CN218606435U - Cleaning robot - Google Patents

Abstract

The utility model relates to a cleaning robot, which comprises a robot body, a control system, a power supply device, a cleaning device, a bionic walking device and a crawling device; the control system is used for controlling the operation of the cleaning robot, and the power supply device is used for supplying power to the cleaning robot; the cleaning device is connected with the machine body and is used for cleaning dirt or dust; the bionic walking device is arranged at the edge of the machine body, the bionic walking device is connected with the machine body, the crawling device is connected with the bionic walking device, and the crawling device is used for supporting the cleaning robot to crawl on the wall surface; the cleaning device, the bionic walking device and the crawling device are respectively electrically connected with the control system; the control system, the cleaning device, the bionic walking device and the crawling device are electrically connected with the power supply device respectively. The utility model discloses a cleaning machines people can adapt to complicated non-structural topography and uncertain environment, improves the reliability and the stability of robot motion, and it moves fastly, washs fastly, and the cleaning performance is good.

Description

Cleaning robot

Technical Field

The utility model relates to a high altitude wall cleaning technique field, in particular to cleaning robot.

Background

With the rapid development of society, high-rise buildings become beautiful sceneries in cities, but the operation difficulty and the cost are high for manually cleaning the high-rise buildings, so that the high-rise buildings once become troubles in the cities. Meanwhile, the robot field is developed vigorously, certain effects are achieved in various industries, and people are put into research on the high-altitude cleaning robot due to urgent needs. The prior art comprises neodymium magnet driving robots, cable car driving robots, crawler robots, two-foot high-altitude cleaning robots, four-foot high-altitude cleaning robots and the like. However, most of the robots have simple structure, moving machinery, low cleaning efficiency and poor cleaning effect, cannot be widely applied to the design of all-round high-rise buildings, and are often difficult to well complete cleaning tasks in complex terrain conditions.

SUMMERY OF THE UTILITY MODEL

Therefore, a cleaning robot needs to be provided for solving the technical problems that most robots in the prior art are simple in structure, mobile machinery, low in cleaning efficiency and poor in cleaning effect, cannot be widely applied to all-round high-rise design, and are often difficult to well complete cleaning tasks in complex terrain conditions.

In order to achieve the above object, the inventor provides a cleaning robot, comprising a robot body, a control system, a power supply device, a cleaning device, a bionic walking device and a crawling device;

the control system and the power supply device are respectively arranged on the machine body, the control system is used for controlling the operation of the cleaning robot, and the power supply device is used for supplying power to the cleaning robot;

the cleaning device is arranged below the machine body, is connected with the machine body and is used for cleaning dirt or dust;

the bionic walking device is arranged at the edge of the machine body, the bionic walking device is connected with the machine body, the crawling device is connected with the bionic walking device, and the crawling device is used for supporting the cleaning robot to crawl on the wall surface;

the cleaning device, the bionic walking device and the crawling device are electrically connected with the control system respectively;

the control system, the cleaning device, the bionic walking device and the crawling device are electrically connected with the power supply device respectively.

As a preferred structure of the present invention, the cleaning device includes a driving mechanism, a rotating plate, a telescoping mechanism, and a cleaning mechanism;

the driving mechanism is arranged on the rotating plate, is in transmission connection with the rotating plate, is electrically connected with the control system, is electrically connected with the power supply mechanism and is used for driving the rotating plate to rotate;

one end of the telescopic mechanism is connected with the rotating plate, the other end of the telescopic mechanism is connected with the cleaning mechanism, and the telescopic mechanism is used for stretching the cleaning mechanism.

As a preferred structure of the utility model, the telescopic mechanism comprises at least one telescopic column; one end of the at least one telescopic column is connected with the bottom end of the rotating plate respectively, and the other end of the at least one telescopic column is connected with the top end of the cleaning mechanism respectively.

As a preferred structure of the utility model, telescopic machanism still includes at least one expanding spring, at least one expanding spring is located corresponding the cover respectively on the at least flexible post.

