Cleaning robot

Abstract

A cleaning robot, relating to the technical field of intelligent cleaning devices. The bottom of the cleaning robot is at least provided with a chamber, negative pressure is formed in the chamber by means of a suction module so as to attach the cleaning robot to a surface to be cleaned, and the cleaning function is executed by the cleaning rotating discs attached to said surface. The cleaning robot further comprises a locomotion mechanism, and the locomotion mechanism comprises supports connected to a robot body and locomotion wheels correspondingly mounted on the supports. After the cleaning robot is attached to said surface, the locomotion wheels press said surface and are driven by a driving module to roll on said surface so as to drive the cleaning robot to travel on said surface. According to the present invention, the locomotion wheels are driven to directly drive the cleaning robot to move on said surface, and the cleaning robot is driven to advance without relying on alternate torsion of the cleaning rotating discs, so that the faster advancing speed can be achieved.

Description

cleaning robots Technical Field

[0001] The present invention relates to the technical field of intelligent cleaning equipment, and in particular to a cleaning robot. Background Art

[0002] Chinese patent document CN102920393A discloses a cleaning machine for cleaning panels, which adheres to the panels by creating a negative pressure between the cleaning machine and the panels. Specifically, the cleaning machine includes a connecting arm disposed between two cleaning discs, each of which is fixedly connected to the connecting arm. A drive module is used to prevent one of the cleaning discs from rotating while the other is driven to rotate in a first direction. This generates a torsional force between the rotating cleaning disc and the connecting arm, which causes the connecting arm to swing in a second direction (the second direction is opposite to the first direction). By alternately driving the two cleaning discs to rotate, the cleaning machine is able to move in a twisting manner on the panel. Because this type of cleaning machine moves in a twisting manner, its travel speed is relatively slow. Summary of the Invention

[0003] The purpose of the present invention is to provide a cleaning robot with a faster walking speed.

[0004] To achieve the above-mentioned object, the present invention adopts the following technical solution: a cleaning robot having at least one chamber provided at its bottom, a suction module forming a negative pressure in the chamber so as to adsorb the robot to the surface to be cleaned, and a cleaning turntable abutting the surface to be cleaned to perform a cleaning function, the cleaning robot also including a walking mechanism, the walking mechanism including a support connected to the body and walking wheels correspondingly mounted on the support;

[0005] After the cleaning robot is adsorbed on the surface to be cleaned, the walking wheels press the surface to be cleaned and roll on the surface to be cleaned under the drive of the driving module to drive the cleaning robot to walk on the surface to be cleaned.

[0006] Furthermore, the chamber and / or the travel wheel are configured to be able to undergo elastic deformation or displacement when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the travel wheel is pressed against the surface to be cleaned.

[0007] Furthermore, the chamber is arranged in the cleaning turntable, and the cleaning turntable and / or the walking wheel are configured to float relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed tightly against the surface to be cleaned.

[0008] Furthermore, the chamber is arranged in the cleaning turntable, and the cleaning turntable is configured to be able to elastically deform under the extrusion of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed tightly against the surface to be cleaned.

[0009] Furthermore, the chamber is arranged in the cleaning turntable, and at least one cleaning turntable is configured to be able to deflect relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned while the walking wheel is pressed tightly against the surface to be cleaned.

[0010] Furthermore, the travel wheel is located at the center of the cleaning turntable, a mounting hole passing through the center of the cleaning turntable is opened, and the top end of the support passes through the mounting hole and is connected to the machine body.

[0011] Preferably, the driving module includes a motor connected to the body, a ring gear is provided on the cleaning turntable, a power output end of the motor is connected to a gear meshing with the ring gear, a first bevel gear is provided on the periphery of the mounting hole opened by the cleaning turntable, a second bevel gear meshing with the first bevel gear is installed at one end of the shaft of the walking wheel, the first bevel gear is coaxially arranged with the cleaning turntable, and the second bevel gear is coaxially arranged with the walking wheel.

[0012] Furthermore, at least one support is configured to be able to deflect relative to the body so that the walking wheels installed on the support can be set at an angle to the travel direction of the cleaning robot during walking and form a component force applied to the cleaning robot and opposite to its gravity direction.

[0013] Furthermore, at least two cleaning turntables are configured so that after they are adsorbed onto the surface to be cleaned, one side of the cleaning turntables exerts greater pressure on the surface to be cleaned than the other parts of the cleaning turntables, and at least after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle.

[0014] Furthermore, the at least two cleaning turntables are configured so that before they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle, and after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are parallel, and the pressure of one side on the surface to be cleaned is greater than the pressure of other parts on the surface to be cleaned.

[0015] Furthermore, a boundary detection mechanism is provided on the body, and the boundary detection mechanism includes a detection component, a trigger component and a sensor. The detection component is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, one end of the detection component is located outside the body and against the surface to be cleaned, and when it is squeezed by the outside, it can move in a first direction and when it moves to the outside of the surface to be cleaned, it can move in a second direction, so as to drive the trigger component to move to a preset sensing position and trigger the sensor to generate a sensing signal.

[0016] Furthermore, the boundary detection mechanism further includes a driving mechanism, which is configured to apply a force to the detection component so that one end of the detection component is located outside the body and abuts against the surface to be cleaned.

[0017] Furthermore, the driving mechanism includes an elastic component, and the elastic component is configured to apply an elastic force to the detection component so that one end of the detection component is located outside the body and abuts against the surface to be cleaned.

[0018] Furthermore, the sensor is a reflective sensor or an interruption sensor, and the trigger component is located in front of the signal transmission path of the sensor before following the detection component to move in the first direction, and the trigger component is located above the signal transmission path of the sensor before following the detection component to move in the second direction;

[0019] When the trigger component follows the detection component to move along the first direction, the trigger component moves backward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal; when the trigger component follows the detection component to move along the second direction, the trigger component moves downward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal.

[0020] Furthermore, the above-mentioned boundary detection mechanism also includes a U-shaped seat, the sensor is installed on the inner wall of the U-shaped seat, and the trigger component is configured to follow the detection component to move along the first direction and move between the two side walls of the U-shaped seat when the detection component is squeezed by the outside, and to follow the detection component to move along the second direction and move between the two side walls of the U-shaped seat when the detection component moves to the outside of the surface to be cleaned, thereby triggering the sensor to generate a sensing signal.

[0021] Furthermore, the above-mentioned boundary detection mechanism also includes a fixed seat, the detection component is slidably mounted on the fixed seat and is connected to the guide slot hole provided on the fixed seat through a slider, and the detection component is configured to be able to slide along the guide slot hole on the fixed seat and deflect relative to the fixed seat with the axis of the slider as the rotation axis to realize the movement of the detection component along the first direction and the second direction.

