CN114521833A

CN114521833A - Cleaning robot

Info

Publication number: CN114521833A
Application number: CN202210178778.6A
Authority: CN
Inventors: 郑连荣; 邓坤军; 叶力荣
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-05-24

Abstract

The invention discloses a cleaning robot. The cleaning robot includes: a body; and the adsorption device is arranged on the body, at least part of the structure of the adsorption device is exposed on the surface of the body, and the adsorption device can adsorb or release an object. According to the technical scheme of the embodiment of the invention, the cleaning robot comprises the adsorption device, at least part of structure of the adsorption device is exposed on the surface of the body, and when the cleaning robot is in a working state, the adsorption device can adsorb encountered objects with larger sizes and/or heavier objects, so that the cleaning capacity of the cleaning robot is improved.

Description

Cleaning robot

Technical Field

The invention relates to the field of mobile robots, in particular to a cleaning robot.

Background

A cleaning robot is a kind of robot that can automatically perform an action of moving and cleaning garbage within a certain range.

The cleaning robot generally includes a cleaning assembly, a dust suction port of the cleaning assembly is configured with a rolling brush, the size of the dust suction port is reduced due to the rolling brush, the cleaning robot cannot suck large-sized objects or iron heavy objects with the size larger than that of the dust suction port, and the cleaning capability needs to be improved.

Disclosure of Invention

The invention mainly aims to provide a cleaning robot, aiming at improving the cleaning capability of the cleaning robot.

To achieve the above object, the present invention discloses a cleaning robot comprising: a body; and the adsorption device is arranged on the body, at least part of the structure of the adsorption device is exposed on the surface of the body, and the adsorption device can adsorb or release an object.

In some embodiments of the present invention, the cleaning robot advances in a predetermined direction parallel to the ground in an operating state, and the adsorption device is disposed at a front end of the body in the predetermined direction.

In some embodiments of the invention, the adsorption device comprises: at least one mechanical arm mounted to the body; and an adsorption part provided on each robot arm.

In some embodiments of the present invention, one end of each mechanical arm is rotatably connected to the body through a rotating shaft, the rotating shaft is parallel to the ground when the cleaning robot is in a working state, the adsorption part is disposed at the other end of the mechanical arm, and the adsorption device further includes: and the rotation driver is in transmission connection with each mechanical arm and can drive each mechanical arm to rotate by taking the rotating shaft as a shaft.

In some embodiments of the invention, the cleaning robot further comprises: the storing box is installed in the body, and along predetermineeing the direction, the storing box is located adsorption equipment's rear end side, and the storing box is equipped with the opening along the front end side of predetermineeing the direction, and the arm can move about to making the adsorption part align with the opening.

In some embodiments of the present invention, the suction device has a fastening state in which all suction portions of the suction device are aligned with the opening, and all the robot arms of the suction device can block the opening.

In some embodiments of the present invention, in the fastened state, at least a portion of the structure of each of the suction portions extends into the opening.

In some embodiments of the invention, the shape of the suction device in the snap-fit state matches the outer surface profile of the front end of the body.

In some embodiments of the invention, the cleaning robot further comprises: the negative pressure generating device is arranged on the body, the adsorption device is a negative pressure adsorption device, and the adsorption part is communicated with the negative pressure generating device through a first channel arranged in the mechanical arm.

In some embodiments of the present invention, the adsorption part includes a protrusion and a plurality of adsorption ports, the protrusion is disposed in a protruding manner with respect to the surface of the robot arm, and the plurality of adsorption ports are arranged on the protrusion and are communicated with the first channel built in the robot arm.

In some embodiments of the present invention, one end of each mechanical arm is rotatably connected to the body through a rotating shaft, a second channel is disposed in the rotating shaft, the second channel is communicated with the first channel, the negative pressure generating device has an air inlet duct, the air inlet duct has an air inlet cavity, the air inlet cavity is communicated with the second channel, and the air inlet duct is connected with the rotating shaft to form a rotating pair taking an axis of the rotating shaft as a rotation center.

In some embodiments of the present invention, the suction device comprises at least one of a negative pressure suction device, or an electromagnetic suction device.

In the technical scheme of the embodiment of the invention, the cleaning robot comprises an adsorption device, at least part of structure of the adsorption device is exposed on the surface of the body, and when the cleaning robot is in a working state, the adsorption device can adsorb encountered larger-size objects and/or heavier objects, such as larger-size garbage and/or heavier garbage, so that the cleaning capacity of the cleaning robot is improved.