As the utility model discloses a preferred structure, telescopic machanism includes two flexible posts and two expanding spring, two flexible post one end respectively with the bottom of rotor plate is connected, two the flexible post other end respectively with the top of clean mechanism is connected, two expanding spring corresponds the cover respectively and locates two on the flexible post.

As a preferred structure of the utility model, clean mechanism is including clean carousel and cleaning means, cleaning means set up in the below of clean carousel, just cleaning means with the connection can be dismantled to clean carousel.

As an optimized structure of the utility model, the cleaning turntable is in a round table shape, and the bottom plate of the cleaning turntable is in an inclined arrangement.

As an optimal structure of the present invention, the cleaning member is made of microfiber material, and the cleaning member is made of cleaning cloth.

As a preferred structure of the utility model, power supply unit includes electrical power unit and voltage divider mechanism, voltage divider mechanism with the electrical power unit electricity is connected.

As a preferred structure of the utility model, power mechanism chooses for use the lithium cell.

Different from the prior art, the beneficial effects of the technical scheme are as follows: the cleaning robot of the utility model can be fixed on the vertical wall surface through the mutual matching of the bionic walking mechanism and the crawling mechanism when climbing the wall, and can realize the multi-directional movement on the wall surface through the triangular gait; in the movement process, the cleaning device under the abdomen of the cleaning robot synchronously starts to rotate to clean the wall surface. The utility model discloses a cleaning machines people possesses redundant mechanical structure, and the point of falling foot can be scattered wantonly and distribute at working space, can realize the advance under the different motion gaits, retreat and turn to, can adapt to complicated non-structural topography and uncertain environment, improves the reliability and the stability of robot motion, and it moves fast, and it washs fast, and the cleaning performance is good.

Drawings

FIG. 1 is a top view of a cleaning robot in accordance with an embodiment;

FIG. 2 is a side view of an embodiment of the cleaning robot;

FIG. 3 is a front view of a cleaning robot according to an embodiment;

FIG. 4 is a schematic structural diagram of a bionic walking mechanism according to an embodiment;

FIG. 5 is a schematic view of a bionic walking mechanism according to an embodiment;

FIG. 6 is a second schematic view of the bionic walking mechanism according to the second embodiment;

FIG. 7 is a third schematic view of the bionic walking mechanism according to the third embodiment;

FIG. 8 is a schematic view of a cleaning apparatus according to an embodiment;

FIG. 9 is a top view of a cleaning device according to an embodiment;

FIG. 10 is a front view of a cleaning device according to an embodiment;

FIG. 11 is a side view of a cleaning device according to an embodiment;

FIG. 12 is a schematic diagram illustrating a variation of the triangular gait of the cleaning robot in accordance with an embodiment;

fig. 13 is a schematic view illustrating a change of the point turning of the cleaning robot according to the embodiment.

Description of reference numerals:

1. the machine body is provided with a plurality of machine bodies,

2. the control system is used for controlling the power supply of the motor,

3. the cleaning device is used for cleaning the air conditioner,

31. a driving mechanism for driving the motor to rotate,

32. a rotating plate is arranged on the base plate,

33. a telescopic mechanism is arranged on the frame and is provided with a telescopic mechanism,

331. the telescopic column is provided with a telescopic rod,

332. a telescopic spring is arranged on the upper end of the main body,

34. the cleaning mechanism is used for cleaning the air conditioner,

341. the rotating disc is cleaned, and the rotating disc is cleaned,

342. the cleaning member is provided with a cleaning member,

4. a bionic walking device is arranged on the upper portion of the frame,

41. the supporting legs are arranged on the upper surface of the frame,

411. the joints of the patient are connected with each other,

5. an air pump is arranged on the air outlet of the air pump,

6. a suction disc is arranged on the upper surface of the shell,

7. and a power supply device.

Detailed Description

In order to explain technical contents, structural features, objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in combination with the embodiments.

In the description of the present application, unless explicitly stated or limited otherwise, the terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless otherwise specified or indicated; the terms "connected", "fixed", and the like are to be construed broadly and may, for example, be fixed or removable or integral or electrical; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present application are described with reference to the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element via an intermediate element.

