjected to any external force, is always maintained in the deployed position, and the swing mechanism in the deployed position is at least partially exposed on an outer side of the chassis, so that the cleaning element connected to the swing mechanism can instantly clean an area inaccessible to cleaning around a corner of a wall and other obstacles. When the swing mechanism is subjected to an external force (e.g., a reaction force exerted by a wall body on the swing mechanism), the swing mechanism moves from the deployed position to the first hidden position or the second hidden position on either side of the deployed position.When the external force is large enough, the swing mechanism eventually moves to the first hidden position or the second hidden position on either side of the extended position. According to the solutions of the present application, the cleaning-inaccessible area does not need to be identified, and the cleaning robot can clean the cleaning-inaccessible area as soon as the cleaning robot moves to the cleaning-inaccessible area. The swing mechanism is at least partially maintained in the extended position exposed on the outside of the chassis when not subjected to external force, and does not need to be driven by a motor to extend, thereby avoiding a delay in cleaning and a reduction in cleaning efficiency.Therefore, with the solutions of the present application, it is possible to clean the area around the corner of a wall and other obstacles that are inaccessible for cleaning accurately, in a timely manner, and efficiently.

[0007] In some embodiments, the deployment mechanism comprises: a projection disposed on a peripheral side of the pivot mechanism; and two elastic elements spaced on the chassis around the pivot mechanism; wherein first ends of the respective elastic elements are fixedly connected to the chassis, and second ends of the respective elastic elements act on the projection.

[0008] In some embodiments, the chassis is provided with a mounting opening, and the pivot mechanism comprises: a transmission structure; wherein the cleaning element is connected to one side of the transmission structure; the cleaning element and the transmission structure are arranged on an underside of the chassis; and a drive motor connected to the other side of the transmission structure; wherein at least a portion of the drive motor extends outwardly through the mounting opening to a top surface of the chassis.

[0009] In some embodiments, the chassis is further provided with a recess to accommodate the cleaning device; wherein the cleaning robot further comprises: a bumper arranged on a peripheral side of the cleaning robot and provided with an escape notch corresponding to the transmission structure.

[0010] In some embodiments, the cleaning robot further comprises: an assembly comprising: a limiting flange formed on a peripheral side of the transmission structure; and a limiting element detachably arranged on a peripheral side of the drive motor; wherein the contours of the limiting flange and the limiting element both lie outside an opening of the mounting opening of the chassis to prevent the pivot mechanism from moving along an axis of the mounting opening.

[0011] In some embodiments, the limiting element is an annular element and is inserted onto an outer periphery of the drive motor; an outer periphery of the limiting member is provided with an arcuate notch to form the projection.

[0012] In some embodiments, the deployment mechanism further comprises: a slider connected to a second end of the elastic member and abutting against the projection.

[0013] In some embodiments, along a path of movement of the slider, a guide groove is arranged in one of the slider and the chassis, and a guide projection is arranged on the other of the slider and the chassis, which matches the guide groove.

[0014] In some embodiments, stops are arranged on the chassis corresponding to both ends of the guide groove or both ends of the guide projection.

[0015] In some embodiments, the chassis is provided with a baffle plate on a side of the slider remote from the drive motor, and both ends of the baffle plate are connected to the two stops.

[0016] In some embodiments, the pivot mechanism further comprises: a protective cover that covers the drive motor and is firmly connected to the chassis.

[0017] In some embodiments, one end of the protective sheath is provided with an end cover flange; wherein the end cover flange is hooked into the stop and the baffle plate to cover the slider, the guide groove, and the guide projection. Short description of the drawing

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the embodiments. The drawings are for illustrative purposes only and are not intended to limit the present application. Like components are designated by the same reference numerals throughout the drawings. Fig. 1 is a schematic view of an overall structure of a cleaning robot according to an embodiment of the present application. Fig. 2 is a schematic structural view of the cleaning robot in Fig. 1 with a remote cleaning device. Fig. 3 is a partial structural view of the cleaning robot in Fig. 1 with one bumper and one top cover removed. Fig. 4 is a schematic view of a three-dimensional structure of the cleaning device in Fig. 3. Fig. 5 is a schematic plan view of the structure in Fig. 3 with a protective cover removed. Fig. 6 is a schematic view of a three-dimensional structure of a slider in Fig. 5. Fig. 7 is a schematic structural view of a boundary element in Fig. 5. Fig. 8 is a bottom view of the cleaning robot with a right cleaning device in a spread position of the present application. Fig. 9 is a bottom view of the cleaning robot with the right cleaning device in a first hidden position of the present application. Fig. 10 is a bottom view of the cleaning robot with the right cleaning device in a second hidden position of the present application. Reference symbol:

