CN213248841U - Floor sweeping robot - Google Patents

Abstract

The utility model relates to a robot of sweeping floor. Robot of sweeping floor include: a body; the dust box module is arranged at the bottom of the machine body and is used for collecting and storing garbage; the side brush module is arranged at the bottom of the machine body, is arranged in front of the opening of the dust box module and is used for sweeping garbage into the dust box module; the dust collection module is arranged in the machine body and used for sucking fine particles in the dust box module; the lifting module is arranged on the machine body and used for driving the dust box module and the side brush module to lift; the dust pushing module is arranged at the bottom of the machine body, is arranged behind the opening of the dust box module and is used for wiping the ground. The floor sweeping robot has the advantage of liftable edge brushes.

Description

Floor sweeping robot

Technical Field

The utility model relates to a cleaning device field especially relates to a robot of sweeping floor.

Background

The floor sweeping robot can automatically complete floor cleaning work in a room, generally adopts a brushing and vacuum mode, and sweeps or sucks sundries on the floor into a garbage storage box of the floor sweeping robot, so that the floor cleaning function is completed. But the storage space of rubbish receiver itself is limited, and the condition that just need clear up the rubbish receiver still can appear not having cleaned ground, and it is comparatively inconvenient to use, cleans the efficiency and is lower. In addition, the side brush of the existing sweeping robot is generally fixed, the side brush is in a state of being in contact with the ground for a long time, and the ground can rub the side brush in the moving process of the sweeping robot which does not work, so that the side brush is unnecessarily abraded, and the service life of the side brush is shortened.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a robot of sweeping floor, its advantage that has the limit brush liftable.

A sweeping robot, comprising: a body; the dust box module is arranged at the bottom of the machine body and is used for collecting and storing garbage; the side brush module is arranged at the bottom of the machine body, is arranged in front of the opening of the dust box module and is used for sweeping garbage into the dust box module; the dust collection module is arranged in the machine body and used for sucking fine particles in the dust box module; the lifting module is arranged on the machine body and used for driving the dust box module and the side brush module to lift; the dust pushing module is arranged at the bottom of the machine body, is arranged behind the opening of the dust box module and is used for wiping the ground.

Compared with the prior art, the sweeping robot drives the dust box module and the side brush module to lift together through the lifting module, and when sweeping is not needed, the dust box module and the side brush module are lifted up, so that the side brush module is not contacted with the ground, the ground is prevented from rubbing the side brush module in the moving process, and the service life of the side brush module is prolonged; when the floor is needed to be swept, the dust box module and the side brush module are lowered to enable the side brush module to be in contact with the ground, and the side brush module sweeps the garbage on the ground into the dust box module to complete the floor sweeping work.

Further, the edge brush module comprises: a side brush frame; the double-output-shaft motor is arranged on the side brush rack and is provided with a first screw and a second screw; the first polish rod is arranged on the side brush rack, arranged on one side of the first screw rod and parallel to the first screw rod; the second polish rod is arranged on the side brush rack, arranged on one side of the second screw rod and parallel to each other; the first sliding block is in threaded connection with the first screw rod and is in sliding connection with the first polish rod; the second sliding block is in threaded connection with the second screw rod and is in sliding connection with the second polish rod; a first motor disposed on the first slider; a second motor disposed on the second slider; a first side brush connected to an output shaft of the first motor; and the second side brush is connected to an output shaft of the second motor.

Furthermore, the first side brush is detachably connected with an output shaft of the first motor, and the second side brush is detachably connected with an output shaft of the second motor; the axis of the output shaft of the first motor is vertical to the axis of the first screw, and the axis of the output shaft of the second motor is vertical to the axis of the second screw; the rotation direction of the first screw is opposite to that of the second screw; the side brush module further comprises: one end of the first drag chain is arranged on the side brush rack, the other end of the first drag chain is arranged on the first sliding block, and an electric wire electrically connected with the first motor penetrates through the first drag chain; and one end of the second drag chain is arranged on the side brush rack, the other end of the second drag chain is arranged on the second sliding block, and an electric wire electrically connected with the second motor penetrates through the second drag chain.

Furthermore, the dust box module comprises a dust box, a garbage inlet is arranged on the side surface of the dust box, the first side brush or the second side brush is arranged in front of the garbage inlet, and the garbage inlet corresponds to the whole or part of the rotation range of the first side brush or the second side brush; the dust box module further comprises a shell, a rolling brush and a rolling brush motor, the dust box is placed in the shell, the rolling brush motor is arranged on the shell, an output shaft of the rolling brush motor is connected with the rolling brush, the rolling brush crosses the garbage inlet, the rolling brush motor drives the rolling brush to rotate, and the rolling brush sweeps garbage from the first side brush or the second side brush into the dust box; the dust box is a box body with an upward opening; the peripheral side wall of the shell is movably connected with a turnover cover; a sliding rail is arranged in the shell, and the dust box slides out of the shell from the turnover cover along the sliding rail; the shell is provided with an inclined plate, the inclined plate is arranged below the rolling brush, and the inclined plate extends from top to bottom along the direction from the dust box to the rolling brush; a dust collection interface is arranged on the shell, and one end of the dust collection interface is communicated with the opening of the dust box;

further, the dust absorption module includes: a dust collection box, wherein a non-woven bag is arranged in the dust collection box; one end of the dust collection pipe is communicated with the other end of the dust collection interface, and the other end of the dust collection pipe is communicated with the non-woven bag; and the fan is used for generating negative pressure airflow to suck the small particles of the dust box into the dust collection box, the air inlet end of the fan is provided with a dustproof piece, and the air outlet end of the fan is provided with silencing cotton.

Further, be provided with the chassis in the bottom of organism, lift module includes: the lifting plate is provided with the dust box module and the side brush module; and the cylinder is arranged on the chassis, and a telescopic rod of the cylinder is connected with the lifting plate.

Further, a second guide rod is arranged at the bottom of the chassis; a second guide sleeve is arranged on the lifting plate and sleeved outside the second guide rod, the second guide sleeve slides along the second guide rod, and the sliding direction of the second guide sleeve is parallel to the telescopic direction of the cylinder; one end, far away from the chassis, of the second guide rod is detachably connected with a limiting piece, and the second guide sleeve is located between the chassis and the limiting piece; a spring is arranged between the chassis and the lifting plate, the spring is sleeved on the outer side of the second guide rod, and two ends of the spring respectively abut against the chassis and the lifting plate; the second guide sleeve is provided with a special-shaped hole matched with the second guide rod, and the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole; the special-shaped hole is hourglass-shaped; the top of the lifting plate is provided with a floating seat, and the floating seat is provided with two parallel sliding chutes; the telescopic rod of the air cylinder is provided with a floating pin, the floating pin penetrates through the two sliding grooves, and the floating pin slides in the sliding grooves.