[0022] The present invention drives the cleaning robot to move on the surface to be cleaned directly by driving the walking wheels. Since it no longer relies on the alternating twisting of the cleaning turntable to drive the cleaning robot to move, it can achieve a faster travel speed. Compared with the previous alternating twisting travel scheme, the present invention requires less adsorption force during the movement of the cleaning robot, and the power required by the suction module during operation is lower, making the cleaning robot more energy-efficient. In addition, the reduction in the adsorption force of the cleaning turntable can also reduce the friction between the turntable rag and the surface to be cleaned, which is beneficial to reducing rag consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a front view of the cleaning robot;

[0024] FIG2 is a perspective view of the cleaning robot;

[0025] FIG3 is a second perspective view of the cleaning robot;

[0026] FIG4 is a cross-sectional view of the cleaning robot;

[0027] FIG5 is an exploded schematic diagram of the drive module and the cleaning turntable;

[0028] FIG6 is a second exploded diagram of the drive module and the cleaning turntable;

[0029] FIG7 is a perspective view of the driving module and the cleaning turntable;

[0030] FIG8 is a cross-sectional view of the driving module and the cleaning turntable;

[0031] FIG9 is a schematic structural diagram of a boundary detection mechanism;

[0032] FIG10 is a cross-sectional view of the boundary detection mechanism.

[0033] In the picture:

[0034] 1——Suction module 1a——Negative pressure fan

[0035] 2 - Cleaning turntable 2a - Chamber

[0036] 3——Body 4——Support

[0037] 5 - Travel wheel 5a - Axis rod

[0038] 6——Drive module 6a——Motor

[0039] 6b——Ring gear 6c——Gear

[0040] 6d——first bevel gear 6e——second bevel gear

[0041] 7——Deflection housing 8——Apron

[0042] 9 - Boundary detection mechanism 9a - Fixed seat

[0043] 9a1——slide groove 9a2——guide slot hole

[0044] 9b——Detection component 9b1——Slider

[0045] 9b2——Accommodating through hole 9c——Trigger component

[0046] 9c1——first trigger part 9c2——second trigger part

[0047] 9d——Elastic component 9e——Sensor

[0048] 9h——U-shaped seat 10——controller

[0049] 11——Rotating shaft 12——Elastic cotton

[0050] 13--Coil spring. DETAILED DESCRIPTION

[0051] In order to help those skilled in the art to more clearly understand the concept of the present invention, it is further described below with reference to embodiments and drawings. Example 1

[0052] As shown in Figures 1-3, the cleaning robot of this embodiment mainly includes a cleaning turntable 2, a suction module 1, a drive module 6, a controller 10, and a body 3. There can be multiple cleaning turntables 2, and this embodiment is specifically described with two of them. The suction module 1 includes, but is not limited to, a negative pressure blower 1a or a vacuum pump. In addition, since the air duct and control circuit of the cleaning robot involved in this embodiment are similar to those of existing cleaning robots, for the purpose of simplifying the description, the above content will not be repeated.

[0053] In this embodiment, the bottom of the cleaning robot is provided with at least one chamber 2a. A negative pressure is formed in the chamber 2a by the suction module 1 to adsorb the cleaning robot to the surface to be cleaned, and the cleaning function is performed by the cleaning turntable 2 attached to the surface to be cleaned. Unlike existing cleaning robots, the cleaning robot of this embodiment mainly relies on a walking mechanism to achieve walking on the surface to be cleaned. The aforementioned surface to be cleaned includes but is not limited to the surface of a flat plate (such as an upright glass window, a glass curtain wall, etc.). The walking mechanism mainly includes a support 4 connected to the body 3 and a walking wheel 6 correspondingly mounted on the support 4. After the cleaning robot is adsorbed on the surface to be cleaned, the walking wheel 6 presses the surface to be cleaned and rolls on the surface to be cleaned under the drive of the drive module 6 to drive the cleaning robot to walk on the surface to be cleaned. Among them, the number of supports 4 and walking wheels 6 corresponds and can be multiple. This embodiment is only illustrated by taking the number of supports 4 and walking wheels 6 as two. When the cleaning robot is operating, the drive module 6 simultaneously drives two running wheels 6 (at the same speed) to roll in the same direction across the surface to be cleaned, enabling the cleaning robot to move in a straight line. When a turn is required (e.g., upon reaching the edge of the surface to be cleaned), the speed of one of the running wheels 6 is slowed, allowing the other, faster running wheel 6 to yaw around the slower running wheel 6, thereby achieving a turn. Of course, the slowed running wheel 6 can also be stopped directly; the speeds referred to are relative. This embodiment directly drives the cleaning robot across the surface to be cleaned by driving the running wheels 6. Since the robot no longer relies on the alternating torsion of the cleaning turntable 2 to drive its movement, it can achieve a faster travel speed.

[0054] In the cleaning robot of this embodiment, the chamber 2a and / or the running wheel 5 are configured to be able to undergo elastic deformation or displacement when the cleaning robot is adsorbed onto the surface to be cleaned, so that the cleaning turntable 2 is in contact with the surface to be cleaned while the running wheel 5 is pressed tightly against the surface to be cleaned. The chamber 2a can be provided on the body 3, or on the cleaning turntable 2 (see FIG3 ), or on other components connected to the body 3 (for example, an elastically deformable annular component is provided on the body 3, and the chamber 2a is provided in the annular component, the bottom position of the annular component is lower than the bottom position of the cleaning turntable 2 and the running wheel 5, and when the cleaning robot is adsorbed onto the surface to be cleaned, the annular component undergoes elastic deformation under the pressure of the surface to be cleaned, so that the cleaning turntable 2 is in contact with the surface to be cleaned and the running wheel 5 is pressed tightly against the surface to be cleaned).

[0055] The following description will be made in detail assuming that the chamber 2 a is provided on the cleaning turntable 2 .

[0056] In this embodiment, chamber 2a is disposed within cleaning turntable 2. Cleaning turntable 2 is configured to float relative to body 3 when the cleaning robot is attached to the surface to be cleaned. This allows cleaning turntable 2 to adhere to the surface to be cleaned while the running wheels 5 are pressed against the surface to be cleaned. Specifically, the floating of cleaning turntable 2 can be achieved by disposing an elastic member between cleaning turntable 2 and body 3. The elastic member can be an elastic cotton, coil spring, or other elastically deformable component. The bottom end of cleaning turntable 2 is positioned lower than the bottom end of running wheels 6. When the cleaning robot is placed on the surface to be cleaned, cleaning turntable 2 first contacts the surface to be cleaned. When the cleaning robot is attached to the surface to be cleaned, the elastic member is compressed and elastically deformed, allowing cleaning turntable 2 to move upward relative to body 3 (similar to an upward floating effect) and adhere to the surface to be cleaned. Simultaneously, running wheels 6 are pressed against the surface to be cleaned. This increases the friction between running wheels 6 and the surface to be cleaned, making the cleaning robot move more smoothly and less likely to slip.

