Track and cleaning robot

Abstract

Disclosed are a track and a cleaning robot. The track comprises a track body, wherein cleaning mechanisms are provided on one side surface of the track body, and the cleaning mechanisms extend to protrude from the contour of a side edge of a robot body, and are configured to clean the side edge position on a track side of a robot provided with the track; and the side edge position is the junction of two surfaces. The track further comprises protruding structures arranged at intervals along the outer surface of the track body, and the cleaning mechanisms are arranged on the side surfaces of at least some of the protruding structures. By means of the technical solution in the present disclosure, right-angle corners and other junction areas in an underwater space can be cleaned.

Description

Tracked and cleaning robots Technical Field

[0001] This application claims priority to Chinese Patent Application No. 202420037098.7, filed on January 5, 2024, entitled “Track and Cleaning Robot”. The contents of the above-mentioned Chinese patent application disclosure are hereby cited in their entirety as part of this application.

[0002] Technical Field

[0003] The present disclosure relates to the technical field of swimming pool cleaning equipment, and in particular to a crawler and a cleaning robot. Background Art

[0004] The cleaning robot can walk on the bottom or wall of the pool in water via tracks to clean the bottom and side walls of underwater spaces such as swimming pools.

[0005] In related art, when a cleaning robot cleans the pool bottom, the roller brush is located at the bottom of the robot and at a certain distance from the pool's side. Therefore, even if the robot runs close to the side, it cannot effectively clean the right-angled intersection of the pool bottom and the sidewall. Furthermore, when the robot cleans the pool sidewall, the small area of ​​the other sidewall or pool bottom that intersects with it cannot be cleaned by the robot while cleaning the other sidewall or pool bottom. Summary of the Invention

[0006] In view of this, the embodiments of the present disclosure provide a crawler and a cleaning robot to solve the technical problem of being unable to clean right-angle positions and other boundary areas in underwater spaces.

[0007] The present disclosure provides a crawler, comprising a crawler body, a cleaning mechanism being provided on one side of the crawler body, the cleaning mechanism extending and protruding from the side contour of the robot body, and being used for cleaning the side position of the crawler side of the robot on which the crawler is installed, the side position being the intersection position of the two surfaces; and further comprising raised structures arranged at intervals along the outer surface of the crawler body, the cleaning mechanism being provided on the side of at least part of the raised structures.

[0008] The present disclosure provides a crawler, comprising a crawler body, wherein a plurality of recessed portions arranged in sequence are provided on the outer surface of the crawler body, and an edge of each recessed portion is elastically deformable.

[0009] The present disclosure provides a cleaning robot, comprising a body, at least one water inlet and at least one water outlet being provided on the body, a filtering mechanism and a suction mechanism being at least partially located in the body, the suction mechanism sucking water from the at least one water inlet, passing through the filtering mechanism, and then discharging water from the at least one water outlet to the cleaning robot; a walking mechanism being provided at the bottom of the body, the walking mechanism comprising a crawler, the crawler comprising a crawler body, a cleaning mechanism being provided on one side of the crawler body, the cleaning mechanism extending and protruding from the side edge contour of the robot body, and being used for cleaning the side edge position of the crawler, which is the intersection position of the two surfaces; and a raised structure being provided at intervals along the outer surface of the crawler body, the cleaning mechanism being provided on the side of at least part of the raised structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only exemplary embodiments of the present disclosure.

[0011] FIG1 is a schematic structural diagram of a crawler provided by an embodiment of the present disclosure;

[0012] FIG2 is a schematic diagram of a cleaning mechanism on the crawler in FIG1 ;

[0013] FIG3 is a schematic diagram of a cleaning mechanism provided in an embodiment of the present disclosure;

[0014] FIG4 is a schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure;

[0015] FIG5 is a schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure;

[0016] FIG6 is a schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure;

[0017] FIG7 is a schematic structural diagram of another crawler provided in an embodiment of the present disclosure;

[0018] FIG8 is a schematic structural diagram of another crawler provided in an embodiment of the present disclosure;

[0019] FIG9 is a schematic structural diagram of another crawler provided in an embodiment of the present disclosure;

[0020] FIG10 is a schematic structural diagram of another crawler provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present disclosure with unnecessary detail.

