CN215650864U

CN215650864U - Cleaning robot

Info

Publication number: CN215650864U
Application number: CN202121301104.8U
Authority: CN
Inventors: 杨士杰
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: 2021-06-09
Filing date: 2021-06-09
Publication date: 2022-01-28
Anticipated expiration: 2031-06-09

Abstract

The utility model provides a cleaning robot. The cleaning robot includes: the chassis device comprises a chassis and a driving wheel which can rotate relative to the chassis; the transmission assembly is connected with the chassis; the cleaning assembly is arranged below the chassis and comprises a cleaning structure, the cleaning structure is connected with the chassis through a transmission assembly, and under the action of external force, the cleaning assembly is arranged in a lifting mode along the vertical direction relative to the chassis, so that the cleaning structure is provided with a first position capable of cleaning the surface to be cleaned and a second position far away from the surface to be cleaned. The cleaning assembly of the cleaning robot can be lifted and lowered in the vertical direction, so that the cleaning robot has obstacle crossing capability.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of intelligent equipment, in particular to a cleaning robot.

Background

The cleaning robot can move on the surface to be cleaned and clean the surface to be cleaned by using the cleaning assembly when being in an operating state, but when the cleaning robot meets an obstacle (such as a doorsill and the like), the cleaning robot is difficult to cross the obstacle, so that the cleaning range of the cleaning robot is reduced, and the practicability of the cleaning robot is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a cleaning robot, a cleaning assembly of which can be lifted and lowered in a vertical direction so as to enable the cleaning robot to have obstacle crossing capability.

In order to achieve the above object, the present invention provides a cleaning robot comprising: the chassis device comprises a chassis and a driving wheel which can rotate relative to the chassis; the transmission assembly is connected with the chassis; the cleaning assembly is arranged below the chassis and comprises a cleaning structure, the cleaning structure is connected with the chassis through a transmission assembly, and under the action of external force, the cleaning assembly is arranged in a lifting mode along the vertical direction relative to the chassis, so that the cleaning structure is provided with a first position capable of cleaning the surface to be cleaned and a second position far away from the surface to be cleaned.

Further, the cleaning assembly includes a support frame for supporting the cleaning structure, and the transmission assembly includes: the first connecting rod is positioned between the cleaning component and the chassis, one end of the first connecting rod is pivotally connected with the chassis, and the other end of the first connecting rod is pivotally connected with the supporting frame; the connecting rod assembly is positioned between the cleaning assembly and the chassis and comprises a second connecting rod, the first end of the second connecting rod is pivotally connected with the chassis, and the second end of the second connecting rod is pivotally connected with the supporting frame; and the pivot point between the first link and the support frame is spaced from the pivot point between the second link and the support frame.

Further, the first connecting rod, the second connecting rod, a connecting line between a pivot point between the first connecting rod and the chassis and a pivot point between the second connecting rod and the chassis, and a connecting line between a pivot point between the first connecting rod and the support frame and a pivot point between the second connecting rod and the support frame form a parallelogram structure.

Further, the cleaning robot further comprises a buffer structure for buffering the lifting action of the cleaning assembly, and the buffer structure is arranged on the chassis and connected with the second connecting rod.

Furthermore, buffer structure includes the telescopic link, and the flexible end and the second connecting rod pivotal connection of telescopic link, the stiff end and the chassis pivotal connection of telescopic link, the pivot point between telescopic link and the second connecting rod is located between the both ends of second connecting rod.

Further, the transmission assembly comprises two connecting rod assemblies, the two connecting rod assemblies are respectively arranged on the left side and the right side of the chassis, and the first connecting rod is arranged on the front side of the chassis.

Further, the cleaning robot further comprises a driving part, one end of the driving part is pivotally connected with the chassis, the other end of the driving part is pivotally connected with the supporting frame of the cleaning assembly, and one end of the driving part is movably arranged relative to the other end of the driving part along the axial direction of the driving part.

Further, the cleaning structure includes: the rotating motor is connected with the supporting frame of the cleaning assembly; and at least one cleaning brush is in driving connection with an output shaft of the rotating motor so that the cleaning brush can be rotatably arranged relative to the support frame, and at least part of the cleaning brush protrudes out of the outer edges of the chassis and the support frame in the left-right direction perpendicular to the advancing direction of the cleaning robot.

