CN110644409A

CN110644409A - Cleaning robot and cutter head system

Info

Publication number: CN110644409A
Application number: CN201910920098.5A
Authority: CN
Inventors: 谢忠浩; 杨威; 田士川
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-01-03

Abstract

The invention provides a cleaning robot and a cutter head system, the cleaning robot includes: a chassis; the cleaning system is arranged on the chassis; and the cutter head system is arranged on the chassis and communicated with the cleaning system, and is positioned in front of the cleaning system in the traveling direction of the cleaning robot. Through the technical scheme that this application provided, can solve the problem that cleans the robot among the prior art and can't satisfy user demand.

Description

Cleaning robot and cutter head system

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot and a cutter head system.

Background

At present, can produce a large amount of construction waste in the work progress of building trade, because the job site manpower is in short supply, and the cost of labor is higher, can't arrange personnel in time to clear up construction waste, lead to a large amount of construction waste to pile up at the job site, cause the influence to normal construction.

However, in the prior art, the cleaning robot is a cleaning robot for home use or office use, and the cleaning operation surface of the robot is flat and smooth, and cannot be used in a complicated construction site. Therefore, the cleaning robot in the prior art cannot meet the use requirement.

Disclosure of Invention

The invention provides a cleaning robot and a cutter head system, which aim to solve the problem that the cleaning robot in the prior art cannot meet the use requirement.

According to an aspect of the present invention, there is provided a cleaning robot including: a chassis; the cleaning system is arranged on the chassis; and the cutter head system is arranged on the chassis and communicated with the cleaning system, and is positioned in front of the cleaning system in the traveling direction of the cleaning robot.

Further, the cleaning robot further includes: the first driving part is arranged between the cutter head system and the chassis and used for driving the cutter head system to move relative to the chassis.

Furthermore, the cleaning robot also comprises a connecting rod, one end of the connecting rod is hinged with the cutter head system, and the other end of the connecting rod is hinged with the cleaning system.

Further, the cutterhead system includes: a cutter head housing; the blade assembly is rotatably arranged in the cutter head shell; and the second driving part is arranged on the cutter head shell and is in driving connection with the blade assembly, and the second driving part is used for driving the blade assembly to rotate.

Further, blade subassembly includes the blade unit, and the blade unit includes main part and a plurality of sword tooth, and the sword tooth sets up in the main part, and a plurality of sword teeth set up along the circumference interval of main part, and two adjacent sword teeth crisscross setting each other.

Further, the cutter head system further comprises a rotating shaft, the rotating shaft penetrates through the cutter head shell, the second driving portion is in driving connection with the rotating shaft, and a plurality of blade units are sequentially arranged on the rotating shaft.

Furthermore, the cleaning system comprises a cleaning shell and a brush disc, the cleaning shell is connected with the chassis and is provided with an inlet, the inlet is arranged corresponding to the cutter disc system, and the brush disc is rotatably arranged at the inlet of the cleaning shell.

Further, be provided with drive assembly on the chassis, drive assembly includes support body, driving motor and drive wheel, and the support body is connected with the chassis, and the both sides of support body all are provided with driving motor, and driving motor is connected with the drive wheel drive.

Further, drive assembly still includes link and damping spring, and the one end and the support body of link are articulated, and the other end and the drive wheel of link are articulated, and damping spring sets up between link and support body.

Further, clean the robot and still include dust collecting system, dust collecting system includes the dust catcher, connecting pipe and dust absorption piece, the dust catcher sets up on the chassis, the first end and the dust catcher of connecting pipe are connected, the second end and the dust absorption piece of connecting pipe are connected, the dust absorption piece corresponds ground setting, the dust absorption piece includes the suction hood, dust absorption curb plate and connecting piece, the both sides of suction hood all are provided with the dust absorption curb plate, the connecting piece sets up on the suction hood, the one end of connecting piece communicates with the cavity that suction hood and dust absorption curb plate enclose, the other end of connecting piece communicates with the second end of connecting pipe.

Further, the cleaning robot further includes: the water tank is arranged on the chassis; the sprinkling system is arranged on the chassis and communicated with the water tank, and is used for sprinkling water to the ground; the garbage can is arranged on the chassis and communicated with the cleaning system, and the garbage can is positioned behind the cleaning system; and the control system is arranged on the chassis and is electrically connected with the chassis.

