CN110901760A

CN110901760A - Cleaning robot

Info

Publication number: CN110901760A
Application number: CN201911275015.8A
Authority: CN
Inventors: 吉沐园; 任正军; 王生贵; 葛行军; 程昊天
Original assignee: Shanghai Gaoxian Automation Technology Co Ltd
Current assignee: Shanghai Gaoxian Automation Technology Co Ltd; Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-03-24

Abstract

The application discloses cleaning machines people, cleaning machines people include mobile device, cleaning device and elevating gear. The moving device comprises a chassis structure, a first driving wheel and a second driving wheel, the chassis structure comprises a chassis, the first driving wheel and the second driving wheel are mounted on the lower surface of the chassis, and the first driving wheel and the second driving wheel are controlled by a differential speed. Cleaning device locates the lower surface on chassis, and cleaning device includes that base and interval install first round brush structure and the second round brush structure on the base, and first drive wheel and second drive wheel are located between first round brush structure and the second round brush structure. The lifting device connects the moving device and the cleaning device to enable the cleaning device to approach and move away from the floor. The utility model provides a cleaning machines people adopts differential control, cleaning device's first round brush structure and second round brush structure to set up both sides around first drive wheel and second drive wheel with mobile device's first drive wheel and second drive wheel for cleaning machines people's turning radius is little.

Description

Cleaning robot

Technical Field

The application relates to the technical field of cleaning, in particular to a cleaning robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive, and the arrival of the robot era will revolutionize the existing production and manufacturing modes and the human life style. The turning radius of the traditional floor cleaning machine is large, so that the part of the turning position can not be cleaned, the floor cleaning machine cannot clean thoroughly, the position which can not be cleaned can be cleaned only by reversing or other operations, and the cleaning efficiency is seriously influenced.

Disclosure of Invention

The embodiment of the application provides a cleaning robot, and the cleaning robot comprises a moving device, a cleaning device and a lifting device. The moving device comprises a chassis structure, a first driving wheel and a second driving wheel, the chassis structure comprises a chassis, the first driving wheel and the second driving wheel are mounted on the lower surface of the chassis and located on two opposite sides of the advancing direction, and the first driving wheel and the second driving wheel are controlled by adopting a differential speed. The cleaning device is arranged on the lower surface of the chassis and comprises a base, a first rolling brush structure and a second rolling brush structure, wherein the first rolling brush structure and the second rolling brush structure are arranged on the base at intervals, and the first driving wheel and the second driving wheel are located between the first rolling brush structure and the second rolling brush structure. The lifting device is connected with the moving device and the cleaning device so that the cleaning device can get close to and far away from the ground.

The utility model provides a cleaning machines people adopts differential control, cleaning device's first round brush structure and second round brush structure to set up both sides around first drive wheel and second drive wheel with mobile device's first drive wheel and second drive wheel for cleaning machines people's turning radius is little, and cleaning machines people can be with the cleaner of the little district clearance of turning radius.

In some embodiments, the chassis is provided with a mounting hole, and the upper surface of the chassis is provided with a mounting rack corresponding to the mounting hole; the lifting device comprises a lifting driving mechanism and an elastic mechanism, the lifting driving mechanism penetrates through the mounting hole to be mounted on the mounting frame, the elastic mechanism is connected with the lifting driving mechanism and the base, the lifting driving mechanism drives the base to be far away from and close to the ground, and the elastic mechanism is used for adapting to different grounds when the cleaning device works.

So, elevating gear can pass the mounting hole and install on the mounting bracket on chassis to increase the distance between cleaning device and the ground, elastic mechanism can make cleaning device adapt to different ground simultaneously, with the suitability that increases cleaning machines people.

In some embodiments, the elastic mechanism further comprises a connecting seat, a mounting seat and an elastic structure connecting the connecting seat and the mounting seat, wherein the connecting seat is mounted on the lifting driving mechanism, and the mounting seat is mounted on the base;

the connecting seat comprises a first surface facing the mounting seat and a second surface opposite to the first surface, a first through hole and a second through hole penetrating through the first surface and the second surface are formed in the connecting seat, and the first through hole and the second through hole are respectively located on two opposite sides of the output shaft;

the elastic mechanism comprises two elastic mechanisms which are respectively corresponding to the first through hole and the second through hole, each elastic mechanism comprises a connecting rod, a first elastic element and a second elastic element, the first end of the connecting rod is fixed on the mounting seat, the second end of the connecting rod penetrates through the through hole, the second end of the connecting rod is provided with a blocking part, the first end and the second end of the connecting rod are opposite, the first elastic element is located on the first surface and between the mounting seats, and the second elastic element is located on the second surface and between the blocking parts.

In this way, the cleaning robot enables the cleaning apparatus to adapt to different floors by the action of the first and second elastic members of the elastic mechanism.

In some embodiments, a guide part for guiding the cleaning device to approach and leave the ground is arranged in the mounting hole, the guide part is fixed on the chassis, the guide part is provided with a strip-shaped guide hole, a guide rod corresponding to the strip-shaped guide hole is arranged on the mounting seat, and the guide rod penetrates through the strip-shaped guide hole; the base and the chassis are also provided with a swinging piece for connection, when the cleaning device is close to or far away from the ground, the guide rod can slide relative to the strip-shaped guide hole, and the swinging piece can swing back and forth relative to the chassis or the base.

Therefore, the cleaning device slides in the guide part through the guide rod, and the swinging piece is connected with the chassis and the base, so that the first rolling brush structure and the second rolling brush structure can be stably far away from and close to the ground, and the phenomenon of overlarge shaking is avoided.

In some embodiments, the moving device further comprises a guide wheel and an elastic universal wheel mounted on the lower surface of the chassis, the guide wheel and the elastic universal wheel are both positioned between the first driving wheel and the second driving wheel, the guide wheel is positioned on the front side of the first driving wheel and the second driving wheel, and the elastic universal wheel is positioned on the rear side of the first driving wheel and the second driving wheel; the center of the first driving wheel and the center of the second driving wheel form a first connecting line, the center of the guide wheel and the center of the elastic universal wheel form a second connecting line, and the second connecting line is perpendicular to the first connecting line and passes through the center of the first connecting line.

So for first drive wheel and second drive wheel atress are balanced, and the mobile device of being convenient for marchs and realizes turning.

