阅读说明：本技术 清洁机器人 (Cleaning robot ) 是由 不公告发明人 于 2020-05-21 设计创作，主要内容包括：本发明公开了清洁机器人,属于机器人技术领域。该清洁机器人包括底盘以及组装在所述底盘上的清洁系统、电源组件和外壳组件,所述清洁系统包括清洁组件以及与所述清洁组件连通的杂物容纳舱,所述杂物容纳舱设有开口,所述外壳组件对应所述开口的位置组装有密封门组件,所述外壳组件的顶部组装有顶部控制组件,所述清洁系统和所述电源组件均位于所述顶部控制组件、所述外壳组件和所述底盘围成的内部空间内。本发明中的清洁机器人拆分为各个模块,在生产组装上便于管理和模块化组装,且便于用户的日常维护。(The invention discloses a cleaning robot, and belongs to the technical field of robots. The cleaning robot comprises a chassis, a cleaning system, a power supply assembly and a shell assembly, wherein the cleaning system, the power supply assembly and the shell assembly are assembled on the chassis, the cleaning system comprises a cleaning assembly and a sundries containing cabin communicated with the cleaning assembly, an opening is formed in the sundries containing cabin, a sealing door assembly is assembled on the shell assembly corresponding to the position of the opening, a top control assembly is assembled on the top of the shell assembly, and the cleaning system and the power supply assembly are all located in an inner space surrounded by the top control assembly, the shell assembly and the chassis. The cleaning robot is divided into the modules, so that the cleaning robot is convenient to manage, modularly assemble and daily maintain for users in production and assembly.)

1. A cleaning robot, characterized in that: including chassis (1) and equipment cleaning system (2), power supply module (3) and shell subassembly (4) on chassis (1), cleaning system (2) including cleaning subassembly (21) and with debris holding compartment (22) of cleaning subassembly (21) intercommunication, debris holding compartment (22) are equipped with opening (221), shell subassembly (4) correspond sealed door subassembly (5) have been assembled to the position of opening (221), top control assembly (6) have been assembled at the top of shell subassembly (4), cleaning system (2) with power supply module (3) all are located top control assembly (6), shell subassembly (4) with in the inner space that chassis (1) enclose.

2. The cleaning robot according to claim 1, wherein: the anti-collision device is characterized by further comprising a shell anti-collision system (8) assembled at the lower front end of the shell assembly (4), wherein the shell anti-collision system (8) comprises two connecting parts (81) respectively installed at two sides of the shell assembly (4) and an impact sensing part (82) rotatably connected between the two connecting parts (81).

3. The cleaning robot according to claim 2, wherein: the chassis (1) is provided with a front impact detector (83) and an intermediate piece (84), the intermediate piece (84) is rotatably connected to the chassis (1), one end of the intermediate piece (84) is linked with the impact sensing part (82), and the front impact detector (83) detects the other end of the intermediate piece (84).

4. The cleaning robot according to claim 3, wherein: two side impact detectors (87) are mounted on the chassis (1), side impact sensing pieces (88) are mounted on the two connecting parts (81), and the two side impact detectors (87) respectively detect the two side impact sensing pieces (88) correspondingly;

and/or a front buffer torsion spring (85) is arranged between the impact sensing part (82) and the connecting part (81);

and/or a middle reset torsion spring (86) is arranged between the middle piece (84) and the chassis (1);

and/or a side buffering torsion spring (89) is arranged between the connecting part (81) and the shell component (4).

5. The cleaning robot according to claim 1, wherein: the hand-push handrail assembly (7) is assembled on the chassis (1), the hand-push handrail assembly (7) comprises a handrail rod (71), two unlocking pieces (72) and two connecting pieces (73) which are respectively arranged on two sides of the chassis (1), the grab bar (71) comprises two connecting ends (711) which are respectively positioned at two ends, the two connecting ends (711) are respectively and rotatably connected with the two connecting pieces (73), the two unlocking pieces (72) respectively correspond to the two connecting ends (711) and the two connecting pieces (73), the unlocking pieces (72) penetrate through the corresponding connecting ends (711) and then are inserted into the corresponding connecting pieces (73), the unlocking pieces (72) can move relative to the corresponding connecting pieces (73), the two unlocking pieces (72) are respectively provided with a limiting block (7221), and the two connecting ends (711) are respectively provided with a limiting groove (7111);

work as behind handrail pole (71) upwards rotation is opened, stopper (7221) with spacing groove (7111) align, unlocking piece (72) remove and make stopper (7221) insert spacing groove (7111), it is right to realize the spacing of handrail pole (71) is locked.