According to another aspect of the present invention, there is provided a cutterhead system, including: a cutter head housing; the blade subassembly rotationally sets up in the blade disc casing, and the blade subassembly includes blade unit, and blade unit includes main part and a plurality of sword tooth, and a plurality of sword teeth set up along the circumference slope of main part, and two adjacent sword teeth crisscross setting each other, and the root of a plurality of sword teeth is in on the same cross section.

Further, one of two adjacent cutter teeth inclines towards one side end face of the main body, and the other cutter tooth inclines towards the other side end face of the main body.

Further, the cutterhead system further includes: the first driving part is in driving connection with the cutter head shell and is used for driving the cutter head system to move relative to the ground; and the second driving part is arranged on the cutter head shell and is in driving connection with the blade assembly, and the second driving part is used for driving the blade assembly to rotate.

By applying the technical scheme of the invention, the cleaning robot comprises a chassis, a cleaning system and a cutter head system, wherein the cleaning system and the cutter head system are both arranged on the chassis. Specifically, the cutter head system is communicated with the cleaning system, and the cutter head system is positioned in front of the cleaning system in the traveling direction of the cleaning robot. By adopting the structure, when the cleaning robot is used for cleaning construction wastes, the cutter head system is positioned in front of the cleaning system, when the cleaning robot walks, the cutter head system can cut the construction wastes and obstruct obstacles for the cleaning robot to walk in a construction site, then the cleaning system can complete the cleaning of the construction wastes, and further the cleaning robot can meet the use requirements.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present invention;

FIG. 2 shows a schematic construction of the cutterhead system of FIG. 1;

FIG. 3 shows a schematic structural view of the blade unit of FIG. 1;

FIG. 4 shows a side view of the blade unit of FIG. 1;

FIG. 5 shows a front view of the blade unit of FIG. 1;

FIG. 6 shows a schematic structural view of the drive assembly of FIG. 1;

FIG. 7 shows a schematic view of the sweeping system of FIG. 1;

figure 8 shows a schematic view of the arrangement of the suction unit of figure 1.

Wherein the figures include the following reference numerals:

10. a chassis; 11. a drive assembly; 111. a frame body; 112. a drive motor; 113. a drive wheel; 114. a connecting frame; 115. a damping spring;

20. a cleaning system; 21. cleaning the shell; 211. cleaning the cover; 212. cleaning the side plate; 22. brushing a disc;

30. a cutter head system; 31. a cutter head housing; 311. a cutter head cover; 312. a cutter head side plate; 32. a blade assembly; 321. a blade unit; 321a, a main body; 321b, cutter teeth; 33. a second driving section;

40. a first driving section; 50. a connecting rod;

60. a dust collection system; 61. a dust collection member; 611. a dust hood; 612. a dust absorption side plate; 613. a connecting member;

70. a water tank; 80. a dustbin; 90. and (5) controlling the system.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 8, an embodiment of the present invention provides a cleaning robot, which includes a chassis 10, a cleaning system 20, and a cutter head system 30, and both the cleaning system 20 and the cutter head system 30 are disposed on the chassis 10. The cutterhead system 30 can be connected directly to the chassis 10, and the cutterhead system 30 can also be connected to the chassis via the sweeping system 20. Specifically, the cutter head system 30 is communicated with the cleaning system 20, and the cutter head system 30 is located in front of the cleaning system 20 in the traveling direction of the cleaning robot, so that construction waste and obstacles can be conveniently treated by the cutter head system 30, and the cleaning system 20 can smoothly clean the waste. The construction waste includes construction waste such as concrete blocks and slurry, and the waste adhered to the ground can be peeled off from the ground and cut by the cutter head system 30. Moreover, the cutter head system 30 can also cut and clean the garbage with larger volume.

With the cleaning robot provided by the embodiment, since the cutter head system 30 is located in front of the cleaning system 20, when the cleaning robot is used for cleaning construction waste, along with the walking of the cleaning robot, the cutter head system 30 can cut the construction waste and obstruct obstacles which the cleaning robot walks in a construction site, then the cleaning system 20 can complete the cleaning of the construction waste, the construction waste is prevented from being accumulated in the construction site, and the cleaning robot can meet the use requirements. Moreover, the cleaning cost can be reduced because the cleaning of the garbage by constructors is not needed.