[0019] 1-Chassis; 111-Mounting hole; 112-Recess; 121-Guide projection; 122-Stop; 123-Baffle plate; 2-Cleaning device; 21-Pivoting mechanism; 211-Transmission structure; 212-Drive motor; 22-Cleaning element; 23-Protective cover; 231-End cover flange; 3-spreading mechanism; 31-projection; 32-elastic element; 33-slider; 331-guide groove; 332-guide post; 4-bumper; 41-avoidance notch; 5-Mounting assembly; 51-Limiting flange; 52-Limiting element; 521-Arc-shaped notch; 6-Top cover. Detailed description of the embodiments

[0020] Embodiments of the technical solutions of the present application are described in detail below with reference to the accompanying drawings. The following embodiments are intended only to illustrate the technical solutions of the present application more clearly and are therefore to be understood only as examples and cannot be used to limit the scope of the present application.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms used in the specification are for the purpose of describing specific embodiments only and are not intended to be limiting of this application. The terms "comprising" and "having" and all variations thereof in the specification and claims of this application and the foregoing brief description of the drawings are intended to encompass non-exclusive inclusion.

[0022] Reference herein to "embodiment" means that a particular feature, structure, or characteristic described with respect to one embodiment may be included in at least one embodiment of the present application. Embodiments that appear in different places in the specification do not necessarily refer to the same embodiment and are not independent or mutually exclusive alternative embodiments. It will be understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] In the prior art, a cleaning robot cleans an inaccessible area around a wall corner and other obstacles by a motor extending a cleaning element from a machine body.

[0024] However, this cleaning method requires, on the one hand, the inaccessible area for cleaning to be identified first. The accuracy of the identification is not very high, and misjudgments are prone to occur. For example, an inaccessible area for cleaning may exist but not be identified, so the cleaning element is not driven to extend; or it may happen that no inaccessible area for cleaning exists, but it is mistakenly identified that such an area exists, so the cleaning element is controlled to extend.On the other hand, it takes some time for the motor to extend the cleaning element from the machine body, so the area inaccessible for cleaning cannot be cleaned until the cleaning element is extended from the machine body, which leads to a delay in cleaning and affects the cleaning efficiency.

[0025] To solve the above-mentioned technical problems, a cleaning robot is provided according to some embodiments of the present application. The cleaning robot according to the embodiments of the present application will be described below with reference to the drawings.

[0026] With reference to the Fig. 1 to Fig. 3, a cleaning robot proposed in the present application comprises a chassis 1, a cleaning device 2, and a spreading mechanism 3. The cleaning device 2 includes a cleaning element 22 and a swing mechanism 21 connected to each other; the swing mechanism 21 is rotatably disposed on a bottom surface of the chassis 1. The swing mechanism 21 has a spreading position, and a first hidden position and a second hidden position on both sides of the spreading position. The spreading mechanism 3 is separately connected to the chassis 1 and the swing mechanism 21, and the spreading mechanism 3 can maintain the swing mechanism 21 in the spreading position when the swing mechanism is not subjected to an external force.The pivoting mechanism 21 can move between the spreading position and the first hidden position and between the spreading position and the second hidden position under a joint action of the external force and the spreading mechanism 3.

[0027] According to the solutions provided in the embodiments of the present application, the swing mechanism 21, which is not subjected to any external force, is always maintained in the spread position, and the swing mechanism 21 in the spread position is at least partially exposed to an outer side of the chassis 1, so that the cleaning element 22 connected to the swing mechanism 21 can instantly clean an area inaccessible to cleaning around a corner of a wall and other obstacles. When the swing mechanism 21 is subjected to an external force (e.g., a reaction force exerted by a wall body on the swing mechanism 21), the swing mechanism 21 moves from the spread position to the first hidden position or the second hidden position on both sides of the spread position.When the external force is large enough, the swing mechanism 21 eventually moves to the first hidden position or the second hidden position on either side of the extended position. According to the solutions of the present application, the cleaning-inaccessible area does not need to be identified, and the cleaning robot can clean the cleaning-inaccessible area as soon as the cleaning robot moves to the cleaning-inaccessible area. The swing mechanism 21 is at least partially maintained in the extended position exposed on the outside of the chassis 1 when not subjected to any external force, and does not need to be driven by a motor to extend, thereby avoiding a delay in cleaning and a reduction in cleaning efficiency.Therefore, with the solutions of the present application, it is possible to clean the area around the corner of a wall and other obstacles that are inaccessible for cleaning accurately, in a timely manner, and efficiently.

