CN214387345U

CN214387345U - Cleaning robot

Info

Publication number: CN214387345U
Application number: CN202022229483.6U
Authority: CN
Inventors: 李宗杰
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2021-10-15
Anticipated expiration: 2030-10-09

Abstract

The utility model relates to a cleaning robot, which comprises a parent body cleaning executing device, wherein the parent body cleaning executing device comprises a parent body moving chassis, a parent body cleaning assembly arranged on the parent body moving chassis and a parent body energy storing device arranged on the parent body moving chassis; and the split cleaning executing device can be integrated with or separated from the parent cleaning executing device, the volume of the split cleaning executing device is smaller than that of the parent cleaning executing device, the split cleaning executing device comprises a split moving chassis, a split cleaning assembly arranged on the split moving chassis and a split energy storage device arranged on the split moving chassis, and the capacity of the split energy storage device is smaller than that of the parent energy storage device. The cleaning robot of the scheme adopts a large-small combined functional module design, can meet various requirements of a user on endurance, cleaning capability and suitability for different workplace conditions, and improves the service capability of the cleaning robot.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a cleaning robot.

Background

At present, the robot replaces people to complete various works, which becomes the development trend of various industries, not only can reduce the labor cost, but also can improve the working efficiency and ensure the operation quality. For example, in a place such as a home, a company, a business, or the like, the cleaning robot is used instead of a cleaner, and various cleaning work contents can be completed quickly and efficiently.

However, the existing cleaning robots in the market are various, and some large cleaning robots with larger sizes are suitable for cleaning operation in a wide space due to long endurance time, various cleaning functions and strong cleaning capability, but cannot effectively work in some narrow spaces; on the contrary, some small or miniature cleaning robots with small size can certainly enter a narrow space to perform cleaning work, but due to the limited size of the cleaning robots, the cleaning robots are generally short in endurance time, single in cleaning function and weak in cleaning capability and are difficult to be qualified for cleaning work in a wide space. The existing cleaning robot has the defects of certain using capacity and applicable occasions, is poor in universality and is difficult to meet the diversified cleaning requirements of users.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a cleaning robot, which aims to solve the problem that endurance, cleaning ability and workplace conditions cannot be considered at the same time in the prior art.

In one aspect, the present application provides a cleaning robot, including:

the parent body cleaning executing device comprises a parent body moving chassis, a parent body cleaning assembly arranged on the parent body moving chassis and a parent body energy storage device arranged on the parent body moving chassis; and

the split cleaning executing device can be combined with or separated from the parent body cleaning executing device, the volume of the split cleaning executing device is smaller than that of the parent body cleaning executing device, the split cleaning executing device comprises a split moving chassis, a split cleaning assembly arranged on the split moving chassis and a split energy storage device arranged on the split moving chassis, and the capacity of the split energy storage device is smaller than that of the parent body energy storage device; the parent cleaning assembly can exchange garbage with the split cleaning assembly, and the garbage collection capacity of the parent cleaning assembly is larger than that of the split cleaning assembly.

The cleaning robot of the scheme adopts a large-small combined functional module design, can meet various requirements of a user on endurance, cleaning capability and suitability for different workplace conditions, and improves the service capability of the cleaning robot. Particularly, the cleaning robot is composed of a large-size parent cleaning executing device and a small-size split cleaning executing device in a combined mode, the cleaning robot is easy to understand, when only a narrow space exists in a working place or a wide space and a narrow space exist at the same time, the parent cleaning executing device in a fit state can be separated from the split cleaning executing device, the large-size parent cleaning executing device is suitable for the wide space at the moment, cleaning operation can be completed by means of cooperative matching of a parent moving chassis and a parent cleaning assembly, the small-size split cleaning executing device can be suitable for the narrow space, and cleaning operation can be completed by means of cooperative matching of the split moving chassis and the split cleaning assembly, so that the problem that the existing cleaning robot is fixed and single in size and cannot be flexibly suitable for working requirements of spaces of different sizes is solved.

