CN215191263U - Cleaning robot - Google Patents

Abstract

The cleaning robot comprises a robot main body, a supporting part and a driving wheel, wherein the robot main body is provided with the driving wheel for walking, and the supporting part is positioned at the rear side of the contact position of the driving wheel and the ground; the cleaning piece is used for mopping the floor and is arranged to be detachably arranged on the machine main body; when the cleaning member is not mounted on the machine body, the bottom of the support part contacts the ground to form a support structure for supporting the machine body and the bottom of the support part is located at the lower side of the bottom of the machine body. The mop of present cleaning robot setting can lead to cleaning robot to appear anterior perk easily and the problem of unable normal walking after dismantling the mop under the structure of drive wheel rear side in this scheme solution.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning machines people, concretely relates to be used for walking subaerial and come clean cleaning machines people of mopping ground.

Background

The existing cleaning robot has the functions of dust collection, cleaning and mopping, is mainly used for mopping the floor, the mop cloth is arranged on the rear side of the cleaning robot, the mopping cleaning effect on the floor is realized through the mop cloth, and part of the cleaning robot is provided with the mop cloth which cannot move.

Meanwhile, a movable mop is arranged on part of the cleaning robot, for example, a horizontally rotating mop is arranged, the horizontally rotating mop can achieve a good mopping cleaning effect, but when a user independently removes the mop, the center of gravity of the cleaning robot can be moved, and the cleaning robot cannot stably walk, so that the mop is arranged on the front side of the existing cleaning robot, namely between the universal wheel and the driving wheel, so that the center of gravity of the cleaning robot can be kept between the universal wheel and the driving wheel even if the user removes the mop, but the overall obstacle crossing capability of the cleaning robot is reduced due to the fact that the mop is arranged on the front side, and the performance of the cleaning robot is reduced on the whole; if place the mop to the rear side of drive wheel, can lead to like this that the user dismantles the cleaning robot behind the mop whole forward perk's problem that can appear, mainly for the heavy front portion light of cleaning robot rear portion leads to, and then leads to the unable normal walking of cleaning robot.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the utility model aims to provide a cleaning robot mainly solves the problem that the mop setting of the existing cleaning robot can lead to the cleaning robot to easily appear the front portion to stick up and the cleaning robot can not normally walk after the mop is detached under the structure of the rear side of the driving wheel.

The embodiment of the utility model provides a cleaning robot, which comprises a robot main body, wherein the robot main body is provided with a driving wheel for walking and a supporting part, and the supporting part is positioned at the rear side of the contact position of the driving wheel and the ground; the cleaning piece is used for mopping the floor and is arranged to be detachably arranged on the machine main body; when the cleaning member is not mounted on the machine body, the bottom of the support part contacts the ground to form a support structure for supporting the machine body and the bottom of the support part is located at the lower side of the bottom of the machine body.

When the cleaning piece is not mounted on the machine body, the center of gravity of the machine body is located between the driving wheel and the supporting part, and the supporting part at least forms a supporting structure for the center of gravity of the machine body; or the front side of the contact position of the driving wheel and the ground is provided with a universal wheel, when the cleaning piece is not arranged on the machine body, the gravity center of the machine body is positioned between the universal wheel and the supporting part, and the supporting part at least forms a supporting structure for the gravity center of the machine body.

In the cleaning robot, when the cleaning member is mounted on the machine body, the bottom of the supporting portion is located above the bottom of the cleaning member, and at least a part of the cleaning member forms a supporting structure for the center of gravity of the machine body.

In the cleaning robot, the cleaning member is provided as a movable structure, and the cleaning member covers at least a part of the bottom of the main body of the robot, and the support portion is located at a position of the bottom area outside the bottom area of the main body of the robot covered by the cleaning member.

In the cleaning robot, the outer edge of the cleaning member covers at least one outer edge of one side of the robot body, and the cleaning member is configured to contact the obstacle when the one side of the robot body is along the outer edge of the obstacle.

In the cleaning robot, the support portion includes at least a movable wheel portion, or at least a steerable and rotatable wheel portion, and the wheel portion contacts the ground to form a support structure.