[0057] In addition, when the cleaning robot walks on a vertical surface to be cleaned (such as upright glass), due to the weight of the machine, the machine may slide down when moving in the horizontal direction (hereinafter taking horizontal straight line movement as an example), causing the travel route to deviate downward. In order to correct the machine's slide caused by the machine's gravity, the support 4 connected to the upper travel wheel 6 during the machine's travel can be set to be able to deflect relative to the body 3, so that the travel wheel 5 installed on the support 4 can be set at an angle to the travel direction of the cleaning robot during the travel process (the angle can be 0-30 degrees, preferably 0-10 degrees) and form a component force applied to the cleaning robot and opposite to its gravity direction. This component force can be used to eliminate the influence of the machine's own gravity on the travel trajectory, thereby ensuring that the machine walks in a straight line in the horizontal direction. Of course, the above setting can also be made for the support 4 connected to the lower travel wheel 6 during the machine's travel, or the above setting can be made for the supports 4 connected to the two travel wheels 6 at the same time. The principle is the same as above and will not be repeated here. Example 2

[0058] This embodiment differs from Embodiment 1 in that the running wheels 6 are different. Specifically, in this embodiment, the running wheels 6 are configured to float relative to the body 3 when the cleaning robot is attached to the surface to be cleaned, so that the cleaning turntable 2 is in contact with the surface to be cleaned while the running wheels 5 are pressed against the surface to be cleaned.

[0059] In this embodiment, an elastic member can be provided between the support for mounting the running wheel 6 and the body 3 to achieve the floating of the running wheel 6. The elastic member can be an elastic cotton, a coil spring, or other elastically deformable component. The bottom end of the running wheel 6 is located lower than the bottom end of the cleaning turntable 2. When the cleaning robot is placed on the surface to be cleaned, the running wheel 6 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the elastic member is compressed and elastically deformed, and the running wheel 6 can move upward relative to the body 3 (similar to the effect of "floating upward") and be pressed against the surface to be cleaned. At the same time, the cleaning turntable 2 also contacts the surface to be cleaned.

[0060] Those skilled in the art should understand that the floating cleaning turntable structure in the above-mentioned embodiment 1 and the floating travel wheel structure in embodiment 2 can be combined. For example, the cleaning turntable 2 and the travel wheel 6 are both set to floating structures. The principle is the same as above and will not be repeated here. Example 3

[0061] The difference between this embodiment and embodiment 1 is that the running wheels 6 are different. Specifically, the running wheels 6 in this embodiment are configured to elastically deform when the cleaning robot is attached to the surface to be cleaned, so that the cleaning turntable 2 is in contact with the surface to be cleaned while the running wheels 5 are pressed against the surface to be cleaned.

[0062] In this embodiment, the running wheel 6 is made of elastically deformable rubber or plastic material, and its bottom end is lower than the bottom end of the cleaning turntable 2. When the cleaning robot is placed on the surface to be cleaned, the running wheel 6 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the running wheel 6 elastically deforms under the pressure of the surface to be cleaned, thereby being pressed against the surface to be cleaned. At the same time, the cleaning turntable 2 also sticks to the surface to be cleaned. The running wheel 6 can be made entirely of elastically deformable rubber or plastic material, or only the peripheral portion thereof that contacts the surface to be cleaned can be made of elastically deformable rubber or plastic material. Example 4

[0063] The difference between this embodiment and embodiment 3 lies in the cleaning turntable 2. Specifically, the chamber 2a is disposed within the cleaning turntable 2. The cleaning turntable 2 is configured to elastically deform under the pressure of the surface to be cleaned when the cleaning robot is attached to the surface to be cleaned, so that the cleaning turntable 2 is pressed against the surface to be cleaned while the travel wheels 5 are pressed tightly against the surface to be cleaned.

[0064] In a first embodiment, the cleaning turntable 2 is made of elastically deformable rubber or plastic material. Before and after the cleaning turntable 2 is attached to the surface to be cleaned, the rotational axes of the two cleaning turntables 2 are parallel, and the bottom of the cleaning turntable 2 is lower than the bottom of the running wheel 6. The following example uses the bottom of the cleaning turntable 2 as a plane. When the cleaning robot is placed on the surface to be cleaned, both sides of the bottom of the cleaning turntable 2 are in contact with the surface to be cleaned. When the cleaning turntable 2 is attached to the surface to be cleaned, its bottom elastically deforms under the pressure of the surface to be cleaned and adheres to the surface to be cleaned. The deformation of both sides of the bottom of the cleaning turntable 2 is the same. At the same time, the running wheel 6 is also pressed against the surface to be cleaned. The elastic deformation of the cleaning turntable 2 not only allows the running wheel 6 to adhere to the surface to be cleaned, but also, after the cleaning turntable 2 is elastically deformed, its contact with the surface to be cleaned is tighter, the sealing of the chamber 2a is improved, and the pressure difference between the inside and outside of the chamber 2a is increased, and the negative pressure value in the chamber 2a is increased, thereby reducing the power required by the suction module 1 during the machine's operation, achieving an energy-saving effect. Of course, the bottom of the cleaning turntable 2 can also be a slope. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning turntable 2 first contacts the surface to be cleaned. When the cleaning turntable 2 is adsorbed on the surface to be cleaned, the deformation of this side is greater than the deformation of its other parts, so that the pressure of this side on the surface to be cleaned is greater than the pressure of its other parts on the surface to be cleaned. At the same time, the walking wheel 6 can also be pressed tightly against the surface to be cleaned.

[0065] In a second embodiment, the cleaning discs 2 are made of elastically deformable rubber or plastic. Before and after the cleaning discs 2 are attached to the surface to be cleaned, the rotational axes of the two cleaning discs 2 intersect to form an angle, and the bottom of the cleaning discs 2 is lower than the bottom of the running wheels 6. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning disc 2 first contacts the surface to be cleaned. When the cleaning discs 2 are attached to the surface to be cleaned, the deformation of this side is greater than that of the other parts, resulting in a greater pressure on the surface to be cleaned from this side, while the running wheels 6 are also pressed tightly against the surface to be cleaned.

[0066] As a third embodiment, the cleaning turntable 2 and the running wheels 6 are both made of elastically deformable rubber or plastic material. Before and after the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are parallel or staggered, and the bottom position of the cleaning turntable 2 is higher than the bottom position of the running wheels 6. When the cleaning turntable 2 is adsorbed onto the surface to be cleaned, both the cleaning turntable 2 and the running wheels 6 are elastically deformed under the pressure of the surface to be cleaned. However, since the deformation of the running wheels 6 is greater than that of the cleaning turntable 2, the pressure exerted by the running wheels 6 on the surface to be cleaned is greater than the pressure exerted by the cleaning turntable 2 on the surface to be cleaned, causing the running wheels 6 to be pressed tightly against the surface to be cleaned, while the cleaning turntable 2 is also attached to the surface to be cleaned.