Further, the dust pushing module comprises: one end of the dust pushing frame is hinged to the chassis, the other end of the dust pushing frame is provided with an installation frame for installing dust pushing cloth, an adjusting sleeve is hinged to the installation frame, and an adjusting sliding groove is formed in the adjusting sleeve; the electric push rod is arranged on the machine body, a telescopic rod of the electric push rod is hinged with a connecting rod, the connecting rod is inserted into the adjusting sleeve, a connecting pin is arranged on the connecting rod, the connecting pin slides in the adjusting sliding groove, and the sliding direction of the connecting rod in the adjusting sleeve is parallel to the sliding direction of the connecting pin in the adjusting sliding groove; a step part is arranged on the peripheral side face of the connecting rod, a spring is sleeved on the outer side of the connecting rod, and two ends of the spring are respectively abutted against the end face of the step part and the end face of the adjusting sleeve; the adjusting sleeve is provided with two parallel adjusting sliding grooves which are symmetrical about the axis of the adjusting sleeve, and the connecting pin penetrates through the adjusting sliding grooves and the connecting rod to connect the connecting rod and the adjusting sleeve together; the bottom surface of the mounting rack is provided with a magnet, and the dust cloth is provided with a magnetizer attracted with the magnet; the mounting rack is hollow.

Further, a chassis is arranged at the bottom of the machine body, and a moving mechanism is arranged on the chassis; the camera, the 3D laser sensor, the first ultrasonic sensor, the second ultrasonic sensor, the TOF camera and the 2D laser sensor are sequentially arranged on the peripheral side surface of the machine body along the direction from the top of the machine body to the bottom of the machine body, and are distributed on the same straight line; a controller is arranged in the machine body and is respectively and electrically connected with the moving mechanism, the camera, the 3D laser sensor, the first ultrasonic sensor, the second ultrasonic sensor, the TOF camera and the 2D laser sensor; a first anti-falling sensor and a second anti-falling sensor are further arranged on the peripheral side face of the machine body, the first anti-falling sensor and the second anti-falling sensor are respectively arranged on two sides of the straight line, and the controller is respectively electrically connected with the first anti-falling sensor and the second anti-falling sensor; the first anti-falling sensor and the second anti-falling sensor are respectively arranged on two sides of the 2D laser sensor, and the 2D laser sensor, the first anti-falling sensor and the second anti-falling sensor are arranged on the same horizontal plane; the machine body is characterized in that a mechanical anti-collision strip is further arranged on the peripheral side face of the machine body, the mechanical anti-collision strip is arranged on the peripheral side edge of the machine body, and the mechanical anti-collision strip is electrically connected with the controller; the mechanical anti-collision strip is arranged below the 2D laser sensor; the distance between the 2D laser sensor and the ground is 117mm, the distance between the TOF camera and the 2D laser sensor is 282mm, the distance between the second ultrasonic sensor and the TOF camera is 100mm, the distance between the first ultrasonic sensor and the second ultrasonic sensor is 120mm, and the distance between the 3D laser sensor and the first ultrasonic sensor is 131 mm; still be provided with the WIFI module on the organism, the controller with WIFI module electric connection is in order to with high in the clouds wireless communication.

Further, a chassis is arranged at the bottom of the machine body, and a moving mechanism is arranged on the chassis and comprises: the chassis is arranged at the bottom of the machine body and is provided with a first through hole; the connecting plate is arranged on the bottom surface of the chassis and provided with a second through hole for the guide rod to penetrate through, the second through hole is coaxial with the first through hole, and the aperture of the second through hole is the same as that of the first through hole; the first guide rod is vertically arranged on the bottom surface of the connecting plate and penetrates through the first through hole and the second through hole; a driving wheel assembly which moves up and down along the first guide bar; a spring disposed between the chassis and the drive wheel assembly; the connecting plate comprises two thickened plates and a connecting strip, the thickened plates are used for mounting one driving wheel assembly, the second through hole is formed in each thickened plate, and the connecting strip is used for connecting the two thickened plates; the thickening plate is also provided with lightening holes; the connecting plate is installed on the chassis through bolts, and the at least two thickening plates and the connecting strip are integrally manufactured; the bottom surface of the chassis is provided with three universal wheels, the two driving wheel assemblies and the three universal wheels form a virtual circle, a connecting line of the two driving wheel assemblies passes through the circle center of the virtual circle, the three universal wheels form a virtual isosceles triangle, and the central line of the virtual isosceles triangle is mutually vertical to the connecting line of the two driving wheel assemblies; the spring is sleeved on the outer side of the first guide rod, one end of the spring abuts against the connecting plate, and the other end of the spring abuts against the driving wheel assembly; a first limiting part and a second limiting part are respectively arranged at two ends of the first guide rod, the first limiting part is positioned above the chassis, and the driving wheel assembly moves up and down between the chassis and the second limiting part; the first limiting piece or the second limiting piece is in threaded connection with the first guide rod; the driving wheel assembly comprises a support, a driving wheel and a driving motor, the support moves up and down along the first guide rod, the driving wheel is rotatably arranged on the support, the driving motor is arranged on the support, and the driving motor is used for driving the driving wheel to rotate; the bracket is provided with a first guide sleeve matched with the first guide rod, the first guide sleeve is sleeved outside the first guide rod, and the spring is sleeved outside the shaft part of the first guide sleeve; the first guide sleeve is provided with a special-shaped hole matched with the first guide rod, the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole, and the special-shaped hole is hourglass-shaped.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a sweeping robot according to an embodiment;

fig. 2 is a schematic front view of a sweeping robot according to an embodiment;

fig. 3 is an electrical connection diagram of the sweeping robot according to the embodiment;

FIG. 4 is a schematic diagram showing the arrangement of the connecting plate, the driving wheel assembly and the universal wheels on the chassis according to the embodiment;

FIG. 5 is a schematic view of the connection between the connection plate and the chassis according to the embodiment;

FIG. 6 is a perspective view of a moving mechanism according to an embodiment;

FIG. 7 is a schematic side view of a moving mechanism according to an embodiment;

FIG. 8 is a cross-sectional view of a first guide sleeve according to an embodiment;

FIG. 9 is a schematic connection diagram of the lifting module, the dust box module, and the edge brush module according to the embodiment;

fig. 10 is a schematic structural diagram of the lifting module according to the embodiment;

FIG. 11 is a cross-sectional view of a second guide sleeve according to an embodiment;

FIG. 12 is a schematic view of the embodiment of the dirt tray shown removed from the housing;

FIG. 13 is a schematic view of the embodiment of the dirt tray shown installed in a housing;

FIG. 14 is a schematic structural diagram of an edge brush module according to an embodiment;

FIG. 15 is a perspective view of an edge brush module according to an embodiment;