Referring to fig. 1 to 13, the present embodiment relates to a cleaning robot, which is designed based on hexapod insects as a bionic model, leg structure and gait characteristics of movement and a basic principle of bionic design, and can realize forward movement, backward movement and steering under different movement gaits, and has high gait stability and environmental adaptability.

Specifically, in the present embodiment, as shown in fig. 1 to 11, the cleaning robot includes a body 1, a control system 2, a power supply device 7, a cleaning device 3, a bionic walking device 4, and a crawling device; the control system 2 and the power supply device 7 are respectively arranged on the machine body 1, and the cleaning device 3, the bionic walking device 4 and the crawling device are respectively electrically connected with the control system 2; the control system 2 is configured to control the operation of the cleaning robot, and specifically, in this embodiment, the cleaning robot may be remotely controlled by remote control. The control system 2, the cleaning device 3, the bionic walking device 4 and the crawling device are respectively electrically connected with the power supply device 7, and the power supply device 7 is used for supplying power to the cleaning robot. Specifically, in this embodiment, the power supply device 7 includes a power supply mechanism and a voltage dividing mechanism, the voltage dividing mechanism is electrically connected to the power supply mechanism, and the voltage dividing mechanism is mainly used for matching the operating voltage of the steering engine and the air pump 5.

Specifically, in this embodiment, select the STM32 singlechip as control system 2's core controller for use, select STM32F103 for the main control chip, select 6V and 12V's power type battery to supply power respectively for steering wheel and miniature air pump 5. The PWM signal output by the I/O port of the singlechip controls the steering engine, and the I/O is also responsible for outputting a signal to control the on-off of the relay so as to control the electromagnetic valve. Because the I/O signal power of the single chip microcomputer is insufficient, the steering engine cannot be directly driven, and an ULN2003 integrated chip is required to be externally connected with a pull-up resistor, so that the purpose of improving the driving capability is achieved. The singlechip adjusts the movement frequency by adopting the PWM duty ratio and controls the advancing direction and the speed.

Preferably, in this embodiment, the power supply mechanism is a high-power model airplane lithium battery. The model airplane lithium battery is small in size and can be conveniently used as a load mobile power supply of the cleaning robot. The high-power model airplane lithium battery can output dozens of amperes of current, and can meet the power supply requirement of 18 routes of steering engines. It should be noted that the configurations of the control system 2 and the power supply device 7 of the present embodiment are not limited to this, and those skilled in the art can select other suitable control systems 2 and power supply devices 7 according to the teachings of the present embodiment.

Further, in some embodiments, as shown in fig. 1 to 11, the bionic walking device 4 is disposed at the edge of the body 1, the bionic walking device 4 is connected to the body 1, the crawling device is connected to the bionic walking device 4, and the crawling device is used for supporting the cleaning robot to crawl on the wall surface. Specifically, in some implementations, as shown in fig. 1 to 11, the bionic walking device 4 includes a plurality of supporting legs 41, the supporting legs 41 are respectively and uniformly distributed on the edge of the body 1, and the supporting legs 41 are respectively and electrically connected to the control system 2. The crawling device comprises an air pump 5 and a sucker 6, the air pump 5 is arranged on the machine body 1, the sucker 6 is arranged on the soles of the supporting legs 41, and the sucker 6 is connected with the air pump 5.

Further, in some embodiments, the crawling device further includes an electromagnetic valve set, the electromagnetic valve set is disposed on the air pump 5, and the electromagnetic valve set is used for controlling the air suction and air discharge functions of the suction disc 6, so as to reduce the number of the air pumps 5 and reduce the mass and volume of the cleaning robot. It should be noted that the structure of the bionic walking device 4 and the crawling device of the present embodiment is not limited to this, and those skilled in the art can select other suitable bionic walking devices 4 and crawling devices according to the teachings of the present embodiment.