In some optional embodiments, the cleaning robot advances along a preset direction parallel to the ground in an operating state, the suction device is disposed at a front end of the body along the preset direction, and the cleaning robot is generally provided with a sweeping assembly located at a rear end side of the suction device along the preset direction. When the cleaning machine is in a working state and meets large-size objects and/or heavy objects, the adsorption device positioned at the front end of the body can adsorb and treat the large-size objects and/or the heavy objects in advance, so that the large-size objects and/or the heavy objects are prevented from blocking a dust suction port of the cleaning assembly, and the reliability and the stability of the working state of the cleaning machine are improved.

In some optional embodiments, the one end of each arm is rotated through the pivot and is connected in the body, and adsorption equipment still includes and rotates the driver, rotates the driver and is connected with the transmission of every arm for every arm can the upset motion, and when the absorption portion adsorbs there is the object, arm upset motion can drive the object and carry out the upset motion, thereby is convenient for shift the position with the absorbent object of absorption portion.

In some optional embodiments, the cleaning robot further includes a storage box, an opening is provided at a front end side of the storage box in the preset direction, and the robot arm is movable to align the suction portion with the opening. When the cleaning machine is in an operating state and meets large-size objects and/or heavy objects, the adsorption part adsorbs the large-size objects and/or the heavy objects, then the rotation driver drives the mechanical arm to rotate around the rotating shaft, after the rotation driver rotates to enable the adsorption part to be aligned with the opening, the adsorption part stops adsorbing, the large-size objects and/or the heavy objects are released and stored in the storage box, and the large-size objects and/or the heavy objects are picked up and stored. The cleaning robot then encounters other larger sized objects and/or heavier objects and can repeat the above actions to achieve a greater number of object treatments.

In some alternative embodiments, the suction device has a snap-fit state in which all suction portions of the suction device are aligned with the opening and all robotic arms of the suction device are able to block the opening. Therefore, in the buckling state, all the mechanical arms of the adsorption device can seal the openings, so that objects in the storage box are prevented from falling off, and the outward overflow of peculiar smell in the storage box is reduced.

In some optional embodiments, in the buckling state, at least part of the structure of each adsorption part extends into the opening, so that the object is prevented from falling out of the storage box in the process of releasing the object by the adsorption part, and the reliability of collecting the objects with larger sizes and/or heavier objects is improved.

In some alternative embodiments, the shape of the suction device in the fastened state matches the outer surface profile of the front end of the body, thereby ensuring compatibility in the outer surface design of the cleaning robot.

In some optional embodiments, the cleaning robot further includes a negative pressure generating device, and the suction portion is communicated with the negative pressure generating device through a first channel built in the robot arm. Through setting up the negative pressure generating device with the adsorption part intercommunication for the adsorption part has the negative pressure adsorption efficiency, and this adsorption part can adsorb to the object of multiple material, multiple surface shape and pick up, and the material requirement, the surface shape requirement of being picked up the object are lower, thereby can adapt to more kinds of objects, accomplish the absorption of more kinds of object and pick up, have improved the commonality of adsorption part.

In some optional embodiments, the adsorption part includes a protrusion protruding from a surface of the robot arm, and a plurality of adsorption ports arranged in the protrusion and communicating with the first channel built in the robot arm. The bulge is arranged in a bulge mode relative to the surface of the mechanical arm, so that on one hand, when the adsorption device adsorbs and picks up a large-size object, the bulge protruding outwards is more convenient to contact with the large-size object, and the adsorption and pickup efficiency is improved; on the other hand, when the adsorption device is in a buckling state, the bulge part protruding relative to the surface of the mechanical arm can more conveniently extend into the opening of the storage box, and the reliability of releasing and containing objects with larger sizes is ensured. By arranging the adsorption ports on the convex part, on one hand, the size of each adsorption port is smaller relative to the surface size of the convex part, and is usually in a slit shape or a point shape, such as a strip-shaped hole or a round hole, so that the adsorption ports can generate stronger suction force, and the capacity of the adsorption part is improved; on the other hand, a plurality of absorption mouths are arranged and set up for each region has roughly even suction on the adsorption plane of absorption portion, and the absorption portion of being convenient for deals with the great size object of various shapes, guarantees to carry out good absorption to various shape objects homoenergetic.