FIG. 16 is a schematic connection diagram of the dust box module, the side brush module, the dust collection module, and the dust push module according to the embodiment;

FIG. 17 is a schematic view of a dust collection module according to an embodiment;

FIG. 18 is a schematic structural view of a dust pushing module according to an embodiment;

reference numerals:

100. a body; 111. a camera; 112. a 3D laser sensor; 113. a first ultrasonic sensor; 114. a second ultrasonic sensor; 115. a TOF camera; 116. a 2D laser sensor; 117. a first fall arrest sensor; 118. a second fall arrest sensor; 119. a mechanical bumper strip; 120. a WIFI module; 121. a controller; 122. a chassis; 200. a moving mechanism; 210. a connecting plate; 211. increasing the thickness of the plate; 212. a connecting strip; 213. lightening holes; 220. a drive wheel assembly; 221. a first guide bar; 222. a first spring; 223. a support; 224. a drive wheel; 228. a drive motor; 225. a first limit piece; 226. A second limiting member; 227. a first guide sleeve; 230. a universal wheel; 300. a lifting module; 310. a lifting plate; 320. a cylinder; 330. a second guide bar; 340. a second guide sleeve; 350. a floating seat; 351. a chute; 360. a floating pin; 370. a second spring; 400. a dust box module; 410. a housing; 411. a cover is turned; 412. a slide rail; 413. a sloping plate; 414. a dust collection interface; 420. a dust box; 421. a waste inlet; 430. rolling and brushing; 440. a roller brush motor; 500. a side brush module; 510. a side brush frame; 520. a double output shaft motor; 521. a first screw; 522. a second screw; 530a, a first polish rod; 530b, a second polish rod; 540a, a first slider; 540b, a second slider; 550a, a first motor; 550b, a second motor; 560a, a first side brush; 560b, a second side brush; 570a, a first tow chain; 570b, a second tow chain; 600. a dust collection module; 610. a dust collection box; 611. A nonwoven fabric bag; 620. a dust collection pipe; 630. a fan; 631. silencing cotton; 700. a dust pushing module; 710. a dust pushing frame; 720. An electric push rod; 730. dust cloth; 740. a mounting frame; 750. an adjustment sleeve; 751. adjusting the sliding chute; 760. a connecting rod; 761. a step portion; 770. a connecting pin; 780. a third spring; a. a virtual circle; b. a virtual isosceles triangle.

Detailed Description

A sweeping robot, see fig. 1 to 18, which includes a body 100, a moving mechanism 200, a lifting module 300, a dust box module 400, an edge brush module 500, a dust collection module 600, and a dust pushing module 700. Wherein, the moving mechanism 200 is disposed at the bottom of the machine body 100, and the moving mechanism 200 is used for driving the movement of the machine body 100. The lifting module 300 is disposed on the machine body 100, and the lifting module 300 is used for driving the dust box module 400 and the side brush module 500 to ascend and descend in a vertical direction. The dust box module 400 is installed on the lifting module 300, the dust box module 400 is located at the bottom of the machine body 100, and the dust box module 400 is used for collecting and storing garbage. The side brush module 500 is installed on the lifting module 300, the side brush module 500 is located at the bottom of the machine body 100, the side brush module 500 is disposed in front of the opening of the dust box module 400, and the side brush module 500 is used for sweeping garbage into the dust box module 400. The dust suction module 600 is disposed in the body 100, and the dust suction module 600 is used for sucking fine particles in the dust box module 400, which refer to hair, dust, and the like that can be sucked by an existing dust collector. The dust pushing module 700 is installed on the lifting module 300, the dust pushing module 700 is located at the bottom of the machine body 100, the dust pushing module 700 is disposed behind the opening of the dust box module 400, and the dust pushing module 700 is used for wiping the ground.

Referring to fig. 2 and 3, a camera 111, a 3D laser sensor 112, a first ultrasonic sensor 113, a second ultrasonic sensor 114, a TOF camera 115, and a 2D laser sensor 116 are sequentially disposed on the front surface of the body 100 in a direction from the top of the body 100 to the bottom of the body 100. The camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, and the 2D laser sensor 116 are distributed on a straight line on the front surface of the body 100. A first fall prevention sensor 117 and a second fall prevention sensor 118 are also provided on the front surface of the machine body 100. The first anti-falling sensor 117 and the second anti-falling sensor 118 are respectively disposed on two sides of the straight line, in this embodiment, the first anti-falling sensor 117 and the second anti-falling sensor 118 are respectively disposed on two sides of the 2D laser sensor 116, and the 2D laser sensor 116, the first anti-falling sensor 117 and the second anti-falling sensor 118 are disposed on the same horizontal plane. A mechanical bumper strip 119 is also provided on the front surface of the machine body 100, the mechanical bumper strip 119 being provided at the peripheral side edge of the machine body 100, and the mechanical bumper strip 119 being provided below the 2D laser sensor 116. A WIFI module 120 is further disposed in the body 100. In this embodiment, the above detection modules are all detection modules in the prior art, the distance between the 2D laser sensor 116 and the ground surface 117mm, the distance between the TOF camera 115 and the 2D laser sensor 116 is 282mm, the distance between the second ultrasonic sensor 114 and the TOF camera 115 is 100mm, the distance between the first ultrasonic sensor 113 and the second ultrasonic sensor 114 is 120mm, and the distance between the 3D laser sensor 112 and the first ultrasonic sensor 113 is 131 mm.

Specifically, the camera 111 is used for shooting an external environment to realize cloud monitoring. The 3D laser sensor 112 is used for spatial modeling navigation. The first ultrasonic sensor 113 is used for high obstacle avoidance, and is designed mainly for glass obstacles. The second ultrasonic sensor 114 is used for avoiding obstacles of medium and low obstacles, and is designed mainly for glass obstacles. The TOF camera 115 is used to identify objects within the front rectangular frame and avoid obstacles. The 2D laser sensor 116 is used for low obstacle recognition and obstacle avoidance.

Referring to fig. 3, a controller 121 is further provided in the body 100. This controller 121 pushes away module 700 electric connection with camera 111, 3D laser sensor 112, first ultrasonic sensor 113, second ultrasonic sensor 114, TOF camera 115, 2D laser sensor 116, first dropproof sensor 117, second dropproof sensor 118, machinery anticollision strip 119, WIFI module 120, moving mechanism 200, lift module 300, dirt box module 400, limit brush module 500, dust absorption module 600, dirt respectively. The controller 121 controls the operation of the moving mechanism 200 according to the information collected by the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, the 2D laser sensor 116, the first fall prevention sensor 117, the second fall prevention sensor 118 and the mechanical anti-collision bar 119, and uploads the collected data to the cloud through the WIFI module 120.