[0028] In the following, the Fig. 1 to Fig. 10 describes a specific structure of the cleaning robot according to the embodiments of the present application.

[0029] With reference to the Fig. 1 and Fig. 2, the chassis 1 as a supporting base of the cleaning robot is typically made of corrosion-resistant metal parts, such as an aluminum alloy, to improve durability. The chassis 1 is provided with a mounting hole 111 for attaching the cleaning device 2. To accommodate the cleaning device 2, the chassis 1 is further provided with a recess 112, wherein the recess 112 may be U-shaped, V-shaped, etc. Accordingly, when a bumper 4 is arranged on a peripheral side of the cleaning robot corresponding to the cleaning device 2, the bumper 4 is further provided with an escape notch 41 for bypassing the cleaning device 2. Designers can flexibly design the shapes of the recess 112 and the escape notch 41 according to an actual structure of the cleaning device 2, which is not specifically limited in these embodiments of the present application.In the following, the recess 112 and the escape notch 41 are described in connection with a position state of the cleaning device 2.

[0030] The cleaning robot comprises at least one cleaning device 2. For example, with reference to Fig. 3 two cleaning devices 2 are arranged symmetrically with respect to a front-rear direction of the cleaning robot, and the cleaning devices 2 can usually be arranged at a front end of the cleaning robot.

[0031] Each of the cleaning devices 2 comprises a cleaning element 22 and a pivoting mechanism 21, which are connected to each other. With reference to the Fig. 3 to 5, the cleaning element 22 may be a side brush, and a rotation axis of the side brush is perpendicular to a surface to be cleaned. Only one side brush may be arranged, or a plurality of side brushes may be arranged, for example, two, three, four, or any other number of side brushes. The plurality of side brushes may be evenly distributed around their rotation axis. Furthermore, the cleaning element 22 may be a disc-shaped mop. A rotation axis of the mop is also perpendicular to the surface to be cleaned. The pivoting mechanism 21 may include a transmission structure 211 and a drive motor 212. An output end of the drive motor 212 is connected to an input end of the transmission structure 211, and an output end of the transmission structure 211 is connected to the cleaning element 22.The transmission structure 211 may be implemented as a gear transmission mechanism, belt transmission mechanism, chain transmission mechanism, or a similar construction, and the drive motor 212 may rotate the cleaning element 22 via the transmission structure 211. To protect the drive motor 212, the pivot mechanism 21 may be pivoted, as shown in FIG. Fig. 3, further comprising a protective cover 23, wherein the protective cover 23 covers the drive motor 212 and is firmly connected to the chassis 1.

[0032] The pivot mechanism 21 is rotatably mounted on a bottom side of the chassis 1 through the mounting hole 111. Referring to Fig. 3, the cleaning element 22 is connected to one side of the transmission structure 211. The cleaning element 22 and the transmission structure 211 are integrally arranged on a bottom side of the chassis 1. The drive motor 212 is connected to the other side of the transmission structure 211, and at least a portion of the drive motor 212 extends outward through the mounting opening 111 to a top side of the chassis 1.

[0033] The pivot mechanism 21 can be attached to the chassis 1 by a mounting assembly 5. In one embodiment, with reference to the Fig. 3 and Fig. 4, the mounting assembly 5 may include a limiting flange 51 and a limiting member 52. The limiting flange 51 is formed on a peripheral side of the transmission structure 211. The limiting member 52 is detachably arranged on a peripheral side of the drive motor 212. The limiting member 52 may be an arcuate member, an annular member, a polygonal member, etc. The limiting member 52 may be inserted onto an outer periphery of the drive motor 212. The contours of the limiting flange 51 and the limiting member 52 both lie outside an opening of the mounting hole 111 of the chassis 1. The limiting flange 51 cooperates with the limiting member 52 to prevent the pivot mechanism 21 from moving along an axis of the mounting hole 111.When installing the swivel mechanism 21, the drive motor 212 may be inserted into the mounting hole 111 with a portion of the drive motor 212 exposed on the top of the chassis 1. Then, the limiting member 52 is inserted onto the drive motor 212 and connected to the limiting flange 51 by screws or the like. In this way, the cleaning device 2 can rotate smoothly around the axis of the mounting hole 111. Alternatively, a bearing may be disposed in the mounting hole 111, and the rotational connection of the swivel mechanism 21 to the chassis 1 may be realized by installing the drive motor 212 into the bearing.