Further, the cleaning assembly also comprises a rolling brush which is rotatably arranged relative to the supporting frame of the cleaning assembly; alternatively, the cleaning assembly further comprises a water-absorbing rake.

Furthermore, the cleaning robot also comprises an anti-collision structure arranged on the front side of the chassis, and the anti-collision structure protrudes out of the front surface of the chassis; or, the cleaning robot further includes a roller structure, the roller structure including: a universal wheel; the connecting plate is connected with the supporting frame of the cleaning assembly and/or the water absorption rake arranged on the supporting frame, and the connecting plate is provided with a mounting through hole; one end of the connecting shaft is connected with the universal wheel, and the other end of the connecting shaft is in threaded connection with the mounting through hole, so that the connecting shaft can drive the universal wheel to move in the vertical direction.

By applying the technical scheme of the utility model, the transmission assembly is arranged between the chassis and the cleaning assembly, and the cleaning assembly is arranged in a lifting manner relative to the chassis along the vertical direction, so that when the cleaning robot meets obstacles such as a doorsill and the like, the cleaning assembly can move along the vertical direction, and the cleaning assembly can be lifted, namely, the distance between the cleaning assembly and the ground is increased, so that the cleaning robot can smoothly pass over the obstacles.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

fig. 1 shows a structural schematic view of one direction of a cleaning robot of an embodiment of the present invention;

fig. 2 shows a structural schematic view of another direction of the cleaning robot of fig. 1;

FIG. 3 shows a left side view of the cleaning robot of FIG. 1;

FIG. 4 shows a top view of the cleaning robot of FIG. 1; and

fig. 5 shows an enlarged view of the cleaning robot of fig. 1 at a.

Wherein the figures include the following reference numerals:

10. a chassis device; 11. a chassis; 12. a drive wheel; 20. a transmission assembly; 30. a cleaning assembly; 31. a support frame; 32. a connecting rod assembly; 321. a second link; 322. a telescopic rod; 33. a first link; 34. cleaning the structure; 341. a rotating electric machine; 342. a cleaning brush; 35. water absorption raking; 36. rolling and brushing; 40. a drive section; 50. an anti-collision structure; 60. a roller structure; 61. a universal wheel; 62. a connecting plate; 63. and (7) connecting the shafts.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that, in the embodiment of the present invention, the cleaning robot is used for cleaning the floor, that is, the surface to be cleaned is referred to as the floor.

As shown in fig. 1 and 2, an embodiment of the present invention provides a cleaning robot. The cleaning robot includes a chassis device 10, a driving assembly 20, and a cleaning assembly 30. Wherein the chassis arrangement 10 comprises a chassis 11 and a drive wheel 12 rotatable relative to the chassis 11; the transmission assembly 20 is connected with the chassis 11; at least part of the cleaning assembly 30 is located below the chassis 11, the cleaning assembly 30 comprises a cleaning structure 34, the cleaning structure 34 is connected with the chassis 11 through the transmission assembly 20, and the cleaning assembly 30 is arranged in a lifting manner along the vertical direction relative to the chassis 11 under the action of external force, so that the cleaning structure 34 has a first position capable of cleaning the surface to be cleaned and a second position far away from the surface to be cleaned.

In the above technical solution, the transmission assembly 20 is arranged between the chassis 11 and the cleaning assembly 30, and the cleaning assembly 30 is arranged in a liftable manner along the vertical direction relative to the chassis 11, so that when the cleaning robot encounters an obstacle such as a doorsill, the cleaning assembly 30 can move along the vertical direction, and the cleaning assembly 30 can be lifted to the second position, that is, the distance between the cleaning assembly 30 and the ground is increased, so that the cleaning robot can smoothly pass over the obstacle.

Specifically, in the embodiment of the present invention, when the cleaning robot is in a non-operation state, the cleaning assembly 30 is moved upward in a vertical direction even though the cleaning assembly 30 is located at the second position, so that the cleaning assembly 30 can be made to avoid an obstacle and the cleaning robot can be moved more smoothly; when the cleaning robot is in a working state, the cleaning assembly 30 is moved downwards along the vertical direction, at least part of the cleaning structure 34 can be abutted to the surface to be cleaned, even if the cleaning assembly 30 is located at the first position, so that the cleaning structure can better clean the surface to be cleaned, and the cleaning effect of the cleaning robot is effectively improved. Accordingly, the present invention and its embodiments provide a cleaning robot with obstacle crossing capability. In this way, the cleaning structure 34 can be adjusted to an operating state or a non-operating state for cleaning the floor according to actual needs.