In addition, the parent cleaning executing device is provided with the parent energy storage device with large capacity, so that the electric energy requirement of the parent cleaning executing device for cleaning a wide space can be reliably supported, the split cleaning executing device is provided with the split energy storage device with small capacity, and the electric energy requirement of the split cleaning executing device for cleaning a narrow space can be reliably supported, namely the scheme of providing the energy storage devices with different capacities according to requirements can well solve the problem of insufficient cruising ability of the existing cleaning robot and improve the service performance and reliability of the cleaning robot;

furthermore, the garbage collection capacity of the parent cleaning assembly is larger than that of the split cleaning assembly, so that when the split cleaning executing device works for a period of time and is full of garbage to influence continuous cleaning operation, the split cleaning executing device can return to the parent cleaning executing device, the split cleaning assembly can exchange the garbage with the parent cleaning assembly, namely the garbage in the split cleaning assembly is transferred into the parent cleaning assembly, the garbage in the split cleaning assembly is emptied, the split cleaning executing device can continuously perform cleaning operation, and the work continuous capacity and reliability are improved.

The technical solution of the present application is further described below:

in one embodiment, the parent cleaning executing device further comprises a power supply electrode, the power supply electrode is arranged on the parent moving chassis and electrically connected with the parent energy storage device, the split cleaning executing device further comprises a charging electrode and an electric quantity detection sensor, the charging electrode is arranged on the split moving chassis and electrically connected with the split energy storage device, the charging electrode can be connected and conducted with the power supply electrode, the electric quantity detection sensor is electrically connected with the split energy storage device, and the electric quantity detection sensor is used for detecting the residual electric quantity of the split energy storage device.

In one embodiment, the parent body cleaning executing device further comprises a first connecting piece arranged on the parent body moving chassis, and the split body cleaning executing device further comprises a second connecting piece arranged on the split body moving chassis, and the second connecting piece can be connected with or separated from the first connecting piece.

In one embodiment, the parent cleaning executing device further comprises a dust collector and a parent dustbin which are communicated with each other, a garbage exchange inlet is formed in the parent moving chassis and communicated with the dust collector through a pipeline, the split cleaning executing device further comprises a split dustbin, a garbage exchange outlet is further formed in the split moving chassis and communicated with the split dustbin, and the garbage exchange outlet can be communicated with the garbage exchange inlet in a butt joint mode.

In one embodiment, the parent garbage can is detachably arranged on the parent moving chassis in a pulling and inserting way, and the split garbage can is detachably arranged on the split moving chassis in a pulling and inserting way.

In one embodiment, the parent body cleaning executing device further comprises a first positioning sensor disposed on the parent body moving chassis, and the split cleaning executing device further comprises a second positioning sensor disposed on the split moving chassis, wherein the second positioning sensor is capable of being in induction fit with the first positioning sensor.

In one embodiment, the parent cleaning assembly and the split cleaning assembly respectively comprise a mounting frame, a supporting swing arm, a cleaning executing part and an elastic expansion piece, the supporting swing arm is rotatably arranged on the mounting frame, the cleaning executing part is arranged on the supporting swing arm, and the elastic expansion piece is respectively rotatably connected with the mounting frame and the supporting swing arm so that the cleaning executing part can flexibly abut against an external object and complete cleaning operation.

In one embodiment, the matrix cleaning assembly further comprises a rolling brush and a water sprayer, and the rolling brush and the water sprayer are arranged near the front end or the rear end of the matrix moving chassis.

In one embodiment, the parent cleaning execution device further comprises a parent controller, a parent radar, a parent camera and an information transmission module, wherein the parent radar, the parent camera and the information transmission module are respectively electrically connected with the parent controller; the split cleaning execution device further comprises a split controller, a split radar and an information receiving module, wherein the split radar and the information receiving module are respectively electrically connected with the split controller, and the information receiving module is further in interactive fit with the information transmitting module.

In one embodiment, the parent body cleaning executing device further comprises a parent body sensor which is arranged on the parent body moving chassis and electrically connected with the parent body controller, and the split body cleaning executing device further comprises a split body sensor which is arranged on the split body moving chassis and electrically connected with the split body controller.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a cleaning robot (a combined parent cleaning executing device and split cleaning executing device) according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a cleaning robot (a parent cleaning executing device is separated from a split cleaning executing device) according to another embodiment of the present invention;

fig. 3 is a schematic diagram illustrating a parent energy storage device according to an embodiment of the present invention charging a split energy storage device;

fig. 4 is a schematic view of the split dustbin realizing garbage exchange with the parent dustbin through the dust collector according to an embodiment of the present invention;

fig. 5 is a schematic view illustrating the cleaning robot according to an embodiment of the present invention detecting that there is a small space under the chair;

FIG. 6 is a schematic view of the split cleaning actuator of FIG. 5 leaving the parent cleaning actuator and entering a small space under a chair for cleaning;

fig. 7 is a schematic view illustrating a cleaning robot according to an embodiment of the present invention detecting a narrow space on a wall;

FIG. 8 is a schematic view of the split cleaning actuator of FIG. 7 being separated from the master cleaning actuator and being positioned adjacent to a wall for cleaning.