[0034] By rotating the pivoting mechanism 21, the pivoting mechanism 21 can be arranged in the spread position, or in the first hidden position or the second hidden position on either side of the spread position. For example, the Fig. 8 on the left side shown swivel mechanism 21 in the spread position, the Fig. 9 on the left side shown pivot mechanism 21 in the first hidden position on one side of the spread position in Fig. 8, and is located in Fig. 10 on the left side shown pivot mechanism 21 in the second hidden position on the other side of the spread position in Fig. 8. As can be seen from the Fig. 2, Fig. 8, Fig. 9, and Fig. 10 is evident, due to the presence of the Fig. 2, the transmission structure 211 of the pivoting mechanism 21 is at least partially exposed on an outer side of the chassis 1 when the pivoting mechanism is in the position shown in Fig. 8 shown on the left, and due to the presence of the Fig. 2, the transmission structure 211 of the swivel mechanism 21 is concealed on an inner side of the chassis 1 when the swivel mechanism is in the first concealed position shown in Fig. 9 shown on the left, or in the second hidden position shown in Fig. 10 is shown on the left.

[0035] The spreading mechanism 3 is configured to hold the pivot mechanism 21 in the spreading position when the pivot mechanism 21 is not subjected to any external force. The spreading mechanism 3 is separately connected to the chassis 1 and the pivot mechanism 21. Referring to Fig. 5, the spreading mechanism 3 may comprise a projection 31 and two elastic elements 32.

[0036] The projection 31 may be arranged on a peripheral side of the drive motor 212 of the pivot mechanism 21. One or two projections 31 may be arranged. If a single projection 31 is arranged as shown in the Fig. 5 and Fig. As shown in Figure 7, the protrusion 31 may be formed on the limiting member 52 by providing an arcuate notch 521 on the limiting member 52. When two protrusions 31 are provided, the two protrusions 31 may be spaced apart on the peripheral side of the drive motor 212. For example, it is conceivable to space the two protrusions 31 apart from each other on the limiting member 52; and it is conceivable to space the two protrusions 31 directly apart from each other on the peripheral side of the drive motor 212.

[0037] The two elastic elements 32 are spaced apart on the chassis 1 around the drive motor 212 of the pivot mechanism 21. First ends of the respective elastic elements 32 are fixedly connected to the chassis 1, and second ends of the respective elastic elements 32 act on the projection 31. Each elastic element 32 may be a spring, as shown in Fig. 5, a rubber column, or the like. The two elastic elements 32 may be the same or different. For example, one of the two elastic elements 32 may be a spring, and the other of the two elastic elements 32 may be a rubber collar. As another example, the two elastic elements 32 may be springs or rubber collars at the same time. Furthermore, the shapes and structures of the elastic elements 32 that are springs or rubber collars at the same time may be the same or different. For example, the lengths of the two elastic elements 32 that are springs may be the same or different. Designers can flexibly determine the elastic elements 32 according to actual requirements, which is not specifically limited in the embodiment of the present application.When the projection 31 of the spreading mechanism 3 is acted upon only by the two elastic elements 32, the pivoting mechanism 21 connected to the projection 31 can be held in the spreading position.

[0038] It should be noted that the pivoting mechanism 21 can move between the spreading position and the first concealed position, as well as between the spreading position and the second concealed position, under the joint action of an external force and the spreading mechanism 3. In particular, as shown in the Fig. 8, Fig. 9 and Fig. 10, in a case where the external force overcomes an elastic force of the elastic member 32, the swing mechanism 21 shown on the left in the drawings may move from the spread position shown on the left side in Fig. 8, into the first hidden position shown on the left side in Fig. 9, or from the spread position shown on the left in Fig. 8, into the second hidden position shown on the left side in Fig. 10. When the external force is removed, the pivot mechanism 21 can move from the first hidden position shown on the left side in Fig. 9, into the spread position shown on the left side in Fig. 8, or from the second hidden position shown on the left side in Fig. 10, into the spread position shown on the left side in Fig. 8, under the elastic force of the elastic element 32.