[0022] In the description of the present disclosure, it should be understood that the terms "upper", "lower", "middle", "inner", "left", "right", etc., which indicate directions or positional relationships, are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred components must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present disclosure.

[0023] The crawler and cleaning robot according to the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0024] The cleaning robot disclosed herein can be used for underwater operations, such as a pool cleaning robot for cleaning swimming pools. It includes a body with a running mechanism, at least one water inlet, and a cleaning roller brush disposed at the bottom of the body; a filter, a drive motor, a water pump, and other mechanisms disposed within the body; and a drain disposed on the top or side of the body. During the robot's cleaning process, water flows from the water inlet into the filter under the action of the water pump and then out of the body through the drain. Simultaneously, the cleaning roller brush disposed at the bottom of the robot frictionally agitates the surface being cleaned, lifting dirt adhered to the surface and carrying it into the filter with the water flow. Hereinafter, the body may also be referred to as the robot body, and the cleaning robot may be simply referred to as the robot.

[0025] In some embodiments, at least one water inlet is provided on the side of the body for sucking surface waste into the filter when the robot is cleaning the water surface.

[0026] In order to clean the surfaces to be cleaned, such as the bottom and walls of the pool, at the same time, or to effectively clean the water surface, especially the waterline of the side wall when cleaning the water surface, a cleaning mechanism can be set on the side of the machine, such as an active or fixed cleaning mechanism on the side of the robot's walking wheel, the side of the track, or even the side of the body, so that the machine can achieve better cleaning effects in specific scenarios.

[0027] In one embodiment, as shown in Figures 1 and 2, a cleaning mechanism is installed on the side of the robot's walking mechanism, such as the track. The track includes a track body 110 and a cleaning mechanism 120 provided on one side of the track body. The cleaning mechanism is used to clean the side position of the track side of the robot on which the track is installed, and the side position is the side that intersects with the walking surface of the robot.

[0028] In the related art, when a cleaning robot cleans the bottom of a swimming pool, the intersection of the pool wall and the pool bottom cannot be reached by the roller brush at the bottom of the cleaning robot; or when the robot cleans the side wall, the other side wall or the small area of ​​the pool bottom that intersects with the side wall cannot be reached by the roller brush provided at the bottom of the robot body when the robot cleans the other side wall or the pool bottom. In the technical solution of the embodiment of the present disclosure, by providing a cleaning mechanism on the side of the track, the side of the cleaning robot corresponding to the track can be cleaned. The cleaning robot in the embodiment of the present disclosure refers to a tracked robot with a cleaning function, that is, a robot equipped with tracks, which walks by contacting the ground or the side wall with the tracks; it can also be a robot that performs water surface covering cleaning, in which case it relies on the reverse thrust of the drain outlet as traction to move forward, and the bottom of the body includes

[0029] The crawler's walking mechanism can move simultaneously, and can cover and clean the water surface, especially at the waterline position, through the cleaning mechanism arranged on the side of the crawler to contact the side wall where the waterline is located, thereby cleaning the waterline, thereby eliminating the waterline cleaning procedure.

[0030] In one embodiment, taking the example of a robot cleaning the pool bottom and also cleaning the pool wall at the junction with the pool bottom, a cleaning mechanism is provided on one side of the track body. In this way, after the track is installed on the cleaning robot, when the cleaning robot performing the cleaning task walks along the edge of an underwater space such as a swimming pool on the side where the track is installed, the bottom roller brush of the cleaning robot can clean the pool bottom, and the cleaning mechanism on the track can clean the pool wall that the cleaning robot is against, thereby cleaning the side position of the junction of the pool bottom and the pool wall.

[0031] When the crawler is installed on the cleaning robot, the side of the crawler with the cleaning mechanism needs to face the outside of the cleaning robot, that is, the cleaning mechanism on the crawler extends toward the outside of the robot to clean the space outside the cleaning robot.

[0032] In one embodiment of the present disclosure, the cleaning mechanism may be a protrusion protruding from the side surface of the track.