Drawings

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

FIG. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic side view of a cleaning robot according to an embodiment of the present invention;

FIG. 3 is a schematic side view of a cleaning robot according to another embodiment of the present invention;

fig. 4 is a schematic front view of a robot arm and an absorption part in an embodiment of the cleaning robot of the present invention.

The reference numbers illustrate:

100-a cleaning robot;

110-a body;

120-an adsorption device; 121-a robotic arm; 122-a suction section; 1221-a boss; 1222-an adsorption port; an SF-spindle;

130-a storage box; 131-an opening;

140-a drive assembly;

150-a cleaning component;

x-the preset direction.

The objects, features, and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Fig. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present invention, fig. 2 is a schematic side view of the cleaning robot according to the embodiment of the present invention, and fig. 3 is a schematic side view of the cleaning robot according to another state. The cleaning robot 100 includes a body 110 and a suction device 120. The suction device 120 is installed on the body 110, at least a part of the structure of the suction device 120 is exposed on the surface of the body 110, and the suction device 120 can suck or release an object.

In the technical solution of the embodiment of the present invention, the cleaning robot 100 includes the adsorption device 120, at least a part of the structure of the adsorption device 120 is exposed on the surface of the body 110, and when the cleaning robot 100 is in the working state, the adsorption device 120 can adsorb encountered large-sized objects and/or heavy objects, thereby improving the cleaning capability of the cleaning robot 100.

The larger-sized objects include larger-sized trash, which means trash having a size not suitable for the cleaning robot to suck in through the dust suction port, such as waste paper towels. Of course, some objects with a size suitable for the suction port of the cleaning robot can be sucked by the suction device 120. In addition, some useful objects to be picked up may also be sucked by the suction device 120, and in this case, the suction device 120 may be used to suck and pick up the fallen useful objects such as snacks, pens, and earphone bins, instead of the waste such as waste paper towels, so the larger-sized objects may also include some useful objects to be picked up.

The heavy objects include heavy garbage, which refers to garbage that is not suitable for being sucked by a dust suction port of the cleaning robot in terms of weight, such as waste iron pieces. Similarly, some objects which are suitable for the cleaning robot in terms of weight and sucked by the suction opening can be sucked by the suction device 120. In addition, the heavy objects may also include useful objects that need to be recycled, and may also be sucked by the suction device 120, in this case, the suction device 120 may be used to suck and pick up useful objects such as dropped nuts and screws, and thus the heavy objects may also include useful objects that need to be recycled.

Optionally, the suction device 120 includes at least one of a negative pressure suction device or an electromagnetic suction device. When the adsorption device 120 includes a negative pressure adsorption device, the cleaning robot can adsorb the encountered large-sized object through the adsorption device 120 in a working state, and the large-sized object is processed. When the adsorption device 120 includes a negative pressure adsorption device, the adsorption device 120 is connected to the negative pressure generating device, and the adsorption device 120 can be controlled to adsorb or release an object by controlling the opening or closing of the negative pressure generating device and the communication or cutoff of a gas passage between the adsorption device 120 and the negative pressure generating device. When the adsorption device 120 includes an electromagnetic adsorption device, the cleaning robot can adsorb heavy objects with iron in the working state through the adsorption device 120, so as to process the heavy objects. When the adsorption device 120 includes an electromagnetic adsorption device, the adsorption device 120 is connected to an electromagnetic controller, and the electromagnetic controller controls the adsorption device 120 to generate magnetism or not, so as to control the adsorption device 120 to adsorb or release an object.

In some embodiments, the cleaning robot 100 further includes a drive assembly 140, a cleaning assembly 150. The driving assembly 140 and the cleaning assembly 150 are mounted to the body 110. The driving assembly 140 serves to drive the body 110 to move so that the cleaning robot 100 can move on the floor. The cleaning assembly 150 has a cleaning function, for example, the cleaning assembly 150 includes a suction opening, and a roll brush may be disposed at the suction opening. Optionally, the cleaning assembly 150 may also include a scrubbing assembly. In some embodiments, the cleaning robot 100 may further include a front impact assembly, a navigation assembly, and the like, which may be mounted to the body 110.