In some embodiments, the elastic universal wheel includes a support, a universal wheel assembly and an elastic assembly, the support is mounted on the lower surface of the chassis, the universal wheel assembly is hinged to the support through a pin shaft, the universal wheel assembly swings around the support to enable the universal wheel assembly to be close to or far away from the chassis, the elastic assembly is connected with the support and the universal wheel assembly, and the elastic assembly is used for providing restoring force for the swinging of the universal wheel assembly.

So, mobile device can contact ground in real time through the flexible real-time contact of elasticity universal wheel, guarantees the stability that mobile device removed and turned.

In some embodiments, the elastic universal wheel further comprises a torsion spring, and the torsion spring is sleeved on the pin shaft to provide restoring force for the swinging of the universal wheel assembly.

Therefore, the mobile device increases the restoring force of the swinging of the universal wheel assembly through the torsion spring so as to increase the contact force of the universal wheel assembly to the ground, and the mobile device can stably advance and turn.

In certain embodiments, the first and second rolling brush arrangements each comprise a rolling brush, a rolling brush drive, a belt, and a tensioner; the rolling brush is driven to rotate by the belt, and the tensioning wheel can be close to and far away from the belt so as to change the tensioning force of the belt; the cleaning robot comprises a base, and is characterized in that a water spraying head is arranged on the base and used for spraying the second rolling brush structure, the cleaning robot further comprises a garbage collecting box, and the garbage collecting box is used for collecting garbage swept by the first rolling brush structure.

So, cleaning device is close to and keeps away from the tensile force of belt in order to adjust the belt through the take-up pulley, collects rubbish so that second round brush structure washs ground through garbage collection box, through being provided with the sprinkler bead that is used for spraying second round brush structure to the ground after second round brush structure cleans first round brush structure is washd.

In certain embodiments, the cleaning apparatus further comprises a first guard wheel and a second guard wheel, the first guard wheel and the second guard wheel enabling the first rolling brush structure and the second rolling brush structure to maintain a spacing from the floor.

So, cleaning machines people protect cleaning device and make first round brush structure and second round brush structure can keep the interval with ground in real time through first protection wheel and second protection wheel at the during operation, prevent that cleaning device from directly hitting on the barrier, increase cleaning device's life.

In some embodiments, the cleaning robot further includes two side brush structures, the two side brush structures are respectively installed on two opposite sides of the front end of the base and located in front of the first rolling brush mechanism, and the side brush structures are used for sweeping the garbage on the two sides of the front end of the base to the first rolling brush structure.

Therefore, the cleaning robot can clean the places close to the corners of the roadside through the side brush structure, and meanwhile, the cleaning range is expanded.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is an assembly structure diagram of a cleaning robot according to an embodiment of the present application;

FIG. 2 is an assembly view of the cleaning robot of the present application from another perspective;

FIG. 3 is a schematic diagram of a partially exploded structure of the robot of FIG. 1;

FIG. 4 is a schematic cross-sectional view taken along line IV-IV in FIG. 1;

FIG. 5 is a structural schematic view of a bottom direction of a chassis structure of the cleaning robot in FIG. 1;

fig. 6 is a perspective view illustrating a chassis structure of the cleaning robot of fig. 1;

fig. 7 is a perspective view illustrating a cleaning device and a lifting device of the cleaning robot of fig. 1.

Description of the main element symbols: cleaning robot 100, mobile device 10, chassis structure 11, chassis 111, mounting hole 1111, first avoidance hole 1112, second avoidance hole 1113, mounting bracket 112, guide portion 113, strip guide hole 11321132, first shield 114, second shield 115, first driving wheel 12, hub structure 122, second driving wheel 13, guide wheel 14, fixing base 142, front universal wheel 144, elastic universal wheel 15, bracket 152, first side plate 1522, second side plate 1524, connecting plate 1526, notch 1528, universal wheel assembly 154, base plate 1541, first lug 1542, second lug 1543, rear universal wheel 1544, pin 1545, elastic assembly 156, rotating member 1562, through hole 15622, movable rod 1564, elastic member 1566, torsion spring 158, cleaning device 20, base 21, through hole 211, first rolling brush structure 22, first mounting plate 221,

chute

2212, 2214, second mounting plate 222, rolling brush 223, rolling brush 224, belt shaft 225, Tensioning wheel 226, protective shell 227, opening 2272, second rolling brush structure 23, garbage collection box 24, water spray head 25, side brush structure 26, rotating brush 261, side brush drive 262, side brush mounting plate 263, side brush rotating shaft 2632, side brush connecting rod 2634, side brush connecting plate 264, side brush connecting bottom plate 2642, first adjusting plate 2644, shaft hole 26442, adjusting hole 26444, second adjusting plate 2646, hanging hole 26462, side brush spring 265, first protecting wheel 27, second protecting wheel 28, lifting device 30, lifting drive mechanism 32, lifting drive body 322, output rotating shaft 324, elastic mechanism 34, connecting seat 342, first connecting seat 3422, counter bore 34222, second connecting seat 3424, first surface 34241, second surface 34242, first through hole 34243, second through hole 34244, third through hole 34245, connecting shaft 3426, mounting seat 344, mounting bottom plate 41, first side plate mounting plate 3442, first yielding mounting hole 34422, second side plate 3443, Second abdicating hole 34432, guide rod 3444, roller 34442, protrusion 3445, adjusting screw 3446, first adjusting nut 34462, second adjusting nut 34464, elastic structure 346, connecting rod 3461, blocking member 34612, first elastic element 3462, second elastic element 3463, and shock absorbing element 3464.

Detailed Description

Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.

In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 2, the present application provides a cleaning robot 100, and the cleaning robot 100 includes a moving device 10, a cleaning device 20, and a lifting device 30. The moving device 10 includes a chassis structure 11, a first driving wheel 12 and a second driving wheel 13, the chassis structure 11 includes a chassis 111, the first driving wheel 12 and the second driving wheel 13 are mounted on a lower surface of the chassis 111 and located on two opposite sides of a forward direction of the chassis 111, and the first driving wheel 12 and the second driving wheel 13 are controlled by a differential speed. The cleaning device 20 is disposed on the lower surface of the chassis 111, the cleaning device 20 includes a base 21 and a first rolling brush structure 22 and a second rolling brush structure 23 mounted on the base 21 at intervals, and the first driving wheel 12 and the second driving wheel 13 are located between the first rolling brush structure 22 and the second rolling brush structure 23. The lifting device 30 connects the moving device 10 and the cleaning device 20 to enable the cleaning device 20 to approach and move away from the floor.