In the present embodiment, the cleaning robot further includes a first driving part 40, the first driving part 40 is disposed between the cutter head system 30 and the chassis 10, and the cutter head system 30 can be driven to move relative to the chassis 10 by the first driving part 40. The first driving part 40 can be used for driving the cutter head system 30 to ascend and descend relative to the chassis 10 so as to control the cutting depth of the cutter head system 30, or the first driving part 40 can be used for driving the cutter head system 30 to translate relative to the chassis 10 so as to improve the working range of the cutter head system 30.

The first driving unit 40 includes a motor, a push rod, and other driving structures. In this embodiment, the first driving portion 40 is an electric hydraulic push rod, one end of the electric hydraulic push rod is hinged to the cleaning system 20, and the other end of the electric hydraulic push rod is hinged to the cutter head system 30, so that the cutter head system 30 can be controlled to move up and down relative to the chassis 10 by the electric hydraulic push rod, so as to adjust the position of the cutter head system 30 relative to the ground, and prevent the cutter head system 30 from excessively milling the ground.

In this embodiment, the cutterhead system 30 is coupled to the chassis via a sweeping system 20. Specifically, the cleaning robot further comprises a connecting rod 50, one end of the connecting rod 50 is hinged to the cutter disc system 30, the other end of the connecting rod 50 is hinged to the cleaning system 20, and the connecting rod 50 can be used for connecting the cutter disc system 30 with the cleaning system 20. By providing the cutterhead system 30 to the sweeping system 20, the cutterhead system 30 can be rotated relative to the sweeping system 20. By controlling the operation state of the first driving unit 40, the cutterhead system 30 can be driven by the first driving unit 40 to rotate relative to the cleaning system 20, so that the cutterhead system 30 can be lifted up and down relative to the chassis 10, and the position of the cutterhead system 30 relative to the ground can be adjusted. To ensure the stability of the connection, a set of two connecting rods 50 is provided on each side of the cutter head system 30.

As shown in fig. 2, the cutterhead system 30 includes a cutterhead housing 31, a blade assembly 32, and a second drive 33. Wherein blade assembly 32 is rotatably disposed within the cutter head housing 31 such that the refuse can be cut using the blade assembly 32. Moreover, cutterhead housing 31 prevents cut debris from splashing so that debris can only enter cleaning system 20 from cutterhead housing 31, and cutterhead housing 31 also prevents blade assembly 32 from causing injury to the operator. Wherein, the second driving part 33 is arranged on the cutter head shell 31, the second driving part 33 is connected with the blade assembly 32 in a driving way, and the blade assembly 32 can be driven to rotate by the second driving part 33. In the present embodiment, the second driving part 33 includes a driving motor.

In order to further improve the protection and shielding effect of the cutter head shell 31, the cutter head shell 31 comprises a cutter head cover 311 and cutter head side plates 312, the cutter head side plates 312 are arranged on two sides of the cutter head cover 311, and the blade assemblies 32 are arranged in a cavity defined by the cutter head cover 311 and the cutter head side plates 312.

As shown in fig. 3 to 5, the blade assembly 32 includes a blade unit 321, the blade unit 321 includes a main body 321a and a plurality of cutter teeth 321b, and the cutter teeth 321b are provided on the main body 321 a. Specifically, the plurality of cutter teeth 321b are arranged at intervals along the circumferential direction of the main body 321a, so that when the blade unit 321 rotates, the cutter teeth 321b can continuously cut garbage. In order to further enhance the cutting effect of the blade unit 321 on the garbage, two adjacent cutter teeth 321b are staggered with each other. Specifically, one of the two adjacent cutter teeth 321b is inclined towards one side of the main body 321a, the other cutter tooth 321b is inclined towards the other side of the main body 321a, and the inclination angle of the cutter tooth 321b can be adjusted according to the use requirement. And a blade edge is provided on each cutter tooth 321 b. In the present embodiment, each blade unit 321 is provided with 16 cutter teeth 321 b. In other embodiments, the number of cutter teeth 321b may be set arbitrarily.

In this embodiment, the cutter head system 30 further includes a rotating shaft, the rotating shaft is disposed through the cutter head housing 31, and the second driving portion 33 can be used to drive the blade assembly 32 to rotate through the rotating shaft by driving the second driving portion 33 and the rotating shaft. Wherein, a plurality of blade units 321 are sequentially arranged on the rotating shaft. Specifically, the number of blade units 321 may be set according to the working range of the cleaning robot. In the present embodiment, blade assembly 32 includes 24 blade units 321.