Aforementioned cleaning robot, cleaning element set up to the structure of ground horizontal rotation that can laminate, and be provided with about distribution structure first to drag the piece soon with the second and drag the piece, and the supporting part is located first to drag the middle part position that drags between the piece soon and the second or is located first to drag the middle part position that drags the rear side of piece soon with the second soon.

In the cleaning robot, the cleaning member is configured to rotate and roll relative to the ground, and at least one roller is provided, and the support portion is located at the rear side or the middle position of the rear side of the roller.

In the cleaning robot, the support portion is configured to be floatable or liftable.

The cleaning robot further comprises a water tank, wherein the water tank is mounted on the machine main body and used for supplying cleaning liquid to the cleaning piece, and the supporting part is mounted on the water tank; or the front side of the cleaning piece is provided with a dust collection port for garbage to pass through and the front side of the dust collection port is provided with at least one side brush.

In the cleaning robot, the main body is provided with an installation position for installing the cleaning element, and when the cleaning element is not installed on the main body, the support part is installed on the installation position to form a support structure for the main body.

In the cleaning robot, the cleaning member is located at a rear position of the machine body, and the axis of the driving wheel is located at a front position of the center of the machine body.

Compared with the prior art, the utility model discloses following beneficial effect has:

the cleaning member of the cleaning robot is arranged at the rear side position of the contact position of the driving wheel and the ground, so that the cleaning robot can walk across the barrier, and the whole walking performance of the cleaning robot is improved.

The cleaning piece of this scheme sets up to the structure of motion, realizes through the motion that the cleaning piece drags the ground effect to the big frictional force on ground, the motion of large tracts of land, can gain better clean effect of dragging the ground, promotes whole performance of dragging the ground.

This scheme sets up the supporting part, realizes the bearing structure to cleaning machines people through the supporting part, and after the cleaning member was dismantled, cleaning machines people's focus took place to remove the back and realizes supporting through the supporting part, ensures that cleaning machines people can carry out stable walking subaerial, can not appear because of the cleaning member dismantles the problem that leads to the unable stable walking of cleaning machines people down the back.

The cleaning robot of this scheme can possess two kinds of clean modes, can carry out the clean function of dust absorption and clean function with mopping when the mop installation is in place, and cleaning robot can carry out the clean function of independent dust absorption when the mop is dismantled, and can not take place to remove and lead to the unable normal walking of cleaning robot because of cleaning robot's focus.

The outer edge of the cleaning member of this scheme covers the outer edge position in one side of machine main part at least, realizes that the cleaning member can carry out the edgewise when dragging ground clean and drag ground clean, can touch to wall limit, inclination, barrier border and drag ground clean, can not have the region that leaks and drag, and the clean covering effect of whole ground of dragging is better.

The axle center of the drive wheel of the cleaning robot of this scheme is located the front side position at cleaning robot's center, is favorable to the mop of drive wheel rear side outer along covering the outer position of following of machine main part, realizes the clean effect of edgewise mopping, solves to leak and drags the problem, when the cleaning member is installed on the throne simultaneously, is favorable to the drive wheel to drive the cleaning member and stabilizes the walking and drags the ground cleanness, is favorable to the reliable and stable walking of cleaning robot.

Drawings

FIG. 1 is a schematic view of the distribution arrangement of the bottom cleaning elements and the overall structure of the cleaning robot;

FIG. 2 is a schematic view of the bottom structure distribution of the cleaning robot;

FIG. 3 is a schematic side cross-sectional view of a cleaning member of the cleaning robot;

FIG. 4 is a side cross-sectional view of the cleaning robot illustrating the cleaning member and the supporting portion supporting the main body of the robot;

FIG. 5 is a schematic view of the support portion supporting the machine body with the cleaning elements removed;

FIG. 6 is a schematic view showing the support portion mounted on the mounting position where the cleaning member is mounted;

FIG. 7 is a bottom schematic view of a cleaning robot with cleaning members including a roller;

reference numerals: 1-cleaning robot, 100-machine body, 101-driving wheel, 102-supporting part, 1021-wheel part, 103-cleaning part, 1031-first rotating and dragging part, 1032-second rotating and dragging part, 1033-rolling and dragging part, 104-universal wheel, 105-water tank, 106-dust suction port, 107-side brush and 108-mounting position.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further described with reference to the following embodiments.