6. The cleaning robot according to claim 5, wherein: the unlocking device is characterized by further comprising two unlocking pieces (72) and reset springs (74) of the two unlocking pieces, wherein the two unlocking pieces (72) are respectively provided with a clamping block (7222), the two connecting ends (711) are respectively provided with a clamping sheet (7112), and the two unlocking pieces (72) are respectively provided with a notch (7223) beside the clamping block (7222);

when the grab bar (71) needs to be retracted from an open state, the unlocking piece (72) is pressed, the unlocking piece (72) is close to the connecting piece (73) to move, the locking piece return spring (74) generates elastic deformation, the limiting block (7221) is separated from the limiting groove (7111) to realize unlocking, the clamping block (7222) is close to the connecting piece (73) to move, the clamping block (7222) is crossed by the card (7112), the clamping block (7222) moves from the outer side of the card (7112) to the inner side of the card (7112), the clamping block (7222) and the card (7112) are mutually limited, so that the unlocking piece (72) cannot be far away from the connecting piece (73) to move, after the grab bar (71) is rotated downwards, the clamping block (7222) is staggered with the card (7112), and the locking piece return spring (74) drives the unlocking piece (72) to move away from the connecting piece (73), the card (7112) passes through the notch (7223) from the outside of the cartridge (7222) to the inside of the cartridge (7222).

7. The cleaning robot according to claim 5, wherein: the top control assembly (6) is provided with a groove (61), and the grab bar (71) is located in the groove (61) when in a reset state.

8. The cleaning robot according to claim 7, wherein: be equipped with on grab rail (71) and collude groove (712), be equipped with trip (611) in recess (61), trip (611) insert restrict behind colluding groove (712) the rotation of grab rail (71).

9. The cleaning robot according to claim 1, wherein: the chassis suspension system is assembled below the chassis (1), a driving wheel (100) is installed below the chassis (1), the chassis suspension system comprises a connecting block (91) installed on the driving wheel (100) and a detection device used for detecting the connecting block (91), and a buffer spring (93) is arranged between the connecting block (91) and the chassis (1).

10. The cleaning robot according to claim 1, wherein: sealed door subassembly (5) is including door body (51), be equipped with locking piece (53) on door body (51) and with unlocking piece (54) (53) of locking piece (53) linkage, locking piece (53) with be equipped with locking piece reset spring (55) between door body (51), locking piece (53) are including spring bolt (531), lockhole (42) have been seted up to shell subassembly (4) corresponding position, spring bolt (531) are located realize locking when lockhole (42) are interior, the medial surface of spring bolt (531) is equipped with and is used for supplementarily so that spring bolt (531) to supplementary inclined plane (5311) of removal in door body (51).

Technical Field

The present invention relates to the field of robotics, more specifically it relates to cleaning robots.

Background

In recent years, with the development of social economy and the improvement of the domestic living standard, the cleaning of various places such as homes gradually enters an intelligent and mechanized era, and the cleaning robot which is produced by transportation can free people from the cleaning work of various places such as homes, effectively reduce the workload of people in the cleaning of various places such as homes, and relieve the fatigue degree of people in the cleaning process of various places such as homes. However, the current cleaning robot is inconvenient to manage and assemble in production and assembly, and inconvenient for a user to perform routine maintenance.

Disclosure of Invention

The invention aims to provide a cleaning robot, which solves the technical problems that the existing cleaning robot is inconvenient to manage and assemble in production and assembly and inconvenient for the daily maintenance of a user.

The technical purpose of the invention is realized by the following technical scheme: a cleaning robot comprises a chassis, a cleaning system, a power supply assembly and a shell assembly, wherein the cleaning system, the power supply assembly and the shell assembly are assembled on the chassis, the cleaning system comprises a cleaning assembly and a sundries containing cabin communicated with the cleaning assembly, an opening is formed in the sundries containing cabin, a sealing door assembly is assembled on the shell assembly in a position corresponding to the opening, a top control assembly is assembled on the top of the shell assembly, and the cleaning system and the power supply assembly are located in an inner space surrounded by the top control assembly, the shell assembly and the chassis.