Referring to fig. 4 to 18, a chassis 122 is installed at the bottom of the body 100, and the chassis 122 is used for installing the moving mechanism 200, the lifting module 300, the dust box module 400, the edge brush module 500, the dust collection module 600, and the dust push module 700. The bottom plate 122 is made of a metal aluminum plate, and the bottom plate 122 is plate-shaped. A first through hole is formed in the bottom surface of the bottom plate 122, the first through hole vertically extends from the top surface of the bottom plate 122 to the bottom surface of the bottom plate 122, the axis of the first through hole is perpendicular to the bottom surface of the bottom plate 122, and the first through hole is used for connecting the moving mechanism 200 with the bottom plate 122.

Referring to fig. 4, the moving mechanism 200 includes a connecting plate 210, two driving wheel assemblies (220), and three universal wheels 230. Wherein, the connecting plate 210 is fixedly installed on the bottom surface of the chassis 122 by bolts. Two driving wheel assemblies (220) are detachably mounted on the bottom surface of the coupling plate 210. Three universal wheels 230 are mounted on the bottom surface of the chassis 122 by bolts. Furthermore, the two driving wheel assemblies (220) and the three universal wheels 230 form a virtual circle a at the bottom of the chassis 122. The connecting line of the two driving wheel assemblies (220) passes through the circle of the virtual circle a, and the connecting line of the two driving wheel assemblies (220) is the diameter of the virtual circle a. The three universal wheels 230 are distributed at the bottom of the chassis 122 to form a virtual isosceles triangle b, three points of the virtual isosceles triangle b are all on the virtual circle a, the center line of the virtual isosceles triangle b passes through the center of the virtual circle a, and the center line of the virtual isosceles triangle b is perpendicular to the connecting line of the two driving wheel assemblies (220).

Referring to fig. 4-7, the connecting plate 210 is located within the top orthographic projection of the chassis 122. The connecting plate 210 is provided with a second through hole corresponding to the first through hole, the second through hole vertically extends from the top surface of the connecting plate 210 to the bottom surface of the connecting plate 210, the axis of the second through hole is perpendicular to the bottom surface of the connecting plate 210, the axis of the second through hole and the axis of the first through hole are located on the same straight line, and the aperture of the second through hole is the same as the aperture of the first through hole. In particular, the connection plate 210 comprises at least two thickened plates 211 and a connection bar 212. Each thickening plate 211 is used for installing a driving wheel assembly (220), the thickening plate 211 is fixedly installed on the bottom surface of the base plate 122 through bolts, the second through holes are formed in the thickening plate 211, lightening holes 213 are formed in the thickening plate 211, the lightening holes 213 vertically extend from the top surface of the thickening plate 211 to the bottom surface of the thickening plate 211, and the positions and the sizes of the lightening holes 213 do not influence the strength of the connecting plate 210 and the strength of the second through holes. The connecting bar 212 is fixedly installed on the bottom surface of the bottom plate 122 by bolts, the connecting bar 212 is used for connecting the thickening plates 211 together, and all the thickening plates 211 are integrally made with the connecting bar 212.

Referring to fig. 4 to 7, the driving wheel assembly (220) includes four first guide bars 221, a first spring 222, a bracket 223, a driving wheel 224, and a driving motor 228. The first guide rod 221 passes through the first through hole and the second through hole, and the first guide rod 221 can move up and down in the first through hole and the second through hole. The two ends of the first guide rod 221 are respectively connected with a first limiting member 225 and a second limiting member 226 through threads, the first limiting member 225 is located above the chassis 122, the second limiting member 226 is located below the connecting plate 210, and the floating space of the driving wheel 224 module can be controlled by adjusting the relative distance between the first limiting member 225 and the second limiting member 226. The first spring 222 is sleeved outside each first guiding rod 221, and the first spring 222 is located between the connecting plate 210 and the second limiting member 226. The bracket 223 moves up and down along the four first guide rods 221, the top surface of the bracket 223 is abutted against the first spring 222, and the bottom surface of the bracket 223 is abutted against the second limiting member 226. The driving wheel 224 is rotatably provided on the bracket 223. The driving motor 228 is electrically connected to the controller 121, the driving motor 228 is fixed to the bracket 223 by bolts, an output shaft of the driving motor 228 is detachably connected to the driving wheel 224, and the driving motor 228 provides power for the rotation of the driving wheel 224. The rolling directions of the driving wheels 224 of the two driving wheel assemblies (220) are parallel to each other.

Referring to fig. 6 to 8, a first guide sleeve 227 engaged with the corresponding first guide rod 221 is bolted to the top surface of the bracket 223, the first guide sleeve 227 is located between the chassis 122 and the bracket 223, and the first guide sleeve 227 is sleeved on the outer side of the corresponding first guide rod 221, so that the sliding of the bracket 223 on the first guide rod 221 is more stable. In addition, the first spring 222 is sleeved on the outer side of the first guide rod 221 and the outer side of the shaft portion of the first guide sleeve 227, so that the shaft portion of the first guide sleeve 227 is disposed between the chassis 122 and the bracket 223, which is helpful for saving space and preventing the first guide sleeve 227 from affecting the normal operation of the traveling mechanism. In addition, in order to improve the smoothness of the up-and-down movement of the driving wheel assembly (220), the first guide sleeve 227 is provided with a special-shaped hole matched with the guide rod, the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole, and in the embodiment, the special-shaped hole is hourglass-shaped.

Referring to fig. 4 to 7, the universal wheel 230 is a universal wheel 230 in the prior art, which can rotate 360 degrees horizontally in a dynamic load or a static load.

Referring to fig. 9 to 11, the lifting module 300 includes a lifting plate 310 and a cylinder 320. The lifting plate 310 is used for installing the dust box module 400 and the edge brush module 500, the lifting plate 310 is arranged right below the chassis 122, and the lifting plate 310 is parallel to the chassis 122. The cylinder 320 is installed on the top surface of the chassis 122 by bolts, the axis of the telescopic rod of the cylinder 320 is perpendicular to the top surface of the chassis 122, and the telescopic rod of the cylinder 320 is connected with the lifting plate 310.

Referring to fig. 9 to 11, in order to ensure that the lifting plate 310 is lifted horizontally, a plurality of second guide rods 330 are detachably mounted on the bottom surface of the base plate 122, the axes of the second guide rods 330 are parallel to the axis of the telescopic rods of the air cylinders 320, and the second guide rods 330 can be moved up and down on the base plate 122. Nuts are threadedly connected to both ends of the second guide bar 330, one nut is located above the base plate 122, and the other nut is located below the lifting plate 310, so that the floating space of the lifting plate 310 can be controlled by adjusting the relative distance between the two nuts.