Example (b): the cleaning robot of the utility model, as shown in fig. 1 to 7, the cleaning robot 1 is mainly used for cleaning by dust absorption and mopping by walking on the ground, the cleaning robot 1 can move autonomously by driving the cleaning robot 1 to move by the driving wheel 101; the dust collection and cleaning function is mainly provided with a fan, a dust collection port 106 and a dust box, and the fan sucks garbage on the ground into the dust box for collection; the cleaning member 103 is mainly arranged for mopping the floor for cleaning the floor, and a mop cloth is arranged on the cleaning member 103 and contacts with the floor to realize the cleaning effect.

The cleaning robot 1 comprises a robot main body 100, wherein the robot main body 100 is provided with two driving wheels 101 for walking, the two driving wheels 101 are distributed on the left and right of the robot main body 100, the driving wheels 101 are used for contacting the ground so as to obtain the cleaning robot 1 to walk, the cleaning robot 1 further comprises a supporting part 102, and the supporting part 102 is positioned at the rear side of the contact position of the driving wheels 101 and the ground; that is, the support portion 102 is provided at a rear position of the machine body 100 where the driving wheel 101 contacts the ground in the front-rear direction of the machine body 100, the support portion 102 is located at the rear position of the machine body 100 with respect to the overall shape of the machine body 100, and the support portion 102 is mainly used for supporting the center of gravity of the machine body 100 to ensure stable and reliable traveling of the cleaning robot 1.

The mopping cleaning function of the cleaning robot 1 further comprises a cleaning piece 103 for mopping the floor, and the cleaning piece 103 is detachably arranged on the machine body 100; the cleaning piece 103 is located at the rear part of the machine main body 100, the cleaning piece 103 is detachably connected with the machine main body 100 in a mounting structure, a user can conveniently mount and dismount the cleaning piece 103, the cleaning robot 1 can clean the floor when the cleaning piece 103 is mounted in place, and the cleaning robot 1 can clean dust when the cleaning piece 103 is mounted in place.

When the cleaning piece 103 is not installed on the machine main body 100, the bottom of the supporting portion 102 contacts the ground to form a supporting structure for supporting the machine main body 100, and the bottom of the supporting portion 102 is located at the lower side of the bottom of the machine main body 100, after the cleaning piece 103 is detached, the supporting effect on the rear portion of the machine main body 100 is achieved through the supporting portion 102, the supporting portion 102 replaces the cleaning piece 103 to achieve supporting of the gravity center of the machine main body 100, and the machine main body 100 is prevented from being inclined backwards due to gravity center movement and cannot normally walk.

In the driving wheel 101 portion of the present embodiment, the axis of the driving wheel 101 is located at the front side of the center of the machine main body 100, two driving wheels 101 are provided, the two driving wheels 101 are distributed left and right, the driving wheels 101 contact the ground for traveling, and the axes of the two driving wheels 101 are both located at the front side of the center of the machine main body 100, it can be understood that, in the front and rear direction of the machine main body 100, the axes of the two driving wheels 101 are located at the front side of the center of the machine main body 100, so that the axes of the two driving wheels 101 are located at the front part of the machine main body 100, so that the machine main body 100 as a whole has a structure with a light front part and a heavy rear part, that is, the length dimension of the rear part of the machine main body 100 in the front and rear direction is greater than the length dimension of the front part of the machine main body 100 in the front and rear direction, which is beneficial to reasonably arrange the cleaning member 103 at the bottom of the machine main body 100 when mounting the cleaning member 103, the cleaning piece 103 is integrally of a cylindrical structure and can cover the edge position of any one side of the edges of the two sides of the machine body 100 to clean along the edge, the problem of leakage and dragging does not exist, meanwhile, the cleaning piece 103 cannot interfere with the position of the driving wheel 101, and the cleaning piece 103 is integrally positioned on the rear side of the driving wheel 101 and can cover the edge position of the machine body 100 to clean along the edge.