In some embodiments, the cleaning robot 100 advances along a predetermined direction X parallel to the ground in an operating state, and the suction device 120 is disposed at a front end of the body 110 along the predetermined direction X. The sweeping assembly 150 is generally located at a rear end side of the adsorption device 120 in the preset direction X. When the cleaning robot 100 encounters a large-sized object and/or a heavy object in the operating state, the suction device 120 located at the front end of the body 110 can perform suction treatment on the large-sized object and/or the heavy object in advance, so that the large-sized object and/or the heavy object are prevented from blocking the dust suction port of the cleaning assembly 150, and the reliability and stability of the operating state of the cleaning robot 100 are improved.

In some embodiments, the suction device 120 includes at least one robot arm 121 and a suction portion 122. Each robot arm 121 is mounted to the body 110. An adsorption part 122 is provided on each robot arm 121. Alternatively, the suction portion 122 is provided in an end region of the robot arm 121. The number of the robot arms 121 may be one, or may be two, three, or the like. For example, in this embodiment, the suction device 120 includes two robot arms 121.

As shown in fig. 2 and 3, in some embodiments, one end of each robot arm 121 is rotatably coupled to the body 110 by a rotation shaft SF. When the cleaning robot 100 is in an operating state, the rotation axis SF is parallel to the ground, and the suction part 122 is disposed at the other end of the robot arm 121. The suction device 120 may further include a rotation driver, which is not shown in the drawings because the rotation driver is generally covered by the outer shell of the body 110. The rotation driver is connected with the transmission of every arm 121, rotates the driver and can drive every arm 121 and use pivot SF to rotate as the axle for every arm 121 can the upset motion, and when adsorption portion 122 adsorbs there is the object, arm 121 upset motion can drive the object and carry out the upset motion, thereby is convenient for shift the position with the adsorbed object. In one example, the rotation driver is, for example, a rotation motor, and a rotation shaft of the rotation motor can drive a rotation shaft SF to rotate, and the rotation shaft SF drives the mechanical arm 121 to rotate. When the number of the robot arms 121 is plural, the plural robot arms 121 may be driven to rotate by the same rotation motor.

In some embodiments, the cleaning robot 100 further includes a storage box 130. The storage box 130 is mounted to the body 110. Along the preset direction X, the storage box 130 is located at the rear end side of the adsorption device 120. The storage box 130 is provided with an opening 131 at a front end side along the preset direction X. The robot arm 121 can be moved so that the suction portion 122 is aligned with the opening 131. In some embodiments, one end of each of the robot arms 121 is rotatably connected to the body 110 by a rotation shaft SF, and the robot arms 121 can be rotated to align the suction part 122 with the opening 131.

When the cleaning robot 100 encounters a large-sized object and/or a heavy object in an operating state, first, the suction portion 122 of the suction device 120 starts suction operation to suck the large-sized object and/or the heavy object. Then, the rotation driver can drive the mechanical arm 121 to rotate around the rotation shaft SF, so that the mechanical arm 121 can perform a turning motion, and after the rotation until the adsorption part 122 is aligned with the opening 131, the adsorption part 122 stops adsorbing, and releases the larger-sized object and/or the heavier object, so as to store the larger-sized object and/or the heavier object into the storage box 130. Thereafter the cleaning robot 100 encounters other larger sized objects and/or heavier objects and can repeat the above actions to achieve processing of a greater number of objects.

In other embodiments, the robotic arm 121 is not limited to rotating to align the suction portion 122 with the opening 131. For example, the mechanical arm 121 is slidably connected to the body 110, wherein the slidable direction of the mechanical arm 121 can be set according to the actual design requirement. Correspondingly, the suction device 120 may further include a slide driver, which is in transmission connection with each of the robot arms 121 and is capable of driving each of the robot arms 121 to slide. When the cleaning robot 100 encounters a large-sized object and/or a heavy object in an operating state, first, the suction portion 122 of the suction device 120 starts suction operation to suck the large-sized object and/or the heavy object. Thereafter, the sliding actuator can drive the robot arm 121 to slide, so that after the suction portion 122 is aligned with the opening 131, the suction portion 122 stops sucking, and the larger-sized object and/or the heavier object is released and stored in the storage box 130.

The suction device 120 has a snap-fit state, and fig. 1 and 2 are schematic diagrams illustrating the suction device 120 in the snap-fit state. In the engaged state, all the suction portions 122 of the suction device 120 are aligned with the openings 131, and all the robot arms 121 of the suction device 120 can block the openings 131. In the locked state, all the mechanical arms 121 of the adsorption device 120 can seal the opening 131, so that the objects in the storage box 130 are prevented from dropping, and the odor in the storage box 130 is reduced from overflowing outwards.