Referring to fig. 9 to 11, corresponding to the position of the second guide rod 330, a plurality of second guide sleeves 340 are bolt-mounted on the lifting plate 310, the second guide sleeves 340 are sleeved on the outer sides of the corresponding second guide rods 330, the second guide sleeves 340 slide up and down along the corresponding second guide rods 330, and the moving direction of the second guide sleeves 340 is parallel to the lifting direction of the lifting plate 310. Further, the second guide sleeve 340 is provided with a special-shaped hole matched with the second guide rod 330, the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole, and in this embodiment, the special-shaped hole is hourglass-shaped.

Referring to fig. 9 to 11, in order to get over obstacles and ensure that the side brush module 500 is tightly attached to the ground, a floating seat 350 is installed on the top surface of the lifting plate 310, two parallel sliding grooves 351 are arranged on the floating seat 350, and the length direction of the sliding grooves 351 is parallel to the axis of the telescopic rod of the cylinder 320. The end of the telescopic rod of the cylinder 320 is detachably provided with a floating pin 360, the floating pin 360 penetrates through the two sliding grooves 351, the axis of the floating pin 360 is perpendicular to the length direction of the sliding grooves 351, and the floating pin 360 slides in the sliding grooves 351.

Referring to fig. 9 to 11, in order to further ensure that the side brush module 500 is tightly attached to the ground, a plurality of second springs 370 are disposed between the chassis 122 and the lifting plate 310 corresponding to the positions of the second guide rods 330, the second springs 370 are sleeved on the outer sides of the corresponding second guide rods 330, and two ends of the second springs 370 respectively abut against the bottom surface of the chassis 122 and the top surface of the lifting plate 310.

Referring to fig. 9, 12, and 13, the dust box module 400 is detachably mounted to the bottom surface of the lifting plate 310. Specifically, the dust box module 400 includes a housing 410, a dust box 420, a roller brush 430, and a roller brush motor 440 (not shown). Wherein the housing 410 is detachably mounted on the bottom surface of the lifting plate 310, and an opening is provided on the circumferential side surface of the housing 410, the opening facing the side brush module 500, and the opening allowing the dust box 420 to enter into the housing 410. The dust box 420 is disposed in the housing 410, the dust box 420 is a box body with an upward opening, and the opening of the dust box 420 is communicated with the dust collection module 600. The dust box 420 is provided with a square garbage inlet 421 on the side surface close to the opening of the housing 410, the garbage inlet 421 faces the side brush module 500, the garbage inlet 421 corresponds to the opening of the housing 410, and the garbage inlet 421 corresponds to the cleaning range of the side brush module 500. The rolling brush 430 is rotatably disposed on the housing 410, the rolling brush 430 is disposed right in front of the garbage inlet 421, the rolling brush 430 crosses the garbage inlet 421, an axis of the rolling brush 430 is parallel to a sliding direction of the first slider 540a, and the rolling brush 430 is used for sweeping the garbage from the side brush module 500 into the dust box 420. The rolling brush motor 440 is electrically connected to the controller 121, the rolling brush motor 440 is configured to drive the rolling brush 430 to rotate, specifically, the rolling brush motor 440 is mounted on the housing 410 through a bolt, and an output shaft of the rolling brush motor 440 is detachably connected to the rolling brush 430.

Referring to fig. 9, 12 and 13, in order to facilitate the removal of the dust box 420, a flip cover 411 is hinged to a peripheral side wall of the housing 410, and the dust box 420 can be pulled out of the housing 410 by opening the flip cover 411. Further, to facilitate the pushing and pulling of the dust box 420 in the housing 410 and the positioning of the dust box 420, a sliding rail 412 may be disposed in the inner cavity of the housing 410. In addition, in order to facilitate the rolling brush 430 to sweep the garbage into the dust box 420, an inclined plate 413 is provided below the rolling brush 430, the inclined plate 413 is installed on the housing 410, and the inclined plate 413 extends from top to bottom in a direction from the dust box 420 to the rolling brush 430. In order to communicate the dust collection module 600 with the dust box 420 and facilitate installation of the dust collection inlet of the dust collection module 600, a dust collection port 414 is disposed at the top of the housing 410, one end of the dust collection port 414 is used for connecting the dust collection inlet of the dust collection module 600, and the other end thereof is communicated with the opening of the dust box 420.

Referring to fig. 9, 14 and 15, the edge brush module 500 is detachably mounted to the bottom surface of the lifting plate 310. Specifically, the side brush module 500 includes a side brush frame 510, a dual-output shaft motor 520, a first polish rod 530a, a second polish rod 530b, a first slider 540a, and a second slider 540 b. The side brush frame 510 is fixedly mounted on the bottom surface of the lifting plate 310 by bolts, and the side brush frame 510 is located in front of the opening of the housing 410. The dual-output-shaft motor 520 is electrically connected with the controller 121, and the dual-output-shaft motor 520 is fixedly installed on the bottom surface of the side brush frame 510 through bolts. The double-output-shaft motor 520 is provided with a first screw 521 and a second screw 522, the axis of the first screw 521 is located on the same straight line with the axis of the second screw 522, and the rotation direction of the first screw 521 is opposite to that of the second screw 522, so that the double-output-shaft motor 520 can drive the two side brushes of the side brush module 500 to approach to or separate from each other. The first polish rod 530a is fixedly installed on the bottom surface of the lifting plate 310, the first polish rod 530a is located at one side of the first screw 521, and the axis of the first polish rod 530a and the axis of the first screw 521 are parallel to each other. The second polish rod 530b is fixedly installed on the bottom surface of the lifting plate 310, the second polish rod 530b is located at one side of the second screw 522, and the axis of the second polish rod 530b and the axis of the second screw 522 are parallel to each other. The first slider 540a is in threaded connection with the first screw 521, and the first slider 540a is slidably mounted on the first polish rod 530 a. The second slider 540b is in threaded connection with the second screw 522, and the second slider 540b is slidably mounted on the second polish rod 530 b.

Referring to fig. 9, 14 and 15, the edge brush module 500 further includes a first motor 550a, a second motor 550b, a first edge brush 560a, a second edge brush 560b, a first drag chain 570a and a second drag chain 570 b. The first motor 550a is electrically connected to the controller 121, the first motor 550a is mounted on the first slider 540a through a bolt, an output shaft of the first motor 550a faces downward, and an axis of the output shaft of the first motor 550a is perpendicular to an axis of the first screw 521. The second motor 550b is electrically connected to the controller 121, the second motor 550b is mounted on the second slider 540b through a bolt, an output shaft of the second motor 550b faces downward, and an axis of the output shaft of the second motor 550b is perpendicular to an axis of the second screw 522. The first side brush 560a is detachably mounted on an output shaft of the first motor 550a, the second side brush 560b is detachably mounted on an output shaft of the second motor 550b, the first side brush 560a and the second side brush 560b are both positioned in front of an opening in the housing 410, the first side brush 560a and the second side brush 560b are respectively disposed on both sides of the opening in the housing 410, and the first side brush 560a and the second side brush 560b are symmetrical with respect to a center line of the opening in the housing 410. One end of the first drag chain 570a is fixedly mounted on the lifting plate 310 through a bolt, the other end of the first drag chain 570a is fixedly mounted on the first slider 540a through a bolt, and an electric wire (not shown) electrically connected with the first motor 550a penetrates through the first drag chain 570 a. One end of the second drag chain 570b is fixedly mounted on the lifting plate 310 through a bolt, the other end of the second drag chain 570b is fixedly mounted on the second slider 540b through a bolt, and an electric wire (not shown) electrically connected with the second motor 550b penetrates through the inside of the second drag chain 570 b.