As a further optimization, the shell anti-collision system is assembled at the lower front end of the shell assembly and comprises two connecting parts respectively installed at two sides of the shell assembly and an impact sensing part rotatably connected between the two connecting parts.

Preferably, the chassis is provided with a front impact detector and an intermediate piece, the intermediate piece is rotatably connected to the chassis, one end of the intermediate piece is linked with the impact sensing part, and the front impact detector detects the other end of the intermediate piece.

As a further optimization, two side impact detectors are mounted on the chassis, side impact induction sheets are mounted on the two connecting parts, and the two side impact detectors respectively and correspondingly detect the two side impact induction sheets;

and/or a front buffer torsion spring is arranged between the impact sensing part and the connecting part;

and/or a middle reset torsion spring is arranged between the middle piece and the chassis;

and/or a side buffering torsion spring is arranged between the connecting part and the shell component.

As a further optimization, the portable armrest comprises a hand-push armrest assembly assembled on the chassis, the hand-push armrest assembly comprises an armrest rod, two unlocking pieces and two connecting pieces respectively installed on two sides of the chassis, the armrest rod comprises two connecting ends respectively located at two ends, the two connecting ends are respectively rotatably connected with the two connecting pieces, the two unlocking pieces respectively correspond to the two connecting ends and the two connecting pieces, the unlocking pieces penetrate through the corresponding connecting ends and then are inserted into the corresponding connecting pieces, the unlocking pieces can move relative to the corresponding connecting pieces, the two unlocking pieces are respectively provided with a limiting block, and the two connecting ends are respectively provided with a limiting groove;

when the grab rail upwards rotates and opens the back, the stopper with the spacing groove aligns, the piece that unlocks removes and makes the stopper insert the spacing groove realizes right the spacing of grab rail is locked.

As further optimization, the unlocking device further comprises two unlocking pieces and two locking piece reset springs, wherein the two unlocking pieces are respectively arranged corresponding to the two unlocking pieces, clamping blocks are respectively arranged on the two unlocking pieces, clamping pieces are respectively arranged on the two connecting ends, and gaps are respectively arranged beside the clamping blocks of the two unlocking pieces;

when needs will when the bar is packed up from the open mode, press the unlocking piece, the unlocking piece is close to the connecting piece removes, latch fitting reset spring produces elastic deformation, the stopper breaks away from the spacing groove realizes the unblock, the fixture block is close to the connecting piece removes, the card is crossed the fixture block, the fixture block is from being located the outside of card removes to being located the inboard of card, the fixture block with the card is spacing each other to be made the unlocking piece can't be kept away from the connecting piece removes, works as the downwardly rotating behind the bar, the fixture block with the card staggers, latch fitting reset spring drive the unlocking piece is kept away from the connecting piece removes, the card via the breach is from being located the outside of fixture block is to being located the inboard of fixture block.

As a further optimization, the top control assembly is provided with a groove, and the grab bar is located in the groove when in the homing state.

As a further optimization, the grab rail is provided with a hook groove, the groove is internally provided with a hook, and the hook is inserted into the hook groove to limit the rotation of the grab rail.

As a further optimization, a chassis suspension system is assembled below the chassis, a driving wheel is installed below the chassis, the chassis suspension system comprises a connecting block installed on the driving wheel and a detection device used for detecting the connecting block, and a buffer spring is arranged between the connecting block and the chassis.

As a further optimization, the sealing door subassembly includes the door body, be equipped with the unblock piece of locking piece and with the locking piece linkage on the door body, the locking piece with be equipped with locking piece reset spring between the door body, the locking piece includes the spring bolt, the lockhole has been seted up to shell subassembly corresponding position, the spring bolt is located realize locking when in the lockhole, the medial surface of spring bolt is equipped with and is used for supplementary so that the spring bolt to the supplementary inclined plane of this internal removal of door.

In conclusion, the invention has the following beneficial effects: the cleaning robot is divided into the modules, so that the cleaning robot is convenient to manage, modularly assemble and daily maintain for users in production and assembly.

