CN214631961U - Cleaning robot - Google Patents

Abstract

The present application relates to a cleaning robot. The cleaning robot comprises a machine shell, a radar component and a driving component, wherein the radar component is movably connected to the machine shell in a matching mode. The driving assembly comprises a driving piece which is coupled on the machine shell, is in transmission connection with the radar assembly and is configured to allow the radar assembly to be provided with a driving force with variable protruding height relative to the machine shell. The cleaning robot of this application, when detecting the place ahead and be about to get into at the bottom of the sofa, at the bottom of the bed when narrow and small spaces such as, driving piece initiative production drive radar subassembly is close to the drive power of casing, reduces the salient height of radar subassembly for the radar subassembly contracts in, thereby reduces the complete machine height. When the radar component is detected to leave the narrow space, the driving piece actively generates driving force for driving the radar component to be far away from the machine shell, so that the radar component is recovered to a protruding state, and the surrounding environment condition of the machine body is obtained. Compared with the prior art, the radar assembly can be retracted when entering narrow spaces such as a sofa bottom, a bed bottom and the like, the height of the whole machine is reduced, and the cleaning range of the whole machine is enlarged.

Description

Cleaning robot

Technical Field

The application relates to the technical field of intelligent household electrical appliances, in particular to a cleaning robot.

Background

Along with the development of economy and the progress of society, the quality requirement of people on life is higher and higher, so some intelligent electrical appliances capable of freeing hands are produced. Among them, the cleaning robot plays an increasingly important role in people's daily life as one of intelligent household appliances.

The top of general cleaning robot is equipped with and is used for detecting the radar of barrier and partial protrusion organism around the cleaning robot organism, makes cleaning robot's complete machine height great from this, can't clean at sofa bottom, bed bottom etc. narrow and small space at the operation in-process for cleaning robot's range of application is restricted.

SUMMERY OF THE UTILITY MODEL

This application is to the problem that the current cleaning robot complete machine height is great can't clean narrow and small spaces such as the sofa end, the bed end, has provided a cleaning robot, and this cleaning robot has the technological effect that is adapted to narrow and small space cleanness and range of application are big.

A cleaning robot, comprising:

a housing;

the radar component is movably matched and connected with the shell; and

a drive assembly including a drive member coupled to the housing; the driving piece is in transmission connection with the radar assembly and is configured to allow the radar assembly to be provided with driving force with variable protruding height relative to the machine shell.

In one embodiment, the radar assembly is linearly telescopically coupled to the housing in a first direction.

In one embodiment, the driving member has a fixed end and a movable end, the fixed end is fixedly connected with the housing, and the movable end is in transmission connection with the radar component and is controlled to lift relative to the fixed end along the first direction.

In one embodiment, the driving assembly further comprises a floating mandril, the floating mandril is provided with a first butt joint end and a second butt joint end which are oppositely arranged along a second direction, the first butt joint end is connected with the radar assembly, the second butt joint end is connected with the movable end, and the second direction is intersected with the first direction;

when the floating ejector rod moves under the driving of the movable end, the protruding height of the radar component relative to the machine shell is controlled to be changed.

In one embodiment, the floating mandril further has a pivot part positioned between the first butt end and the second butt end, the pivot part is connected with the machine shell and is configured to rotate around a third direction which is vertical to the first direction and the second direction relative to the machine shell;

the first butt joint end is movably connected to the radar component, and the second butt joint end is movably connected to the movable end.

In one embodiment, the driving assembly further comprises a rotating shaft bracket and a floating rotating shaft, and the pivoting part is a pivoting hole penetrating through the floating ejector rod along the third direction;

the rotating shaft bracket is fixedly connected with the shell, and the floating rotating shaft penetrates through the pin joint hole and is connected with the rotating shaft bracket;

the floating rotating shaft is fixedly connected with one of the pivot hole and the rotating shaft support and is connected with the other of the pivot hole and the rotating shaft support in a switching mode.