[0067] As a fourth embodiment, the cleaning turntable 2 and the running wheel 6 are both made of elastically deformable rubber or plastic material, and the elastic coefficient of the running wheel 6 is greater than the elastic coefficient of the cleaning turntable 2. Before and after the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are parallel or staggered, and the bottom position of the cleaning turntable 2 and the bottom position of the running wheel 6 are at the same height (level). When the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the cleaning turntable 2 and the running wheel 6 are both elastically deformed under the pressure of the surface to be cleaned, and the deformation amount of both is the same. However, because the elastic coefficient of the running wheel 6 is greater than the elastic coefficient of the cleaning turntable 2, the pressure exerted by the running wheel 6 on the surface to be cleaned is greater than the pressure exerted by the cleaning turntable 2 on the surface to be cleaned, causing the running wheel 6 to be pressed tightly against the surface to be cleaned, while the cleaning turntable 2 is also attached to the surface to be cleaned.

[0068] The elastically deformable cleaning disc 2 described above may be entirely made of an elastically deformable rubber or plastic material, or may be made of only the bottom portion thereof. Alternatively, the cleaning disc 2 may be provided with a ring of soft rubber (made of an elastically deformable rubber or plastic material) wrapped around its bottom portion. This soft rubber may also be formed into an apron 8 and tightly fitted around the cleaning disc 2, thereby facilitating assembly and disassembly. Example 5

[0069] The difference between this embodiment and embodiment 1 is that the cleaning turntable 2 is different. Specifically, in this embodiment, the chamber 2a is disposed within the cleaning turntable 2, and at least one cleaning turntable 2 is configured to be deflected relative to the body 3 when the cleaning robot is attached to the surface to be cleaned.

[0070] The number of the deflectable cleaning turntables 2 can be one or two.

[0071] If only one cleaning turntable 2 is configured to be rotatable relative to the housing 3, the cleaning turntable 2 can be connected to the housing 3 via a set of rotating shafts 11 on the housing 3, with the rotation axis of the rotating shafts 11 being perpendicular to the rotation axis of the cleaning turntable 2. Before the cleaning turntables 2 are attached to the surface to be cleaned, the two cleaning turntables 2 are staggered to form an angle. After the cleaning turntables 2 are attached to the surface to be cleaned, one cleaning turntable 2 deflects so that its corresponding rotation axis becomes parallel to the rotation axis of the other cleaning turntable 2.

[0072] To enable both cleaning discs 2 to rotate relative to the housing 3, the two cleaning discs 2 are connected to the housing 3 via two sets of parallel, spaced-apart rotating shafts 11. The rotation axes of the rotating shafts 11 are perpendicular to the rotation axes of the cleaning discs 2. Before the cleaning discs 2 are attached to the surface to be cleaned, the two cleaning discs 2 are staggered to form an angle. After the cleaning discs 2 are attached to the surface to be cleaned, the two cleaning discs 2 rotate so that their corresponding rotation axes become parallel.

[0073] The running wheel 6 can be arranged on the outside or inside of the cleaning turntable 2. This embodiment only uses the example of the running wheel 6 being located on the outside of the cleaning turntable 2 for explanation. Specifically, the running wheel 6 and the cleaning turntable 2 are spaced apart and arranged below the body 3. The cleaning turntable 2 is equipped with a turntable cloth. Both cleaning turntables 2 can deflect relative to the body 3. When the cleaning robot is placed on the surface to be cleaned, one side of the cleaning turntable 2 first contacts the surface to be cleaned and deflects relative to the body 3. When the cleaning turntable 2 is attached to the surface to be cleaned, the pressure on the surface to be cleaned by this side is greater than the pressure on the surface to be cleaned by the other parts of the cleaning turntable 2. The turntable cloth can be pressed tightly, and the running wheel 6 is also pressed tightly against the surface to be cleaned. The cleaning turntable 2 and / or the running wheel 5 can also be configured to undergo elastic deformation (such as the elastically deformable structure described in Examples 3 and 4) or displacement (such as the floating structure described in Examples 1 and 2) when the cleaning robot is attached to the surface to be cleaned. The choice can be made as needed in actual application.

[0074] Those skilled in the art should understand that the structures in the above-mentioned embodiments 1-5 are not limited to being used alone, and they can also be combined in different ways, for example: (a) combining the floating structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 1 and 2 with the elastically deformable structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 3 and 4; (b) combining the elastically deformable structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 3 and 4 with the deflectable structure of the cleaning turntable 2 in embodiment 5; (c) combining the floating structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 1 and 2 with the deflectable structure of the cleaning turntable 2 in embodiment 5; (d) combining the floating structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 1 and 2 with the elastically deformable structure of the cleaning turntable 2 and the walking wheel 6 in embodiments 3 and 4 and the deflectable structure of the cleaning turntable 2 in embodiment 5; in actual application, it is not limited to the above-mentioned combinations. Example 6

[0075] The difference between this embodiment and embodiment 5 is that the walking wheel 6 is arranged on the inner side of the cleaning turntable 2, the cleaning turntable 2 and the walking wheel 6 are grouped one by one, the walking wheel 6 and the cleaning turntable 2 in each group are linked through a transmission mechanism (such as a gear transmission mechanism), and the driving module 6 is configured to drive the cleaning turntable 2 to rotate to drive the walking wheel 6 to roll.

[0076] The following example uses the two cleaning turntables 2 that can both deflect relative to the body 3. Specifically, as shown in Figure 3-8, two deflection housings 7 are installed on the body 3. These two deflection housings 7 are connected to the body 3 respectively through two sets of parallel and spaced rotating shafts 11. The rotation axis of the rotating shaft 11 is perpendicular to the rotation axis of the cleaning turntable 2. The deflection housing 7 can deflect relative to the body 3 with the rotating shaft 11 as the rotation axis when the cleaning robot is adsorbed on the surface to be cleaned. Among them, the cleaning turntable 2 is connected to the deflection housing 7, and the support 4 for mounting the running wheel 6 is connected to the body 3 through the deflection housing 7. Specifically, the running wheel 6 is located at the center of the cleaning turntable 2. The cleaning turntable 2 is provided with a mounting hole that runs through its center. The top of the support 4 passes through the mounting hole and is connected to the deflection housing 7. Before the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are staggered to form an angle. After the cleaning turntable 2 is adsorbed onto the surface to be cleaned, the two deflection housings 7 can drive the cleaning turntable 2 and the travel wheels 6 thereon to deflect relative to the body 3. The rotation axes corresponding to the two cleaning turntables 2 will be parallel, and the rotation axes of the two travel wheels 6 will be aligned.