Optionally, the distance from the axis of the driving wheel 101 to the foremost end of the machine body 100 is H1, the distance from the axis of the driving wheel 101 to the rearmost end of the machine body 100 is H2, H2 is greater than H1, the machine body 100 is integrally in an elliptical cylindrical structure, and the machine body 100 is in a structure that the rear part is heavy and the front part is light when being divided along the axis of the driving wheel 101, so that the cleaning piece 103 is favorably pressed against the ground to form pressure for mopping and cleaning, and meanwhile, the cleaning piece 103 can be favorably covered to the edge positions of the two sides of the machine body 100 to perform edgewise cleaning without interfering with the driving wheel 101 in position, and the problem of missed mopping is solved.

Regarding the gravity center part of the cleaning member 103 when it is not in position in the present embodiment, when the cleaning member 103 is not mounted on the machine body 100, the gravity center of the machine body 100 is located between the driving wheel 101 and the supporting part 102 forms a supporting structure at least for the gravity center of the machine body 100; at this time, the supporting portion 102 supports the center of gravity of the main body 100, so that the cleaning robot 1 can stably walk on the floor to perform a dust suction cleaning function. Meanwhile, the universal wheel 104 can be arranged on the front side of the driving wheel 101, the universal wheel 104 is mainly arranged on the front side of the contact position of the driving wheel 101 and the ground, namely the universal wheel 104 is arranged on the front part of the machine main body 100, when the cleaning piece 103 is not installed on the machine main body 100, the gravity center of the machine main body 100 is positioned between the universal wheel 104 and the supporting part 102, and the supporting part 102 at least forms a supporting structure for the gravity center of the machine main body 100, the supporting part 102 supports the gravity center of the machine main body 100, the machine main body 100 is prevented from inclining backwards under the condition that the cleaning piece 103 does not exist, and the stable walking of the cleaning robot 1 is favorably maintained.

Alternatively, when the universal wheels 104 are provided at the front portion of the machine body 100, at which time the center of gravity of the machine body 100 is located at a position near the middle of the axial centers of the two drive wheels 101 or at a position rearward of the middle of the axial centers of the two drive wheels 101, a support structure of the machine body 100 by the support portion 102 is realized.

When the cleaning member 103 is mounted on the machine body 100, the bottom of the supporting portion 102 is located above the bottom of the cleaning member 103, and at this time, the supporting portion 102 may or may not contact the ground to support the machine body 100, and at least a part of the cleaning member 103 forms a supporting structure for the center of gravity of the machine body 100, it can be understood that at this time, mainly the cleaning member 103 forms a supporting structure for the machine body 100, and the cleaning member 103 is supported to allow the cleaning robot 1 to stably walk on the ground to clean the floor.

Aiming at the cleaning piece 103 of the scheme, the cleaning piece 103 is arranged to be a movable structure, the cleaning piece 103 at least covers a part of the bottom of the machine main body 100, the supporting part 102 is positioned at the bottom area position outside the bottom area of the machine main body 100 covered by the cleaning piece 103, the cleaning piece 103 can be arranged to be a moving structure which is horizontally rotated and attached to the ground, and can also be arranged to be a moving structure which is rotated and rolled relative to the ground, so that the cleaning effect of large area and large friction force on the ground is realized, meanwhile, the supporting part 102 can be arranged at the bottom area position outside the bottom area of the machine main body 100 covered by the cleaning piece 103, the dislocation and non-interference distribution between the supporting part 102 and the cleaning piece 103 is formed, the cleaning piece 103 is convenient for a user to dismount, the supporting part 102 can be always mounted at the position without being dismounted, the user only needs to mount or dismount the cleaning piece 103 alone, after the cleaning piece 103 is dismounted, the support portion 102 realizes a support structure to the rear of the machine body 100.

The structural part for cleaning the edge of the cleaning piece 103 is characterized in that the outer edge of the cleaning piece 103 at least covers the outer edge position of one side of the machine body 100, and when one side of the machine body 100 is along the outer edge of the obstacle, the cleaning piece 103 forms a structure contacting with the obstacle, so that the edge position is cleaned.