Specifically, cleaning system 20 includes cleaning housing 21 and brush plate 22, and cleaning system 20 may be fixed to chassis 10 by coupling cleaning housing 21 to chassis 10. Wherein the cleaning housing 21 has an inlet corresponding to the cutter head system 30, and the brush disc 22 is rotatably disposed at the inlet of the cleaning housing 21, so as to facilitate the use of the brush disc 22 to sweep the garbage into the cleaning housing 21. In order to avoid sweeping out the garbage from the cleaning housing 21, the cleaning housing 21 comprises a cleaning cover 211 and a cleaning side plate 212, the cleaning side plate 212 is arranged on both sides of the cleaning cover 211, and the brush disc 22 is arranged in a cavity defined by the cleaning cover 211 and the cleaning side plate 212, so that the garbage can be effectively prevented from being ejected out within the cleaning width range, and the cleaning effect can be improved.

In the present embodiment, one end of the first driving unit 40 is connected to the cleaning housing 21, and the other end of the first driving unit 40 is connected to the cutter head housing 31.

As shown in fig. 6, in order to realize the movement of the chassis 10, a driving assembly 11 is disposed on the chassis 10, and the driving assembly 11 includes a frame body 111, a driving motor 112, and a driving wheel 113. Wherein, the frame body 111 is connected with the chassis 10 to complete the connection of the driving assembly 11 with the chassis 10. And, the both sides of support body 111 all are provided with driving motor 112, and driving motor 112 is connected with drive wheel 113 drive. With the above configuration, the rotational speed of the driving wheels 113 can be controlled by controlling the rotational speeds of the driving motors 112 on both sides of the frame body 111, and the steering effect can be achieved by using the speed difference between the two driving wheels 113.

In order to improve the stability and damping effect of the device, the driving assembly 11 further includes a connecting frame 114 and a damping spring 115. Specifically, one end of the connecting frame 114 is hinged to the frame body 111, the other end of the connecting frame 114 is hinged to the driving wheel 113, and the damping spring 115 is arranged between the connecting frame 114 and the frame body 111. When the cleaning robot encounters an obstacle, the two driving wheels 113 of the frame 111 can move up and down relative to the frame 111, and the jolt of the cleaning robot can be reduced under the action of the elastic force of the damping spring 115. By adopting the structure, the obstacle crossing capacity of the device can be improved. In this embodiment, four connecting frames 114 are disposed on each side of the frame body 111, and each two connecting frames 114 form a group.

Wherein, cleaning robot still includes dust collecting system 60, and dust collecting system 60 includes the dust catcher, connecting pipe and dust absorption piece 61. Specifically, the dust catcher sets up on chassis 10, and the first end and the dust catcher of connecting pipe are connected, and the second end and the dust absorption piece 61 of connecting pipe are connected, and dust absorption piece 61 corresponds the ground setting, and dust catcher accessible dust absorption piece 61 clears up the remaining rubbish on ground to further promote the clearance effect. Specifically, the dust suction system 60 is disposed behind the sweeping system 20, and when the sweeping system 20 operates, the dust suction system 60 also cleans the debris remaining on the floor. In this embodiment, the dust suction unit 61 includes a dust suction cover 611, a dust suction side plate 612 and a connecting member 613, the dust suction side plate 612 is disposed on both sides of the dust suction cover 611, the connecting member 613 is disposed on the dust suction cover 611, one end of the connecting member 613 is communicated with a cavity defined by the dust suction cover 611 and the dust suction side plate 612, and the other end of the connecting member 613 is communicated with a second end of the connecting pipe. With the above structure, the dust collection effect of the dust collection system 60 can be ensured. The size of the dust hood 611 may be set according to the size of the chassis 10 and the cleaning system 20. Specifically, the dust suction system 60 mainly sucks small garbage, such as small particles and dust, which is not swept into the garbage bin, into the garbage bin of the dust collector by using the suction force of the dust collector in the dust suction system.

In this embodiment, the cleaning robot further includes a water tank 70, a sprinkler system, a dustbin 80, and a control system 90. Wherein, the water tank 70, the sprinkler system, the dustbin 80 and the control system 90 are all arranged on the chassis 10. Specifically, the sprinkler system is in communication with the water tank 70, and the sprinkler system is used to sprinkle water on the ground to avoid dust uplift during sweeping. Wherein, dustbin 80 and cleaning system 20 intercommunication, and dustbin 80 is located cleaning system 20's rear, and dustbin 80 mainly used retrieves rubbish, dumps to unified processing department. Specifically, the inlet of the dustbin 80 communicates with the inlet of the cleaning housing 21. By electrically connecting the control system 90 to the chassis 10, the chassis 10 can be controlled by the control system 90 to travel, and autonomous navigation of the cleaning robot can be realized. And, clean the in-process sprinkler system simultaneous working at cleaning system 20, the sprinkler head is located between dustbin and the cleaning system, plays and sprays the dust suppression effect, can effectual dust fall.