Description of reference numerals:

100. a cleaning robot; 10. a parent body cleaning executing device; 11. a parent body moving chassis; 12. a parent cleaning component; 13. a power supply electrode; 14. a first connecting member; 15. a waste exchange inlet; 16. a first positioning sensor; 17. rolling and brushing; 18. a parent radar; 19. a parent camera; 19a, maternal sensors; 19b, a parent energy storage device; 19c, a parent dustbin; 19d, a dust collector; 19e, a body; 20. a split cleaning actuator; 21. a split movable chassis; 22. a split cleaning assembly; 23. a charging electrode; 24. a second connecting member; 25. a waste exchange outlet; 26. a second positioning sensor; 27. a split radar; 28. a split sensor; 29. a split dustbin; 29a, split energy storage devices.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

As shown in fig. 1, a cleaning robot 100 is shown in an embodiment of the present application, and it can be understood that the cleaning robot is an intelligent mobile device with cleaning capability, which can completely replace a manual work mode to automatically clean garbage on the ground or in other areas in various occasions.

Referring to fig. 1 and fig. 2, in the present embodiment, the cleaning robot 100 is designed to have a split-combination structure, that is, the cleaning robot 100 includes: a mother body cleaning executing device 10 and a separate body cleaning executing device 20, wherein the separate body cleaning executing device 20 can be integrated with or separated from the mother body cleaning executing device 10.

The matrix cleaning executing device 10 comprises a matrix moving chassis 11, a matrix cleaning assembly 12 arranged on the matrix moving chassis 11, and a matrix energy storage device 19b arranged on the matrix moving chassis 11.

Similarly, the split cleaning executing device 20 includes a split moving chassis 21, a split cleaning assembly 22 disposed on the split moving chassis 21, and a split energy storage device 29a disposed on the split moving chassis 21. The split moving chassis 21 provides power required by the split cleaning executing device 20 to move, the split cleaning assembly 22 is a direct executing unit for performing cleaning operation, and the split energy storage device 29a is specifically an energy storage and supply unit for supplying electric energy required by the operation of the split cleaning executing device 20.

Alternatively, the parent mobile chassis 11 and the split mobile chassis 21 may employ chassis devices of identical structure and type, such as wheeled chassis, tracked chassis, etc. In the present embodiment, the parent moving chassis 11 and the separate moving chassis 21 are preferably wheel-type chassis. In this case, the wheel chassis includes a chassis body, and a motor, a driving wheel, a steering wheel, and the like, which are respectively installed on the chassis body, wherein the motor is connected to the driving wheel, and the driving wheel contacts the ground to enable the parent cleaning performing apparatus 10 and the separate cleaning performing apparatus 20 to travel. And the steering wheel is used for steering the parent cleaning executing device 10 and the split cleaning executing device 20.

Of course, the motor may be a bidirectional motor, or two motors may be installed at the same time, and two driving wheels are adopted and are respectively connected with two power shafts of the bidirectional motor or respectively connected with the two motors in a one-to-one correspondence manner. At this time, the two driving wheels are respectively arranged at the left side and the right side of the chassis body, and the two driving wheels are controlled to rotate in a differential speed manner, so that the steering requirements of the parent body cleaning executing device 10 and the split body cleaning executing device 20 can be realized.

In addition, in order to further improve the cruising ability of the cleaning robot 100, a battery may be additionally installed on the parent mobile chassis 11 and the split mobile chassis 21, respectively, to supply the electric energy required by the motor, so as to avoid consuming the energy of the parent energy storage device 19b and the split energy storage device 29a, and thus, more electric energy is used for the cleaning operation.