[0077] In this embodiment of the cleaning robot, the drive module 6 includes a motor 6a connected to a deflection housing 7. A ring gear 6b ​​(which can be either internal or external) is mounted on the cleaning turntable 2 and is positioned on the side facing the body 3 / deflection housing 7. The power output of the motor 6a is connected to a gear 6c that meshes with the ring gear 6b. A first bevel gear 6d is positioned around the periphery of the mounting hole in the cleaning turntable 2. A second bevel gear 6e is mounted on one end of the shaft 5a of the running wheel 6, meshing with the first bevel gear 6d. The first bevel gear 6d is coaxial with the cleaning turntable 2, and the second bevel gear 6e is coaxial with the running wheel 6. The operating principle of the drive module 6 is that the motor 6a drives the gear 6c to rotate, which in turn drives the ring gear 6b, which in turn rotates the cleaning turntable 2. The rotating cleaning turntable 2 then drives the second bevel gear 6e via the first bevel gear 6d, which in turn drives the running wheel 6 coaxially. Among them, the linked cleaning turntable 2 and the walking wheel 6 can work synchronously. When the walking wheel 6 drives the cleaning robot to walk, the corresponding cleaning turntable 2 can also rotate synchronously to perform the cleaning function. This not only improves the cleaning efficiency, but also ensures the cleaning effect.

[0078] Those skilled in the art should understand that the transmission structure between the running wheel 6 and the cleaning turntable 2 in the above-mentioned embodiments 3 and 4 can also be used to achieve linkage with the transmission structure of embodiment 6. Its setting method and working principle are similar to those in embodiment 6, with the only difference being that the deflection housing 7 is omitted, the motor 6a is directly connected to the body 3, and the top of the support 4 is also directly connected to the body 3 through the mounting hole. For the purpose of simplifying the description, the above content will not be repeated. Of course, the transmission structure between the running wheel 6 and the cleaning turntable 2 in embodiment 6 can also be used in other embodiments. For the purpose of simplifying the description, no further examples will be given here. Example 7

[0079] The difference between this embodiment and embodiment 6 is that the cleaning robot is further provided with a deflection drive mechanism for applying a deflection force to two cleaning turntables 2 configured to be able to deflect relative to the body 3 to cause them to deflect, and the deflection force applied by the deflection drive mechanism is such that when the two cleaning turntables 2 are placed on the surface to be cleaned, one side thereof first contacts the surface to be cleaned, and after the two cleaning turntables 2 are adsorbed on the surface to be cleaned, the pressure of the aforementioned side (i.e., the side that first contacts the surface to be cleaned) on the surface to be cleaned is greater than the pressure of the other parts thereof on the surface to be cleaned.

[0080] Specifically, a deflection drive mechanism is disposed between the body 3 and the two deflection housings 7. Referring to Figures 4, 5, 7, and 8, the deflection drive mechanism includes an elastic pad 12 (which may also be an elastic member made of other materials) disposed between the body 3 and the deflection housing 7. The elastic pad 12 may be square, circular, annular, or other shapes. This embodiment illustrates a ring-shaped elastic pad 12. Specifically, the elastic pad 12 is annular, with its lower end mounted in an annular groove in the deflection housing 7 and its upper end mounted on an annular protrusion at the end of the body 3. As shown in Figures 4 and 8, each elastic pad 12 has different thicknesses on both sides. In the absence of any external forces, one cleaning disc 2 of the cleaning robot deflects counterclockwise relative to the body 3 under the action of the corresponding elastic pad 12, while the other cleaning disc 2 deflects clockwise relative to the body 3 under the action of the corresponding elastic pad 12, causing the corresponding rotation axes of the cleaning discs 2 to intersect, forming an angle. When the cleaning turntable 2 is placed on the surface to be cleaned, the side of the cleaning turntable 2 corresponding to the thicker side of the elastic cotton 12 first contacts the surface to be cleaned (see Figure 4). After the cleaning turntable 2 is adsorbed on the surface to be cleaned, the cleaning turntable 2 follows the deflection housing 7 and deflects relative to the body 3, so that the thicker side of the elastic cotton 12 is compressed and elastically deformed, and the thinner side is not squeezed and does not undergo elastic deformation (of course, this side can also undergo elastic deformation, but the deformation amount will be smaller than the deformation amount of the thicker side, so that the elastic forces on both sides of the cleaning turntable 2 are different). In this way, the pressure applied to the surface to be cleaned by the side of the cleaning turntable 2 corresponding to the thicker side of the elastic cotton 12 will be greater than the pressure applied to the surface to be cleaned by the side of the cleaning turntable 2 corresponding to the thinner side of the elastic cotton 12. Among them, the rotation axis of the rotating shaft 11 may not be on the same plane as the rotation axis of the cleaning turntable 2, that is, the rotating shaft 11 is located on one side of the cleaning turntable 2, and the rotating shaft 11 and the thicker side of the elastic cotton 12 can be located on different sides of the cleaning turntable 2. For example, in the above structure, the rotating shaft 11 and the thinner side of the elastic cotton 12 can be located on the same side of the cleaning turntable 2.

[0081] To further enhance the deflection force of the deflection drive mechanism, a coil spring 18 can be disposed between the body 3 and the deflection housing 7. Specifically, referring to Figures 5, 7, and 8, the deflection drive mechanism further includes a coil spring 18 disposed between the body 3 and the deflection housing 7. The lower end of the coil spring 18 is mounted on a cylindrical protrusion at the rear end of the deflection housing 7, and the upper end of the coil spring 18 is mounted on a cylindrical protrusion at the end of the body 3. The thicker side of the coil spring 18 and the elastic cotton 12 are located on the same side of the deflection housing 7 (see Figure 8). In the absence of any other external forces, one cleaning turntable 2 of the cleaning robot deflects counterclockwise relative to the body 3 under the action of the corresponding coil spring 18, while the other cleaning turntable 2 deflects clockwise relative to the body 3 under the action of the corresponding coil spring 18, causing the corresponding rotation axes of the cleaning turntables 2 to intersect, forming an angle. It should be pointed out that the coil spring 18 is not limited to the above-mentioned setting method. It can also be set to have the upper end fixedly connected to the end of the body 3 and the lower end fixedly connected to the part of the deflection housing 7 close to the body 3, so that the coil spring 18 is in a stretched state (at this time, the thinner side of the coil spring 18 and the elastic cotton 12 are on the same side of the deflection housing 7). By the elastic force of the tension spring, one cleaning turntable 2 can also be deflected in the counterclockwise direction relative to the body 3, and the other cleaning turntable 2 can be deflected in the clockwise direction relative to the body 3.