[0033] For example, after the crawler is installed on the cleaning robot, the surface in contact with the bottom or wall of the pool where the cleaning robot walks is the outer surface of the crawler, the surface in contact with the rotating structure of the cleaning robot is the inner surface of the crawler, the side of the crawler facing the cleaning robot is the inner side of the crawler, and the side of the crawler away from the cleaning robot is the outer side of the crawler. In the embodiment of the present disclosure, when the crawler is installed on the cleaning robot, the outer side of the crawler provided with the cleaning mechanism is oriented toward the outside of the cleaning robot. When the crawler is not installed on the cleaning robot, the inner and outer sides of the crawler can be collectively referred to as the side surfaces of the crawler.

[0034] As shown in Figures 2 and 3, the protrusions may be bristles 310. The bristles are densely arranged on the sides of the track. When the cleaning robot walks close to the edge, the space between the cleaning robot and the pool wall is limited, and the pool wall squeezes the bristles, causing the bristles to deform. The deformed bristles can clean the pool wall as the cleaning robot walks.

[0035] As shown in Figures 4, 5, and 6, the protrusions can be a number of soft rubber blocks arranged at intervals. The soft rubber blocks are arranged on the sides of the track. When the cleaning robot walks close to the edge, the space between the cleaning robot and the pool wall is limited. The pool wall squeezes the soft rubber blocks, causing them to deform. The deformed soft rubber blocks can clean the pool wall as the cleaning robot walks.

[0036] As shown in FIG4 , the cross-section of the soft rubber block 320 can be S-shaped. As shown in FIG5 and FIG6 , the cross-section of the soft rubber block can be a broken line. The soft rubber blocks with a broken line cross-section, as shown in FIG5 , have the same bending direction, and the soft rubber block is a soft rubber block 330 that bends to the left. The soft rubber blocks with a broken line cross-section, as shown in FIG6 , have different bending directions. The soft rubber blocks include a soft rubber block 330 that bends to the left and a soft rubber block 340 that bends to the right.

[0037] In one embodiment of the present disclosure, two types of soft rubber blocks with different bending directions can be mixed and arranged on the side of the crawler body. For example, soft rubber blocks with a leftward bending direction and soft rubber blocks with a rightward bending direction can be alternately arranged on the side of the crawler body one by one. Alternatively, as shown in Figure 6, soft rubber blocks with a leftward bending direction and soft rubber blocks with a rightward bending direction can be alternately arranged on the side of the crawler body in pairs. The mixed and alternating arrangement of soft rubber blocks with different bending directions is not limited to the above two types.

[0038] In one embodiment of the present disclosure, soft rubber blocks with S-shaped cross-sections and soft rubber blocks with broken-line cross-sections can be mixed and arranged on the side of the track body. For example, soft rubber blocks with S-shaped cross-sections and soft rubber blocks with broken-line cross-sections can be arranged alternately one by one on the side of the track body, or soft rubber blocks with S-shaped cross-sections and soft rubber blocks with broken-line cross-sections can be arranged alternately two by two on the side of the track body. The mixed and alternating arrangement of soft rubber blocks with different bending directions is not limited to the above two forms. The soft rubber blocks with broken-line cross-sections can be bent in the same direction or in different directions.

[0039] When soft rubber blocks of different shapes and arrangements are arranged on the sides of the track, the cleaning ability of the cleaning mechanism can be increased.