In one embodiment, the radar component is provided with a slot, and two slot walls of the slot, which are opposite to each other along the third direction, are provided with connecting holes;

the first butt joint end is provided with a clamping ring part and two convex columns, the clamping ring part comprises two rod parts, one ends of the two rod parts are connected, the other ends of the two rod parts are provided with intervals along the third direction, and the two convex columns are connected to the other ends of the two rod parts in a one-to-one correspondence mode and extend reversely along the third direction;

the clamping ring part extends into the groove, the convex column is arranged in the connecting hole, and a gap is reserved between the convex column and the circumferential hole wall of the connecting hole.

In one embodiment, the second butt joint end has a mounting hole penetrating through the floating ejector rod along the first direction, the movable end has a first limiting portion, an intermediate rod and a second limiting portion which are connected in sequence, the intermediate rod penetrates through the mounting hole, and the mounting hole is located between the first limiting portion and the second limiting portion;

a gap is formed between the middle rod and the circumferential hole wall of the mounting hole.

In one embodiment, the driving member is a telescopic solenoid valve.

In one embodiment, one of the casing and the radar component is provided with a guide hole, the axial direction of the guide hole is parallel to the first direction, the other of the casing and the radar component is provided with a guide post, the guide post longitudinally extends along the first direction, and the guide post is arranged in the guide hole in a penetrating manner.

In one embodiment, the radar component comprises a base, a radar and a radar cover, wherein the base and the radar cover are connected and jointly define a mounting cavity, and the radar is mounted on the base and located in the mounting cavity;

the base is movably matched and connected with the shell.

Above-mentioned cleaning machines people, when actual operation, when detecting the place ahead and be about to get into at the bottom of the sofa, at the bottom of the bed when narrow and small spaces such as, driving piece initiative production drive radar subassembly is close to the drive power of casing, reduces the salient height of radar subassembly for the radar subassembly contracts in, thereby reduces the complete machine height. When detecting to leave narrow and small space, driving piece initiative production drive radar component keeps away from the drive power of casing, improves radar component's outstanding height to make radar component resume to outstanding state, thereby obtain the fuselage surrounding environment condition. Compared with the prior art, the cleaning robot can contract the radar assembly inwards when entering narrow spaces such as the sofa bottom and the bed bottom, so that the height of the whole machine is reduced, the whole machine is suitable for cleaning the narrow spaces such as the sofa bottom and the bed bottom, and the application range of the cleaning robot is enlarged.

Drawings

Fig. 1 is an exploded view of a cleaning robot according to an embodiment of the present disclosure;

fig. 2 is a partial structural view of the cleaning robot shown in fig. 1;

FIG. 3 is a schematic view of the cleaning robot shown in FIG. 1 in a first operating state;

fig. 4 is a schematic structural view of the cleaning robot shown in fig. 1 in a second working state.

Description of reference numerals:

1-cleaning a robot; 11-a housing; 12-a radar component; 121-a base; 122-radar; 123-a radar cover; 13-a drive assembly; 131-a drive member; 1311-fixed end; 1312-a movable end; 132-a floating mandril; 1321-a first mating end; 13211-convex column; 13212-a stem; 1322-a second interface end; 13221-docking aperture; 1323-pivot joint; 133-a spindle support; 134-floating rotating shaft; 14-guide post.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application 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 application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, 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 are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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 application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; 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 application can be understood by those of ordinary skill in the art as appropriate.

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

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.

Referring to fig. 1 and 2, an embodiment of the present disclosure provides a cleaning robot 1, which includes a housing 11, a radar component 12 and a driving component 13, wherein the radar component 12 is movably coupled to the housing 11. The driving assembly 13 includes a driving member 133 coupled to the housing 11, the driving member 133 being drivingly connected to the radar assembly 12 and configured to allow a variable protruding height driving force to be provided to the radar assembly 12 with respect to the housing 11.

Referring to fig. 3, when the cleaning robot 1 detects that the front is about to enter a narrow space such as a sofa bottom, a bed bottom, etc., during actual operation, the driving member 133 actively generates a driving force for driving the radar component 12 to approach the housing 11, so as to reduce the protruding height of the radar component, and thus the radar component 12 retracts, thereby reducing the height of the whole machine. Referring to fig. 4, when it is detected that the vehicle leaves the narrow space, the driving member 133 actively generates a driving force for driving the radar unit 12 away from the housing 11, and raises the protruding height of the radar unit, so that the radar unit 12 is restored to the protruding state, thereby acquiring the surrounding environment of the vehicle body.