In some embodiments, in the fastened state, at least a portion of the structure of each absorption portion 122 extends into the opening 131, so as to facilitate storing the object absorbed by the absorption portion 122 in the storage box 130. After the adsorption device 120 picks up the larger-sized object and/or the heavier object, the object is changed into a buckling state, at the moment, the adsorption part 122 extends into the opening 131, the object is prevented from falling out of the storage box 130 in the process that the adsorption part 122 releases the object, and the reliability of collecting the larger-sized object and/or the heavier object is improved.

In some embodiments, the shape of the suction device 120 in the engaged state matches the outer surface profile of the front end of the body 110, thereby ensuring compatibility in the outer surface design of the cleaning robot 100. For example, in the present embodiment, the outer surface of the front end of the main body 110 is substantially arc-shaped, and the shape of the suction device 120 in the engaged state is also substantially arc-shaped, specifically, the shape of all the robot arms 121 in the engaged state is substantially arc-shaped. For example, in some embodiments, the cleaning robot 100 is a circular cleaning robot, the front projection of the cleaning robot 100 in the working state on the ground is substantially circular, the outer edge of the body 110 is circular, the suction device 120 is disposed at the front end of the body 110, and the suction device 120 matches with the outer surface of the body 110 at the periphery to form a substantially circular outer contour.

In other embodiments, the cleaning robot 100 and the body 110 may be other shapes. For example, the outer surface of the front end of the body 110 is substantially flat, and the shape of the suction device 120 in the engaged state is also substantially flat.

In some embodiments, the cleaning robot 100 may also be D-shaped or the like. When the cleaning robot 100 is D-shaped, the front projection of the cleaning robot 100 in the working state on the ground is substantially D-shaped, the outer surface of the front end of the body 110 is substantially straight, and the rear end is substantially arc-shaped. The boundary area between the straight portion and the arc-shaped portion of the body 110 is the front corner of the body 110. In some embodiments, at least one robot arm 121 is disposed at a front edge corner of the D-shaped cleaning robot 100, and the robot arm 121 at the front edge corner is more convenient to suck objects at corners such as corners when the D-shaped cleaning robot 100 passes through the corner regions such as corners to be cleaned.

In some embodiments, the cleaning robot 100 further includes a negative pressure generating device. The negative pressure generating device is mounted on the body 110, and is usually covered by the casing of the body 110, so the negative pressure generating device is not shown in the figure. The negative pressure generating device is, for example, a fan assembly. At this time, the suction device 120 may be a negative pressure suction device, and the suction part 122 communicates with the negative pressure generating device through a first passage T1 built in the robot arm 121. The first passage T1 provided in the robot arm 121 is to provide the robot arm 121 with a hollow structure, and the first passage T1 for gas to flow through can be formed inside the robot arm 121. In some embodiments, the negative pressure generating device is a fan assembly for collecting dust in the cleaning robot 100. Through setting up the negative pressure generating device with the intercommunication of absorption portion 122 for absorption portion 122 has the negative pressure adsorption efficiency, and this absorption portion 122 can adsorb to the object of multiple material, multiple surface shape and pick up, and the material requirement, the surface shape requirement of being picked up the object are lower, thereby can adapt to more kinds of objects, accomplish the absorption of more kinds of object and pick up, have improved the commonality of absorption portion 122.

Fig. 4 is a schematic front view of a robot arm and an absorption part in an embodiment of the cleaning robot of the present invention. In some embodiments, the adsorption part 122 includes a projection 1221 and a plurality of adsorption ports 1222. The projection 1221 is provided in a convex manner with respect to the surface of the robot arm 121. The plurality of adsorption ports 1222 are arranged in the projection 1221, and communicate with a first passage T1 provided in the robot arm 121.

In this embodiment, each of the adsorbing openings 1222 is in the shape of a strip, and a plurality of adsorbing openings are arranged on the protruding portion 1221 in an array manner. In other embodiments, each of the adsorption ports 1222 may be in a dot shape, and the plurality of adsorption ports 1222 are uniformly distributed on the protrusion 1221.