[0040] In one embodiment of the present disclosure, in order to reduce slippage when the cleaning robot walks on the bottom and walls of the pool, and to help the cleaning robot climb up the pool wall from the bottom, the outer surface of the track body can be provided with strip-shaped protrusions arranged in sequence along the width of the track. This increases the friction between the cleaning robot and the bottom and walls of the pool, and reduces the risk of the cleaning robot slipping during walking or overcoming obstacles. As shown in Figure 7, in one embodiment of the present disclosure, the length of the strip-shaped protrusions is different from the width of the track, and at least two strip-shaped protrusions 720 are provided on the track body 710 along the same width of the track. This design can further increase friction and provide better grip. The strip-shaped protrusions are in the form of a strip-shaped protrusion that is the same direction and size as the width of the track, and is separated and maintained at a certain distance. There can be at least two strip-shaped protrusions in a direction perpendicular to the length of the track, that is, a strip-shaped protrusion that is the same direction as the width of the track is broken into at least two segments and separated by a certain distance. There can also be three strip-like protrusions in a direction perpendicular to the length of the track, that is, a whole strip of protrusions along the width of the track is broken into three segments separated by a certain distance. The above embodiment is only an exemplary description. In actual application, the number of segments formed by breaking a whole strip of protrusions along the width of the track is not limited to two or three. At the same time, at least one strip-like protrusion with a width not equal to the width of the track can be provided in the width direction of the track, such as protrusion 710. In order to increase the friction between the track and the surface to be cleaned, the above strip-like protrusions 720 and protrusions 710 can be arranged at intervals along the length of the track.

[0041] As shown in FIG8 , in one embodiment of the present disclosure, the length of some strip-shaped protrusions 820 on the track body 810 is the same as the track width, and the length of some strip-shaped protrusions 830 is different from the track width. The strip-shaped protrusions of two different lengths are arranged adjacent to each other.

[0042] For example, strip protrusions of one length and strip protrusions of another length may be arranged alternately one by one on the outer surface of the crawler body, or strip protrusions of one length and strip protrusions of another length may be arranged alternately two by two on the outer surface of the crawler body. The adjacent arrangement of strip protrusions of two different lengths is not limited to the above two. The adjacent arrangement of strip protrusions of two different lengths can further increase friction and provide better grip.

[0043] In one embodiment, as shown in the protrusion forms shown in Figures 7 and 8, adjacent protrusion forms are different along the length direction of the track. It can also be arranged that there are at least adjacent protrusion forms that are different.

[0044] In one embodiment of the present disclosure, the strip-shaped protrusions and the track body can be an integrated structure. Both the strip-shaped protrusions and the track body can be made of TPU (Thermoplastic polyurethanes). This integrated structure can reduce production costs.

[0045] In one embodiment of the present disclosure, the strip-shaped protrusions and the track body can be separate, fixedly connected structures. The strip-shaped protrusions and the track body can be made of the same material or different materials. When the strip-shaped protrusions and the track body are made of the same material, they can be made of TPU. When the strip-shaped protrusions and the track body are separate, they can be fixedly connected by gluing, but the connection is not limited to this.

[0046] When the strip-shaped protrusions and the track body are made of different materials, the track body can be made of TPU material, and the strip-shaped protrusions can be made of foam material with high pores and friction, or other wear-resistant and soft materials. Using foam material to make the strip-shaped protrusions can further increase friction and provide better grip.

[0047] The crawler tracks shown in FIG7 and FIG8 increase the grip from the perspective of increasing friction and deformation, while the crawler tracks shown in FIG9 and FIG10 can increase the grip from the perspective of increasing adsorption.

[0048] The present disclosure also provides a track for a pool cleaning robot, comprising a track body, wherein a plurality of recessed portions arranged in sequence are provided on the outer surface of the track body, and the edge of each recessed portion is elastically deformable. The track will be described in detail below with reference to the accompanying drawings.

[0049] As shown in FIG9 , the outer surface of the crawler body is provided with a plurality of recessed portions 920 arranged in sequence, each with elastically deformable edges. In other words, the outer surface of the crawler body is provided with a plurality of recessed portions 920. The material of the edge of each recessed portion 920 has a certain degree of flexibility, so that the edge can produce elastic deformation when it contacts the surface to be cleaned (such as the bottom or sidewall of the pool), thereby reducing the space of the "recessed" area of ​​the recessed portion. Accordingly, some water in the recessed portion is squeezed out of the recessed portion, and the recessed portion forms a certain degree of vacuum, thereby generating an adsorption force when the crawler contacts the cleaning surface. The plurality of recessed portions 920 can be arranged in sequence on the outer surface of the crawler body. For example, the plurality of recessed portions 920 can be arranged in a row along the length of the crawler body (as shown in FIG9 ), or can be arranged in two rows (as shown in FIG10 ), or multiple rows along the length of the crawler body. In one embodiment, the recessed portions can be grooves. When the grooves are provided on the outer surface of the track, during the walking process of the cleaning robot, due to the gravity of the machine and the downward reaction force of the water nozzle, a closed space is formed between the grooves of the part where the track contacts the ground and the ground. Since the surrounding material of the grooves has a certain flexibility, the groove walls (including the edges of the grooves) of the grooves are elastically deformed when contacting the ground, and part of the water in the grooves will be squeezed out to form a certain degree of vacuum, so that adsorption force is generated when the track contacts the bottom or side wall of the pool, thereby helping the cleaning robot to stick to the bottom or side wall of the pool.