Preferably, in this embodiment, as shown in fig. 1 to 11, the bionic walking device 4 includes six supporting legs 41, the six supporting legs 41 are respectively and uniformly distributed on two sides of the body 1, and the six supporting legs 41 are respectively and electrically connected to the control system 2. Specifically, in this embodiment, each of the support legs 41 includes three joints 411 and three steering engines, the three steering engines are respectively and correspondingly disposed on the three joints 411, and the three steering engines are respectively and correspondingly used for controlling and driving the three joints 411. The three steering engines are respectively and independently controlled, the motion of each joint 411 is relatively independent and flexible, and the suckers 6 on the soles are used for supporting the cleaning robot to crawl on the wall surface. It should be noted that the number of the legs 41 is not limited in the present embodiment.

Specifically, in the present embodiment, as shown in fig. 1 to 11, the six legs 41 are a first leg 41, a second leg 41, a third leg 41, a fourth leg 41, a fifth leg 41 and a sixth leg 41; the first supporting leg 41, the third supporting leg 41, the fourth supporting leg 41 and the sixth supporting leg 41 are respectively and correspondingly arranged on the opposite angle of the machine body 1, the second supporting leg 41 is arranged on one side of the machine body 1, the second supporting leg 41 is positioned in the middle of the first supporting leg 41 and the third supporting leg 41, the fifth supporting leg 41 is arranged on the other side of the machine body 1, and the fifth supporting leg 41 is positioned in the middle of the fourth supporting leg 41 and the sixth supporting leg 41. In this embodiment, each of the support legs 41 has three degrees of freedom, and the six support legs 41 all adopt a parallel mechanism, and have the characteristics of strong bearing capacity, high movement accuracy, and the like. Further, in some embodiments, a bearing assembly is provided on each joint 411, and the resistance of each joint 411 during rotation can be reduced by using the bearing assembly, so as to reduce the power consumption of the cleaning robot.

Specifically, in this embodiment, the control system 2 includes a sensor, and the control system 2 controls the cleaning robot to realize omnidirectional movement or rotation through a certain gait, automatically plans a route according to the environment (adopts infrared ranging to realize route planning), avoids obstacles along the route, stays at a suitable position, and performs a cleaning operation. Compare in four-footed high altitude cleaning machines people and cable car drive machine people, the cleaning machines people of this embodiment obviously more is fit for the manifold house design demand of complexity now, not only simple structure, and flexibility and adaptive capacity have also obtained the promotion.

Specifically, in the present embodiment, the walking gait is the most basic and critical part of the cleaning robot, in order to fully exert the motion advantages of the cleaning robot in various complex environments, a triangular gait and a fixed point turning gait are adopted to control and adjust the position of the foot-landing point of the cleaning robot each time, and the suction cup 6 generates less abrasion in the negative pressure adsorption process under the condition of reducing the relative distance fluctuation of the tail end of the supporting leg 41.

Specifically, the triangular gait is a wave-shaped gait with a land occupation coefficient of 0.5, the three pairs of legs 41 are divided into two groups, one group advances in a triangular support structure during exercise, and the other group alternately advances after the one group supports the body in situ in the triangular support structure. As shown in fig. 12, if the left leg is taken out first, the leg 41 of the mark 1, 3, 5 in fig. 12 (a) releases the air pressure of the sole of the foot first and moves forward, then after the air pressure difference is generated again by the air pump 5 at the new foot landing point to fix the leg 41 of the mark 1, 3, 5 at the foot landing position, the leg 41 of the mark 2, 4, 6 of fig. 12 (b) performs the above-mentioned moving operation immediately thereafter, and the two sets of legs alternately advance, as shown in fig. 12 (c); if the right leg is taken first, the leg 41 of the mark 2, 4, 6 in fig. 12 (d) releases the air pressure on the sole of the foot first and moves forward, then after the leg 41 of the mark 2, 4, 6 is fixed at the foot-falling position by generating the air pressure difference again by the air pump 5 at the new foot-falling point, the leg 41 of the mark 1, 3, 5 in fig. 12 (e) performs the above-mentioned moving operation immediately thereafter, and the two sets of legs alternately move forward, as shown in fig. 12 (f).