[0082] It should be emphasized that the aforementioned deflection drive mechanism is not limited to the structure of elastic cotton 12 and coil spring 18. It can also be other elastic members, or other components other than elastic members that can be positioned between the body 3 and the deflection housing 7 and apply a deflection force to the deflection housing 7. For example, the deflection drive mechanism can be a magnetic component fixedly mounted on the body 3 and the corresponding deflection housing 7, which attracts (compared to a tension spring) or repels (compared to a compression spring) each other. The attraction or repulsion between the magnetic components can also apply a deflection force to the deflection housing 7. Preferably, the magnetic component includes an electromagnet, the control circuit of which is coupled to the controller 10. The controller 10 can control the current flowing in the electromagnet to achieve regulation of the deflection drive mechanism. Example 8

[0083] The difference between this embodiment and embodiment 7 is that the walking of the cleaning robot is no longer limited to relying solely on the rolling of the walking wheels 6, but can also be achieved with the help of the cleaning turntable 2, and the cleaning robot is driven to walk by the rotating cleaning turntable 2 and the rolling walking wheels 6.

[0084] Specifically, the two cleaning turntables 2 are configured so that when they are placed on the surface to be cleaned, one side of them first contacts the surface to be cleaned, and after they are adsorbed onto the surface to be cleaned, the pressure of this side on the surface to be cleaned is greater than the pressure of the other parts of the surface to be cleaned, and before the cleaning turntables 2 are adsorbed onto the surface to be cleaned, the two cleaning turntables 2 are staggered to form an angle, and after the cleaning turntables 2 are adsorbed onto the surface to be cleaned, the two cleaning turntables 2 are deflected, and the corresponding rotation axes of the two cleaning turntables 2 are parallel. Moreover, the two cleaning turntables 2 are also configured to be able to rotate relative to the surface to be cleaned in a suitable direction so that the resultant force of all static friction forces applied by the surface to be cleaned on all cleaning turntables 2 is greater than zero and points to one side of the cleaning robot. In the above-mentioned cleaning robot, the driving module 6 can simultaneously drive the two walking wheels 6 to roll on the surface to be cleaned, so that the cleaning robot can walk in a straight line at a faster speed. At the same time, when the above-mentioned two cleaning turntables 2 are performing the cleaning function, the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 also points to the direction of travel. This resultant force also serves as the driving force for the cleaning robot to walk in a straight line. In this way, the walking speed of the cleaning robot will be further accelerated.

[0085] Of course, the direction of the resultant force of all static friction forces applied by the surface to be cleaned to all cleaning turntables 2 referred to in this embodiment is not limited to the above-mentioned method. It may also not point to the direction in which the cleaning robot is driven by the two walking wheels 6 to move in a straight line. For example, the resultant force may point to a direction that deviates from the direction in which the cleaning robot is driven by the two walking wheels 6 to move in a straight line, thereby forming a component force in the same direction as the direction in which the cleaning robot is driven by the two walking wheels 6 to move in a straight line, as a driving force for driving the cleaning robot to move in a straight line, or forming a component force in the opposite direction to the direction in which the cleaning robot is driven by the two walking wheels 6 to move in a straight line, as a resistance for driving the cleaning robot to move in a straight line. In addition, the direction of the resultant force may also be completely opposite to the direction in which the cleaning robot is driven by the two walking wheels 6 to move in a straight line, which can be selected as needed in actual application.

[0086] When the cleaning robot is working, the corresponding driving module 6 simultaneously drives the two cleaning turntables 2 to rotate in opposite directions (one in the counterclockwise direction and the other in the clockwise direction) relative to the surface to be cleaned. Under the deflection force applied simultaneously by the deflection driving mechanisms corresponding to the two cleaning turntables 2, the resultant force of all static friction forces applied by the surface to be cleaned on the two cleaning turntables 2 is greater than zero and points to one side of the cleaning robot, so that the cleaning robot moves in a straight line in the direction of the resultant force. At the same time, the two walking wheels 6 also drive the cleaning robot to move in the same direction. Driven by the walking wheels 6 and the cleaning turntables 2 together, the cleaning robot moves faster.

[0087] To ensure that when the two cleaning turntables 2 rotate in opposite directions, their corresponding travel wheels 6 can roll in the same direction, the two second bevel gears 6e can be respectively arranged on different sides of the two cleaning turntables 2 (mainly referring to the first bevel gear 6d integral therewith) (i.e., one second bevel gear 6e is arranged on the left side of the corresponding cleaning turntable 2, and the other second bevel gear 6e is arranged on the right side of the corresponding cleaning turntable 2), as shown in Figure 4. In addition, to ensure that when the two cleaning turntables 2 rotate in opposite directions, the cleaning robot can be driven to travel in a straight line, the deflection directions of the two cleaning turntables 2 when adsorbed onto the surface to be cleaned can be set to different directions (one cleaning turntable 2 deflects upward on the left side and downward on the right side, i.e., deflects clockwise, and the other cleaning turntable 2 deflects downward on the left side and upward on the right side, i.e., deflects counterclockwise), as shown in Figure 4 as well. Example 9

[0088] The difference between this embodiment and embodiment 8 is that the two cleaning turntables 2 are configured so that when they are placed on the surface to be cleaned, one side of them first contacts the surface to be cleaned, and after they are adsorbed onto the surface to be cleaned, the pressure exerted by this side on the surface to be cleaned is greater than the pressure exerted by the other parts of the cleaning turntables 2 on the surface to be cleaned. In addition, before and after the cleaning turntables 2 are adsorbed onto the surface to be cleaned, the rotation axes of the two cleaning turntables 2 are staggered to form an angle. The two cleaning turntables 2 are also configured to be able to rotate relative to the surface to be cleaned in a suitable direction so that the resultant static friction force exerted by the surface to be cleaned on all the cleaning turntables 2 is greater than zero and directed toward one side of the cleaning robot.

[0089] Specifically, before and after the cleaning discs 2 are attached to the surface to be cleaned, the rotation axes of the two cleaning discs 2 are always staggered. The cleaning discs 2 and the travel wheels 6 can adopt the elastically deformable structures of Examples 3 and 4. For example, only the cleaning disc 2 is made of elastically deformable rubber or plastic material, or both the cleaning disc 2 and the travel wheels 6 are made of elastically deformable rubber or plastic material.

[0090] The working principle of this embodiment in which the rotating cleaning turntable 2 and the rolling walking wheels 6 are combined to drive the cleaning robot to move straight is similar to that in Example 8. For the purpose of simplifying the description, the above content will not be repeated. Example 10

[0091] The difference between this embodiment and the aforementioned embodiments is that a boundary detection mechanism 9 is further provided on the body 3. The boundary detection mechanism 9 includes a detection component 9b, a trigger component 9c, and a sensor 9e. The detection component 9b is configured such that, at least when the cleaning robot is attached to the surface to be cleaned, one end of the detection component 9b is located outside the body 3 and abuts the surface to be cleaned. The detection component 9b is capable of moving in a first direction (e.g., horizontally) when subjected to external impact and in a second direction (e.g., vertically) when moved outside the surface to be cleaned, thereby driving the trigger component 9c to move to a preset sensing position and triggering the sensor 9e to generate a sensing signal. The horizontal movement mentioned above may include horizontal linear displacement, and the vertical movement may include up and down deflection.