In order to avoid collision of the cleaning robot during movement, the cleaning robot further comprises a detection system, and the detection system is arranged on the chassis 10. Specifically, detecting system includes position sensor and camera, cooperatees through position sensor and camera, can be convenient for clean the robot and detect and guarantee man-machine safety the operation environment. Wherein the position sensor comprises a lidar.

Wherein, still be provided with on the chassis 10 and follow the driving wheel, follow driving wheel setting in the front portion of chassis 10, drive assembly 11 sets up in the rear portion of chassis 10, so can further promote cleaning robot's walking ability. Specifically, the chassis 10 includes an AGV.

As shown in fig. 2-5, yet another embodiment of the present invention provides a cutterhead system that includes a cutterhead housing 31 and a blade assembly 32. Wherein the blade assembly 32 is rotatably arranged in the cutter head shell 31, the blade assembly 32 can be used for cutting garbage, and the garbage adhered on the ground can be cleaned. Blade assembly 32 includes a blade unit 321, and blade unit 321 includes a main body 321a and a plurality of cutter teeth 321 b. Specifically, the plurality of cutter teeth 321b are arranged at intervals along the circumferential direction of the main body 321a, so that when the blade unit 321 rotates, the cutter teeth 321b can continuously cut garbage. In this embodiment, the plurality of cutter teeth 321b are obliquely arranged along the circumferential direction of the main body 321a, two adjacent cutter teeth 321b are arranged in a staggered manner, and the roots of the plurality of cutter teeth 321b are located on the same cross section, so that the strength and the cutting effect of the cutter teeth 321b can be ensured. Specifically, the roots of the plurality of cutter teeth 321b are located on the outer surface of the body 321 a.

Further, a blade edge is provided on each blade tooth 321 b. In the present embodiment, each blade unit 321 is provided with 16 cutter teeth 321 b. In other embodiments, the number of cutter teeth 321b may be set arbitrarily.

As shown in fig. 3 and 4, one of the adjacent two cutter teeth 321b is inclined toward one side end surface of the body 321a, and the other is inclined toward the other side end surface of the body 321 a. Wherein, the inclination angle of the cutter teeth 321b can be adjusted according to the use requirement.

In this embodiment, the cutterhead system further includes a first drive 40 and a second drive 33. Specifically, the first driving portion 40 is in driving connection with the cutter head housing 31, and the first driving portion 40 is used for driving the cutter head system to move relative to the ground. The first driving part 40 can be used for driving the cutter head system 30 to ascend and descend relative to the ground so as to control the cutting depth of the cutter head system 30 and avoid excessive planing and milling of the ground, or the first driving part 40 is used for driving the cutter head system 30 to translate relative to the ground so as to improve the working range of the cutter head system 30. Specifically, the second driving part 33 is disposed on the cutter head housing 31, the second driving part 33 is in driving connection with the blade assembly 32, and the second driving part 33 is used for driving the blade assembly 32 to rotate. In the present embodiment, the second driving part 33 includes a driving motor.

Through the device that this embodiment provided, this cleaning robot can adapt to the complicated environment in building site, can carry out the recovery processing of building rubbish such as concrete piece, head flow in the floor, still possesses functions such as watering, dust absorption, visual identification, anticollision simultaneously to can promote the variety of cleaning robot function.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning robot, characterized by comprising:

a chassis (10);

a sweeping system (20) arranged on the chassis (10);

and the cutter head system (30) is arranged on the chassis (10), the cutter head system (30) is communicated with the cleaning system (20), and the cutter head system (30) is positioned in front of the cleaning system (20) in the traveling direction of the cleaning robot.

2. The cleaning robot according to claim 1, further comprising:

the first driving part (40) is arranged between the cutter head system (30) and the chassis (10), and the first driving part (40) is used for driving the cutter head system (30) to move relative to the chassis (10).