Drawings

Fig. 1 is a schematic configuration diagram of a cleaning robot in the embodiment;

FIG. 2 is a partially exploded schematic view of the cleaning robot in the embodiment;

fig. 3 is a schematic structural view of a hand push handle assembly of the cleaning robot in the embodiment;

FIG. 4 is a schematic view illustrating the structure of an unlocking member of a hand push handle assembly of the cleaning robot in the embodiment;

FIG. 5 is a schematic structural view of a handle bar of a hand push handle assembly of the cleaning robot in the embodiment;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a schematic configuration diagram of a top control assembly of the cleaning robot in the embodiment;

FIG. 8 is a schematic structural view of an outside view of a sealing door assembly of the cleaning robot in an embodiment;

FIG. 9 is a schematic structural view of an inside view of a sealing door assembly of the cleaning robot in an embodiment;

fig. 10 is a schematic structural view of the inside of a door body of a sealing door assembly of the cleaning robot in the embodiment;

fig. 11 is a schematic structural view of a housing collision avoidance system of the cleaning robot in the embodiment;

fig. 12 is a schematic structural view of a chassis and a chassis suspension system of the cleaning robot in the embodiment.

In the figure: 1. a chassis; 2. cleaning the system; 21. a cleaning assembly; 22. a sundries accommodating cabin; 221. an opening; 3. a power supply component; 4. a housing assembly; 41. a handle; 42. a lock hole; 5. sealing the door assembly; 51. a door body; 52. clamping a corner; 53. a locking block; 531. a latch bolt; 5311. an auxiliary bevel; 54. unlocking the block; 55. a lock block return spring; 56. a soft rubber sealing ring; 6. a top control assembly; 61. a groove; 611. a hook is clamped; 7. a hand push armrest assembly; 71. a grab rail; 711. a connecting end; 7111. a limiting groove; 7112. a card; 712. hooking a groove; 713. a handle bar; 72. unlocking the lock; 721. a button portion; 722. a limiting rod; 7221. a limiting block; 7222. a clamping block; 72221. an auxiliary bevel; 7223. a notch; 7224. avoiding a space; 73. a connecting member; 74. a lock return spring; 8. a housing collision avoidance system; 81. a connecting portion; 82. an impact sensing section; 83. a front impact detector; 84. a middleware; 85. a front cushion torsion spring; 86. a middle reset torsion spring; 87. a side impact detector; 88. a side impact sensing sheet; 89. a side buffering torsion spring; 91. connecting blocks; 92. detecting a sensor; 93. a buffer spring; 94. a rotating shaft; 95. an induction block; 100. a drive wheel; 200. a driven wheel.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present embodiment discloses a cleaning robot, as shown in fig. 1 and 2, which includes a chassis 1, and a cleaning system 2, a power supply module 3, and a housing module 4 assembled on the chassis 1. The cleaning system 2 comprises a cleaning assembly 21 and a sundries accommodating cabin 22 communicated with the cleaning assembly 21 through a pipeline, wherein the cleaning assembly 21 is installed at the front end of the chassis 1 and carries out self-adaptive cleaning at different heights according to different ground conditions. The cleaning assembly 21 is a common structure of a conventional cleaning robot, and will not be described herein. The sundries containing cabin 22 is provided with an opening 221, the shell component 4 is assembled with a sealing door component 5 at a position corresponding to the opening 221, the sealing door component 5 can be opened and closed, a user can conveniently and quickly take out sundries such as dust and the like on the ground from the inside, and a new storage bag can be quickly replaced. The appearance part of the whole cleaning robot when the shell component 4 is used plays a role in protecting and supporting the internal structure of the cleaning robot, and the cleaning robot becomes more fashionable and beautiful. The top of the shell component 4 is assembled with a top control component 6, and the top control component 6 is a human-computer interaction operation part of the whole cleaning robot and is a core part of the operation control of the whole cleaning robot. The cleaning system 2 and power supply assembly 3 and various associated control components are located in the interior space enclosed by the top control assembly 6, housing assembly 4 and chassis 1. The cleaning robot in this embodiment is split into each module, and the production assembly is convenient for management and modular assembly, and is convenient for the user's routine maintenance.