[0039] If the cleaning device 2 of the cleaning robot does not come into contact with an obstacle during operation, the pivoting mechanism 21 of the cleaning device 2 remains in the spread position, as shown on the left side in Fig. 8. In this case, the cleaning element 22 connected to the pivoting mechanism 21 can immediately clean the area around the corner of a wall and other obstacles that are inaccessible for cleaning. When the cleaning device 2 encounters an obstacle, the pivoting mechanism 21 gradually moves toward the first hidden position shown on the left side in response to the reaction force of the obstacle, which overcomes the elastic force of the elastic element 32. Fig. 9, or the second hidden position shown on the left side in Fig. 10, until the reaction force of the obstacle completely overcomes the elastic force of the elastic element 32. As a result, the pivoting mechanism 21 is in the first hidden position, which is shown on the left side in Fig. 9, or in the second hidden position shown on the left side in Fig. 10 is shown.

[0040] In a cleaning robot provided with the bumper 4 corresponding to the cleaning device 2, the bumper 4 may come into contact with the obstacle when the obstacle acts on the pivot mechanism 21 and moves the pivot mechanism 21 to the first hidden position shown on the left side in Fig. 9, or in the second hidden position shown on the left side in Fig. 10. The bumper 4 is displaced by a force of the obstacle to a certain extent, which can trigger a bumper switch inside the cleaning robot, so that a control unit can control the cleaning robot to retreat or avoid the obstacle. When the cleaning robot moves away from the obstacle, the bumper 4 returns to its original position. When the cleaning robot then moves further away from the obstacle until the pivoting mechanism 21 is separated from the obstacle, the pivoting mechanism 21 can be moved from the first hidden position shown on the left side in Fig. 9, or from the second hidden position shown on the left side in Fig. 10, return to the spread position shown on the left side in Fig. 8 is shown.

[0041] In order to effectively exert the elastic force of the elastic element 32 on the projection 31, the spreading mechanism 3 may further comprise a slider 33; wherein the slider 33 is connected to the second end of the elastic element 32 and abuts against the projection 31. A direct connection between the elastic element 32 and the projection 31 is difficult and has poor connection stability, so that the elastic element 32 is expediently connected to the slider 33. For example, if the elastic element 32 is a spring, as in Fig. 5, a guide post 332 may be arranged on the slider 33, and one end of the spring may be conveniently inserted onto the guide post 332. As another example, when the elastic member 32 is a rubber column, the elastic member 32 may be conveniently adhered to a surface of the slider 33, thereby conveniently connecting the slider 33 to the elastic member 32. Moreover, the slider 33 only contacts the projection 31 but is not connected thereto, which also facilitates the assembly and disassembly of the pivot mechanism 21 and the spreading mechanism 3.

[0042] In order to ensure a stable movement of the slider 33 along its movement path, in the present application, a guide groove 331 is arranged in one of the slider 33 and the chassis 1, and a guide projection 121 is arranged along the movement path of the slider 33 on the other of the slider 33 and the chassis 1, which is adapted to the guide groove 331. For example, with reference to the Fig. 5 and Fig. 6, the guide groove 331 may be arranged in a bottom of the slider 33, and the guide projection 121 may be arranged to fit the guide groove 331 on the chassis 1. In this way, the slider 33 can move stably under the guidance of the guide projection 121 and the guide groove 331.

[0043] In order to prevent the guide projection 121 of the slider 33 from coming off the guide groove 331, stops 122 can be arranged on the chassis 1, which correspond to the two ends of the guide groove 331 or the two ends of the guide projection 121. For example, as shown in Fig. 5, the two ends of the guide projection 121 on the chassis 1 are provided with stops 122. The stop 122 not only limits the slider 33 but also forms a fastening base for the first end of the elastic element 32, which facilitates the connection between the elastic element 32 and the chassis 1.

[0044] To protect and guide the elastic member 32 and the slider 33, the chassis 1 is provided with a baffle plate 123 on a side of the slider 33 remote from the drive motor 212, and both ends of the baffle plate 123 are connected to the two stoppers 122. Furthermore, for the swing mechanism 21 provided with the protective cover 23, one end of the protective cover 23 may also be provided with an end cover flange 231. The end cover flange 231 is hooked into the stopper 122 and the baffle plate 123 and can cover the slider 33, the guide groove 331, and the guide projection 121 to reduce the intrusion of foreign matter such as dust and insects, including mosquitoes, into a gap between the guide groove 331 and the guide projection 121, and further improve the movement stability of the slider 33.