Alternatively, the cleaning member 103 may cover the outer edge positions of the left and right sides of the machine body 100, so that the cleaning robot 1 can clean the edge position of the floor or the edge position of an obstacle while walking along the edges of both sides.

The real supporting portion 102 has a specific structure, the supporting portion 102 at least includes a movable wheel portion 1021, or at least includes a wheel portion 1021 capable of rotating in a steering manner, the wheel portion 1021 contacts with the ground to form a supporting structure, the wheel portion 1021 on the supporting portion 102 can be set to a moving structure capable of rolling back and forth, or can be set to a universal moving structure capable of rotating in a circumferential direction, when the supporting portion 100 supports the cleaning robot main body 100, the cleaning robot 1 can be well assisted to walk in a steering manner, and the walking stability of the cleaning robot 1 can be improved.

For the horizontally rotating movement structure of the cleaning member 103, the cleaning member 103 is configured to horizontally rotate along the floor, and is provided with a first rotating and dragging member 1031 and a second rotating and dragging member 1032 which are distributed in a left-right manner, and the support portion 102 is located at a middle position between the first rotating and dragging member 1031 and the second rotating and dragging member 1032 or at a middle position at the rear side of the first rotating and dragging member 1031 and the second rotating and dragging member 1032, the first rotating and dragging member 1031 and the second rotating and dragging member 1032 are configured to have opposite horizontal rotation directions and both rotate horizontally to move towards the middle of the machine body 100, and the support portion 102 is located at the middle position to realize a support effect on the machine body 100.

For the rotary rolling motion structure of the cleaning piece 103, the cleaning piece 103 is arranged to be capable of rotating and rolling relative to the ground, and at least one roller 1033 is arranged, the support part 102 is arranged at the rear side or the middle position of the rear side of the roller 1033, the roller 1033 is arranged between the driving wheel 101 and the support part 102, and the support part 102 realizes effective support effect on the machine main body 100 when the roller 1033 is not arranged in place.

Optionally, the number of the rolling slippers 1033 is set to be more than two, the two rolling slippers 1033 are arranged in parallel in the front and back direction, and the rolling directions of the two rolling slippers 1033 are opposite, so that the mopping effect on the ground is improved, and the influence on the walking of the cleaning robot 1 is small.

Optionally, the supporting portion 102 of the present disclosure is configured to be a floatable structure or a liftable structure, the supporting portion 102 is installed on the machine main body 100, a spring may be disposed between the supporting portion 102 and the machine main body 100, the supporting portion 102 is movably connected to the machine main body 100 through the spring, the floating structure of the supporting portion 102 is realized through the spring, when the supporting portion 102 contacts a raised obstacle on the ground, the supporting portion 102 is forced to move upward by compressing the spring, when the supporting portion 102 contacts the ground, the spring is in a compression structure at this time, so that the supporting portion 102 moves close to the ground, and a stable movement effect of the supporting portion 102 is realized. The motor can be arranged on the machine main body 100 and connected with the gear, the gear is driven to rotate by the motor so as to drive the supporting part 102 to move up and down, and the gear is in toothed connection with the supporting part 102, so that the lifting structure driven by the motor to support can be realized. The floating structure or the lifting structure of the support portion 102 is beneficial to the support portion 102 to cross over the obstacle, and meanwhile, the support effect on the machine body 100 can be realized by stably contacting the ground, thereby being beneficial to improving the walking stability and reliability of the cleaning robot 1 and improving the overall performance.