As shown in FIG. 1, in an embodiment of the present invention, the cleaning assembly 30 includes a support bracket 31 for supporting a cleaning structure 34, and the transmission assembly 20 includes a first link 33 and a link assembly 32. Wherein, the first connecting rod 33 is positioned between the cleaning assembly 30 and the chassis 11, one end of the first connecting rod 33 is pivotally connected with the chassis 11, and the other end of the first connecting rod 33 is pivotally connected with the supporting frame 31; the connecting rod assembly 32 is positioned between the cleaning assembly 30 and the chassis 11, the connecting rod assembly 32 comprises a second connecting rod 321, a first end of the second connecting rod 321 is pivotally connected with the chassis 11, and a second end of the second connecting rod 321 is pivotally connected with the supporting frame 31; and the pivot point between the first link 33 and the support bracket 31 is spaced apart from the pivot point between the second link 321 and the support bracket 31.

Through the arrangement, under the action of external force, the first connecting rod 33 and the connecting rod assembly 32 can convert partial rotation of the support frame 31 relative to the chassis 11 into movement of the support frame 31 relative to the chassis 11 along the vertical direction, so that the support frame 31 can drive the cleaning structure 34 to ascend in the vertical direction, and the cleaning robot has the obstacle crossing function.

Preferably, in the embodiment of the present invention, the first link 33 is a Y-shaped link. In this way, a pivot point between the first link 33 and the support frame 31 may be increased, thereby increasing a connection point between the first link 33 and the support frame 31, and thus the support frame 31 may be more stably moved in the vertical direction.

Of course, in an alternative embodiment not shown in the drawings, the first link 33 may also comprise two links, and one end of each link is pivotally connected to the chassis 11, and the other end of each link is pivotally connected to the support frame 31. In this way, the pivot point between the first link 33 and the support frame 31 may also be increased, so that the support frame 31 may be more stably moved in the vertical direction.

As shown in fig. 3, in the embodiment of the present invention, the first link 33, the second link 321, a line connecting the pivot point between the first link 33 and the chassis 11 and the pivot point between the second link 321 and the chassis 11, and a line connecting the pivot point between the first link 33 and the support frame 31 and the pivot point between the second link 321 and the support frame 31 constitute a parallelogram structure.

Through the above arrangement, when the support frame 31 moves along the vertical direction, the parallelogram structure can make the support frame 31 parallel to the chassis 11 all the time, so that the cleaning assembly 30 can lift along the same plane, even if the support frame 31 only moves vertically without rotating, so that the support frame 31 can lift the cleaning structure 34 more stably, thereby avoiding the problems of shaking and unsmooth lifting.

In the embodiment of the present invention, the overall structure of the parallelogram structure is simple and stable, so that the parallelogram structure is easy to maintain and has low production cost.

In the embodiment of the present invention, the cleaning robot has a high working precision by providing the parallelogram structure.

As shown in fig. 1 and 3, in the embodiment of the present invention, the cleaning robot further includes a buffer structure for buffering the lifting motion of the cleaning assembly 30, and the buffer structure is disposed on the chassis and connected to the second link 321.

Among the above-mentioned technical scheme, buffer structure can play the effect of buffering to the rotation of second connecting rod 321 to make second connecting rod 321 can rotate steadily, thereby can make support frame 31 move along vertical direction steadily.

As shown in fig. 1 and 3, in the embodiment of the present invention, the buffer structure includes a telescopic rod 322, a telescopic end of the telescopic rod 322 is pivotally connected to the second connecting rod 321, a fixed end of the telescopic rod 322 is pivotally connected to the chassis 11, and a pivot point between the telescopic rod 322 and the second connecting rod 321 is located between two ends of the second connecting rod 321.