Specifically, fixed-point turning is complementary to triangular gait, and when the cleaning robot meets an obstacle or reaches a terminal point and needs to turn, the cleaning robot can move in different directions through the triangular gait; and emergency turning can be directly carried out through the gait of fixed-point turning. The fixed-point turning also requires that the six support legs 41 of the cleaning robot are divided into two groups, and then the six support legs are respectively rotated in situ by a certain angle in a triangular support structure. Since the rotation angle of the first group is smaller than that of the second group, the cleaning robot integrally rotates in situ by a certain angle. As shown in fig. 13, fig. 13 (a) divides the leg portions 41 marked 1, 3, 5 into a first group, the leg portions 41 in fig. 2, 4, 6 are partially a second group, and with fig. 13 (a) as a reference point, the second group of leg portions 41 in fig. 6 (b) are rotated by an angle of Φ/2 first, and then with fig. 13 (c) as a reference point, the first group of leg portions 41 in fig. 13 (d) are rotated by an angle of Φ immediately thereafter. The relative distance between the ends of the supporting legs 41 does not fluctuate greatly during the rotation process, and the rotation angle is quite considerable, so that the device can be used in an acute turning situation.

Specifically, in this embodiment, while the stability of the cleaning robot is ensured, the tail end suction cup 6 of the supporting leg 41 of the robot is controlled to be always parallel to the wall surface by debugging chip codes, and on the basis of keeping the robot to move stably as much as possible, the abrasion to the suction cup 6 and the energy loss in the suction process of the suction cup 6 are reduced. The cleaning robot adopts a negative pressure adsorption method to realize the stay on the wall surface, when the cleaning robot stops walking, the air pump 5 enables the sucker 6 on the sole of the foot to generate negative pressure to a certain degree, and under the pressure action generated by the pressure difference between the inside and the outside of the sucker 6, the static friction force can firmly adsorb the supporting leg 41 of the robot on the wall; when the robot needs to lift the legs, the vent is opened, the air pressure in the sucker 6 is restored to the atmospheric pressure, the leg 41 does not need to overcome the adsorption force to realize the motion of lifting the legs, and the extension of the leg 41 can be freely controlled under the control of the control system 2.

Specifically, in the present embodiment, when the cleaning robot moves in a triangular gait, since the suction cups 6 of the supporting legs 41 are compressed and deformed by the material directly contacting with the wall in the process of generating negative pressure, part of the kinetic energy generated by the supporting legs 41 is converted into elastic potential energy caused by compression, which causes energy loss. To this problem, in this embodiment, the sucking disc 6 chooses flexible rubber material to make for use, has reduced the robot motion in-process to the loss of energy, also prevents to cause wearing and tearing destruction on some wall that the material is fragile relatively.

Further, in some embodiments, as shown in fig. 1 to 11, the cleaning device 3 is disposed below the body 1, the cleaning device 3 is connected to the body 1, and the cleaning device 3 is used for cleaning dirt, dust, and the like on the ground, on a wall of a high-rise building, and the like. Specifically, the cleaning device 3 includes a driving mechanism 31, a rotating plate 32, a telescopic mechanism 33, and a cleaning mechanism 34; the driving mechanism 31 is disposed on the rotating plate 32, preferably, in this embodiment, the driving mechanism 31 is a dc motor; the driving mechanism 31 is in transmission connection with the rotating plate 32, the driving mechanism 31 is electrically connected with the control system 2, the driving mechanism 31 is electrically connected with the power supply mechanism, and the driving mechanism 31 is used for driving the rotating plate 32 to rotate; one end of the telescopic mechanism 33 is connected with the rotating plate 32, the other end of the telescopic mechanism 33 is connected with the cleaning mechanism 34, and the telescopic mechanism 33 is used for telescoping the cleaning mechanism 34. The driving mechanism 31 drives the rotating plate 32 to rotate, and the rotating plate 32 rotates to drive the cleaning mechanism 34 to rotate for cleaning. The cleaning mechanism 34 is driven by the direct current motor to rotate and clean the wall surface to be cleaned, so that the original cleaning area is effectively enlarged, and the cleaning effect is enhanced. It should be noted that the structure of the cleaning mechanism 34 of the present embodiment is not limited to this, and those skilled in the art can select other suitable cleaning mechanisms 34 according to the teachings of the present embodiment.