Optionally, in order to achieve the effect of supplying clean water to the cleaning member 103, the present solution further includes a water tank 105, the water tank 105 is mounted on the machine body 100 for supplying cleaning liquid to the cleaning member 103, a water leakage hole may be formed on the water tank 105 to enable clean water to leak to the cleaning member 103 under the action of gravity and further achieve the effect of supplying water, a water pump may also be provided to supply water to the cleaning member 103, so as to meet the requirement of the cleaning member 103 to be mopped on the ground for cleaning, so that the cleaning member 103 can maintain a wet structure for a long time, wherein the supporting portion 102 is mounted on the water tank 105, the water tank 105 may be detachably mounted on the machine body 100, so that a user can conveniently detach the water tank 105 to add water, the supporting portion 102 may be mounted on the water tank 105, which facilitates maintenance of the supporting portion 102, and at the same time, the water tank 105 may be disposed in the middle of the rear side of the machine body 100, and the supporting portion 102 may be disposed in the middle of the water tank 105, the support part 102 can stably support the machine body 100, the center of gravity of the machine body 100 is kept at the middle position of the cleaning robot 1, and the cleaning robot 1 can stably walk when the cleaning piece 103 is detached through the support part 102.

Aiming at the dust collection function of the cleaning robot 1, a dust collection port 106 for allowing garbage to pass through is arranged on the front side of the cleaning piece 103, at least one side brush 107 is arranged on the front side of the dust collection port 106, the garbage is cleaned in advance to the position near the dust collection port 106 through the side brush 107, then the garbage is sucked into a dust box through the dust collection port 106, finally the cleaning piece 103 is used for mopping and cleaning, and the cleaning effect of first sweeping, middle sucking and then mopping of the cleaning robot 1 is achieved on the whole.

Optionally, in order to facilitate the user to use the mounting support 102, the machine body 100 of the present embodiment is provided with a mounting position 108 for mounting the cleaning member 103, mainly the cleaning member 103 and the machine body 100 are mounted in a butt-joint manner, the cleaning member 103 is butt-jointed and mounted in place through the mounting position 108, which may be a snap-fit mounting or a magnetic butt-joint mounting, when the cleaning member 103 is not mounted on the machine body 100, the support 102 is mounted on the mounting position 108 to form a support structure for the machine body 100, that is, when the cleaning member 103 is dismounted, the support 102 can be directly mounted on the mounting position 108 for mounting the cleaning member 103, which facilitates the user to mount the support 102, specifically, when the cleaning member 103 is mounted in place, the cleaning member 103 can support the center of gravity of the machine body 100, and the cleaning robot 1 can walk on the ground stably and reliably to clean the ground, the cleaning robot 1 of the scheme is integrally of a structure with a light front part and a heavy rear part, when the cleaning piece 103 is detached, the cleaning robot 1 can cause the machine main body 100 to tilt towards the rear part due to the fact that the gravity center of the machine main body 100 is not supported by the cleaning piece 103, and the front part tilts towards the rear part and the rear part of the machine main body 100 lands easily in the walking process, so that the walking path of the cleaning robot 1 cannot stably walk along a certain direction easily, and meanwhile, the walking failure easily occurs, the supporting part 102 is installed on the installation position 108 of the cleaning piece 103 to replace the cleaning piece 103 with the supporting part 102 to realize a gravity center supporting structure of the machine main body 100, and the cleaning robot 1 can walk stably and reliably.

Preferably, when the cleaning member 103 is provided with the first rotating and dragging member 1031 and the second rotating and dragging member 1032, and when the machine body 100 is detached from both the first rotating and dragging member 1031 and the second rotating and dragging member 1032, the first rotating and dragging member 1031 and the second rotating and dragging member 1032 respectively correspond to two mounting positions 108 at different positions on the machine body 100, and at this time, one supporting portion 102 is respectively correspondingly mounted on the two mounting positions 108, that is, two supporting portions 102 are mounted on the machine body 100 to replace the cleaning member 103 to realize the support of the gravity center of the machine body 100, so that the machine body 100 can be kept balanced, and then walk stably and reliably.