[0092] In this embodiment, the boundary detection mechanism 9 performs boundary detection as follows: When the cleaning robot is cleaning a framed window, the outer end of the detection component 9b is impacted by the frame, causing the trigger component 9c to move backward relative to the body 3. This causes the trigger component 9c to move from its original non-triggering position to a first triggering position (preset sensing position), thereby triggering the sensor 9e to generate a sensing signal. When the cleaning robot is cleaning a frameless window, the outer end of the detection component 9b is not impacted by the frame and thus does not move backward relative to the body 3. Instead, when the outer end of the detection component 9b moves to the outside of the glass and is suspended in the air (i.e., when the outer end of the detection component 9b is free from the glass surface), it loses support from the glass and deflects downward relative to the body 3. This causes the trigger component 9c to move from its original non-triggering position to a second triggering position (preset sensing position), thereby triggering the sensor 9e to generate a sensing signal.

[0093] In this embodiment, the boundary detection mechanism 9 realizes boundary detection of framed window glass and frameless window glass by adopting a detection component 9b, a trigger component 9c and a sensor 9e. The working method and structure are relatively simple, which makes the long-term operation stability and reliability of the detection mechanism higher. At the same time, it can also improve the production and assembly efficiency of the factory to a certain extent and reduce the manufacturing cost of the detection mechanism.

[0094] In this embodiment, two cleaning discs 2 are located on the left and right sides of the housing 3. A boundary detection mechanism 9 is provided on each of the front and rear sides of the housing 3, with each boundary detection mechanism 9 located between the two cleaning discs 2. The specific structure of a single boundary detection mechanism 9 is shown in Figures 9-10. It primarily comprises a mounting base 9a fixedly mounted on the front and rear sides of the bottom of the housing 3, a detection component 9b mounted on the mounting base 9a, a trigger component 9c, and a sensor 9e. The sensor 9e can also be mounted directly on the housing 3 or on another component. In this embodiment, the sensor 9e uses an interruption sensor, but other types of sensors, such as a reflective sensor, can also be used, as long as the sensor can trigger a sensing signal by moving the position of the trigger component 9c. Furthermore, the trigger component 9c can trigger the sensing signal by contacting the sensor 9e, or by a non-contact triggering method, such as by blocking or changing the original signal transmission path of the sensor 9e. Given that the trigger component 9c needs to generate a sensing signal when it moves from the non-trigger position to the first trigger position (corresponding to the boundary detection of framed window glass) and from the non-trigger position to the second trigger position (corresponding to the boundary detection of frameless window glass), in this embodiment, a avoidance notch (in the shape of a figure 7) is provided at the rear lower end of the trigger component 9c for avoiding the sensor 9e when it is in the non-trigger position. The front lower end of the trigger component 9c (i.e., the front side of the avoidance notch) is the first trigger portion 9c1, and the rear upper end of the trigger component 9c (i.e., the upper side of the avoidance notch) is the second trigger portion 9c2. When the trigger component 9c moves from the non-trigger position to the first trigger position, the first trigger portion 9c1 blocks the original signal transmission path of the sensor 9e to trigger the sensor 9e to generate a sensing signal. When the trigger component 9c moves from the non-trigger position to the second trigger position, the second trigger portion 9c2 blocks the original signal transmission path of the sensor 9e to trigger the sensing signal.

[0095] As shown in Figures 9-10, the fixed base 9a is provided with a slide groove 9a1, and the detection component 9b is mounted in the slide groove 9a1 and can move back and forth along the slide groove 9a1. Guide slots 9a2 are provided on both sides of the slide groove 9a1. The guide slots 9a2 can be elongated through holes or blind holes. Sliders 9b1 are provided on both sides of the detection component 9b to cooperate with the guide slots 9a2. The slides 9b1 are mounted in the guide slots 9a2 and can move along the guide slots 9a2 driven by the detection component 9b. The guide slots 9a2 serve as guides. The detection component 9b can be designed as a movable seat, with its outer end positioned outside the fixed seat 9a in a 7-shaped configuration. Its inner end and the portion between the outer and inner ends are positioned within the chute 9a1. A gap is left between the portion of the detection component 9b located within the chute 9a1 and the bottom wall of the chute 9a1, allowing the detection component 9b to deflect up and down relative to the fixed seat 9a (body 3) about the axis of the slider 9b1. Generally speaking, the detection component 9b deflects only when the slider 9b1 moves to the front end of the guide slot 9a2. In addition, the distance between the slider 9b1 and the inner end of the detection component 9b can be smaller than the distance between the slider 9b1 and the outer end of the detection component 9b, so that the slider 9b1 is positioned toward the rear of the center of the detection component 9b. Of course, the slider 9b1 can also be positioned toward the center or toward the front of the center of the detection component 9b, depending on actual needs.

[0096] In order to ensure that the outer end of the detection component 9b is located outside the body 3 and abuts the surface to be cleaned when the cleaning robot is in operation, a driving mechanism can be provided on the body 3, the fixed seat 9a, or another component. The driving mechanism can apply a force to the detection component 9b to force its outer end to be located outside the body 3 and abut the surface to be cleaned. This force can cause the detection component 9b to return to its original position (move forward) after it is freed from external contact, and can cause the detection component 9b to deflect downward when it moves away from the surface to be cleaned. The driving mechanism can be the elastic component 9d, or it can be another component other than the elastic component 9d that can cause the detection component 9b to cause the above-mentioned movement.

[0097] The following example illustrates the driving mechanism using the elastic component 9d. Specifically, the elastic component 9d is positioned between the inner end of the detection component 9b and the rear wall of the fixed base 9a (i.e., the rear wall of the slide groove 9a1). The elastic component 9d can be a coil spring 18 or other elastic component, with its ends secured to the protrusions of the detection component 9b and the fixed base 9a. The elastic deformation direction of the elastic component 9d intersects with the direction of movement of the slider 9b1 along the guide slot 9a2, forming an angle. For example, the guide slot 9a2 extends horizontally from front to back, and the elastic component 9d's expansion and contraction direction is inclined relative to the extension direction of the guide slot 9a2. This allows the detection component 9b, which was originally squeezed by the frame, to move forward due to the elastic force of the elastic component 9d. Alternatively, the detection component 9b, which was originally pressed against the surface to be cleaned, can be moved outside the frame and deflected downward relative to the body 3 about the rotational axis of the slider 9b1 due to the elastic force of the elastic component 9d. Specifically, the inner end surface of the detection component 9b and the rear wall of the fixing seat 9a are parallel to each other and tilted backward relative to the vertical plane, while the elastic component 9d is perpendicular to the inner end surface of the detection component 9b and the rear wall of the fixing seat 9a. In addition, when the outer end side of the detection component 9b is squeezed by the frame and moves backward, and the outer end bottom of the detection component 9b abuts the window glass, the elastic component 9d is in a compressed state. Then, when the detection component 9b moves away from the frame of the framed window glass and moves beyond the boundary of the frameless window glass, the elastic component 9d can apply an elastic force to the detection component 9b, driving it to move forward along the guide slot 9a2 and deflect downward about the axis of the slider 9b1 as the rotation axis.