In this embodiment, the volume of the split cleaning executing device 20 is smaller than that of the parent cleaning executing device 10. It can be understood that the length, width and height of the separate cleaning actuator 20 are respectively smaller than the length, width and height of the main body cleaning actuator 10, so that the separate cleaning actuator 20 is biased to be miniaturized or miniaturized, while the main body cleaning actuator 10 is biased to be miniaturized or upsized. In this way, the parent cleaning actuator 10 is more suitable for cleaning large areas such as floors in the middle of houses, floors in business halls or gymnasiums, and other wide and unobstructed spaces. The split cleaning executing device 20 is more suitable for cleaning in narrow spaces such as under furniture or office facilities or walls with irregular structures. Thereby providing the cleaning robot 100 with the ability to cope with different cleaning work occasions.

In addition, the capacity of the separate energy storage device 29a is smaller than the capacity of the parent energy storage device 19 b. As can be readily appreciated, since the parent cleaning implement 10 needs to operate in a wide space, and accordingly, the operating time is long, the demand for electrical power is high, and the parent energy storage device 19b with large capacity can meet the operating demand. Similarly, since the split cleaning executing device 20 only needs to work in a narrow space, the operation time is relatively short, and naturally, the demand for electric energy is small, and at the moment, the split energy storage device 29a with small capacity can also meet the working demand. That is, the design scheme with specific energy supply can provide the cleaning robot 100 with sufficient cruising ability on the whole.

Alternatively, parent energy storage device 19b and split energy storage device 29a may be, but are not limited to, various rechargeable batteries, or devices capable of converting and storing light energy, mechanical energy, pressure energy, etc. into electrical energy.

With continuing reference to fig. 5 and fig. 6, in summary, the following advantages will be achieved by the technical solution of the present embodiment: the cleaning robot 100 of the above scheme adopts a large and small combined functional module design, so that the cleaning robot 100 can meet various requirements of a user on endurance, cleaning capability and suitability for different workplace conditions, and the service capability of the cleaning robot 100 is improved. Specifically, the cleaning robot 100 is composed of a large-sized parent cleaning performing device 10 and a small-sized separate cleaning performing device 20, and it is easily understood that, when only a narrow space or both a wide space and a narrow space exist in a work place, a schematic diagram illustrating a narrow space below a chair is shown in fig. 5 and 6. The parent cleaning executing device 10 in the integrated state can be separated from the split cleaning executing device 20, the parent cleaning executing device 10 with the large size is suitable for a wide space, cleaning operation can be completed by means of cooperative matching of the parent moving chassis 11 and the parent cleaning assembly 12, the split cleaning executing device 20 with the small size can be suitable for a narrow space, cleaning operation can be completed by means of cooperative matching of the split moving chassis 21 and the split cleaning assembly 22, and therefore the problem that the existing cleaning robot 100 is fixed and single in size and cannot be flexibly suitable for working requirements of different sizes of spaces can be well solved. In addition, because the parent body cleaning executing device 10 is provided with the parent body energy storage device 19b with large capacity, the electric energy requirement of the parent body cleaning executing device 10 in the process of cleaning a wide space can be reliably supported, and the split body cleaning executing device 20 is provided with the split body energy storage device 29a with small capacity, the electric energy requirement of the split body cleaning executing device 20 in the process of cleaning a narrow space can be reliably supported, namely the scheme of providing energy storage devices with different capacities according to requirements can well solve the problem that the endurance capacity of the existing cleaning robot 100 is not enough, and the service performance and the reliability of the cleaning robot 100 are improved.

With continued reference to fig. 1 and 2, in some embodiments, the maternal cleaning execution device 10 further includes a main body 19e, a maternal controller (not shown), a maternal radar 18, a maternal camera 19, and an information transmission module, wherein the maternal controller, the maternal radar 18, the maternal camera 19, and the information transmission module are respectively mounted on the main body 19e, and the maternal radar 18, the maternal camera 19, and the information transmission module are respectively electrically connected to the maternal controller.

The split cleaning execution device 20 further comprises a split controller (not shown in the figure), a split radar 27, a split camera and an information receiving module (not shown in the figure), wherein the split radar 27 and the information receiving module are respectively electrically connected with the split controller, and the information receiving module is further in interactive fit with the information transmitting module.