The working principle is as follows: the cleaning piece 103 is arranged at the rear side of the driving wheel 101 for mopping and cleaning, the cleaning piece 103 is arranged in a detachable installation structure, the cleaning robot 1 can perform dust absorption and cleaning and mopping and cleaning when the cleaning piece 103 is installed in place, the cleaning robot 1 can independently perform dust absorption and cleaning when the cleaning piece 103 is detached, while the support of the center of gravity of the machine body 100 is achieved by providing the support portion 102, the machine body 100 as a whole assumes a structure that is light in front and heavy in rear, when the cleaning piece 103 is detached, the machine body 100 tilts backwards to cause abnormal walking due to the fact that the cleaning piece 103 does not support the center of gravity of the machine body 100, the scheme realizes the support of the center of gravity of the machine body 100 after the cleaning piece 103 is detached by arranging the supporting part 102, realizes the overall balance of the machine body 100, and keeps the stable and reliable walking of the cleaning robot 1.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims (12)

1. The cleaning robot comprises a robot main body, wherein the robot main body is provided with a driving wheel for walking, and the cleaning robot is characterized by also comprising a supporting part, wherein the supporting part is positioned at the rear side of the contact position of the driving wheel and the ground;

the cleaning piece is used for mopping the floor and is arranged to be detachably arranged on the machine main body;

when the cleaning member is not mounted on the machine body, the bottom of the support part contacts the ground to form a support structure for supporting the machine body and the bottom of the support part is located at the lower side of the bottom of the machine body.

2. A cleaning robot as claimed in claim 1, wherein: when the cleaning piece is not installed on the machine body, the gravity center of the machine body is positioned between the driving wheel and the supporting part, and the supporting part at least forms a supporting structure for the gravity center of the machine body;

or the front side of the contact position of the driving wheel and the ground is provided with a universal wheel, when the cleaning piece is not arranged on the machine body, the gravity center of the machine body is positioned between the universal wheel and the supporting part, and the supporting part at least forms a supporting structure for the gravity center of the machine body.

3. A cleaning robot as claimed in claim 2, wherein: when the cleaning member is mounted on the machine body, the bottom of the support portion is located above the bottom of the cleaning member, and at least a portion of the cleaning member forms a support structure for the center of gravity of the machine body.

4. A cleaning robot according to claim 3, wherein: the cleaning member is provided in a movable structure, and the cleaning member covers at least a part of the bottom of the machine main body, and the support portion is located at a bottom region position outside the bottom region of the machine main body covered by the cleaning member.

5. A cleaning robot according to claim 1 or 4, characterized in that: the outer edge of the cleaning piece at least covers one side outer edge position of the machine body, and when one side of the machine body is along the outer edge of the obstacle, the cleaning piece is enabled to form a structure contacting the obstacle.

6. A cleaning robot as claimed in claim 5, characterized in that: the support portion includes at least a movable wheel portion, or at least a steerable and rotatable wheel portion, that contacts the ground to form a support structure.

7. A cleaning robot as claimed in claim 6, wherein: the cleaning piece is set to be a structure which can be attached to the ground and horizontally rotate, a first rotary pulling piece and a second rotary pulling piece which are of a left-right distribution structure are arranged, and the supporting portion is located at the middle position between the first rotary pulling piece and the second rotary pulling piece or at the middle position of the rear side of the first rotary pulling piece and the second rotary pulling piece.

8. A cleaning robot as claimed in claim 6, wherein: the cleaning piece is arranged to be a structure capable of rotating and rolling relative to the ground, at least one rolling mop is arranged, and the supporting part is positioned at the rear side or the middle position of the rear side of the rolling mop.

9. A cleaning robot as claimed in claim 1, wherein: the supporting part is of a floatable structure or a liftable structure.

10. A cleaning robot as claimed in claim 1, wherein: the cleaning machine also comprises a water tank, wherein the water tank is arranged on the machine main body and used for supplying cleaning liquid to the cleaning piece, and the supporting part is arranged on the water tank; or the front side of the cleaning piece is provided with a dust collection port for garbage to pass through and the front side of the dust collection port is provided with at least one side brush.

11. A cleaning robot as claimed in claim 1, wherein: the machine body is provided with a mounting position for mounting the cleaning piece, and when the cleaning piece is not mounted on the machine body, the supporting part is mounted on the mounting position to form a supporting structure for the machine body.

12. A cleaning robot as claimed in claim 1, wherein: the cleaning member is located at a rear position of the machine body, and the axial center of the driving wheel is located at a front position of the center of the machine body.

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