[0098] The fixing base 9a can also be provided with a U-shaped base 9h, with the sensor 9e mounted on the inner sidewall of the U-shaped base 9h. The detection component 9b is provided with a receiving hole 9b2, which is located within the receiving hole 9b2. The rear lower end of the trigger component 9c is a clearance notch and is located in front of the receiving hole 9b2. When the cleaning robot detects the boundary of a framed window, if the outer end of the detection component 9b is impacted by the frame, the trigger component 9c moves backward with it, causing its front lower end (first trigger portion 9c1) to move between the two side walls of the U-shaped base 9h, thereby triggering the sensor 9e to generate a sensing signal. When the cleaning robot detects the boundary of a frameless window, if the outer bottom end of the detection component 9b moves beyond the glass boundary, the trigger component 9c deflects downward with it, causing its rear upper end (second trigger portion 9c2) to move between the two side walls of the U-shaped base 9h, thereby triggering the sensor 9e to generate a sensing signal.

[0099] Figure 10 shows the relative positions of the first triggering portion 9c1, the second triggering portion 9c2, and the sensor 9e when the triggering component 9c is in the non-triggering position. As can be seen from the figure, when the triggering component 9c is in the non-triggering position, the first triggering portion 9c1 is located in front of the sensor 9e's signal transmission path, and the second triggering portion 9c2 is located above the sensor 9e's signal transmission path. During operation, when the cleaning robot moves to the edge of a framed window glass, the detection component 9b collides with the glass frame. Since the detection component 9b can move backward relative to the fixing base 9a (body 3) when it collides with the glass frame, the push of the frame causes the detection component 9b to move backward. When the triggering component 9c moves backward to the point where it interferes with the original signal transmission path of the sensor 9e (when the triggering component 9c is in the first triggering position), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot reaches the edge of a frameless window, detection component 9b, unaffected by the frame, does not experience lateral displacement (forward or backward) relative to mounting base 9a. Instead, it moves to the outside of the window and becomes suspended in the air. Without the support of the glass, detection component 9b drives trigger component 9c downward relative to mounting base 9a. The second trigger portion 9c2 deflects downward until it interferes with the original signal transmission path of sensor 9e (at this point, trigger component 9c is in the second trigger position), blocking the original signal transmission path and triggering a sensing signal.

[0100] The above embodiments are preferred implementation schemes of the present invention. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A cleaning robot, wherein at least one chamber (2a) is provided at the bottom thereof, a suction module (1) is used to form a negative pressure in the chamber (2a) so as to adsorb the robot onto a surface to be cleaned, and a cleaning function is performed by a cleaning turntable (2) attached to the surface to be cleaned, wherein: It also includes a walking mechanism, the walking mechanism including a support (4) connected to the body (3) and a walking wheel (5) correspondingly mounted on the support (4); After the cleaning robot is adsorbed onto the surface to be cleaned, the walking wheels (5) press the surface to be cleaned and, driven by the driving module (6), roll on the surface to be cleaned to drive the cleaning robot to walk on the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The chamber (2a) and / or the running wheel (5) are configured to be able to undergo elastic deformation or displacement when the cleaning robot is adsorbed onto the surface to be cleaned, so that the cleaning turntable (2) is attached to the surface to be cleaned while the running wheel (5) is pressed tightly against the surface to be cleaned.

3. The cleaning robot according to claim 1, characterized in that: The chamber (2a) is arranged in the cleaning turntable (2), and the cleaning turntable (2) and / or the running wheel (5) are configured to float relative to the body (3) when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable (2) is attached to the surface to be cleaned while the running wheel (5) is pressed tightly against the surface to be cleaned.

4. The cleaning robot according to claim 1, characterized in that: The chamber (2a) is arranged in the cleaning turntable (2), and the cleaning turntable (2) is configured to be able to elastically deform under the pressure of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable (2) is attached to the surface to be cleaned and the walking wheel (5) is pressed against the surface to be cleaned.

5. The cleaning robot according to claim 1, characterized in that: The chamber (2a) is arranged in the cleaning turntable (2), and at least one cleaning turntable (2) is configured to be able to deflect relative to the body (3) when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable (2) is attached to the surface to be cleaned and the travel wheel (5) is pressed against the surface to be cleaned.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that: The travel wheel (5) is located at the center of the cleaning turntable (2); a mounting hole is provided on the cleaning turntable (2) and passes through the center thereof; the top end of the support (4) passes through the mounting hole and is connected to the machine body (3); Preferably, the driving module (6) comprises a motor (6a) connected to the machine body (3); a gear ring (6b) is provided on the cleaning turntable (2); a gear (6c) meshing with the gear ring (6b) is connected to the power output end of the motor (6a); a first bevel gear (6d) is provided on the periphery of the mounting hole provided in the cleaning turntable (2); a second bevel gear (6e) meshing with the first bevel gear (6d) is installed at one end of the shaft (5a) of the walking wheel (5); the first bevel gear (6d) is coaxially arranged with the cleaning turntable (2); and the second bevel gear (6e) is coaxially arranged with the walking wheel (5).

7. The cleaning robot according to any one of claims 1 to 5, characterized in that: At least one support (4) is configured to be able to deflect relative to the body (3), so that the walking wheels (5) mounted on the support (4) can be arranged at an angle with the travel direction of the cleaning robot during walking and form a component force applied to the cleaning robot in the opposite direction of its gravity.

8. The cleaning robot according to claim 4, characterized in that: The at least two cleaning turntables (2) are configured such that after they are adsorbed onto the surface to be cleaned, the pressure exerted on the surface to be cleaned by one side thereof is greater than the pressure exerted on the surface to be cleaned by the other parts thereof, and at least after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables (2) are staggered to form an angle.

9. The cleaning robot according to claim 5, characterized in that: The at least two cleaning turntables (2) are configured such that before they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables (2) are staggered to form an angle, and after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables (2) are parallel, and the pressure of one side of the cleaning turntables on the surface to be cleaned is greater than the pressure of the other parts of the cleaning turntables on the surface to be cleaned.

10. The cleaning robot according to claim 1, characterized in that: The body (3) is provided with a boundary detection mechanism (9), the boundary detection mechanism (9) comprising a detection component (9b), a trigger component (9c) and a sensor (9e), the detection component (9b) being configured such that at least when the cleaning robot is adsorbed on the surface to be cleaned, one end of the detection component (9b) is located outside the body (3) and abuts against the surface to be cleaned, and when the detection component is impacted by the outside, it can move in a first direction and when it moves to the outside of the surface to be cleaned, it can move in a second direction, so as to drive the trigger component (9c) to move to a preset sensing position and trigger the sensor (9e) to generate a sensing signal.

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