The cleaning robot 100 of the present application sets the first and

second drive wheels

12 and 13 of the mobile device 10 on the front and rear sides of the first and

second drive wheels

12 and 13 by using differential control and the first and second

rolling brush structures

22 and 23 of the cleaning device 20, so that the turning radius of the cleaning robot 100 is small, and the cleaning robot 100 can clean the area with the small turning radius cleaner.

Specifically, referring to fig. 1, the cleaning robot 100 includes a moving device 10, a cleaning device 20, and a lifting device 30. The cleaning device 20 is installed under the moving device 10 to clean the floor. The lifting device 30 connects the moving device 10 and the cleaning device 20, and the lifting and lowering of the lifting device 30 drives the cleaning device 20 to ascend and descend so that the cleaning device 20 can move away from and close to the ground. The cleaning robot 100 may be a floor scrubber, a sweeper, etc., and the cleaning robot of the present application is a floor scrubber.

Referring to fig. 2, the moving device 10 includes a chassis structure 11, a first driving wheel 12, a second driving wheel 13, a guiding wheel 14, and an elastic universal wheel 15.

Referring to fig. 2 and 3, the chassis structure 11 is a substantially rectangular plate-shaped structure, and the chassis structure 11 includes a chassis 111, a mounting frame 112, a guide portion 113, a first protection cover 114, and a second protection cover 115. The chassis 111 includes lower surface and upper surface that carry on the back mutually, and the middle part of chassis 111 is seted up and is run through mounting hole 1111, first hole of dodging 1112 and the second hole of dodging 1113 of dodging of lower surface and upper surface. The mounting hole 1111 is located in the middle of the chassis 111, the first avoiding hole 1112 and the second avoiding hole 1113 are located on the left side of the forward direction of the chassis 111, and the first avoiding hole 1112 and the second avoiding hole 1113 are both strip-shaped and parallel.

The mounting bracket 112 is mounted on the upper surface of the chassis 111 and corresponds to the mounting hole 1111, and the mounting bracket 112 is substantially in an inverted "U" shape. The guide portion 113 is disposed in the mounting hole 1111 and fixed to the chassis 111, and a strip guide hole 1132 is formed in the guide portion 113, and the strip guide hole 1132 extends in a direction perpendicular to the lower surface. The strip-shaped guide hole 1132 may have a linear type, an arc type, or the like, and in this embodiment, the strip-shaped guide hole 1132 has a linear type and is at least partially located on the upper surface of the chassis structure 11 and at least partially located on the lower surface of the chassis structure 11. In some embodiments, the strip-shaped guide hole 1132 may be entirely located on the upper surface of the chassis structure 11. In other embodiments, the strip guide hole 1132 may be entirely located on the lower surface of the chassis structure 11.

The first shield 114 is mounted on the upper surface of the chassis 111 and corresponds to the first avoiding hole 1112, so as to cover the first avoiding hole 1112. The second shield 115 is installed on the upper surface of the chassis 111 and corresponds to the second escape hole 1113 for covering the second escape hole 1113. In other embodiments, the chassis 111 may not be provided with the first avoiding hole 1112 and the second avoiding hole 1113, and the chassis structure 11 may not include the first protective cover 114 and the second protective cover 115.

The first driving wheel 12 and the second driving wheel 13 are respectively arranged on two opposite sides of the lower surface of the chassis 111, and the first driving wheel 12 and the second driving wheel 13 are both located in the middle of the side edge of the chassis 111. The first driving wheel 12 is located at the right side in the forward direction of the traveling device 10, and the second driving wheel 13 is located at the left side in the forward direction of the traveling device 10. The forward direction of the moving device 10 refers to a direction perpendicular to a line formed by the center of the first drive wheel 12 and the center of the second drive wheel 13. In other embodiments, the first driving wheel 12 and the second driving wheel 13 may be disposed at other positions, such as a position near the rear side of the chassis 111 or a position near the front side of the chassis 111.

With continued reference to fig. 2 and 3, the guide wheels 14 are disposed on the lower surface of the chassis 111 and located at the front side of the first driving wheel 12 and the second driving wheel 13, or the guide wheels 14 are located at the front side of the chassis 111. The guide wheel 14 is also located in the area directly between the first drive wheel 12 and the second drive wheel 13. The guide wheels 14 are used to guide the direction of travel of the mobile device 10 to effect a turn of the mobile device 10. The guide wheel 14 comprises a fixed seat 142 and a front universal wheel 144, the fixed seat 142 is installed at the middle position of the front side of the lower surface of the chassis 11, the front universal wheel 144 is installed on the surface of the fixed seat 142 far away from the chassis 111, and the front universal wheel 144 can rotate around the horizontal direction. In other embodiments, the guide wheel 14 is connected to a steering device (not shown) that is controlled to rotate the guide wheel 14 to change the forward and backward directions of the moving device 10. It should be noted that the front and back are relative to the direction of travel of the mobile device 10.

In some embodiments, the mobile device 10 achieves steering through differential control of the first and

second drive wheels

12 and 13, the guide wheels 14 serving as a guide, the differential control being to control the rotational speeds of the first and

second drive wheels

12 and 13 so that the rotational speeds are not the same. Specifically, each of the first and

second drive wheels

12 and 13 includes a hub structure 122, and the mobile device 10 controls the rotational speed of the first drive wheel 12 and the rotational speed of the second drive wheel 13 by controlling the hub structure 122 of the first drive wheel 12 and the hub structure 122 of the second drive wheel 13.

When the rotating speed of the first driving wheel 12 is greater than that of the second driving wheel 13, the left turn of the mobile device 10 is realized; when the rotating speed of the first driving wheel 12 is lower than that of the second driving wheel 13, the mobile device 10 is turned to the right; when the rotational speed of the first driving wheel 12 is equal to the rotational speed of the second driving wheel 13, the moving device 10 keeps going straight.

In some embodiments, the mobile device 10 employs two driving devices (not shown) to drive the first driving wheel 12 and the second driving wheel 13, respectively, to achieve differential speed control. In other embodiments, the first driving wheel 12 and the second driving wheel 13 share one driving device (not shown) that is driven by a differential device to enable differential control of the first driving wheel 12 and the second driving wheel 13.