In the present embodiment, as shown in fig. 2 and 3, the cleaning robot further includes a hand push handle assembly 7 assembled on the chassis 1, and the hand push handle assembly 7 is designed sufficiently considering human-machine interaction, so that the robot can be moved in position by the hand push handle assembly 7 when the robot is not started. The hand push handle assembly 7 includes a handle bar 71, two unlocking members 72, and two connecting members 73 respectively installed at both sides of the chassis 1. The grab bar 71 is generally U-shaped or C-shaped, although other shapes are possible. The grab bar 71 includes two connecting ends 711 respectively located at both ends, the two connecting ends 711 are respectively rotatably connected with the two connecting pieces 73, the two unlocking pieces 72 respectively correspond to the two connecting ends 711 and the two connecting pieces 73, the unlocking pieces 72 penetrate through the respective corresponding connecting ends 711 and then are inserted into the respective corresponding connecting pieces 73, and the two unlocking pieces 72 can move relative to the respective corresponding connecting pieces 73. As shown in fig. 4, the two unlocking members 72 are provided with stopper 7221, and as shown in fig. 5 and 6, the two connecting ends 711 are provided with stopper grooves 7111. When the handrail needs to be used, the handrail rod 71 is rotated upwards to be opened, after the handrail rod 71 is rotated to be opened, the limiting block 7221 is aligned with the limiting groove 7111, the unlocking piece 72 moves away from the connecting piece 73, so that the limiting block 7221 is inserted into the limiting groove 7111, the limiting and locking of the handrail rod 71 can be realized, in the subsequent process of driving the cleaning robot to move by pushing the handrail rod 71, the handrail rod 71 is limited and locked, the handrail rod 71 cannot rotate up and down, and further the shaking in the use process is effectively avoided, so that the use is more convenient; when the handrail needs to be folded after use, the unlocking piece 72 is pressed, the unlocking piece 72 moves close to the connecting piece 73, so that the limiting block 7221 is separated from the limiting groove 7111 to realize unlocking, and the handrail rod 71 can be rotated downwards to return to the original position. In this embodiment, the hand push handle assembly 7 further includes two latch return springs 74, and the two latch return springs 74 are respectively disposed to correspond to the two unlocking pieces 72. In the process of turning the grab rail 71 upward and opening, the latch return spring 74 is in an elastically deformed state; when the grab bar 71 rotates upwards to be completely opened, the limiting block 7221 is aligned with the limiting groove 7111, the locking piece return spring 74 drives the unlocking piece 72 to automatically move away from the connecting piece 73, the limiting block 7221 is inserted into the limiting groove 7111 to realize limiting locking, and the locking piece return spring 74 is arranged to realize automatic locking; when the handrail needs to be retracted after use, the unlocking piece 72 is pressed, the unlocking piece 72 is close to the connecting piece 73 to move, the limiting block 7221 is separated from the limiting groove 7111, the locking piece reset spring 74 generates elastic deformation, the handrail rod 71 rotates downwards, the limiting block 7221 is staggered with the limiting groove 7111, and the connecting end 711 abuts against the limiting block 7221 to enable the unlocking piece 72 to be incapable of moving away from the connecting piece 73.