When the cleaning robot 100 reaches a work place, the parent body controller firstly controls the parent body camera 19 to start to work, shoots the work place, and identifies a wide space and/or a narrow space in the work place, so that data support can be provided for the parent body cleaning execution device 10 and the split body cleaning execution device 20 to work in a fit mode or in a split mode. That is, if the mother camera 19 recognizes that only a wide space exists in the work place, the mother cleaning performing device 10 is not separated from the separate cleaning performing device 20, and the separate cleaning performing device 20 moves in the wide space together with the mother cleaning performing device 10, and the mother cleaning performing device 10 performs the cleaning operation, and the separate cleaning performing device 20 may not operate or perform the cleaning operation together with the mother cleaning performing device 10.

However, when the parent camera 19 identifies that a wide space and a narrow space exist in the work site at the same time, the parent controller controls the information transmitting module to transmit a signal to the information receiving module, so that the score controller controls the second connecting piece 24 to be rapidly separated from the first connecting piece 14 after acquiring the signal, and simultaneously, the parent controller rapidly starts each functional unit on the split cleaning executing device 20 (for example, the split moving chassis starts to move, the split radar starts to navigate, and the like), so that the parent camera can be rapidly moved into the narrow space to be put into work.

The matrix radar 18 is used for constructing a virtual map for the matrix cleaning executing device 10, so as to generate an optimal traveling path, and the matrix cleaning executing device 10 can quickly and efficiently complete garbage cleaning in a wide space. Similarly, the split radar 27 is used for path planning and navigation for the movement of the split cleaning execution device 20.

Alternatively, the parent radar 18 and the split radar 27 described above may be, but are not limited to, laser radar, infrared radar, photoelectric radar, or the like; the information transmitting module and the information receiving module can perform information interaction in the modes of Bluetooth, WIFI and the like; the concrete selection can be carried out according to the actual requirement.

With continuing reference to fig. 1 and fig. 2, further, the parent body cleaning executing device 10 further includes a parent body sensor 19a, the parent body sensor 19a is disposed on the parent body moving chassis 11 and electrically connected to the parent body controller, and the split cleaning executing device 20 further includes a split sensor 28, the split sensor 28 is disposed on the split moving chassis 21 and electrically connected to the split controller. In this way, the mother sensor 19a and the split sensor 28 can be used for identifying various obstacles in the environment, so as to provide data support for obstacle avoidance when the mother cleaning execution device 10 and the split cleaning execution device 20 move, and ensure reliable and safe movement of the mother cleaning execution device 10 and the split cleaning execution device 20.

With reference to fig. 1 to fig. 3, in still other embodiments, the parent cleaning executing apparatus 10 further includes a power supply electrode 13, the power supply electrode 13 is disposed on the parent moving chassis 11 and electrically connected to the parent energy storage device 19b, the split cleaning executing apparatus 20 further includes a charging electrode 23 and an electric quantity detecting sensor, the charging electrode 23 is disposed on the split moving chassis 21 and electrically connected to the split energy storage device 29a, and the charging electrode 23 can be electrically connected to the power supply electrode 13. The electric quantity detection sensor is electrically connected with the split energy storage device 29a, and is used for detecting the residual electric quantity of the split energy storage device 29 a.

As described in the above solution, the capacity of the split energy storage device 29a is designed to be small, and when the split cleaning executing apparatus 20 encounters a small space with a large area to perform cleaning work, the problem of insufficient power utilization is likely to occur. Because the split cleaning device 20 is also provided with the electric quantity detection sensor, the electric quantity detection sensor can detect whether the residual electric quantity in the split energy storage device 29a is lower than a threshold value in real time; when the detection result shows that the detection result is lower than the threshold value, the split controller controls the split mobile chassis 21 and the split radar 27 to cooperate with each other, so that the split cleaning execution device 20 can navigate and return to the parent cleaning execution device 10, the charging electrode 23 is in contact with the power supply electrode 13 to be conducted, the parent energy storage device 19b can charge the split energy storage device 29a, the electric energy of the split energy storage device 29a is supplemented, the split cleaning execution device 20 can continuously perform cleaning operation, and the cruising operation capability of the split cleaning execution device 20 is enhanced.

It should be noted that the threshold value set in the middle sub-body energy storage device 29a may be 10% of the remaining electric quantity or other values, at least to ensure that the main body cleaning executing device 10 can return enough electric quantity to the main body cleaning executing device 20 under normal conditions.

It can be understood that the charging modes of the power supply electrode 13 and the charging electrode 23 may be direct contact conduction, plug contact conduction, or wireless charging conduction, etc.; the concrete selection can be carried out according to the actual requirement.