In some embodiments, the first drive wheel 12 and the second drive wheel 13 rotate in synchronization and the mobile device 10 is steered via the guide wheel 14. In some examples, the first and

second drive wheels

12 and 13 are coupled to a common shaft (not shown) and the roller brush drive 224 is coupled to the shaft to control the synchronous rotation of the first and

second drive wheels

12 and 13, wherein the moving device 10 is moved forward or backward by the guide wheel 14. In other embodiments, the first driving wheel 12 and the second driving wheel 13 are respectively provided with a first driving device (not shown) and a second driving device (not shown), and the first driving device and the second driving device correspondingly control the first driving wheel 12 and the second driving wheel 13 to rotate at the same speed, so as to realize synchronous rotation.

Referring to fig. 2 and 5, the elastic universal wheel 15 is disposed on the lower surface of the chassis 111 and located at the rear side of the first driving wheel 12 and the second driving wheel 13, specifically, the elastic universal wheel 15 is disposed at the middle position of the rear side of the lower surface of the chassis 111, and the elastic universal wheel 15 is located on the opposite region between the first driving wheel 12 and the second driving wheel 13. The resilient castor 15 is located close to or remote from the chassis 111 such that at least three of the first drive wheel 12, the second drive wheel 13, the guide wheel 14 and the resilient castor 15 contact the ground.

In some embodiments, the center of first drive wheel 12 and the center of second drive wheel 13 form a first line a, the center of guide wheel 14 and the center of resilient gimbal wheel 15 form a second line B, and first line a is perpendicular to second line B. In some examples, the center of the first line a, the center of the second line B, and the center of gravity of the mobile device 10 coincide to ensure stability of the mobile device 10. In other examples, the center of gravity of the mobile device 10 is located on the first line a or the second line B. In other examples, the second line B passes through the center of the first line a, and the center of the second line B is not coincident with the center of the first line a.

Referring to fig. 2, the resilient universal wheel 15 includes a bracket 152, a universal wheel assembly 154, and a resilient assembly 156. A bracket 152 is mounted on the lower surface of the chassis 111 at a middle position behind the lower surface of the chassis 111, a universal wheel assembly 154 is hingedly mounted on the bracket 152, the universal wheel assembly 154 swings around the bracket 152 so that the universal wheel assembly 154 can approach and separate from the chassis 111, and an elastic member 156 connects the bracket 152 and the universal wheel assembly 154, and the elastic member 156 is used for providing restoring force for the swinging of the universal wheel assembly 154.

The bracket 152 comprises a first side plate 1522, a second side plate 1524 and a connecting plate 1526, the first side plate 1522 and the second side plate 1524 are arranged at intervals, one end of each of the first side plate 1522 and the second side plate 1524 is mounted on the lower surface of the chassis 111, the connecting plate 1526 connects the first side plate 1522 and the second side plate 1524, and the connecting plate 1526 is located at one end of each of the first side plate 1522 and the second side plate 1524, which is far away from the chassis 111. The connecting plate 1526 is provided with a notch 1528 to avoid the elastic component 156, so that the elastic universal wheel 15 has a compact structure.

Referring to fig. 6, the universal wheel assembly 154 is hingedly mounted on the bracket 152, and the universal wheel assembly 154 includes a base plate 1541, a first lug 1542, a second lug 1543, a rear universal wheel 1544, and a pin 1545. The rear universal wheel 1544 is horizontally and rotatably mounted on a surface of the base plate 1541, opposite sides of the base plate 1541 protrude toward the bracket 152 to form a first lug 1542 and a second lug 1543, and the first lug 1542 and the second lug 1543 are sleeved on outer sides of the first side plate 1522 and the second side plate 1524. In other embodiments, the first and

second lugs

1542, 1543 may also be disposed between the first and

second side plates

1522, 1524.

The pin 1545 sequentially passes through the first lug 1542, the first side plate 1522, the second side plate 1524 and the second lug 1543, so that the base plate 1541 is hingedly mounted on the bracket 152, the base plate 1541 can relatively rotate around the bracket 152, and the universal wheel assembly 154 can swing back and forth around the pin 1545, so that the elastic universal wheel 15 approaches or leaves the chassis 111.

Referring to fig. 4 and 6, the elastic member 156 is connected to the bracket 152 and the universal wheel assembly 154, and the elastic member 156 includes a rotating member 1562, a movable lever 1564, and an elastic member 1566. The rotating member 1562 is disposed between the first side plate 1522 and the second side plate 1524, a first end and a second end of the rotating member 1562 opposite to each other are rotatably mounted on the first side plate 1522 and the second side plate 1524, respectively, and the rotating member 1562 is provided with a through hole 15622. One end of the movable bar 1564 is hinged to the base plate 1541, and a free end of the movable bar 1564 passes through the through hole 15622, and the movable bar 1564 is slidable with respect to the rotating member 1562. The elastic member 1566 is disposed on the movable rod 1564 between the rotating member 1562 and the base plate 1541, and a first end and a second end of the elastic member 1566 opposite to each other are fixed to the rotating member 1562 and the movable rod 1564, respectively. The extension and retraction of the elastic component 156 provides a restoring force for the swing of the universal wheel component 154, so that the universal wheel component 154 can swing back and forth around the pin 1545, thereby the universal wheel component 154 always keeps the pressure on the ground, and the balance of the mobile device 10 can be adjusted.

Here, the mobile device 10 is described as an example of forward movement, and the forward direction is referred to when the mobile device is backward. When the mobile device 10 is driven on a flat ground, the elastic member 1566 is slightly compressed so that the first driving wheel 12, the second driving wheel 13, the guide wheel 14 and the elastic universal wheel 15 are all in contact with the ground. When the guide wheel 14 meets and passes through the protrusion, the guide wheel 14 is located in the air, the rear universal wheel 1544 swings backwards, the elastic piece 1566 is compressed, and the rear universal wheel 1544 approaches the chassis 111, so that the first driving wheel 12, the second driving wheel 13 and the elastic universal wheel 15 are grounded, and at the moment, the mobile device 10 can still realize stable steering through differential control and the elastic universal wheel 15. When the guide wheel 14 encounters a depression, the guide wheel 14 is located in the air, the rear universal wheel 1544 swings forwards, the elastic piece 1566 is opened, and the rear universal wheel 1544 is far away from the chassis 111, so that the first driving wheel 12, the second driving wheel 13 and the elastic universal wheel 15 are grounded, and at the moment, the mobile device 10 can still realize stable steering through differential control and the elastic universal wheel 15. When the first driving wheel 12 encounters a bump or a depression, the first driving wheel 12 is in the air, and the second driving wheel 13, the guide wheel 14 and the elastic universal wheel 15 are grounded. When the second driving wheel 13 encounters a bump or a depression, the first driving wheel 12 is in the air, and the first driving wheel 12, the guide wheel 14 and the elastic universal wheel 15 are grounded. In this way, the mobile device 10 achieves a balance adjustment by means of the elastic caster 15.