In this embodiment, as shown in fig. 4, the unlocking member 72 includes a button portion 721 and a stopper rod 722, the stopper rod 722 is mounted on the button portion 721, the stopper 7221 is disposed on the stopper rod 722, the button portion 721 is movably inserted to the outside of the grab bar 71, and the stopper rod 722 is inserted into the connecting member 73 through the connecting end 711 of the grab bar 71. Note that the outer side herein means a side relatively distant from the connecting member 73, and the inner side means a side relatively close to the connecting member 73. In this embodiment, the stopper 7222 is disposed on the limiting rods 722 of the two unlocking members 72, as shown in fig. 5 and 6, the two connecting ends 711 of the grab bar 71 are disposed with the locking pieces 7112, and the limiting rods 722 of the two unlocking members 72 are disposed with the notches 7223 and the avoiding space 7224 communicated with the notches 7223 near the respective stopper 7222. When the grab bar 71 is in the open state, the fixture block 7222 and the clamp 7112 are aligned along the axial direction of the limiting rod 722; when the grab bar 71 needs to be retracted from the open state, the button portion 721 is pressed, the unlocking member 72 moves close to the connecting member 73, the limit block 7221 is separated from the limit groove 7111, the clamping block 7222 moves the clamping sheet 7112 close to the connecting member 73, the clamping sheet 7112 passes over the clamping block 7222, the clamping block 7222 moves from the outer side of the clamping sheet 7112 to the inner side of the clamping sheet 7112, due to the limiting interaction between the locking block 7222 and the locking tab 7112, the locking tab 7112 locks the unlocking member 72, even though the limiting block 7221 is aligned with the limiting groove 7111, however, the elastic force of the locking member return spring 74 cannot drive the unlocking member 72 to move away from the link 73, so that both hands of a person can leave the button portion 721, and after subsequently rotating the grab bar 71 downward to return, the latch 7222 is offset from the catch 7112, the elastic force of the latch return spring 74 drives the unlocking member 72 to move a small distance away from the connecting member 73, such that the card 7112 extends through the notch 7223 from outside the cartridge 7222 to inside the cartridge 7222; during upward rotation from the home position to the open position, the card 7112 rotates relative to the escape space 7224. When the latch 7222 and the card 7112 are not provided, the downward rotation of the grab bar 71 by the push button portion 721 must be performed synchronously, otherwise the unlocking member 72 is reset by the locking member reset spring 74; after the latch 7222 and the card 7112 are installed, the push button portion 721 and the downward turning grab bar 71 are separated into two completely independent actions, after the push button portion 721 is pressed once, the unlocking piece 72 cannot be moved and reset under the condition that the unlocking piece 72 is not turned and reset downwards because the card 7112 blocks the unlocking piece 72, and after the push button portion 721 is pressed once, both hands of a person can leave the unlocking piece 72, so that the grab bar 71 can still be freely turned even if a period of time elapses without pressing the push button portion 721 all the time or pressing the push button portion 721 again. In this embodiment, the cartridge 7222 has secondary ramps 72221 and a secondary ramp 72221 is provided to facilitate movement of the card 7112 past the cartridge 7222 such that the card 7112 moves from being inside the cartridge 7222 to being outside the cartridge 7222.

In this embodiment, and as shown in connection with fig. 7, the top control assembly 6 is provided with a recess 61, and the grab bar 71 is located in the recess 61 in the reset position. The groove 61 is provided with a hook 611, and as shown in fig. 3, the grab bar 71 is provided with a hook groove 712, and the hook 611 is inserted into the hook groove 712 to restrict the grab bar 71, so as to prevent the grab bar 71 from rotating upward. Two handrail handles 713 are arranged on the handrail rod 71 at intervals, and the robot is driven to move by holding the handrail handles 713 to push the handrail rod 71. The shape of the handle 713 is preferably not cylindrical or prismatic, which generally requires rounding for better handling. In the present embodiment, as shown in fig. 2, the housing assembly 4 has two hollow handles 41 at the upper end to lift the cleaning robot for carrying and moving.

In the present embodiment, as shown in fig. 1 and 2, a lock hole 42 is formed at a corresponding position on the housing assembly 4. Referring to fig. 8 and 9, the sealing door assembly 5 includes a door body 51, and two locking corners 52 are symmetrically disposed on the door body 51, and the two locking corners 52 are rotatably connected. The door body 51 is provided with a locking block 53 and an unlocking block 54, when the unlocking block 54 is moved, the locking block 53 is driven to move relative to the door body 51, and the locking block 53 is inserted into the lock hole 42 to realize closing and locking. As shown in fig. 10, a lock return spring 55 is provided between the lock 53 and the door body 51, and when the lock 53 moves into the door body 51, the lock return spring 55 is elastically deformed. The locking piece 53 includes a latch 531, the latch 531 is locked when being located in the lock hole 42, and an auxiliary inclined surface 5311 for assisting the latch 531 to move into the door body 51 is provided on an inner side surface of the latch 531. In practical application, the unlocking block 54 is moved to drive the locking block 53 to move towards the door body 51, the bolt 531 is unlocked after being separated from the lock hole 42, and the door body 51 can be opened by rotating; when the door body 51 is closed, the door body 51 is pushed to rotate close to the opening 221, after the auxiliary inclined plane 5311 of the bolt 531 touches the housing assembly 4, the thrust of the door body 51 is pushed to generate an extrusion force between the auxiliary inclined plane 5311 and the housing assembly 4, the bolt 531 moves in the door body 51 by the extrusion force, the lock block return spring 55 generates elastic deformation, and when the door body 51 moves to the condition that the bolt 531 is aligned with the lock hole 42, the bolt 531 is driven to move in the lock hole 42 by the elastic force generated by the lock block return spring 55 to realize locking. In this embodiment, the inner side of the door body 51 is provided with the soft rubber sealing ring 56, and the soft rubber sealing ring 56 is pressed on the edge of the opening 221 to increase the sealing performance of the closed door body 51.