Referring to fig. 16 and 17, the dust suction module 600 includes a dust suction box 610, a dust suction pipe 620, and a fan 630. Wherein, the dust collection box 610 is arranged in the machine body 100, and a non-woven cloth bag 611 is arranged in the dust collection box 610. One end of the dust suction pipe 620 is connected to a dust suction inlet of the housing 410, and the other end of the dust suction pipe 620 is connected to the non-woven bag 611. The blower 630 is electrically connected to the controller 121, the blower 630 is installed in the dust box 610 through a bolt, and the blower 630 is used for generating a negative pressure airflow to suck the small particles of the dust box 420 into the non-woven fabric bag 611. The air inlet end of the fan 630 is provided with a dust-proof part (not shown), the air outlet end of the fan 630 is provided with silencing cotton 631, and the silencing cotton 631 is arranged on the outer side surface of the dust collection box 610.

Referring to fig. 18, a dust push module 700 is removably mounted to the chassis 122. Specifically, the dust pushing module 700 includes a dust pushing frame 710, an electric pushing rod 720, and a dust pushing cloth 730. Wherein, one end of the dust pushing frame 710 is hinged on the machine body 100; the other end of the dust pushing frame 710 is fixedly connected with a mounting frame 740 through bolts, the mounting frame 740 is a hollow plate-shaped frame to reduce the overall weight, and a magnet (not shown) is adhered to the bottom surface of the mounting frame 740. An adjusting sleeve 750 is hinged to the dust pushing frame 710, two parallel adjusting sliding grooves 751 are arranged on the peripheral side face of the adjusting sleeve 750, the length direction of the adjusting sliding grooves 751 is parallel to the axis of the adjusting sleeve 750, and the two adjusting sliding grooves 751 are symmetrical with respect to the axis of the adjusting sleeve 750. The electric push rod 720 is electrically connected with the controller 121, the electric push rod 720 is fixedly mounted on the chassis 122 through bolts, a connecting rod 760 is hinged to a telescopic rod of the electric push rod 720, the connecting rod 760 is inserted into the adjusting sleeve 750, and the connecting rod 760 slides in the adjusting sleeve 750. A connecting pin 770 is arranged on the connecting rod 760, and the connecting pin 770 penetrates through the two adjusting chutes 751 and the connecting rod 760 to connect the connecting rod 760 and the adjusting sleeve 750 together; the sliding direction of the connecting pin 770 in the adjusting chute 751 is parallel to the sliding direction of the connecting rod 760 in the adjusting sleeve 750; in this embodiment, the connection pin 770 is a bolt, and the bolt passes through the adjustment sliding slot 751 and the connection rod 760 and is fixed to the adjustment sleeve 750 by a nut. A step portion 761 is provided on the circumferential side surface of the connecting rod 760, a third spring 780 is sleeved outside the connecting rod 760, one end of the third spring 780 abuts against the bottom surface of the step portion 761, and the other end of the third spring 780 abuts against the end surface of the adjusting sleeve 750, so as to help the dust cloth 730 to keep sufficient contact with the ground. The dust cloth 730 is a dust cloth 730 in the existing product, and a magnetizer (not shown) attracted with a magnet is arranged on the dust cloth 730, so that the dust cloth 730 and the mounting frame 740 can be quickly mounted and dismounted; in this embodiment, the magnetizer is a metal sheet, and may also be a magnet or the like.

Compared with the prior art, the floor sweeping robot comprises the following beneficial effects:

1. the working environment of the robot is detected by using the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115 and the 2D laser sensor 116, and through the arrangement mode of the sensors and the sensors, a map of the working environment can be accurately established, and obstacles around the sweeping robot can be comprehensively detected, so that the sweeping robot can still effectively walk in a complex environment;

2. the length of the first through hole on the chassis 122 is prolonged through the second through hole of the connecting plate 210, which is beneficial to improving the verticality between the guide rod and the chassis 122;

3. the connecting plate 210 is positioned in the orthographic projection range of the chassis 122, so that the area of the connecting plate 210 is smaller than that of the chassis 122, the chassis 122 can be thinned as much as possible under the condition of ensuring the verticality between the guide rod and the chassis 122, and the weight of the whole machine is favorably reduced;

4. two driving wheel assemblies (220) and three universal wheels (230) are arranged on the bottom surface of the chassis 122, the two driving wheel assemblies (220) and the three universal wheels (230) are arranged on the same virtual circle a, the three universal wheels (230) form a virtual isosceles triangle b, and the connecting line of the central line of the virtual isosceles triangle b and the two driving wheel assemblies (220) is mutually vertical, so that the in-situ turning can be realized, namely, the in-situ rotation can be realized, and the bearing capacity and the stability of the walking mechanism can be improved;

5. the dust box module 400 and the side brush module 500 are driven to lift together by the lifting module, when the floor sweeping is not needed, the dust box module 400 and the side brush module 500 are lifted, so that the side brush module 500 is not contacted with the ground, the ground is prevented from rubbing against the side brush module 500 in the moving process, and the service life of the side brush module 500 is prolonged;

6. when the floor is needed to be swept, the sweeping robot sweeps the garbage into the dust box module 400 through the side brush module 500, and the dust box module 400 collects and stores the garbage;

7. during the sweeping period, the dust collection module 600 is started at the same time, the dust collection module 600 collects the garbage in the dust box module 400, and the garbage in the dust box module 400 is collected into the other storage space, so that the garbage storage space of the sweeping device is effectively enlarged;

8. the suction force of the dust collection module 600 can provide an acting force for the garbage to be far away from the opening of the dust box module 400, which is helpful for preventing the garbage from leaking from the opening of the dust box module 400 and improving the cleanliness of the ground, and can suck the tiny particles near the opening of the dust box module 400 into the dust box module 400 or suck the tiny particles adhered to the side brush of the side brush module 500 into the dust box module 400, which is helpful for improving the sweeping efficiency and improving the cleanliness of the ground;

9. the electric push rod 720 is adopted to drive the dust pusher to lift, so that the dust pusher can wipe the ground, and on the basis, the dust pusher has a certain up-and-down floating space through the design that the limiting piece slides in the adjusting sliding groove 751, so that the dust pusher can be adaptive to the ground; when the ground is raised, the dust pusher can move upwards along the adjusting chute 751, which helps to prevent the raised ground from damaging the dust pusher assembly; the floor recess enables the dust push to move down the adjustment chute 751, helping to improve the cleaning of the dust push assembly.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims (10)

1. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:

a body (100);

a dust box module (400) arranged at the bottom of the machine body (100) and used for collecting and storing garbage;

a side brush module (500) disposed at the bottom of the machine body (100), disposed in front of the opening of the dust box module (400), and configured to sweep the garbage into the dust box module (400);

the dust collection module (600) is arranged in the machine body (100) and is used for sucking fine particles in the dust box module (400);

the lifting module (300) is arranged on the machine body (100) and is used for driving the dust box module (400) and the side brush module (500) to lift;

a dust pushing module (700) arranged at the bottom of the machine body (100), arranged behind the opening of the dust box module (400), and used for wiping the ground.