Referring to fig. 2 and 4, in some embodiments, the resilient universal wheel 15 further includes a torsion spring 158, and the torsion spring 158 is disposed on the pin 1545 to provide a restoring force for the swinging of the universal wheel assembly 154. The torsion spring 158 includes a first wire-out end fixed to the bracket 152 and a second wire-out end fixed to the first lug 1542 or the second lug 1543. The torsion spring 158 provides a reaction force with the elastic member 1566 so that the universal wheel assembly 154 can more stably catch the ground, and the torsion spring 158 and the elastic member 1566 interact to allow the elastic universal wheel 15 to smoothly swing, thereby making the movement of the moving device 10 more stable.

Referring to fig. 2 and 3, the cleaning device 20 is mounted on the lower surface of the chassis 111, and the cleaning device 20 includes a base 21, a first rolling brush structure 22, a second rolling brush structure 23, a garbage collection box 24, a water spray head 25, and an edge brush structure 26. In some embodiments, the cleaning device 20 may not include the edge brush structure 26.

The base 21 has a substantially rectangular plate-like structure, and in other embodiments, the base 21 may have other shapes, such as a circular structure, a triangular structure, or other irregular structures. The base 21 is provided with a swing member 212 connecting the chassis 111 and the base 21. Specifically, the swinging member 212 has two, which are located at opposite sides of the rear end of the chassis 111. Opposite first and second ends of the swing member 212 are hinged to the chassis 111 and the base 21, respectively.

The first rolling brush structure 22 and the second rolling brush structure 23 are arranged at intervals, the first rolling brush structure 22 is located on the front side of the first driving wheel 12 and the second driving wheel 13, the second rolling brush structure 23 is located on the rear side of the first driving wheel 12 and the second driving wheel 13, or the first driving wheel 12 and the second driving wheel 13 are located between the first rolling brush structure 22 and the second rolling brush structure 23. The first rolling brush structure 22 and the second rolling brush structure are both long and perpendicular to the direction of the moving device 10.

Referring to fig. 3 and 7, each of the first rolling brush structure 22 and the second rolling brush structure 23 includes a first mounting plate 221, a second mounting plate 222, a rolling brush 223, a rolling brush driver 224, a belt 225, a tension wheel 226, and a protective shell 227. For convenience of explanation, the first rolling brush structure 22 is described as being mounted on the base 21, and the second rolling brush structure 23 may refer to the first rolling brush structure 22.

The first mounting plate 221 and the second mounting plate 222 are oppositely and fixedly mounted on two opposite sides of the front end of the base 21, the first mounting plate 221 is located on the left side of the advancing direction of the mobile device 10, and the second mounting plate 222 is located on the right side of the advancing direction of the mobile device 10. The first mounting plate 221 is at least partially protruded from the bottom and top surfaces of the base 21, and the second mounting plate 222 extends toward the bottom surface.

The rolling brush 223 is disposed between the first mounting plate 221 and the second mounting plate 222 and on the bottom surface of the base 21, and opposite first and second ends of the rolling brush 223 are rotatably mounted on the first mounting plate 221 and the second mounting plate 222, respectively. A first end of the rolling brush 223 penetrates and protrudes from the first mounting plate 221, and a timing pulley is disposed at the first end of the rolling brush 223.

The roller brush driver 224 is located on the top surface of the base 21 and is disposed on a portion of the first mounting plate 221 protruding from the base 21, an output shaft of the roller brush driver 224 passes through the first mounting plate 221, and a free end of the output shaft of the roller brush driver 224 is provided with a timing pulley. The roller brush driver 224 is located on the upper surface of the base 21 and corresponds to the first avoiding hole 1112. The rolling brush driver 224 of the first rolling brush structure 22 corresponds to the first avoidance hole 1112, and the rolling brush driver 224 of the second rolling brush structure 23 corresponds to the second avoidance hole 1113.

When the cleaning device 20 is far from the ground, the two rolling brush drivers 224 can respectively extend into the first avoidance hole 1112 and the second avoidance hole 1113, and when the cleaning device 20 is close to the ground, the two rolling brush drivers 224 can move away from the first avoidance hole 1112 and the second avoidance hole 1113.

Referring to fig. 7, a belt 225 is fitted over a timing pulley of the rolling brush 223 and a timing pulley of the rolling brush driver 224, and the belt 225 is a timing belt with saw teeth (not shown). The rolling brush driver 224 rotates the rolling brush 223 via the belt 225. In other embodiments, the timing pulleys and timing pulleys may be replaced with conventional belts and pulleys.

A tensioner 226 is mounted on the first mounting plate 221, the tensioner 226 being able to move toward and away from the belt 225 to vary the tension of the belt 225. Specifically, the first mounting plate 221 is provided with a sliding slot 2212, and the tension wheel 226 is slidably mounted on the sliding slot 2212 through a shaft 2214. The tension pulley 226 slides along the chute 2212 to approach and separate from the belt 225. When the tension of the tension pulley 226 needs to be changed, the shaft 2214 may be fixed to an appropriate position of the slide groove 2212.

Referring to fig. 3 and 4, a protective casing 227 is used to cover the roller brush, and the protective casing 227 is located between the base 21 and the roller brush. The protective case 227 is fixed to the first mounting plate 221 and the second mounting plate 222 or to the base 21.