Referring to fig. 2, in the above embodiment, whether the power supply electrode 13 can be accurately abutted with the charging electrode 23 is determined, which means that the two electrodes can be reliably contacted and conducted to complete the charging. In this case, it is necessary to perform a positioning operation of the feeding electrode 13 and the charging electrode 23 while the separate cleaning performing apparatus 20 is moved close to the parent cleaning performing apparatus 10. Based on this, in still other embodiments, the parent cleaning executing device 10 further includes a first positioning sensor 16, the first positioning sensor 16 is disposed on the parent moving chassis 11, the split cleaning executing device 20 further includes a second positioning sensor 26, the second positioning sensor 26 is disposed on the split moving chassis 21, and the second positioning sensor 26 can be inductively matched with the first positioning sensor 16.

In this way, by means of the inductive matching between the second positioning sensor 26 and the first positioning sensor 16, the relative positions of the split cleaning executing device 20 and the parent cleaning executing device 10 can be accurately positioned, so that the power supply electrode 13 and the charging electrode 23 can be accurately positioned and can be reliably butted and conducted, and the parent energy storage device 19b reliably charges the split energy storage device 29 a.

Alternatively, the first positioning sensor 16 and the second positioning sensor 26 may be an infrared transmitter and an infrared receiver, respectively, that is, the positioning and docking are realized by using the infrared ray transceiving principle. Of course, in other embodiments, positioning and docking can be accomplished by using radar, cameras, and the like.

It should be noted that the efficiency and progress of the cleaning work for a narrow space are prevented from being delayed when the single separate cleaning actuator 20 is charged. Preferably, the split cleaning executing device 20 is provided in two, and the two split cleaning executing devices 20 are respectively installed at the left and right sides, or the left and the rear sides, or the right and the rear sides of the mother cleaning executing device 10. At this time, the two split cleaning executing devices 20 can form a relay working mode, that is, one of the split cleaning executing devices 20 firstly enters a narrow space to work, and when the electric energy is exhausted and returns to the parent cleaning executing device 10 to be charged, the other split cleaning executing device 20 relays to enter the narrow space to continue cleaning until all the working contents are completed.

Of course, in other embodiments, the number of the separate cleaning executing devices 20 may also be three or more, and may be selected according to actual needs.

With reference to fig. 2, in still other embodiments, the parent cleaning executing device 10 further includes a first connecting member 14, the first connecting member 14 is disposed on the parent moving chassis 11, the split cleaning executing device 20 further includes a second connecting member 24, the second connecting member 24 is disposed on the split moving chassis 21, and the second connecting member 24 can be connected to or separated from the first connecting member 14.

When the cleaning robot 100 is in the integrated working state, the first connector 14 is connected to the second connector 24, so that the reliability of the connection between the parent cleaning actuator 10 and the separate cleaning actuator 20 can be improved. When the cleaning robot 100 needs to enter the split working state, the first connecting member 14 can be quickly and completely separated from the second connecting member 24, so that the split cleaning executing device 20 leaves the parent cleaning executing device 10 and enters a narrow space to perform garbage cleaning operation.

Alternatively, the first connecting member 14 and the second connecting member 24 may be matched to form a magnetic attraction connecting structure, an electric buckle connecting structure, an adhesive connecting structure, and the like; the specific setting can be according to actual need. For example, the first connecting member 14 is configured as a first magnet, and the second connecting member 24 is configured as a second magnet, and the first magnet and the second magnet can be magnetically fixed, so that the parent cleaning executing device 10 and the split cleaning executing device 20 are stably connected.

With reference to fig. 2 and fig. 4, in still another embodiment, the parent cleaning executing device 10 further includes a dust collector 19d and a parent garbage can 19c, which are communicated with each other, the parent moving chassis 11 is provided with a garbage exchange inlet 15, the garbage exchange inlet 15 is communicated with the dust collector 19d through a pipeline, the split cleaning executing device 20 further includes a split garbage can 29, the split moving chassis 21 is further provided with a garbage exchange outlet 25, the garbage exchange outlet 25 is communicated with the split garbage can 29, and the garbage exchange outlet 25 can be in butt communication with the garbage exchange inlet 15.