Compared with the prior art, cleaning machines people 1 can contract radar subassembly 12 when getting into at the bottom of the sofa, at the bottom of the bed when narrow and small spaces such as to reduce the complete machine height, make the complete machine be adapted to and clean at the bottom of the sofa, at the bottom of the bed narrow and small spaces such as, so increased cleaning machines people's 1 range of application.

The moving path of the radar component 12 is not limited, and may be a straight line, an arc line, or the like. As long as the radar component 12 can be close to or far from the casing 11, so that the height of the whole machine can be adjusted. For example, set up arc guide rail and pivot in casing 11, the axis of pivot and the coincidence of the centre of a circle of arc guide rail are provided with on the radar component 12 with arc guide rail complex slider, the pivot is connected with tip and slider, drives the slider along the motion of arc guide rail when the pivot rotates to drive radar component 12 and be close to or keep away from casing 11, realize the internal contraction and the overhanging of radar component 12.

In some embodiments, the radar assembly 12 is linearly telescopically coupled to the housing 11 in a first direction. This helps to shorten the moving path of the radar unit 12 and simplify the structure.

It will be appreciated that the driving force generated by the driver 133 is in a first direction. The first direction may be a vertical direction perpendicular to a plane in which the cabinet 11 is located.

In some embodiments, referring to fig. 2, the driving member 133 has a fixed end 1311 and a movable end 1312, the fixed end 1311 is fixed to the housing 11, and the movable end 1312 is drivingly connected to the radar module 12 and controlled to move up and down along the first direction relative to the fixed end 1311.

In practice, the movable end 1312 moves up and down relative to the fixed end 1311 along the first direction, and the movable end 1312 moves up and down to move the radar assembly 12 relative to the housing 11. At this time, the fixed end 1311 is fixed to the housing 11, and the movable end 1312 is drivingly connected to the radar unit 12, which facilitates the arrangement of the connection line of the fixed end 1311.

Of course, the fixed end 1311 may be fixed to the radar component 12, and the movable end 1312 may be in transmission connection with the housing 11, as long as the radar component 12 can be driven linearly.

Of course, in other embodiments, the driving member 133 may take other configurations to achieve linear movement of the radar assembly 12, such as through a belt drive mechanism, a rack and pinion mechanism, and the like.

In specific embodiments, referring to fig. 1 and 2, the driving assembly 13 further includes a floating rod 132, the floating rod 132 has a first butt end 1321 and a second butt end 1322 opposite to each other along a second direction intersecting the first direction, the first butt end 1321 is connected to the radar assembly 12, and the second butt end 1322 is connected to the movable end 1312. The floating jack 132 is controlled to change the protrusion height of the radar assembly 12 relative to the housing 11 as it moves under the drive of the movable end 1312. At this point, the free end 1312 acts on the radar assembly 12 through the floating ram 132, facilitating a flexible layout.

It should be noted that the floating rod 132 may drive the radar component 12 to move away from the housing 11 when the movable end 1312 extends out, and the floating rod 132 may drive the radar component 12 to move close to the housing 11 when the movable end 1312 retracts out. At this time, the first butt end 1321 and the second butt end 1322 may be fixedly connected to the radar assembly 12 and the movable end 1312 respectively.

In some embodiments, it is also possible that floating plunger 132 brings radar assembly 12 close to chassis 11 when movable end 1312 extends out, and floating plunger 132 brings radar assembly 12 away from chassis 11 when movable end 1312 retracts.

In an embodiment, referring to fig. 2, the floating rod 132 further has a pivot 1323 between the first butt end 1321 and the second butt end 1322, and the pivot 1323 is connected to the housing 11 and configured to rotate in a third direction perpendicular to the first direction and the second direction with respect to the housing 11. The first docking end 1321 is movably coupled to the radar assembly 12 and the second docking end 1322 is movably coupled to the movable end 1312.