In this embodiment, as shown in fig. 2 and 11, the cleaning robot further includes a housing collision avoidance system 8 assembled at the lower front end of the housing assembly 4, the housing collision avoidance system 8 provides more reliable protection for the cleaning robot, and even if all sensors of the cleaning robot lose their functions, the cleaning robot can still trigger the housing collision avoidance system 8 to make the robot perform a correct action to stop or retreat when encountering an obstacle, so as to ensure the safety of the cleaning robot, and ensure the safety of an external object. The housing collision avoidance system 8 includes two connecting portions 81 respectively installed at both sides of the housing assembly 4 and an impact sensing portion 82 rotatably connected between the two connecting portions 81. As shown in fig. 12, the chassis 1 is provided with a front impact detector 83 and an intermediate member 84, the intermediate member 84 is rotatably connected to the chassis 1, one end of the intermediate member 84 is linked with the impact sensing portion 82, and the front impact detector 83 detects the other end of the intermediate member 84. When the collision sensing part 82 touches an obstacle, the collision sensing part 82 moves, the middle member 84 rotates by the collision sensing part 82, the other end of the middle member 84 changes in position by the rotation, and the front collision detector 83 detects and determines that a collision has occurred. In the present embodiment, a front cushion torsion spring 85 is provided between the impact sensing portion 82 and the connecting portion 81, and can appropriately cushion the impact and drive the impact sensing portion 82 to return. In this embodiment, an intermediate return torsion spring 86 is provided between the intermediate member 84 and the chassis 1, and serves to return the intermediate member 84. In this embodiment, two side impact detectors 87 are further installed on the chassis 1, two side impact sensing pieces 88 are installed on the two connecting portions 81, and the two side impact detectors 87 respectively and correspondingly detect the two side impact sensing pieces 88, so as to detect the impact generated by the contact between the sensing connecting portion 81 and the obstacle. All be equipped with side buffering torsional spring 89 between two connecting portion 81 and the shell subassembly 4, side buffering torsional spring 89 plays the cushioning effect and can drive connecting portion 81 and reset to the striking.

In the present embodiment, as shown in fig. 12, a chassis suspension system is assembled under the chassis 1, and a driving wheel 100 and a driven wheel 200 are mounted under the chassis 1. The chassis suspension system comprises a connecting block 91 arranged on a driving wheel 100 and a detection device for detecting the connecting block 91, wherein the connecting block 91 is connected with the chassis 1, and a buffer spring 93 is arranged between the connecting block 91 and the chassis 1. This cleaning machines people is at the in-process of walking, when unevenness's ground was touchhed to drive wheel 100, improved drive wheel 100's ground adhesive force and cleaning machines people holistic stability and security through buffer spring 93, detection device real-time detection connecting block 91's gesture to this state that feeds back this chassis suspension system and locate makes the robot adapt to the road surface condition better, and crashproof drive wheel 100 is unsettled can not provide drive power, prevents the emergence of the dangerous condition. In this embodiment, the connection block 91 is rotatably connected to the chassis 1 via the rotation shaft 94, and when the driving wheel 100 encounters an uneven ground, the connection block 91 rotates up and down about the rotation shaft 94. The connecting block 91 is provided with a sensing block 95, the sensing block 95 and the buffer spring 93 are respectively positioned at two sides of the rotating shaft 94, and the detecting device detects the relative position of the sensing block 95. The detection means includes a detection sensor 92, and preferably, the detection sensor 92 is a photoelectric sensor. Photoelectric sensor installs in the up end of chassis 1, and connecting block 91 installs in the lower terminal surface of chassis 1, detects inductor 92 and responds to the piece 95 position and corresponds. In the present embodiment, the driving wheel 100, the connecting block 91, the buffer spring 93 and the detecting device have two sets, and are respectively installed on both sides of the chassis 1.

The above specific embodiments are merely illustrative of the present invention, and are not restrictive, and those skilled in the art can modify the above embodiments without inventive contribution as required after reading the present specification, but only protected by the patent laws within the scope of the claims of the present invention.