During the cleaning operation, the wall surfaces are not completely on the same plane, the cleaning mechanism 34 is extended and retracted through the extension and retraction mechanism 33, so that the cleaning mechanism 34 is tightly attached to the wall surfaces, and a good cleaning effect can be achieved even on a plane which is not completely straight.

Specifically, in the present embodiment, as shown in fig. 1 to 11, the telescopic mechanism 33 includes at least one telescopic column 331; one end of the at least one telescopic column 331 is connected to the bottom end of the rotating plate 32, and the other end of the at least one telescopic column 331 is connected to the top end of the cleaning mechanism 34. Further, the telescopic mechanism 33 further includes at least one telescopic spring 332, and the at least one telescopic spring 332 is respectively and correspondingly sleeved on the at least one telescopic column 331. Preferably, in this embodiment, as shown in fig. 1 to 11, the telescopic mechanism 33 includes two telescopic columns 331 and two telescopic springs 332, one end of each of the two telescopic columns 331 is connected to the bottom end of the rotating plate 32, the other end of each of the two telescopic columns 331 is connected to the top end of the cleaning mechanism 34, and the two telescopic springs 332 are respectively sleeved on the two telescopic columns 331. The telescopic spring 332 is sleeved on the telescopic column 331, so that the highest height and the lowest contact distance of the cleaning mechanism 34 are limited, and the telescopic spring 332 is prevented from being directly damaged under the condition of uneven stress. In this embodiment, the number of the telescopic columns 331 and the telescopic springs 332 is not limited, and in other embodiments, one telescopic column 331 and one telescopic spring 332 may be provided, or two or more telescopic columns and two or more telescopic springs 332 may be provided.

Specifically, in the present embodiment, as shown in fig. 1 to 11, the cleaning mechanism 34 includes a cleaning turntable 341 and a cleaning member 342, the cleaning member 342 is disposed below the cleaning turntable 341, and the cleaning member 342 is detachably connected to the cleaning turntable 341. Preferably, in this embodiment, as shown in fig. 1 to 11, the cleaning turntable 341 is a circular truncated cone, a bottom plate of the cleaning turntable 341 is disposed in an inclined manner, and the bottom plate of the cleaning turntable 341 is disposed at a certain inclined angle to prevent the cleaning turntable 341 from being stuck by some unknown terrain. Preferably, in this embodiment, the cleaning member 342 is made of microfiber material, and the microfiber material has the best cleaning effect on oil and dust, so as to increase the cleaning effect. It should be noted that the structure of the cleaning mechanism 34 of the present embodiment is not limited to this, and those skilled in the art can select other suitable cleaning mechanisms 34 according to the teachings of the present embodiment.

Specifically, in this embodiment, cleaning machines people can directly clean the wall of ground or high-rise, need not to carry water storage device again and carries out the high altitude climbing, and the trouble that the water pressure of the weight of the cleaning machines people organism and water jet equipment itself brought the cleaning task that has significantly reduced, security, reliability and the stability of cleaning device 3 itself have also obtained the guarantee. Meanwhile, the cost of the clean cloth material is low, and the cleaning and replacing operations are simple.

Specifically, in the cleaning robot of the embodiment, when the cleaning robot climbs a wall, the air pump 5 sucks air to enable the sucker 6 to generate negative pressure, so that the cleaning robot can be fixed on a vertical wall surface, and the robot can realize multidirectional movement on the wall surface through a triangular gait; in the moving process, the cleaning device 3 under the abdomen of the cleaning robot synchronously starts to rotate to clean the wall surface, the cleaning mechanism 34 is tightly attached to the wall surface through the telescopic mechanism 33, the cleaning effect is improved, and when a threshold lower than the height of the cleaning device 3 is met, the cleaning device 3 can automatically cross over, the cleaning device 3 is driven by an independent direct current motor, and the control system 2 can control the rotating speed of the direct current motor; the cleaning robot cleans in the motion process, and the air pump 5 deflates synchronously when the robot lifts feet, so that the air pressure in the sucker 6 approaches to the atmospheric pressure and leaves the wall surface. When the user falls to the foot, the air pump 5 pumps air to enable the suction disc 6 to generate negative pressure to suck the wall surface tightly, and the operation is repeated.