By arranging the protruding part 1221 to protrude relative to the surface of the mechanical arm 121, on one hand, when the adsorbing device 120 adsorbs and picks up a larger-size object, the protruding part 1221 protruding outwards is more convenient to contact with the larger-size object, and the adsorption and pickup efficiency is improved; on the other hand, when the suction device 120 is in the locked state, the protrusion 1221 protruding from the surface of the mechanical arm 121 is more easily inserted into the opening 131 of the storage box 130, thereby ensuring the reliability of releasing and storing large-sized objects.

By arranging the suction ports 1222 on the projections 1221, on one hand, the size of each suction port 1222 is smaller relative to the surface size of the projections 1221, and is usually in a slit shape or a dot shape, such as a stripe-shaped hole or a circular hole, so that a stronger suction force can be generated at the suction ports 1222, and the capacity of the suction portion 122 is improved; on the other hand, the plurality of suction ports 1222 are arranged to provide a substantially uniform suction force in each region on the suction surface of the suction portion 122, so that the suction portion 122 can be used for various shapes of large-sized objects, thereby ensuring good suction of various shapes of objects.

In some embodiments, one end of each of the robot arms 121 is rotatably connected to the body 110 by a rotation shaft SF. The second passage T2 is provided in the spindle SF, and the second passage T2 is communicated with the first passage T1 provided in the robot arm 121. The negative pressure generating device is, for example, a fan assembly, and the negative pressure generating device has an air inlet duct, wherein the air inlet duct has an air inlet cavity, the air inlet cavity is communicated with the second duct T2, and the air inlet duct is connected with the rotating shaft SF to form a revolute pair taking the axis of the rotating shaft SF as a rotation center. When the negative pressure generating device starts to work, each adsorption part 122 is communicated with the air inlet cavity through the first channel T1 and the second channel T2, so that the adsorption part 122 has negative pressure adsorption capacity. Because the second channel T2 is arranged in the rotating shaft SF, and the air inlet duct is connected with the rotating shaft SF to form a revolute pair taking the axis of the rotating shaft SF as the rotation center, the adsorption part 122 can continuously maintain the negative pressure adsorption capacity during the rotation of the mechanical arm 121, and it is ensured that large-sized objects are stably adsorbed on the adsorption part 122 during the rotation of the mechanical arm 121, and it is further ensured that the mechanical arm 121 and the adsorption part 122 can pick up and store the large-sized objects to other positions such as the storage box 130.

In some embodiments, the negative pressure generating device is a fan assembly for collecting dust in the cleaning robot 100, and the dust suction port of the cleaning assembly 150 and the suction port 1222 of the suction device 120 are communicated to the same negative pressure generating device. Alternatively, the negative pressure generating device may be provided with a light opening device on a first air passage communicated to the dust suction port and a second air passage communicated to the suction port 1222, and the light opening device may be configured to enable the cleaning robot 100 to selectively start the dust suction function of the dust suction port and the suction function of the suction port 1222.

The operation of the cleaning robot 100 will be described below by taking the operation of the cleaning robot 100 including the rotatable arm 121 as an example, and the operation of the cleaning robot 100 including the other connecting type of the arm 121 is similar to that and will not be described in detail.

After the cleaning robot 100 is started, the cleaning robot 100 is guided by the navigation assembly and walks on the ground by the driving assembly 140, and the sweeping assembly 150 works normally, for example, the sweeping assembly 150 absorbs and collects dust on the ground.

During the walking of the cleaning robot 100, as shown in fig. 2, the suction device 120 of the cleaning robot 100 may be in a fastening state. The mechanical arm 121 and the adsorption part 122 can seal the opening 131, prevent objects in the storage box 130 from falling off during the walking process of the cleaning robot 100, and also reduce the outward overflow of the odor in the storage box 130.

When the front end of the cleaning robot 100 encounters an object of a larger size, as in fig. 3, the adsorption device 120 of the cleaning robot 100 transitions to a pickup state. Specifically, the rotation driver drives the mechanical arm 121 to rotate around the rotation shaft SF, so as to make the absorption part 122 approach the ground, and at least a part of the structure of the absorption part 122 may be protruded from the outer surface of the mechanical arm 121, for example, in this embodiment, in the picking-up state, the absorption part 122 protrudes toward the front end of the mechanical arm 121, so as to more conveniently absorb the object at the front end of the cleaning robot 100.