At this time, under the action of the pivot 1323, the floating rod 132 forms a lever, the radar component 12 approaches the housing 11 when the movable end 1312 extends, and the radar component 12 moves away from the housing 11 when the movable end 1312 retracts. In this way, the driving force generated when the movable end 1312 extends and retracts can be adjusted by the distance from the first butt end 1321 and the second butt end 1322 to the pivot 1323, which facilitates the radar assembly 12 to move with a smaller driving force.

Preferably, the distance from the first docking end 1321 to the pivoting portion 1323 is greater than the distance from the second docking end 1322 to the pivoting portion 1323, so that the radar assembly 12 can move with a smaller driving force, and thus the driving member 133 with a smaller driving force can be used, which is beneficial to simplifying the structure and reducing the cost.

Further, referring to fig. 2, the driving assembly 13 further includes a rotating shaft bracket 133 and a floating rotating shaft 134, the pivoting portion 1323 is a pivoting hole penetrating through the floating push rod 132 along the third direction, the rotating shaft bracket 133 is fixedly connected to the housing 11, the floating rotating shaft 134 penetrates through the pivoting hole and is connected to the rotating shaft bracket 133, and the floating rotating shaft 134 is fixedly connected to one of the pivoting hole and the rotating shaft bracket 133 and is connected to the other of the pivoting hole and the rotating shaft bracket 133. In practical use, the pivot hole rotates relative to the rotating shaft bracket 133, that is, the pivot hole rotates in the third direction relative to the housing 11.

The floating shaft 134 can be fixedly connected to the shaft bracket 133 and is connected to the pivot hole, and the floating rod 132 can rotate along the floating shaft 134. The floating shaft 134 may also be connected to the shaft bracket 133 and fixed to the pivot hole, and the floating rod 132 is driven by the floating shaft 134 to rotate relative to the shaft bracket 133.

When the floating rod 132 is used as a lever to connect the movable end 1312 and the radar module 12, the first connection end 1321 is movably connected with the radar module 12, and the second connection end 1322 is movably connected with the movable end 1312. Thus, when the floating rod 132 rotates around the pivot portion 1323, the first connection end 1321 can move along the rotation track thereof and the radar component 12 moves linearly along the first direction, and the second connection end 1322 can move along the rotation track thereof and the movable end 1312 moves linearly along the first direction.

In some embodiments, referring to fig. 2, the radar component 12 has a slot, two slot walls of the slot opposite to each other along the third direction have connecting holes, the first butt end 1321 has a clamping ring portion and two protruding columns 13211, the clamping ring portion includes two rod portions 13212, one ends of the two rod portions 13212 are connected, the other ends of the two rod portions 13212 have a space along the third direction, the two protruding columns 13211 are connected to the other ends of the two rod portions 13212 in a one-to-one correspondence manner and extend in the reverse direction along the third direction, the clamping ring portion penetrates into the slot, and the protruding columns 13211 are disposed in the connecting holes and have a gap with a circumferential hole wall of the connecting hole.

In this way, when the first docking end 1321 moves along the rotation track, the radar component 12 can move relatively in the radial component force direction perpendicular to the first direction, so that the radar component 12 can move linearly along the first direction, and the problem of interference between the first docking end 1321 and the radar component 12 in the respective running tracks is avoided.

Optionally, both levers 13212 are spring arms, having a spring property. In this manner, they can be brought closer together during installation so that the post 13211 can fit into the connection hole. Meanwhile, when the boss 13211 is inserted into the connection hole, the two rods 13212 can be pressed against the end of the connection hole by means of elasticity, so that the boss 13211 is prevented from being removed.

Optionally, both stem portions 13212 are arcuate stems and together form a half-circle.

In some embodiments, referring to fig. 2, the second abutting end 1322 has an abutting hole 13221 penetrating through the floating rod 132 along the first direction, the movable end 1312 has a first limiting portion, an intermediate rod and a second limiting portion connected in sequence, the intermediate rod is inserted through the abutting hole 13221, and the abutting hole 13221 is located between the first limiting portion and the second limiting portion. The intermediate rod has a clearance with the wall of the abutment bore 13221.

