WO2020192590A1 - Sweeping robot - Google Patents

Abstract

Provided in the present is a sweeping robot, comprising a unit body. A liftable/lowerable rolling component and a creeping component. The rolling component is used for driving the unit body to travel by rolling. The creeping component is used for driving the unit body to travel by creeping. A pressure sensor is provided on the outer wall of the unit body to detect the pressure generated when the unit body collides with and squeezes against an obstacle. The sweeping robot also comprises a controller. The controller is connected respectively to the pressure sensor, the rolling component, and the creeping component. In practical applications, the controller receives the size and volume of the obstacle detected by the pressure sensor, detects whether the obstacle can be pushed away, thus allowing an accurate determination to be made when encountering a small-sized and lightweight obstacle, the small-sized and light weight obstacle to be pushed away, and at the same time, the area around the small-sized and lightweight obstacle to be cleaned, effectively preventing cases of inadequate cleaning, and significantly increasing cleaning coverage and cleaning efficiency.

Description

A sweeping robot

This application requires that it be submitted to the Chinese Patent Office on March 27, 2019, with the application number of 201910236691.8, and the title of the invention as "a kind of sweeping robot", and, on March 27, 2019, the application number is submitted to the Chinese Patent Office with the application number of 201920397216.4, invention The priority of the Chinese patent application named "a kind of sweeping robot", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the field of smart home technology, and in particular to a sweeping robot.

Background technique

The sweeping robot is an intelligent household appliance that can automatically vacuum the ground. Because it can detect room size, furniture placement, floor cleanliness and other factors, and rely on built-in programs to formulate a reasonable cleaning route, it has a certain degree of intelligence, so it is called a robot. The sweeping robot forms a vacuum in the main machine through the high-speed rotation of the motor, and uses the resulting high-speed airflow to suck in garbage from the suction port. The garbage sucked into the sweeper is accumulated in the bag machine, and the air purified by the filter is discharged from the sweeper while cooling the motor. The sweeping robot is a new type of floor and carpet cleaning appliance designed for modern home environments. It uses a rechargeable battery as a power source and integrates cleaning and vacuuming functions. It is suitable for office buildings, conference rooms, homes and other places.

The front obstacle detection of the existing sweeping robot usually uses an infrared plus front bumper collision device to sense the front obstacle and provide a basis for the steering of the machine. However, because the sweeping robot uses infrared detection of obstacles, it will choose to avoid some small and light obstacles, but this kind of smaller and lighter obstacles The object may be placed in the center of the room. After the sweeping robot avoids it, it may cause the small and light obstacles to be cleaned in place. Even if there are many such obstacles, it will eventually lead to low cleaning coverage and low cleaning efficiency.

Summary of the invention

The present application provides a sweeping robot to solve the problem that the existing sweeping robot is easy to avoid obstacles with a small volume and light weight, resulting in poor cleaning, even low cleaning coverage, and low cleaning efficiency.

The sweeping robot provided by the present application includes a body; the bottom of the body is provided with a liftable rolling assembly and a creeping assembly, the rolling assembly is used to drive the body to move in a rolling manner, the creeping assembly Used to drive the fuselage to travel in a peristaltic manner;

A pressure sensor is provided on the outer wall of the fuselage to detect the pressure generated by the collision and extrusion of the fuselage and obstacles. The sweeping robot further includes a controller, which is respectively connected to the pressure sensor and the rolling assembly. And the peristaltic component, the controller determines the relationship between the pressure value and the preset pressure value by receiving the pressure value detected by the pressure sensor, and controls the lifting of the rolling component and the opening of the peristaltic component, If the pressure value is less than the preset pressure value, the rolling assembly is controlled to raise so that the peristaltic assembly contacts the ground, and the peristaltic assembly is turned on so that the peristaltic assembly drives the fuselage to travel.

It can be seen from the above technical solutions that when the sweeping robot provided by this application is actually used, the initial state is that the rolling assembly drives the fuselage to move in a rolling manner. When the fuselage encounters an obstacle, the outer wall of the fuselage and the obstacle will squeeze. When the object is large and heavy, the pressure sensor detects that the pressure is large, and the controller controls the rolling assembly to maintain the original state.

If the obstacle is small in size and light in weight, the pressure sensor detects that the pressure is small, and the controller controls the rolling component to rise until the peristaltic component touches the ground, and then turns on the peristaltic component so that the peristaltic component drives the fuselage to move. .

This application can receive the size and volume of the detected obstacle through a controller, determine whether the obstacle can be pushed away, and accurately determine when it encounters a smaller and lighter obstacle, and adjust the volume Pushing away the smaller and lighter obstacles and cleaning the area around the smaller and lighter obstacles can effectively prevent improper cleaning and significantly improve the cleaning coverage and cleaning efficiency.