[0050] An embodiment of the present disclosure also provides a cleaning robot, comprising a body, at least one water inlet and at least one water outlet being provided on the body, a filtering mechanism and a suction mechanism being at least partially located inside the body, the suction mechanism sucking water from the at least one water inlet, passing through the filtering mechanism, and then discharging water from the robot from the at least one water outlet; a walking mechanism being provided at the bottom of the body, the walking mechanism comprising a track, a cleaning mechanism being provided on one side of the track body of the track, the cleaning mechanism extending and protruding from the side contour of the robot body, and being used for cleaning the side position of the track, which is the intersection position of the two surfaces; and further comprising raised structures arranged at intervals along the outer surface of the track body, the cleaning mechanism being provided on the side of at least part of the raised structure.

[0051] For example, after the track is installed on the cleaning robot, when the cleaning robot performing the cleaning task walks along the edge of an underwater space such as a swimming pool on the side where the track is installed, the bottom roller brush of the cleaning robot can clean the pool bottom, and the cleaning mechanism on the track can clean the pool wall that the cleaning robot is against, thereby cleaning the right-angle position at the junction of the pool bottom and the pool wall.

[0052] In actual application, the edge of the cleaning robot can be a single edge or a double edge. When the edge of the cleaning robot is a single edge, only one side of the cleaning robot, such as the right side, can walk close to the edge during walking; when the edge of the cleaning robot is a double edge, the cleaning robot can walk close to the edge on both sides during walking. When the edge of the cleaning robot is a single edge, the track of the above technical solution can be installed on the side of the cleaning robot that is close to the walking edge, so as to clean the junction of the pool bottom and the pool wall on the side of the cleaning robot that is close to the walking edge. When the edge of the cleaning robot is a double edge, the track of the above technical solution can be installed on one or both sides of the side of the cleaning robot that is close to the walking edge, so as to clean the junction of the pool bottom and the pool wall on one or both sides of the side of the cleaning robot that is close to the walking edge.

[0053] When the crawler is installed on the cleaning robot, the side of the crawler with the cleaning mechanism faces the outside of the cleaning robot to clean the space outside the cleaning robot.

[0054] The cleaning robot disclosed herein can be used for underwater operations, such as a pool cleaning robot for cleaning a swimming pool. During the cleaning process, water flows from the water inlet into the filter under the action of a water pump, and then flows out of the body from the drain outlet; at the same time, the cleaning roller brush provided at the bottom of the machine rubs and stirs the surface to be cleaned, stirs up the dirt adhering to the surface and enters the filter with the water flow.

[0055] In the technical solution disclosed herein, by setting a cleaning mechanism on the side of the machine, for example, setting an active or fixed cleaning mechanism on the side of the walking wheel, the side of the track, or even the side of the body of the cleaning robot, the robot can achieve better cleaning effects in specific scenarios.

[0056] When the cleaning robot disclosed herein cleans the pool bottom, the intersection of the pool wall and the pool bottom can be cleaned by the cleaning mechanisms on the sides of the walking wheels and the sides of the tracks; when the robot cleans the side walls, the other side walls or small areas of the pool bottom that intersect with the side walls can be cleaned by the cleaning mechanisms on the sides of the walking wheels, the sides of the tracks, and the sides of the body. The cleaning robot disclosed herein can clean the water line during the water surface covering cleaning movement, especially at the waterline, by contacting the side walls where the waterline is located through the cleaning mechanisms on the sides of the tracks, thereby eliminating the waterline cleaning procedure.