In this way, when the second abutting end 1322 moves along the rotation track, the movable end 1312 can move relatively in a component force direction perpendicular to the first direction in a radial direction, so that the movable end 1312 can move linearly along the first direction, and the problem of interference between the second abutting end 1322 and the movable end 1312 in the respective movement tracks is avoided.

In other embodiments, the first docking end 1321 and the second docking end 1322 may also be connected to the radar assembly 12 and the movable end 1312 respectively through an elastic member, and the elastic member is used to eliminate the motion interference therebetween.

In some embodiments, the driver 133 is a telescopic solenoid valve. In the powered state, the movable end 1312 of the actuator 133 extends to a predetermined position to maintain the radar assembly 12 in the retracted state, and in the powered state, the movable end 1312 of the actuator 133 retracts to an initial position to maintain the radar assembly 12 in the projected state. Thus, the structure of the driving member 133 can be simplified, and the structural cost can be reduced.

Of course, the driving unit 133 may be a linear motor, a telescopic cylinder, or the like.

In some embodiments, referring to fig. 1 and 2, one of the housing 11 and the radar component 12 is provided with a guide hole, an axial direction of the guide hole is parallel to the first direction, the other of the housing 11 and the radar component 12 is provided with a guide post 14, the guide post 14 extends lengthwise along the first direction, and the guide post 14 is disposed through the guide hole. In actual operation, the radar assembly 12 moves linearly in a first direction under the cooperation of the guide post 14 and the guide hole.

Wherein, a guide hole is provided on the radar assembly 12, and a guide post 14 is provided on the cabinet 11.

Wherein the number of guide posts 14 and guide holes may be multiple, which helps to provide operational stability of the radar assembly 12.

Of course, in other embodiments, the movement of radar assembly 12 in the first direction may be guided in a rail-guided manner.

In some embodiments, referring to fig. 2, the radar assembly 12 includes a base 121, a radar 122 and a radar cover 123, the base 121 and the radar cover 123 are connected and jointly define a mounting cavity, the radar 122 is mounted on the base 121 and located in the mounting cavity, and the base 121 is movably coupled to the housing 11. At this time, the radar component 12 is connected with the housing 11 through the base 121, which helps to protect the radar 122, and the radar cover 123 is disposed to prevent the radar 122 from being damaged due to collision when the radar component 12 protrudes out of the housing 11.

In particular embodiments, the base 121 moves in a first direction relative to the housing 11. At this time, the radar unit 12 is raised and lowered in the first direction, which contributes to simplification of the structure.

Further, the base 121 is provided with a mounting hole penetrating the base 121 in the first direction, and the radar 122 is mounted in the mounting hole.

Further, a dodging hole is formed in the machine shell 11 corresponding to the radar 122, the radar 122 extends out of the mounting hole towards one end of the machine shell 11 and is located in the dodging hole, and the radar 122 moves along the dodging hole under the movement of the base 121.

The cleaning robot 1 may be a sweeping robot, a mopping robot or a sweeping and mopping integrated robot.

The cleaning robot 1 that provides in this application embodiment, when detecting the place ahead and be about to get into at the bottom of the sofa, when narrow and small spaces such as the bed end, driving piece 133 initiative production drive radar subassembly 12 is close to the drive power of casing 11 for radar subassembly 12 contracts in, thereby reduces complete machine height. When the departure from the narrow space is detected, the driving member 133 actively generates a driving force for driving the radar unit 12 away from the housing 11, so that the radar unit 12 is restored to the protruding state, thereby acquiring the surrounding condition of the body. So, cleaning machines people 1 can contract radar subassembly 12 when getting into at the bottom of the sofa, at the bottom of the bed when narrow and small spaces such as to reduce the complete machine height, make the complete machine be adapted to clean at the bottom of the sofa, at the bottom of the bed narrow and small spaces such as, so increased cleaning machines people's 1 range of application.

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 express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (11)

1. A cleaning robot, characterized by comprising:

a housing (11);

the radar component (12) is movably matched and connected on the shell (11); and

a drive assembly (13) comprising a drive member (131) coupled to the housing (11);

the driving piece (131) is in transmission connection with the radar component (12) and is configured to allow the radar component (12) to be provided with a driving force with variable protruding height relative to the machine shell (11).