[0045] The above embodiments are merely illustrative and do not limit the technical solutions of the present application. Although the present application is described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications may be made to the technical solutions described in the above embodiments, or equivalent substitutions may be made for part or all of the technical features. These modifications or substitutions do not deviate the spirit of the respective technical solutions from the scope of the technical solutions of the embodiments of the present application, and should be encompassed by the scope of the claims and specification of the present application.In particular, the technical features mentioned in the embodiments can be combined in any way, as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions that fall within the scope of the claims.

Claims

[1] A cleaning robot, characterized by that it includes: a chassis (1); a cleaning device (2) comprising: a cleaning element (22) and a pivoting mechanism (21) connected to each other; wherein the pivoting mechanism (21) is rotatably arranged on a bottom side of the chassis (1); the pivoting mechanism (21) has a spread position, and a first hidden position and a second hidden position on both sides of the spread position; and a spreading mechanism (3) separately connected to the chassis (1) and the pivoting mechanism (21); wherein the spreading mechanism (3) is capable of holding the pivoting mechanism (21) in the spreading position when the pivoting mechanism (21) is not subjected to any external force; wherein the pivoting mechanism (21) is capable of moving between the spreading position and the first hidden position and between the spreading position and the second hidden position under a joint action of the external force and the spreading mechanism (3). [2] A cleaning robot according to claim 1, wherein the spreading mechanism (3) comprises: a projection (31) arranged on a peripheral side of the pivot mechanism (21); and two elastic elements (32) spaced apart on the chassis (1) around the pivoting mechanism (21); wherein first ends of the respective elastic elements (32) are fixedly connected to the chassis (1), and second ends of the respective elastic elements (32) act on the projection (31). [3] Cleaning robot according to claim 2, wherein the chassis (1) is provided with a mounting opening (111), and the pivoting mechanism (21) comprises: a transmission structure (211); wherein the cleaning element (22) is connected to one side of the transmission structure (211); the cleaning element (22) and the transmission structure (211) are arranged on a bottom side of the chassis (1); and a drive motor (212) connected to the other side of the transmission structure (211); wherein at least a portion of the drive motor (212) extends outwardly through the mounting opening (111) to a top side of the chassis (1). [4] A cleaning robot according to claim 3, wherein the chassis (1) is further provided with a recess (112) for receiving the cleaning device (2); the cleaning robot further comprising: a bumper (4) arranged on a peripheral side of the cleaning robot and provided with an escape notch (41) corresponding to the transmission structure (211). [5] Cleaning robot according to claim 3, further comprising: a mounting assembly (5) comprising: a limiting flange (51) formed on a peripheral side of the transmission structure (211); and a limiting element (52) detachably arranged on a peripheral side of the drive motor (212); wherein the contours of the limiting flange (51) and the limiting element (52) both lie outside an opening of the mounting opening (111) of the chassis (1) to prevent the pivoting mechanism (21) from moving along an axis of the mounting opening (111). [6] The cleaning robot according to claim 5, wherein the limiting member (52) is an annular member and is fitted onto an outer periphery of the drive motor (212); an outer periphery of the limiting member (52) is provided with an arcuate notch (521) to form the projection (31). [7] A cleaning robot according to any one of claims 3 to 6, wherein the spreading mechanism (3) further comprises: a slider (33) connected to a second end of the elastic element (32) and abutting against the projection (31). [8] A cleaning robot according to claim 7, wherein, along a movement path of the slider (33), a guide groove (331) is arranged in one of the slider (33) and the chassis (1), and a guide projection (121) is arranged on the other of the slider (33) and the chassis (1) adapted to the guide groove (331). [9] Cleaning robot according to claim 8, wherein stops (122) are arranged on the chassis (1) corresponding to both ends of the guide groove (331) or both ends of the guide projection (121). [10] A cleaning robot according to claim 9, wherein the chassis (1) is provided with a baffle plate (123) on a side of the slider (33) remote from the drive motor (212), and both ends of the baffle plate (123) are connected to the two stops (122). [11] A cleaning robot according to claim 10, wherein the pivoting mechanism (21) further comprises: a protective cover (23) which covers the drive motor (212) and is firmly connected to the chassis (1). [12] A cleaning robot according to claim 11, wherein one end of the protective cover (23) is provided with an end cover flange (231); the end cover flange (231) is hooked into the stopper (122) and the baffle plate (123) to cover the slider (33), the guide groove (331), and the guide projection (121).

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