After the adsorption device 120 is switched to the pickup state, the negative pressure generating device starts to operate, and the air passage between the negative pressure generating device and the adsorption portion 122 is unblocked, so that the adsorption portion 122 has a negative pressure adsorption function, and the adsorption portion 122 adsorbs and picks up the larger-sized object.

Then, the rotation driver drives the robot arm 121 to rotate around the rotation shaft SF, so that the suction device 120 of the cleaning robot 100 is changed from the pick-up state to the engagement state. During the transition, the negative pressure generating device continuously generates the negative pressure, so that the large-sized object is still adsorbed on the adsorbing portion 122 during the rotation of the robot arm 121.

After the absorption device 120 is changed to the fastening state, the absorption portion 122 extends into the opening 131 of the storage box 130, the negative pressure generation device stops working, or the gas passage between the negative pressure generation device and the absorption portion 122 is cut off temporarily, so that the absorption portion 122 has no absorption capacity temporarily, the larger-sized object falls off from the absorption portion 122 and falls into the storage box 130, and the larger-sized object is picked up and collected.

When the front end of the cleaning robot 100 encounters a large-sized object, the traveling may be suspended, and after the suction portion 122 has sucked the large-sized object, the cleaning robot 100 may resume traveling, or the cleaning robot 100 may resume traveling after collecting the large-sized object in the storage box 130. During the entire process of picking up and collecting the larger objects, the sweeping assembly 150 can be kept in operation.

When the front end of the cleaning robot 100 encounters another object with a larger size again, the above processes of picking up and fastening and releasing are repeated, so that a larger number of objects can be collected, and the cleaning capability of the cleaning robot 100 is improved.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the present specification and drawings, or which are directly/indirectly applicable to other related arts, are within the scope of the present invention.

Claims

1. A cleaning robot, characterized by comprising:

a body; and

the adsorption device is arranged on the body, at least part of structure of the adsorption device is exposed on the surface of the body, and the adsorption device can adsorb or release objects.

2. The cleaning robot of claim 1, wherein the cleaning robot advances in a predetermined direction parallel to a floor surface in an operating state, and the suction device is disposed at a front end of the body in the predetermined direction.

3. The cleaning robot according to claim 2, wherein the adsorption device comprises:

at least one mechanical arm mounted to the body; and

and an adsorption part arranged on each mechanical arm.

4. The cleaning robot as claimed in claim 3, wherein one end of each of the robot arms is rotatably connected to the body by a rotation shaft, the rotation shaft is parallel to a floor surface in an operating state of the cleaning robot, the suction part is provided at the other end of the robot arm,

the adsorption device further comprises:

and the rotation driver is in transmission connection with each mechanical arm and can drive each mechanical arm to rotate by taking the rotating shaft as an axis.

5. The cleaning robot of claim 3, further comprising:

the storage box is arranged on the body and is positioned at the rear end side of the adsorption device along the preset direction, an opening is arranged at the front end side of the storage box along the preset direction,

the robot arm is movable to align the suction portion with the opening.

6. The cleaning robot according to claim 5, wherein the suction device has a locked state in which all of the suction portions of the suction device are aligned with the opening, and all of the robot arms of the suction device can block the opening.

7. The cleaning robot as claimed in claim 6, wherein in the engaged state, at least a part of the structure of each of the suction portions protrudes into the opening.

8. The cleaning robot as claimed in claim 6, wherein the suction device in the fastened state has a shape matching an outer surface contour of a front end of the body.

9. The cleaning robot of claim 3, further comprising:

a negative pressure generating device installed on the body,

the adsorption device is a negative pressure adsorption device, and the adsorption part is communicated with the negative pressure generation device through a first channel arranged in the mechanical arm.

10. The cleaning robot according to claim 9, wherein the suction portion includes a protruding portion provided to protrude with respect to the surface of the robot arm, and a plurality of suction ports arranged in the protruding portion and communicating with the first passage built in the robot arm.

11. The cleaning robot as claimed in claim 10, wherein one end of each of the robot arms is rotatably connected to the body by a shaft, a second channel is provided in the shaft and is communicated with the first channel, the negative pressure generating device has an air inlet duct, the air inlet duct has an air inlet chamber communicated with the second channel, and the air inlet duct is connected to the shaft to form a revolute pair having an axis of the shaft as a rotation center.

12. The cleaning robot of claim 1, wherein the suction device comprises at least one of a negative pressure suction device or an electromagnetic suction device.