Since the volume of the split cleaning executing device 20 is smaller, the capacity of the split dustbin 29 is directly small, and it is difficult for the split cleaning executing device 20 to load all the garbage in one working cycle, at this time, in order to avoid affecting the continuous working capacity of the split cleaning executing device 20, the split cleaning executing device 20 can be moved back to the side of the parent cleaning executing device 10, and under the positioning action of the first positioning sensor 16 and the second positioning sensor 26, the garbage exchange outlet 25 can be in butt joint communication with the garbage exchange inlet 15. Subsequently, the vacuum cleaner 19d is turned on to generate a suction force, so that the garbage in the separate garbage can 29 can be sucked into the parent garbage can 19c to empty the separate garbage can 29, and thus, the separate cleaning executing device 20 can recover the garbage re-cleaning and recycling capability to continue to be put into operation.

Further, the parent body garbage can 19c is detachably disposed on the parent body moving chassis 11, and the split garbage can 29 is detachably disposed on the split moving chassis 21. Of course, the separate trash can 29 may be directly pulled out from the separate moving chassis 21 to dump the trash, and the separate cleaning actuator 20 may be restored to the trash storing capability by manually removing the trash as needed. Similarly, the parent waste bin 19c can be directly drawn out from the parent moving chassis 11 to dump the collected waste, so as to empty the parent waste bin 19c, and the parent cleaning executing device 10 can recover the capacity of containing the waste. The mode of manual dumping rubbish in the above-mentioned scheme has given the user more choices, has promoted the use and has experienced.

In particular, in order to prevent the garbage in the parent garbage can 19c from falling out of the garbage exchange inlet 15, a movable door (not shown) is provided at an opening of the parent garbage can 19c communicating with the garbage exchange inlet 15. The movable door is normally closed when normal, which can prevent the garbage in the parent garbage can 19c from falling out. The flap will open automatically only when the waste in the separate waste bin 29 needs to be transferred to the parent waste bin 19 c.

On the basis of any one of the above embodiments, the clean subassembly 12 of parent with the clean subassembly 22 of components of a whole that can function independently all includes the mounting bracket, supports the swing arm, clean executive component and elastic expansion bend, support the swing arm rotate set up in on the mounting bracket, clean executive component set up in support on the swing arm, elastic expansion bend respectively with the mounting bracket with support the swing arm and rotate and connect, so that clean executive component can be the flexible top by outside object and accomplish clean operation.

Referring to fig. 7 and 8, when the cleaning operation is performed on an angle portion of a wall, the cleaning robot 100 (i.e., the main body cleaning performing device 10 and/or the separate cleaning performing device 20) gradually moves close to the wall, and then the separate cleaning performing device 20 leaves the main body cleaning performing device 10 and approaches the wall. In this in-process clean executive can at first lean on the contact with the wall top, and along with the constantly being close to of cleaning machines people 100, clean executive receives the extrusion of wall and can realize the inside shrink to cleaning machines people 100 relative to the rotatory swing of mounting bracket, the synchronous extrusion elasticity expansion bend of the process of the rotatory shrink of clean executive, make the elasticity expansion bend produce compression deformation, the elasticity that resets of elasticity expansion bend can form elastic support to clean executive, it can flexibly lean on the wall and avoid cleaning machines people 100's main part 19e to produce contact or collision with the wall to assist clean executive, realize the guard effect to cleaning machines people 100. On this basis, because the cleaning executive can be leaned on the contact wall all the time, along with the walking of cleaning robot 100 removes, the cleaning operation to wall equilateral angle position just can be realized to the cleaning executive, promotes cleaning robot 100's clean ability and clean effect greatly, has realized that cleaning robot 100 compromises the self-protection and has good clean ability.

With continued reference to fig. 2, in some embodiments, the parent cleaning assembly 12 further comprises a roller brush 17 and a water sprayer, the roller brush 17 and the water sprayer being disposed near the front end or the rear end of the parent moving chassis 11. Thus, when the cleaning robot 100 passes along the wall to complete the cleaning operation of the opposite corners, the water sprayer sprays water to the floor, and the rolling brush 17 can brush the floor, thereby providing a scrubbing effect to the floor, and not only synchronously cleaning the floor in the passing path of the main body cleaning executing device 10 and the separate body cleaning executing device 20, but also enhancing the cleaning effect.