2. The sweeping robot according to claim 1, characterized in that the side brush module (500) comprises:

a side brush frame (510);

the double-output-shaft motor (520) is arranged on the side brush frame (510) and is provided with a first screw rod (521) and a second screw rod (522);

first polish rods (530a) provided on the side brush frame (510), which are provided at one side of the first screw (521) and are parallel to each other;

a second polish rod (530b) disposed on the side brush frame (510), disposed at one side of the second screw (522), and parallel to each other;

a first slider (540a) in threaded connection with the first screw (521), which is in sliding connection with the first polish rod (530 a);

a second slider (540b) in threaded connection with the second screw (522) and in sliding connection with the second polish rod (530 b);

a first motor (550a) provided on the first slider (540 a);

a second motor (550b) provided on the second slider (540 b);

a first side brush (560a) connected to an output shaft of the first motor (550 a);

a second side brush (560b) connected to an output shaft of the second motor (550 b).

3. The sweeping robot of claim 2,

the first side brush (560a) is detachably connected with an output shaft of the first motor (550a), and the second side brush (560b) is detachably connected with an output shaft of the second motor (550 b);

the axis of the output shaft of the first motor (550a) is perpendicular to the axis of the first screw (521), and the axis of the output shaft of the second motor (550b) is perpendicular to the axis of the second screw (522);

the rotation direction of the first screw (521) is opposite to the rotation direction of the second screw (522);

the side brush module (500) further comprises:

a first drag chain (570a), one end of which is arranged on the side brush frame (510), the other end of which is arranged on the first sliding block (540a), and a wire which is electrically connected with the first motor (550a) is arranged in the first drag chain;

and one end of the second drag chain (570b) is arranged on the side brush rack (510), the other end of the second drag chain is arranged on the second sliding block (540b), and an electric wire electrically connected with the second motor (550b) penetrates through the second drag chain.

4. The sweeping robot of claim 2,

the dust box module (400) comprises a dust box (420), a garbage inlet (421) is arranged on the side surface of the dust box (420), the first side brush (560a) or the second side brush (560b) is arranged in front of the garbage inlet (421), and the garbage inlet (421) corresponds to the whole or part of the rotating range of the first side brush (560a) or the second side brush (560 b);

the dust box module (400) further comprises a shell (410), a rolling brush (430) and a rolling brush motor (440), the dust box (420) is placed in the shell (410), the rolling brush motor (440) is arranged on the shell (410), an output shaft of the rolling brush motor (440) is connected with the rolling brush (430), the rolling brush (430) crosses the garbage inlet (421), the rolling brush motor (440) drives the rolling brush (430) to rotate, and the rolling brush (430) sweeps garbage from the first side brush (560a) or the second side brush (560b) into the dust box (420);

the dust box (420) is a box body with an upward opening;

a turnover cover (411) is movably connected to the peripheral side wall of the shell (410);

a sliding rail (412) is arranged in the shell (410), and the dust box (420) slides out of the shell (410) from the flip cover (411) along the sliding rail (412);

an inclined plate (413) is arranged on the shell (410), the inclined plate (413) is arranged below the rolling brush (430), and the inclined plate (413) extends from top to bottom along the direction from the dust box (420) to the rolling brush (430);

the dust collection box is characterized in that a dust collection interface (414) is arranged on the shell (410), and one end of the dust collection interface (414) is communicated with an opening of the dust box (420).

5. A sweeping robot according to claim 4, characterized in that said dust suction module (600) comprises:

a dust collection box (610) in which a non-woven bag (611) is arranged;

one end of the dust suction pipe (620) is communicated with the other end of the dust suction port (414), and the other end of the dust suction pipe is communicated with the non-woven bag (611);

and the fan (630) is used for generating negative pressure airflow to suck the small particles of the dust box (420) into the dust collection box (610), the air inlet end of the fan is provided with a dust-proof piece, and the air outlet end of the fan is provided with silencing cotton (631).

6. The sweeping robot according to claim 1, characterized in that a chassis (122) is provided at the bottom of the machine body (100), and the lifting module (300) comprises:

the lifting plate (310) is provided with the dust box module (400) and the side brush module (500);

and the air cylinder (320) is arranged on the chassis (122), and the telescopic rod of the air cylinder is connected with the lifting plate (310).

7. The sweeping robot of claim 6,

a second guide rod (330) is arranged at the bottom of the chassis (122);

a second guide sleeve (340) is arranged on the lifting plate (310), the second guide sleeve (340) is sleeved on the outer side of the second guide rod (330), the second guide sleeve (340) slides along the second guide rod (330), and the sliding direction of the second guide sleeve (340) is parallel to the telescopic direction of the cylinder (320);

one end, far away from the base plate (122), of the second guide rod (330) is detachably connected with a limiting piece, and the second guide sleeve (340) is located between the base plate (122) and the limiting piece;

a second spring (370) is arranged between the chassis (122) and the lifting plate (310), the second spring (370) is sleeved on the outer side of the second guide rod (330), and two ends of the second spring (370) respectively abut against the chassis (122) and the lifting plate (310);

the second guide sleeve (340) is provided with a special-shaped hole matched with the second guide rod (330), and the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole;

the special-shaped hole is hourglass-shaped;

a floating seat (350) is arranged at the top of the lifting plate (310), and two parallel sliding grooves (351) are formed in the floating seat (350);

the telescopic rod of the air cylinder (320) is provided with a floating pin (360), the floating pin (360) penetrates through the two sliding grooves (351), and the floating pin (360) slides in the sliding grooves (351).