[0057] According to the crawler and cleaning robot of the embodiment of the present invention, by arranging a cleaning mechanism on the side of the crawler, the side position of the crawler side of the robot on which the crawler is installed can be cleaned. The side position is the intersection position of two planes, thereby solving the technical problem that the intersection position of the pool bottom and the side wall of the underwater space is difficult to clean, and expanding the cleaning range of the robot.

[0058] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure, and should all be included in the scope of protection of the present disclosure.

Claims

1. A crawler belt, comprising: A crawler belt body, wherein a cleaning mechanism is provided on one side of the crawler belt body, and the cleaning mechanism extends and protrudes beyond the side contour of the robot body for cleaning the side position of the crawler belt side of the robot equipped with the crawler belt, and the side position is the intersection position of two surfaces; and Protrusion structures spaced apart along the outer surface of the crawler belt body, and the cleaning mechanism is provided on the side surfaces of at least some of the protrusion structures.

2. The crawler belt according to claim 1, wherein, The cleaning mechanism includes a protruding portion protruding from the side surface.

3. The crawler according to claim 1, wherein The cleaning mechanism includes bristles.

4. The crawler according to claim 1, wherein, The cleaning mechanism includes soft rubber blocks arranged at intervals, and the cross-section of the soft rubber blocks is S-shaped or zigzag.

5. The crawler according to claim 1, wherein, The protrusion structure includes strip-shaped protrusions along the width direction of the crawler belt, wherein the length of at least some of the strip-shaped protrusions is different from the width of the crawler belt, and at least one strip-shaped protrusion is provided along the same width direction of the crawler belt.

6. The crawler belt according to claim 1, wherein, The protrusion structure includes strip-shaped protrusions along the width direction of the crawler belt, wherein the length of some of the strip-shaped protrusions is the same as the width of the crawler belt, and the length of some of the strip-shaped protrusions is different from the width of the crawler belt, and the two strip-shaped protrusions with different lengths are arranged adjacent to each other.

7. The crawler belt according to claim 5 or 6, wherein The strip-shaped protrusions and the crawler belt body are of an integral connection structure.

8. The crawler belt according to claim 5 or 6, wherein The strip-shaped protrusions and the crawler belt body are of a fixedly connected split structure.

9. The crawler belt according to claim 1, wherein, At least one recessed portion capable of elastic deformation at the edge is provided on the outer surface of the crawler belt body along the width direction of the crawler belt and arranged along the length direction of the crawler belt.

10. A crawler belt for a pool cleaning robot, comprising a crawler belt body, wherein, A plurality of recessed portions arranged in sequence are provided on the outer surface of the crawler belt body, and the edge of each recessed portion is capable of elastic deformation.

11. The crawler according to claim 10, wherein, The plurality of recessed portions are arranged in one row or two rows around the length direction of the crawler belt body.

12. The crawler belt according to claim 10 or 11, further comprising: A cleaning mechanism, the cleaning mechanism is provided on one side of the crawler belt body, and the cleaning mechanism extends and protrudes beyond the side contour of the robot body for cleaning the side position of the crawler belt side of the robot equipped with the crawler belt; And Protrusion structures spaced apart along the outer surface of the crawler belt body, and the cleaning mechanism is provided on the side surfaces of at least some of the protrusion structures.

13. A cleaning robot, comprising a body, at least one water inlet and at least one water outlet are arranged on the body, a filtering mechanism and a suction mechanism which are at least partially located inside the body, the suction mechanism sucks water flow from the at least one water inlet, flows through the filtering mechanism and then discharges the water flow from the at least one water outlet out of the cleaning robot; a traveling mechanism is arranged at the bottom of the body, the traveling mechanism comprises a crawler belt, the crawler belt comprises a crawler belt body, wherein, A cleaning mechanism is provided on one side of the crawler belt body, and the cleaning mechanism extends and protrudes beyond the side contour of the robot body for cleaning the side position of the crawler belt, and the side position is the intersection position of two surfaces; and further includes protrusion structures spaced apart along the outer surface of the crawler belt body, and the cleaning mechanism is provided on the side surfaces of at least some of the protrusion structures.

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