2. The cleaning robot according to claim 1, characterized in that the radar assembly (12) is linearly telescopically connected to the chassis (11) in a first direction.

3. The cleaning robot as claimed in claim 2, wherein the driving member (131) has a fixed end (1311) and a movable end (1312), the fixed end (1311) is fixed to the housing (11), and the movable end (1312) is drivingly connected to the radar unit (12) and controlled to be lifted and lowered in the first direction relative to the fixed end (1311).

4. The cleaning robot according to claim 3, wherein the drive assembly (13) further comprises a floating ram (132);

the floating mandril (132) is provided with a first butt end (1321) and a second butt end (1322) which are oppositely arranged along a second direction, the first butt end (1321) is connected with the radar component (12), the second butt end (1322) is connected with the movable end (1312), and the second direction is crossed with the first direction;

the floating mandril (132) is controlled to change the protruding height of the radar component (12) relative to the machine shell (11) when moving under the drive of the movable end (1312).

5. The cleaning robot as recited in claim 4, characterized in that the floating mandril (132) further has a pivot joint (1323) between the first butt end (1321) and the second butt end (1322);

the pivoting part (1323) is connected with the casing (11) and is configured to rotate around a third direction which is perpendicular to the first direction and the second direction together relative to the casing (11);

the first butt end (1321) is movably connected to the radar component (12), and the second butt end (1322) is movably connected to the movable end (1312).

6. The cleaning robot as claimed in claim 5, wherein the driving assembly (13) further includes a rotating shaft bracket (133) and a floating rotating shaft (134), and the pivot portion (1323) is a pivot hole penetrating the floating rod (132) in the third direction;

the rotating shaft bracket (133) is fixedly connected with the machine shell (11), and the floating rotating shaft (134) penetrates through the pivot hole and is connected with the rotating shaft bracket (133);

the floating rotating shaft (134) is fixedly connected with one of the pivoting hole and the rotating shaft support (133) and is connected with the other of the pivoting hole and the rotating shaft support (133) in a switching way.

7. The cleaning robot as claimed in claim 5, wherein the radar unit (12) has a slot, and connecting holes are formed in both opposite slot walls of the slot in the third direction;

the first butt joint end (1321) is provided with a clamping ring part and two convex columns (13211), the clamping ring part comprises two rod parts (13212), one ends of the two rod parts (13212) are connected, the other ends of the two rod parts (13212) have intervals along the third direction, and the two convex columns (13211) are connected to the other ends of the two rod parts (13212) in a one-to-one correspondence mode and extend reversely along the third direction;

the clamping ring part extends into the groove, and the convex column (13211) is arranged in the connecting hole and has a gap with the circumferential hole wall of the connecting hole.

8. The cleaning robot as claimed in claim 5, wherein the second docking end (1322) has a docking hole (13221) penetrating the floating jack (132) in the first direction;

the movable end (1312) is provided with a first limiting part, a middle rod and a second limiting part which are sequentially connected, the middle rod penetrates through the butt joint hole (13221), and the butt joint hole (13221) is positioned between the first limiting part and the second limiting part;

the middle rod is provided with a gap with the wall of the butt joint hole (13221).

9. The cleaning robot according to any of claims 1 to 8, characterized in that the drive (131) is a telescopic solenoid valve.

10. The cleaning robot according to claim 2, wherein one of the housing (11) and the radar unit (12) is provided with a guide hole having an axial direction parallel to the first direction, and the other of the housing (11) and the radar unit (12) is provided with a guide post (14), the guide post (14) extending lengthwise in the first direction, the guide post (14) being inserted into the guide hole.

11. The cleaning robot as recited in any one of claims 1-8, characterized in that the radar assembly (12) includes a base (121), a radar (122) and a radar cover (123), the base (121) and the radar cover (123) are connected and jointly define a mounting cavity, the radar (122) is mounted to the base (121) and located in the mounting cavity;

the base (121) is movably matched with the machine shell (11).

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