3. The cleaning robot as recited in claim 1, further comprising a link (50), one end of the link (50) being hinged to the cutter head system (30) and the other end of the link (50) being hinged to the cleaning system (20).

4. The cleaning robot as set forth in claim 1, wherein the cutter head system (30) includes:

a cutter head housing (31);

a blade assembly (32) rotatably disposed within the cartridge housing (31);

the second driving part (33) is arranged on the cutter head shell (31), the second driving part (33) is in driving connection with the blade assembly (32), and the second driving part (33) is used for driving the blade assembly (32) to rotate.

5. The cleaning robot as claimed in claim 4, wherein the blade assembly (32) comprises a blade unit (321), the blade unit (321) comprises a main body (321a) and a plurality of cutter teeth (321b), the cutter teeth (321b) are arranged on the main body (321a), the plurality of cutter teeth (321b) are arranged at intervals along the circumference of the main body (321a), and two adjacent cutter teeth (321b) are arranged to be staggered with each other.

6. The cleaning robot as claimed in claim 5, wherein said cutter system (30) further comprises a rotating shaft, said rotating shaft is inserted into said cutter housing (31), said second driving portion (33) is in driving connection with said rotating shaft, and said rotating shaft is sequentially provided with a plurality of said blade units (321).

7. The cleaning robot as claimed in claim 1, wherein the cleaning system (20) includes a cleaning housing (21) and a brush disk (22), the cleaning housing (21) is connected to the chassis (10), the cleaning housing (21) has an inlet provided corresponding to the cutter head system (30), and the brush disk (22) is rotatably provided at the inlet of the cleaning housing (21).

8. The cleaning robot as claimed in claim 1, wherein a driving assembly (11) is arranged on the chassis (10), the driving assembly (11) comprises a frame body (111), a driving motor (112) and a driving wheel (113), the frame body (111) is connected with the chassis (10), the driving motor (112) is arranged on both sides of the frame body (111), and the driving motor (112) is in driving connection with the driving wheel (113).

9. The cleaning robot as claimed in claim 8, wherein the driving assembly (11) further comprises a connecting frame (114) and a damping spring (115), one end of the connecting frame (114) is hinged to the frame body (111), the other end of the connecting frame (114) is hinged to a driving wheel (113), and the damping spring (115) is disposed between the connecting frame (114) and the frame body (111).

10. The cleaning robot as claimed in claim 1, further comprising a dust suction system (60), wherein the dust suction system (60) comprises a dust collector, a connecting pipe and a dust suction part (61), the dust collector is disposed on the chassis (10), a first end of the connecting pipe is connected to the dust collector, a second end of the connecting pipe is connected to the dust suction part (61), the dust suction part (61) is disposed corresponding to the ground, the dust suction part (61) comprises a dust suction cover (611), a dust suction side plate (612) and a connecting member (613), the dust suction side plate (612) is disposed on both sides of the dust suction cover (611), the connecting member (613) is disposed on the dust suction cover (611), and one end of the connecting member (613) is communicated with a cavity enclosed by the dust suction cover (611) and the dust suction side plate (612), the other end of the connecting piece (613) is communicated with the second end of the connecting pipe.

11. The cleaning robot according to claim 1, further comprising:

a water tank (70) disposed on the chassis (10);

the sprinkling system is arranged on the chassis (10), is communicated with the water tank (70), and is used for sprinkling water to the ground;

the garbage can (80) is arranged on the chassis (10), the garbage can (80) is communicated with the cleaning system (20), and the garbage can (80) is positioned behind the cleaning system (20);

the control system (90) is arranged on the chassis (10), and the control system (90) is electrically connected with the chassis (10).

12. A cutterhead system, comprising:

a cutter head housing (31);

blade subassembly (32), rotationally set up in blade disc casing (31), blade subassembly (32) are including blade unit (321), blade unit (321) are including main part (321a) and a plurality of sword tooth (321b), and are a plurality of sword tooth (321b) are followed the circumference slope setting of main part (321a), and adjacent two sword tooth (321b) set up, and are a plurality of crisscross each other the root of sword tooth (321b) is in on same cross section.

13. The impeller system according to claim 12, wherein one of two adjacent cutter teeth (321b) is inclined toward one side end surface of the main body (321a), and the other is inclined toward the other side end surface of the main body (321 a).

14. The cutterhead system of claim 12, further comprising:

the first driving part (40) is in driving connection with the cutter head shell (31), and the first driving part (40) is used for driving the cutter head system to move relative to the ground;