In the present embodiment, the first rolling brush structure 22 and the second rolling brush structure 23 are almost identical, except that an opening 2272 is opened at the rear side of the protective casing 227 of the first rolling brush structure 22 to allow the garbage cleaned by the first rolling brush structure 22 to pass through. The first rolling brush structure 22 and the second rolling brush structure 23 are almost identical to improve the compatibility of the parts. In some examples, the first rolling brush structure 22 and the second rolling brush structure 23 each have a straight bar shape. In other examples, the first rolling brush structure 22 and the second rolling brush structure 23 are both "V" shaped, and the openings of the V are opposite. In other embodiments, the rolling brush 223 of the first rolling brush structure 22 is different from the rolling brush 223 of the second rolling brush structure 23, for example, the first rolling brush structure 22 is in a "V" shape and is specially used for cleaning garbage, the V-shape opens toward the second rolling brush structure, and the second rolling brush structure 23 is in a straight strip shape and is specially used for cleaning the ground.

The garbage collection box 24 collects the garbage swept by the first rolling brush structure 22. Specifically, the garbage collection box 24 is located at the rear side of the protective housing 227 of the first rolling brush structure 22, the garbage collection box 24 is communicated with the opening 2272 of the protective housing 227, and the garbage collection box 24 is in a long strip shape. The garbage collection box 24 is detachably mounted on the rear side of the protective case 227 of the first roll brush structure 22, or the garbage collection box 24 is mounted on the bottom surface of the base 21. There are various methods for detachable mounting, such as snapping, screwing, etc.

Referring to fig. 3, the water spray head 25 is disposed on the base 21 for spraying the rolling brush 223 of the second rolling brush structure 23, so as to facilitate the second rolling brush structure 23 to clean the ground. In some examples, one of the sprinkler heads 25 is disposed at a middle position of the rear side of the base 21. In other examples, there are a plurality of the sprinkler heads 25, and the sprinkler heads 25 are spaced along the length of the roll brush so that the roll brush of the second roll brush structure 23 can be sprayed more uniformly. There may be 2, 3, 4 or more sprinkler heads 25.

Referring to fig. 3 and 7, two side brush structures 26 are disposed at two opposite sides of the front end of the base 21, and the side brush structures 26 are used for cleaning the corner regions and cleaning the garbage to the first rolling brush structure 22. The side brush structure 26 includes a rotary brush 261, a side brush drive 262, a side brush mounting plate 263, a side brush connecting plate 264, and two side brush springs 265. The rotary brush 261 is attached to an output shaft of the side brush drive 262, and the side brush drive 262 is attached to the side brush attachment plate 263. The side brush attachment plate 263 is swingably attached to the side brush attachment plate 264, the side brush attachment plate 264 is rotatably attached to the base 21 in the horizontal direction, and the two side brush springs 265 are respectively located on the first side and the second side opposite to the side brush attachment plate 1526264.

The side brush mounting plate 263 is provided with a side brush rotating shaft 2632 and a side brush link 2634. The side brush attachment plate 264 includes a side brush attachment base plate 2642, a first adjustment plate 2644, and a second adjustment plate 2646. One end of the side brush connecting base plate 2642 is rotatably mounted on the base 21, the first adjusting plate 2644 is mounted on the side brush connecting base plate 2642 and located at an end away from the base 21, and the first adjusting plate 2644 is provided with a shaft hole 26442 corresponding to the side brush rotating shaft 2632 and an arc-shaped adjusting hole 26444 corresponding to the side brush connecting rod 2634. The side brush rotating shaft 2632 and the side brush link 2634 correspondingly extend into the shaft hole 26442 and the adjusting hole 26444, the side brush mounting plate 263 can swing around the side brush rotating shaft 2632, the side brush link 2634 can slide along the adjusting hole 26444, and the relative position of the side brush link 2634 on the adjusting hole 26444 is adjusted to adjust the inclination of the side brush drive 262 relative to the ground.

Referring to fig. 3 and 7, the second adjusting plate 2646 is mounted on the side brush connecting base plate 2642, the second adjusting plate 2646 and the first adjusting plate 2644 are disposed at an interval, the second adjusting plate 2646 is provided with a plurality of hanging holes 26462, the number of the hanging holes 26462 may be 3, 4, 5 or more, and in the present embodiment, the number of the hanging holes 26462 is 5. First ends of the two side brush springs 265 are hung on the hanging holes 26462, and second ends of the two side brush springs 265 are on the base 21 or the chassis (not shown). When the side brush structure 26 encounters an obstacle, the side brush attachment base 2642 can be returned to a designated position by the side brush springs 265. The position at which the side brush springs 265 engage the engagement holes 26462 is changed to change the relative position of the side brush structure 26 to the base 21.

Referring to fig. 2 and 3, in some embodiments, the cleaning device 20 further includes a first guard wheel 27 and a second guard wheel 28. A first guard wheel 27 is mounted on the first roller brush structure 22 and a second guard wheel 28 is mounted on the second roller brush structure 23. The cleaning robot 100 can protect the cleaning device 20 by the first and

second protection wheels

27 and 28 and enable the first and second rolling

brush structures

22 and 23 to maintain a distance from the ground, prevent the cleaning device 20 from directly hitting an obstacle, and increase the service life of the cleaning device 20.

Specifically, in the present embodiment, the first guard wheel 27 and the second guard wheel 28 each include 2. Two first protection wheels 27 are located at the front side of the first rolling brush structure 22 and at opposite ends of the protection casing 227. Two second guard wheels 28 are located at the rear side of the second roller brush structure 23 at opposite ends of the guard casing 227. The two first protection wheels 27 and the two second protection wheels 28 are uniformly distributed around the cleaning device 20, so that the cleaning device 20 can stably maintain a distance from the floor. In other embodiments, the first protection wheel 27 may have 1, 3, 4 or more, and may be provided as needed. The second guard wheels 28 may be 1, 3, 4 or more and may be provided as desired.

In some embodiments, the first guard wheel 27 may also be disposed at the rear side of the first rolling brush structure 22, and the second guard wheel 28 may also be disposed at the front side of the second rolling brush structure 23. In other embodiments, the first guard wheel 27 and the second guard wheel 28 may also be disposed on the base 21.