The cleaning robot can freely move on the floor through the air pump 5 and the sucker 6 and can flexibly move at high altitude, when the cleaning robot falls to a new position, the direct current motor is matched with the cleaning mechanism 34 to perform cleaning operation, and a good cleaning effect can be stably realized on the wall surface which is not completely equidistant. All devices of the cleaning robot are packaged in a modularized mode, so that mutual interference among all units is prevented, and the difficulty in upgrading and transformation is greatly reduced. The cleaning robot of the embodiment has a redundant mechanical structure, the foot falling points can be randomly and discretely distributed in the working space, the forward, backward and steering under different movement gaits can be realized, the robot can adapt to complex non-structural terrains and uncertain environments, the movement reliability and stability of the robot are improved, and the robot is high in moving speed, high in cleaning speed and good in cleaning effect.

It should be noted that, although the above embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concept of the present invention, the changes and modifications of the embodiments described herein, or the equivalent structure or equivalent process changes made by the contents of the specification and the drawings of the present invention, directly or indirectly apply the above technical solutions to other related technical fields, all included in the protection scope of the present invention.

Claims (10)

1. A cleaning robot, characterized by: comprises a machine body, a control system, a power supply device, a cleaning device, a bionic walking device and a crawling device;

the control system and the power supply device are respectively arranged on the machine body, the control system is used for controlling the operation of the cleaning robot, and the power supply device is used for supplying power to the cleaning robot;

the cleaning device is arranged below the machine body, is connected with the machine body and is used for cleaning dirt or dust;

the bionic walking device is arranged at the edge of the machine body, the bionic walking device is connected with the machine body, the crawling device is connected with the bionic walking device, and the crawling device is used for supporting the cleaning robot to crawl on the wall surface;

the cleaning device, the bionic walking device and the crawling device are electrically connected with the control system respectively;

the control system, the cleaning device, the bionic walking device and the crawling device are electrically connected with the power supply device respectively.

2. The cleaning robot according to claim 1, wherein: the cleaning device comprises a driving mechanism, a rotating plate, a telescopic mechanism and a cleaning mechanism;

the driving mechanism is arranged on the rotating plate, is in transmission connection with the rotating plate, is electrically connected with the control system, is electrically connected with the power supply device and is used for driving the rotating plate to rotate;

one end of the telescopic mechanism is connected with the rotating plate, the other end of the telescopic mechanism is connected with the cleaning mechanism, and the telescopic mechanism is used for stretching the cleaning mechanism.

3. The cleaning robot of claim 2, wherein: the telescopic mechanism comprises at least one telescopic column; one end of the at least one telescopic column is connected with the bottom end of the rotating plate respectively, and the other end of the at least one telescopic column is connected with the top end of the cleaning mechanism respectively.

4. The cleaning robot according to claim 3, wherein: the telescopic mechanism further comprises at least one telescopic spring, and the at least one telescopic spring is correspondingly sleeved on the at least one telescopic column respectively.

5. The cleaning robot of claim 4, wherein: the telescopic mechanism comprises two telescopic columns and two telescopic springs, one ends of the two telescopic columns are respectively connected with the bottom end of the rotating plate, the other ends of the two telescopic columns are respectively connected with the top end of the cleaning mechanism, and the two telescopic springs are respectively sleeved on the two telescopic columns correspondingly.

6. The cleaning robot according to claim 2, wherein: the cleaning mechanism comprises a cleaning turntable and a cleaning part, the cleaning part is arranged below the cleaning turntable, and the cleaning part is detachably connected with the cleaning turntable.

7. The cleaning robot of claim 6, wherein: the cleaning turntable is in a round table shape, and a bottom plate of the cleaning turntable is obliquely arranged.

8. The cleaning robot of claim 6, wherein: the cleaning component is made of microfiber materials.

9. The cleaning robot according to claim 1, wherein: the power supply device comprises a power supply mechanism and a voltage dividing mechanism, and the voltage dividing mechanism is electrically connected with the power supply mechanism.

10. The cleaning robot of claim 9, wherein: the power supply mechanism adopts a lithium battery.

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