In summary, the present application also provides a working method of the cleaning robot 100, which includes the following steps:

the parent body cleaning executing device 10 and the split body cleaning executing device 20 are combined to enter a working site, and the parent body cleaning executing device 10 and/or the split body cleaning executing device 20 observe the space condition of the working site;

if a narrow space exists in the working site, or a narrow space and a wide space exist in the working site at the same time, the parent body cleaning executing device 10 is separated from the split body cleaning executing device 20, the parent body cleaning executing device 10 enters the wide space to execute cleaning operation, and the split body cleaning executing device 20 enters the narrow space to execute cleaning operation; or, if the working site only has a wide space, the split cleaning executing device 20 and the parent cleaning executing device 10 keep a fit state and enter the wide space together to execute the cleaning operation;

after the cleaning work content of the current work site is completed, the cleaning robot 100 is shut down or continues to perform the next cleaning task.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

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. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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 such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. 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.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A cleaning robot, characterized in that the cleaning robot comprises:

2. The cleaning robot as claimed in claim 1, wherein the parent cleaning assembly includes a dust collector and a parent dustbin which are communicated with each other, a garbage exchange inlet is formed in the parent moving chassis, the garbage exchange inlet is communicated with the dust collector through a pipeline, the parent cleaning assembly further includes a split dustbin, a garbage exchange outlet is further formed in the split moving chassis, the garbage exchange outlet is communicated with the split dustbin, and the garbage exchange outlet can be communicated with the garbage exchange inlet in a butt joint manner.

3. The cleaning robot as claimed in claim 2, wherein the parent waste bin is removably mounted on the parent moving chassis, and the separate waste bin is removably mounted on the separate moving chassis.

4. The cleaning robot of claim 1, wherein the parent body cleaning executing device further comprises a power supply electrode, the power supply electrode is disposed on the parent body moving chassis and electrically connected with the parent body energy storage device, the split body cleaning executing device further comprises a charging electrode and an electric quantity detecting sensor, the charging electrode is disposed on the split body moving chassis and electrically connected with the split body energy storage device, the charging electrode can be connected and conducted with the power supply electrode, the electric quantity detecting sensor is electrically connected with the split body energy storage device, and the electric quantity detecting sensor is used for detecting the residual electric quantity of the split body energy storage device.

5. The cleaning robot as claimed in claim 1, wherein the parent body cleaning performing device further comprises a first connecting member disposed on the parent body moving chassis, and the split cleaning performing device further comprises a second connecting member disposed on the split moving chassis, the second connecting member being capable of being connected to or separated from the first connecting member.

6. The cleaning robot as claimed in any one of claims 2 to 5, wherein the parent body cleaning executing device further comprises a first positioning sensor disposed on the parent body moving chassis, and the split cleaning executing device further comprises a second positioning sensor disposed on the split moving chassis, the second positioning sensor being capable of being in inductive engagement with the first positioning sensor.

7. The cleaning robot as claimed in any one of claims 1 to 5, wherein the parent cleaning assembly and the split cleaning assembly each comprise a mounting frame, a supporting swing arm, a cleaning implement and an elastic expansion piece, the supporting swing arm is rotatably disposed on the mounting frame, the cleaning implement is disposed on the supporting swing arm, and the elastic expansion piece is rotatably connected with the mounting frame and the supporting swing arm, so that the cleaning implement can flexibly abut against an external object and complete cleaning operation.

8. The cleaning robot of claim 7, wherein the parent cleaning assembly further comprises a roll brush and a water sprayer, the roll brush and the water sprayer being disposed proximate to a front end or a rear end of the parent moving chassis.

9. The cleaning robot as claimed in any one of claims 1 to 5, wherein the parent cleaning performing device further comprises a parent controller, a parent radar, a parent camera, and an information transmitting module, the parent radar, the parent camera, and the information transmitting module being electrically connected to the parent controller, respectively; the split cleaning execution device further comprises a split controller, a split radar, a split camera and an information receiving module, wherein the split radar and the information receiving module are electrically connected with the split controller respectively, and the information receiving module is further in interactive fit with the information transmitting module.

10. The cleaning robot of claim 9, wherein the parent cleaning implement further comprises a parent sensor disposed on the parent mobile chassis and electrically connected to the parent controller, the split cleaning implement further comprising a split sensor disposed on the split mobile chassis and electrically connected to the split controller.