With the above arrangement, when the supporting frame 31 moves downward in the vertical direction, the second link 321 rotates clockwise around the pivot between the second link 321 and the chassis 11, and the telescopic end of the telescopic rod 322 extends in the axial direction of the telescopic rod 322; when the supporting frame 31 moves upward along the vertical direction, the second connecting rod 321 rotates counterclockwise around the pivot shaft between the second connecting rod 321 and the chassis 11, and the telescopic end of the telescopic rod 322 retracts along the axis direction of the telescopic rod, so that the telescopic rod 322 can play a role in buffering, the second connecting rod 321 can rotate smoothly, and the supporting frame 31 can move smoothly along the vertical direction.

Preferably, in the embodiment of the present invention, the telescopic rod 322 is a hydraulic strut.

As shown in fig. 1, in the embodiment of the present invention, the transmission assembly 20 includes two link assemblies 32, the two link assemblies 32 are respectively disposed at the left and right sides of the chassis 11, and the first link 33 is disposed at the front side of the chassis 11.

Through the arrangement, a plurality of connecting positions can be formed between the supporting frame 31 and the chassis 11, so that the supporting frame 31 can be lifted and lowered along the vertical direction more stably.

As shown in fig. 1 and 4, in the embodiment of the present invention, the cleaning robot further includes a driving part 40, one end of the driving part 40 is pivotally connected to the chassis 11, the other end of the driving part 40 is pivotally connected to the supporting frame 31 of the cleaning assembly 30, and one end of the driving part 40 is movably disposed in an axial direction of the driving part 40 with respect to the other end of the driving part 40.

Through the arrangement, the movable end of the driving part 40 can drive the support frame 31 and the cleaning structure arranged on the support frame 31 to lift along the vertical direction, so that the cleaning structure 34 has a first position capable of cleaning the surface to be cleaned and a second position far away from the surface to be cleaned, the cleaning robot has an obstacle crossing function, and the cleaning robot can better clean the surface to be cleaned when being in a working state.

Preferably, in the embodiment of the present invention, the driving part 40 is an electric push rod. Of course, in an alternative embodiment not shown in the drawings, the drive portion 40 may also be an electric cylinder.

As shown in fig. 1, in an embodiment of the present invention, the cleaning structure 34 includes a rotating motor 341 and at least one cleaning brush 342. Wherein, the rotating motor 341 is connected with the supporting frame 31 of the cleaning assembly 30; at least one cleaning brush 342 is drivingly connected to an output shaft of the rotating motor 341 so that the cleaning brush 342 is rotatably disposed with respect to the supporting frame 31, and at least a part of the cleaning brush 342 protrudes from the outer edges of the chassis 11 and the supporting frame 31 in the left-right direction perpendicular to the forward direction of the cleaning robot.

Through the arrangement, the rotating motor 341 can drive the cleaning brush 342 to rotate, so that the cleaning brush 342 can clean the surface to be cleaned; further, in the left-right direction perpendicular to the advancing direction of the cleaning robot, i.e. the left-right direction in fig. 1, at least a part of the cleaning brush 342 protrudes from the outer edges of the chassis 11 and the supporting frame 31, so that the cleaning brush 342 can clean the wall corner surface to be cleaned, so as to sweep out the dust at the corner, thereby improving the cleaning effect of the cleaning robot.

Preferably, in the embodiment of the present invention, the number of the cleaning brushes 342 is two, the number of the rotating electrical machines 341 is two, and the cleaning brushes 342 are provided corresponding to the rotating electrical machines 341. Two cleaning brushes 342 are arranged on the support frame 31 at intervals in the left-right direction.

As shown in FIG. 3, in the embodiment of the present invention, the cleaning assembly 30 further includes a roller brush 36 rotatably disposed with respect to the supporting frame 31.

In the above technical scheme, by arranging the rolling brush 36, dust at the bottom of the cleaning robot can be swept up, thereby improving the cleaning effect of the cleaning robot.

As shown in fig. 1, 2 and 4, in the embodiment of the present invention, the cleaning assembly 30 further includes a suction paddle 35 rotatably disposed relative to the supporting frame 31, the suction paddle 35 is located at the rear side of the chassis 11, and the cleaning structure 34, the rolling brush 36 and the suction paddle 35 are sequentially disposed at intervals from the front side to the rear side.

Through the arrangement, the water absorption scratcher 35 can absorb the liquid on the surface to be cleaned, the cleaning robot can sweep out dust on the corner first, then sweep up the dust through the rolling brush 36, and finally the liquid on the surface to be cleaned is cleaned through the water absorption scratcher 35, so that the cleaning effect of the cleaning robot can be effectively improved.