8. A sweeping robot according to claim 6, characterized in that said dust pushing module (700) comprises:

one end of the dust pushing frame (710) is hinged to the base plate (122), the other end of the dust pushing frame is provided with a mounting frame (740) for mounting dust pushing cloth (730), an adjusting sleeve (750) is hinged to the mounting frame, and an adjusting sliding groove (751) is formed in the adjusting sleeve (750);

the electric push rod (720) is arranged on the machine body (100), a connecting rod (760) is hinged to a telescopic rod of the electric push rod, the connecting rod (760) is inserted into the adjusting sleeve (750), a connecting pin (770) is arranged on the connecting rod (760), the connecting pin (770) slides in the adjusting sliding groove (751), and the sliding direction of the connecting rod (760) in the adjusting sleeve (750) is parallel to the sliding direction of the connecting pin (770) in the adjusting sliding groove (751);

a step part (761) is arranged on the peripheral side face of the connecting rod (760), a third spring (780) is sleeved outside the connecting rod (760), and two ends of the third spring (780) are respectively abutted against the end face of the step part (761) and the end face of the adjusting sleeve (750);

the adjusting sleeve (750) is provided with two adjusting sliding grooves (751) which are parallel to each other, the two adjusting sliding grooves (751) are symmetrical about the axis of the adjusting sleeve (750), and the connecting pin (770) penetrates through the adjusting sliding grooves (751) and the connecting rod (760) to connect the connecting rod (760) and the adjusting sleeve (750) together;

a magnet is arranged on the bottom surface of the mounting frame (740), and a magnetizer attracted with the magnet is arranged on the dust cloth (730);

the mounting frame (740) is hollowed out.

9. The sweeping robot of claim 1, wherein:

a chassis (122) is arranged at the bottom of the machine body (100), and a moving mechanism (200) is arranged on the chassis (122);

a camera (111), a 3D laser sensor (112), a first ultrasonic sensor (113), a second ultrasonic sensor (114), a TOF camera (115) and a 2D laser sensor (116) are sequentially arranged on the peripheral side surface of the machine body (100) along the direction from the top of the machine body (100) to the bottom of the machine body (100), and the camera (111), the 3D laser sensor (112), the first ultrasonic sensor (113), the second ultrasonic sensor (114), the TOF camera (115) and the 2D laser sensor (116) are distributed on the same straight line;

a controller (121) is arranged in the machine body (100), and the controller (121) is respectively electrically connected with the moving mechanism (200), the camera (111), the 3D laser sensor (112), the first ultrasonic sensor (113), the second ultrasonic sensor (114), the TOF camera (115) and the 2D laser sensor (116);

a first anti-falling sensor (117) and a second anti-falling sensor (118) are further arranged on the peripheral side face of the machine body (100), the first anti-falling sensor (117) and the second anti-falling sensor (118) are respectively arranged on two sides of the straight line, and the controller (121) is respectively electrically connected with the first anti-falling sensor (117) and the second anti-falling sensor (118);

the first anti-falling sensor (117) and the second anti-falling sensor (118) are respectively arranged on two sides of the 2D laser sensor (116), and the 2D laser sensor (116), the first anti-falling sensor (117) and the second anti-falling sensor (118) are arranged on the same horizontal plane;

a mechanical anti-collision strip (119) is further arranged on the peripheral side face of the machine body (100), the mechanical anti-collision strip (119) is arranged at the peripheral side edge of the machine body (100), and the mechanical anti-collision strip (119) is electrically connected with the controller (121);

the mechanical bumper strip (119) is arranged below the 2D laser sensor (116);

the 2D laser sensor (116) is 117mm from the ground, the TOF camera (115) is 282mm from the 2D laser sensor (116), the second ultrasonic sensor (114) is 100mm from the TOF camera (115), the first ultrasonic sensor (113) is 120mm from the second ultrasonic sensor (114), and the 3D laser sensor (112) is 131mm from the first ultrasonic sensor (113);

still be provided with WIFI module (120) on organism (100), controller (121) with WIFI module (120) electric connection is in order with high in the clouds wireless communication.

10. The sweeping robot according to claim 1, characterized in that a chassis (122) is provided at the bottom of the machine body (100), a moving mechanism (200) is provided on the chassis (122), and the moving mechanism (200) comprises:

a chassis (122) disposed at the bottom of the body (100) and provided with a first through hole;

the connecting plate (210) is arranged on the bottom surface of the chassis (122) and is provided with a second through hole for a guide rod to penetrate through, the second through hole is coaxial with the first through hole, and the aperture of the second through hole is the same as that of the first through hole;

the first guide rod (221) is vertically arranged on the bottom surface of the connecting plate (210) and penetrates through the first through hole and the second through hole;

a driving wheel assembly (220) that moves up and down along the first guide bar (221);

a first spring (222) disposed between the chassis (122) and the drive wheel assembly (220);

the connecting plate (210) comprises two thickened plates (211) and a connecting strip (212), the thickened plates (211) are used for mounting one driving wheel assembly (220), the second through holes are formed in the thickened plates (211), and the connecting strip (212) is used for connecting the two thickened plates (211);

the thickening plate (211) is also provided with lightening holes (213);

the connecting plate (210) is mounted on the chassis (122) by bolts, and the at least two thickening plates (211) are integrally made with a connecting strip (212);

the bottom surface of the chassis (122) is provided with three universal wheels (230), the two driving wheel assemblies (220) and the three universal wheels (230) form a virtual circle (a), the connecting line of the two driving wheel assemblies (220) passes through the circle center of the virtual circle (a), the three universal wheels (230) form a virtual isosceles triangle (b), and the central line of the virtual isosceles triangle (b) is perpendicular to the connecting line of the two driving wheel assemblies (220);

the first spring (222) is sleeved on the outer side of the first guide rod (221), one end of the first spring (222) abuts against the connecting plate (210), and the other end of the first spring (222) abuts against the driving wheel assembly (220);

a first limiting piece (225) and a second limiting piece (226) are respectively arranged at two ends of the first guide rod (221), the first limiting piece (225) is positioned above the chassis (122), and the driving wheel assembly (220) moves up and down between the chassis (122) and the second limiting piece (226);

the first limiting piece (225) or the second limiting piece (226) is in threaded connection with the first guide rod (221);

the driving wheel assembly (220) comprises a bracket (223), a driving wheel (224) and a driving motor (228), wherein the bracket (223) moves up and down along the first guide rod (221), the driving wheel (224) is rotatably arranged on the bracket (223), the driving motor (228) is arranged on the bracket (223), and the driving motor (228) is used for driving the driving wheel (224) to rotate;

a first guide sleeve (227) matched with the first guide rod (221) is arranged on the bracket (223), the first guide sleeve (227) is sleeved on the outer side of the first guide rod (221), and the first spring (222) is sleeved on the outer side of the shaft part of the first guide sleeve (227);

the first guide sleeve (227) is provided with a special-shaped hole matched with the first guide rod (221), the diameter of the opening at the two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole, and the special-shaped hole is hourglass-shaped.

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