The first protection wheel 27 and the second protection wheel 28 are used for keeping the first protection casing 227 and the second protection casing 227 spaced from the ground and protecting the first protection casing 227 and the second protection casing 227, or the first protection wheel 27 and the second protection wheel 28 are used for keeping the cleaning device 20 spaced from the ground when the cleaning device 20 performs cleaning operation. During the cleaning process of the cleaning device 20, when the forward direction meets an obstacle, the first protection wheel 27 can guide the first rolling brush structure 22 to pass by the obstacle; when encountering an obstacle in the backward direction, the second protection wheel 28 can guide the second rolling brush structure 23 around the obstacle.

Referring to fig. 1 and 2, the lifting device 30 is connected to the moving device 10 and the cleaning device 20, and the lifting device 30 is lifted and lowered to move the cleaning device 20 away from and close to the floor. The lifting device 30 includes a lifting driving mechanism 32 and an elastic mechanism 34, the lifting driving mechanism 32 is installed on the mounting bracket 112 through the mounting hole 1111, and the lifting driving mechanism 32 includes a lifting driving body 322 and an output rotating shaft 324 extending from the lifting driving body 322. The free end of the output shaft is connected to the middle position of the base 21 through an elastic mechanism 34, and the lifting driving body 322 is hinged to the mounting frame 112 through a rotating shaft. In other embodiments, the lifting driving body 322 may also be fixedly mounted on the mounting frame 112.

Referring to fig. 3, 4 and 7, the elastic mechanism 34 includes a connecting seat 342, a mounting seat 344 and an elastic structure 346, wherein the elastic structure 346 connects the connecting seat 342 and the mounting seat 344.

The connecting seat 342 includes a first connecting seat 3422, a second connecting seat 3424 and a connecting shaft 3426, and the first connecting seat 3422 is hinged to the second connecting seat 3424 through the connecting shaft 3426.

The first connecting seat 3422 includes a first end and a second end opposite to each other, and the first end of the first connecting seat 3422 is formed with a counter bore 34222 corresponding to the free end of the output shaft 324. The output shaft 324 extends into the counter bore 34222 and is fixed to the first connecting seat 3422, and a second end of the first connecting seat 3422 is hinged to the second connecting seat 3424 through a connecting shaft 3426.

The second connecting seat 3424 includes a first surface 34241 and a second surface 34242 opposite to each other, and the first surface 34241 faces the mounting seat 344. The first surface 34241 is provided with a first through hole 34243, a second through hole 34244 and a third through hole 34245, the third through hole 34245 is located between the first through hole 34243 and the second through hole 34244, and the second end of the first connecting seat 3422 extends into the third through hole 34245 and is hinged in the third through hole 34245.

With continued reference to fig. 3 and 7, the mounting base 344 includes a mounting base 3441, a first mounting side 3442, a second mounting side 3443, and guide rods 3444.

The first and second mounting side plates 3442 and 3443 are located on opposite sides of the mounting base plate 3441, and the mounting base plate 3441 connects the first and second mounting side plates 3442 and 3443. The first mounting side plate 3442 is provided with a first abdicating hole 34422, the second mounting plate 222 is provided with a second abdicating hole 34432, and the first abdicating hole 34422 and the second abdicating hole 34432 are both in a strip shape. The first yielding hole 34422 and the second yielding hole 34432 correspond to the connecting shaft 3426 of the connecting base 342.

Referring to fig. 3 and 4, opposite first and second ends of a guide rod 3444 are respectively connected to the first mounting side plate 3442 and the second side plate 1524, the guide rod 3444 corresponds to the strip guide hole 1132, and the guide rod 3444 passes through the strip guide hole 1132 and can slide along the strip guide hole 1132. The guide rod 3444 is provided with a roller 34442 corresponding to the elongated guide hole 1132, so that the guide rod 3444 can more conveniently slide in the elongated guide hole 1132. In other embodiments, rollers may also be disposed on the guide bar 3444. The cleaning device 20 connects the chassis 111 and the base 21 through the guide rod 3444 provided in the mounting hole 1111 and the sliding and swinging member provided in the guide portion 113, so that the first rolling brush structure 22 and the second rolling brush structure 23 can be stably moved away from and close to the ground without shaking excessively

Referring to fig. 3 and 7, the rear end of the mounting base 344 is rotatably mounted on the base 21 by screws, shafts, etc., and the front end of the mounting base 344 is mounted on the base 21 by an adjusting screw 3446. Specifically, a protrusion 3445 is disposed on the second side of the mounting seat 344, a notch 1528 is disposed on the protrusion 3445, and the notch 1528 corresponds to the adjusting screw 3446. One end of the adjusting screw 3446 is fixed on the base 21, a first adjusting nut 34462 and a second adjusting nut 34464 are disposed on the adjusting screw 3446, the protrusion 3445 is sleeved on the adjusting screw 3446 through the notch 1528, and the protrusion 3445 is disposed on the first adjusting nut 34462 and the second adjusting nut 34464. The relative positions of first adjustment nut 34462 and second adjustment nut 34464 are adjusted to adjust the pitch of base 21 and thereby adjust the relative heights of first roller brush structure 22 and second roller brush structure 23. In other embodiments, mount 344 is secured directly to base 21.

Referring to fig. 4 and 7, two elastic structures 346 are disposed along the moving device 10 corresponding to the first through hole 34243 and the second through hole 34244, respectively, so as to stably adjust the back and forth swing of the cleaning device 20 when the cleaning device 20 encounters an obstacle. For convenience of description, one of the elastic structures 346 installed in the first through hole 34243 is described, and the other elastic structure 346 installed in the second through hole 34244 may refer to the elastic structure 346 installed in the first through hole 34243.

The elastic structure 346 includes a connecting bar 3461, a first elastic element 3462 and a second elastic element 3463. The connecting rod 3461 includes a first end and a second end opposite to each other, the first end of the connecting rod 3461 is fixed on the mounting seat 344, the second end of the connecting rod 3461 passes through the first through hole 34243, the second end of the connecting rod 3461 is provided with a stopper 34612, the first elastic element 3462 is located between the first surface 34241 and the mounting seat 344, and the second elastic element 3463 is located between the second surface 34242 and the stopper 34612. The first and second

elastic elements

3462 and 3463 may be compression springs, elastic rubbers, and the like, and in the present embodiment, the first and second

elastic elements

3462 and 3463 are both compression springs. A first end of the connecting rod 3461 is fixed to the mounting base 3441 by a screw connection so as to adjust the height of the connecting rod 3461 protruding with respect to the mounting base 3441 and to adjust the elastic force of the first and second

elastic members

3462 and 3463. The base 21 is provided with a via hole 211 corresponding to the connection rod 3461 to facilitate adjustment of the connection rod 3461. In other embodiments, the first end of the connecting rod 3461 is fixed to the mounting base 3441 by welding or the like, and the height of the connecting rod 3461 is not adjustable.