Specifically, in the embodiment of the present invention, the water absorption scratcher 35 is rotatably disposed around the straight line of the left-right direction with respect to the support frame 31, so that the water absorption scratcher 35 swings in a vertical plane with respect to the support frame 31, and thus the contact area between the water absorption scratcher 35 and the ground can be adjusted.

Of course, in some other embodiments, the suction device 35 is fixedly disposed on the supporting frame 31 and cannot rotate relative to the supporting frame 31.

Preferably, in an embodiment of the present invention, the cleaning robot further includes a housing covering the chassis 11.

As shown in fig. 1, in the embodiment of the present invention, the cleaning robot further includes a collision prevention structure 50 disposed at a front side of the chassis 11, and the collision prevention structure 50 protrudes from a front surface of the chassis 11. Preferably, the cleaning robot further includes a housing covering the outer periphery of the chassis 11, and one side of the collision prevention structure 50 abuts against the housing.

Through the above arrangement, when the housing of the cleaning robot is collided, the collision prevention structure 50 can play a role of supporting the housing, preventing the housing from being deformed due to the collision.

In one embodiment, the crash structure 50 is made of a metal material, which is effective to prevent the deformation of the outer shell, thereby preventing the outer shell from colliding against the chassis 11 due to the deformation.

As shown in fig. 1, 3 and 5, in the embodiment of the present invention, the cleaning robot further includes a roller structure 60, and the roller structure 60 includes a universal wheel 61, a connecting plate 62 and a connecting shaft 63. Wherein, the connecting plate 62 is connected with the supporting frame 31 of the cleaning component 30 and/or the water absorption rake 35 arranged on the supporting frame 31, and the connecting plate 62 is provided with a mounting through hole; one end of the connecting shaft 63 is connected with the universal wheel 61, and the other end of the connecting shaft 63 is in threaded connection with the mounting through hole, so that the connecting shaft 63 can drive the universal wheel 61 to move in the vertical direction.

In the above technical solution, by screwing the connecting shaft 63, the height of the connecting plate 62 relative to the universal wheel 61 can be adjusted, when the cleaning robot is in a working state, the universal wheel 61 contacts with the surface to be cleaned, and when the connecting plate 62 carries the supporting frame 31 to move upward relative to the universal wheel 61 in the vertical direction, the supporting frame 31 can carry the rolling brush 36 or the cleaning brush 342 to move upward, so that the contact area between the rolling brush 36 or the cleaning brush 342 and the surface to be cleaned can be reduced; when the connecting plate 62 carries the supporting frame 31 to move downwards relative to the universal wheel 61 in the vertical direction, the supporting frame 31 can carry the rolling brush 36 or the cleaning brush 342 to move downwards, so that the contact area of the rolling brush 36 or the cleaning brush 342 and the surface to be cleaned can be increased, and the cleaning force of the rolling brush 36 or the cleaning brush 342 relative to the surface to be cleaned can be adjusted according to requirements to achieve better cleaning effect.

Similarly, in the embodiment of the present invention, the connection plate 62 is connected to the suction paddle 35, so that the contact area between the suction paddle 35 and the surface to be cleaned can also be adjusted.

Preferably, in the embodiment of the present invention, the roller structure 60 further includes an elastic member for providing a pre-tightening force, one end of the elastic member abuts against the connecting plate 62, and the other end of the elastic member abuts against a portion of the universal wheel 61, so that the screw connection between the connecting shaft 63 and the connecting plate 62 is prevented from being loosened.

Preferably, in an embodiment of the present invention, the roller structure 60 is a Frequan.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: through set up transmission assembly between chassis and cleaning assembly to cleaning assembly sets up along vertical direction liftable ground for the chassis, like this, when cleaning machines people meets obstacles such as threshold, cleaning assembly can remove along vertical direction, thereby can promote cleaning assembly, increases the distance between cleaning assembly and the ground promptly, makes cleaning machines people can cross the obstacle smoothly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning robot, characterized by comprising:

a chassis arrangement (10), the chassis arrangement (10) comprising a chassis (11) and a drive wheel (12) rotatable relative to the chassis (11);

a transmission assembly (20) connected with the chassis (11);

the cleaning assembly (30) is at least partially positioned below the chassis (11), the cleaning assembly (30) comprises a cleaning structure (34), the cleaning structure (34) is connected with the chassis (11) through the transmission assembly (20), and under the action of external force, the cleaning assembly (30) is arranged in a lifting mode along the vertical direction relative to the chassis (11) so that the cleaning structure (34) has a first position capable of cleaning a surface to be cleaned and a second position far away from the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that the cleaning assembly (30) comprises a support frame (31) for supporting the cleaning structure (34), the transmission assembly (20) comprising:

a first connecting rod (33) positioned between the cleaning assembly (30) and the chassis (11), wherein one end of the first connecting rod (33) is pivotally connected with the chassis (11), and the other end of the first connecting rod (33) is pivotally connected with the supporting frame (31);

a linkage assembly (32) located between the cleaning assembly (30) and the chassis (11), the linkage assembly (32) comprising a second link (321), a first end of the second link (321) being pivotally connected to the chassis (11), a second end of the second link (321) being pivotally connected to the support frame (31); and the pivot point between the first connecting rod (33) and the supporting frame (31) is spaced from the pivot point between the second connecting rod (321) and the supporting frame (31).

3. The cleaning robot according to claim 2, characterized in that the first link (33), the second link (321), a line between the pivot point between the first link (33) and the chassis (11) and the pivot point between the second link (321) and the chassis (11) and a line between the pivot point between the first link (33) and the support frame (31) and the pivot point between the second link (321) and the support frame (31) constitute a parallelogram structure.

4. The cleaning robot according to claim 2, further comprising a buffer structure for buffering the lifting motion of the cleaning assembly (30), the buffer structure being disposed on the chassis (11) and connected to the second link (321).

5. The cleaning robot according to claim 4, characterized in that the bumper structure comprises a telescopic rod (322), the telescopic end of the telescopic rod (322) is pivotally connected with the second link (321), the fixed end of the telescopic rod (322) is pivotally connected with the chassis (11), and the pivot point between the telescopic rod (322) and the second link (321) is located between the two ends of the second link (321).

6. The cleaning robot according to any one of claims 2 to 5, characterized in that the transmission assembly (20) comprises two of the link assemblies (32), the two link assemblies (32) being respectively disposed at left and right sides of the chassis (11), and the first link (33) being disposed at a front side of the chassis (11).

7. The cleaning robot according to any one of claims 1 to 5, further comprising a driving part (40), wherein one end of the driving part (40) is pivotally connected to the chassis (11), the other end of the driving part (40) is pivotally connected to a support frame (31) of the cleaning assembly (30), and one end of the driving part (40) is movably disposed in an axial direction of the driving part (40) with respect to the other end of the driving part (40).

8. The cleaning robot according to any one of claims 1 to 5, characterized in that the cleaning structure (34) comprises:

a rotating motor (341) connected to the support frame (31) of the cleaning assembly (30);

and at least one cleaning brush (342) which is in driving connection with an output shaft of the rotating motor (341) so that the cleaning brush (342) can be rotatably arranged relative to the supporting frame (31), and at least part of the cleaning brush (342) protrudes out of the outer edges of the chassis (11) and the supporting frame (31) in the left-right direction perpendicular to the advancing direction of the cleaning robot.

9. The cleaning robot according to any one of claims 1 to 5, characterized in that the cleaning assembly (30) further comprises a roller brush (36) rotatably arranged with respect to the support frame (31) of the cleaning assembly (30); alternatively, the cleaning assembly (30) further comprises a water scooping element (35).

10. The cleaning robot according to any one of claims 1 to 5,

the cleaning robot further comprises an anti-collision structure (50) arranged on the front side of the chassis (11), and the anti-collision structure (50) protrudes out of the front surface of the chassis (11); alternatively, the first and second electrodes may be,

the cleaning robot further includes a roller structure (60), the roller structure (60) including:

a universal wheel (61);

the connecting plate (62) is connected with the supporting frame (31) of the cleaning assembly (30) and/or the water absorption rake (35) arranged on the supporting frame (31), and a mounting through hole is formed in the connecting plate (62);

the connecting shaft (63), the one end of connecting shaft (63) with universal wheel (61) are connected, the other end of connecting shaft (63) with installation through-hole threaded connection, so that connecting shaft (63) can drive universal wheel (61) remove along vertical direction.