Referring to fig. 7, in some embodiments, the resilient structure 346 further includes a shock absorbing element 3464, the shock absorbing element 3464 being disposed between the second surface 34242 and the barrier component 34612 to reduce vibration of the cleaning device 20 during operation. Specifically, the damping element 3464 is disposed on the outer periphery of the second elastic element 3463, and the damping element 3464 may be a compression spring, an elastic rubber, or the like, and in this embodiment, the damping element 3464 is a compression spring. In some other embodiments, the shock absorbing element 3464 may not be sleeved on the second elastic element 3463, but disposed outside the second elastic element 3463.

When the connecting base 342 is mounted on the mounting base 344, the connecting rod 3461 is first fixed on the mounting base 3441, and the first elastic element 3462 is sleeved on the connecting rod 3461. The second connecting blocks 3424 extend between the first mounting side plate 3442 and the second mounting side plate 3443. Then, the second end of the first connecting seat 3422 is inserted into the third through hole 34245 of the second connecting seat 3424; finally, the connection shaft 3426 is inserted from the first or second abdicating hole 34422 or 34432 to complete the installation of the first connection seat 3422, the second connection seat 3424 and the installation seat 344.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims

1. A cleaning robot, characterized by comprising:

the moving device comprises a chassis structure, a first driving wheel and a second driving wheel, the chassis structure comprises a chassis, the first driving wheel and the second driving wheel are both arranged on the lower surface of the chassis and located on two opposite sides of the advancing direction, and the first driving wheel and the second driving wheel are controlled by adopting a differential speed;

the cleaning device is arranged on the lower surface of the chassis and comprises a base, a first rolling brush structure and a second rolling brush structure which are arranged on the base at intervals, and a first driving wheel and a second driving wheel are positioned between the first rolling brush structure and the second rolling brush structure;

a lifting device connecting the moving device and the cleaning device to enable the cleaning device to approach and depart from the ground.

2. The cleaning robot as claimed in claim 1, wherein the chassis is provided with mounting holes, and the upper surface of the chassis is provided with mounting frames corresponding to the mounting holes; the lifting device comprises a lifting driving mechanism and an elastic mechanism, the lifting driving mechanism penetrates through the mounting hole to be mounted on the mounting frame, the elastic mechanism is connected with the lifting driving mechanism and the base, the lifting driving mechanism drives the base to be far away from and close to the ground, and the elastic mechanism is used for adapting to different grounds when the cleaning device works.

3. The cleaning robot as claimed in claim 2, wherein the elastic mechanism further includes a connection base, a mounting base, and an elastic structure connecting the connection base and the mounting base, the connection base being mounted on the elevation driving mechanism, the mounting base being mounted on the base;

the elastic mechanism includes two, two the elastic mechanism respectively with first through-hole with the second through-hole corresponds, the elastic mechanism includes connecting rod, first elastic element and second elastic element, the first end of connecting rod is fixed on the mount pad, the second of connecting rod is served and is passed the through-hole, the second end of connecting rod is provided with stops the piece, the first end and the second end of connecting rod are relative, first elastic element is located the first surface with between the mount pad, second elastic element is located the second surface with stop between the piece.

4. The cleaning robot as claimed in claim 3, wherein the mounting hole has a guiding portion for guiding the cleaning device to approach and separate from the floor, the guiding portion is fixed on the chassis, the guiding portion has a bar-shaped guiding hole, the mounting base has a guiding rod corresponding to the bar-shaped guiding hole, and the guiding rod passes through the bar-shaped guiding hole; the base and the chassis are also provided with a swinging piece for connection, when the cleaning device is close to or far away from the ground, the guide rod can slide relative to the strip-shaped guide hole, and the swinging piece can swing back and forth relative to the chassis or the base.

5. The cleaning robot as claimed in claim 1, wherein the moving means further includes a guide wheel and an elastic universal wheel mounted on a lower surface of the chassis, the guide wheel and the elastic universal wheel being located between the first driving wheel and the second driving wheel, the guide wheel being located on a front side of the first driving wheel and the second driving wheel, the elastic universal wheel being located on a rear side of the first driving wheel and the second driving wheel; the center of the first driving wheel and the center of the second driving wheel form a first connecting line, the center of the guide wheel and the center of the elastic universal wheel form a second connecting line, and the second connecting line is perpendicular to the first connecting line and passes through the center of the first connecting line.

6. The cleaning robot as claimed in claim 5, wherein the elastic universal wheels include a bracket mounted to a lower surface of the chassis, a universal wheel assembly hingedly mounted to the bracket through a pin, and an elastic member swinging around the bracket to make the universal wheel assembly approach or separate from the chassis, the elastic member connecting the bracket and the universal wheel assembly, the elastic member being configured to provide a restoring force for the swinging of the universal wheel assembly.

7. The cleaning robot as claimed in claim 6, wherein the resilient universal wheel further comprises a torsion spring, the torsion spring is sleeved on the pin shaft to provide restoring force for the swinging of the universal wheel assembly.

8. The cleaning robot of claim 1, wherein the first and second roller brush structures each comprise a roller brush, a roller brush drive, a belt, and a tensioner; the rolling brush is driven to rotate by the belt, and the tensioning wheel can be close to and far away from the belt so as to change the tensioning force of the belt; the cleaning robot comprises a base, and is characterized in that a water spraying head is arranged on the base and used for spraying the second rolling brush structure, the cleaning robot further comprises a garbage collecting box, and the garbage collecting box is used for collecting garbage swept by the first rolling brush structure.

9. The cleaning robot of claim 1, wherein the cleaning device further comprises a first guard wheel and a second guard wheel, the first guard wheel and the second guard wheel enabling the first rolling brush structure and the second rolling brush structure to maintain a spacing from a floor surface.

10. The cleaning robot as claimed in claim 1, further comprising two side brush structures respectively mounted on opposite sides of the front end of the base and located in front of the first rolling brush mechanism, wherein the side brush structures are used for sweeping the garbage on the two sides of the front end of the base to the first rolling brush structure.