Description of the drawings

FIG. 1 is a schematic diagram of the front three-dimensional structure of the sweeping robot of this application;

Figure 2 is a schematic diagram of the bottom three-dimensional structure of the sweeping robot of the present application;

3 is a schematic diagram of the top view structure of the sweeping robot of this application;

Figure 4 is a partial enlarged schematic diagram of the A-A section of the sweeping robot of the application;

Figure 5 is a schematic diagram of the bottom three-dimensional structure of the sweeping robot according to the application;

Figure 6 is a simplified schematic diagram of the creeping process of the sweeping robot according to the application;

Fig. 7 is a partial enlarged schematic diagram of the B-B section of the sweeping robot of this application;

Fig. 8 is a configuration diagram of the controller of the cleaning robot of the present application.

detailed description

Refer to Figures 1 and 2, which are schematic diagrams of the structure of a sweeping robot of the present application. It can be seen from Figures 1 and 2 that the sweeping robot provided by the present application includes a fuselage 1, and the bottom of the fuselage 1 is provided with a rolling assembly 11 and The peristaltic component 12 and the rolling component 11 are symmetrically arranged on both sides of the peristaltic component 12. The rolling assembly 11 is used to drive the fuselage 1 to travel under normal conditions, and the peristaltic assembly 12 is used to drive the fuselage 1 to travel when encountering obstacles.

A pressure sensor 21 is provided on the outer wall of the fuselage 1 to detect the pressure generated by the collision and extrusion of the fuselage and obstacles. The sweeping robot also includes a controller 22 which is respectively connected to the pressure sensor 21, the rolling assembly 11 and the peristaltic assembly 12. , The controller 22 determines the relationship between the pressure value and the preset pressure value by receiving the pressure value detected by the pressure sensor 21, and controls the lifting of the rolling assembly 11 and the opening of the peristaltic assembly 12. If the pressure value is less than the preset pressure value, control The rolling assembly 11 is raised to make the peristaltic assembly 12 contact the ground, and the peristaltic assembly 12 is turned on so that the peristaltic assembly 12 drives the fuselage 1 to travel.

In actual use, the initial state is that the rolling assembly 11 drives the fuselage 1 to move in a rolling manner. When the fuselage 1 encounters an obstacle, the outer wall of the fuselage 1 will be squeezed against the obstacle. If the obstacle is large and heavy When it is heavy, the pressure sensor 21 detects that the pressure is high, and the controller 22 controls the rolling assembly 11 to maintain the original state. If the obstacle is small in size and light in weight, the pressure sensor 21 detects that the pressure is small, and the controller 22 controls the rolling assembly 11 to rise until the peristaltic assembly 12 touches the ground, and turns on the peristaltic assembly 12 to make the peristaltic assembly 12 Drive the fuselage 1 to travel. In this way, it can be accurately judged when encountering a smaller and lighter obstacle, and the smaller and lighter obstacle can be pushed away, and the area around the smaller and lighter obstacle can be cleaned up. It can effectively prevent the situation that the cleaning is not in place, and significantly improve the cleaning coverage and cleaning efficiency.

Generally, the fuselage 1 has a cylindrical structure. In practical applications, the bottom of the fuselage is also provided with cleaning devices, charging devices and other components commonly used by sweeping robots (not shown in the drawings).

In the technical solution provided by this application, as shown in Figures 3 and 4, the bottom of the fuselage 1 is provided with a first accommodating slot 13, the rolling assembly 11 includes a lifting mechanism 111 and a walking mechanism 112, and the lifting mechanism 111 is provided in the first Inside the accommodating groove 13, the traveling mechanism is arranged outside the first accommodating groove 13, the elevating mechanism 111 is connected to the traveling mechanism 112, and the elevating mechanism 111 can simultaneously drive the traveling mechanism 112 to rise and fall during lifting operation, thereby adjusting the performance of the traveling mechanism 112. height. The walking mechanism 112 may further include a roller and a walking driving device. The walking driving device drives the roller to rotate. The walking mechanism 112 may also include a steering mechanism so that the entire sweeping robot can turn. During normal operation, the roller of the traveling mechanism 112 contacts the bottom surface, and the traveling mechanism 112 drives the body to travel.

A pressure sensor 21 is provided on the outer wall of the fuselage 1 to detect the pressure generated by the collision and extrusion of the fuselage 1 with obstacles. When the fuselage 1 and large obstacles such as sofas, dining tables and other heavy obstacles, the sweeping robot will not These large and heavier obstacles cannot be pushed. The pressure detected by the pressure sensor 21 is relatively large. At this time, the pressure sensor 21 transmits the detected pressure to the controller 22, and the internal memory of the controller 22 stores the preset pressure value. After the controller 22 compares the detected pressure value with the preset pressure value and determines that it is greater than the preset pressure value, the controller can control the steering of the steering mechanism to prevent forcibly pushing these large and heavy obstacles. The sweeping robot itself causes damage. The pressure sensor 21 can be a full-circle ring-shaped sensor arranged on the outside of the fuselage. The sweeping robot is prone to turning during the work. The part where the fuselage 1 collides with obstacles may change, so it is installed outside the fuselage. A full circle of the ring-shaped sensor can prevent the pressure sensor 21 from losing the detection effect after the steering occurs.

Specifically, as shown in FIG. 5, the bottom of the fuselage 1 is further provided with a second accommodating groove 15, the peristaltic assembly 12 is arranged in the second accommodating groove 15, the peristaltic assembly 12 includes a fixed block 121 and a moving block 122, The fixed block 121 is fixedly connected with the fuselage 1, and the bottom of the fuselage is provided with a slideway 14, and the movable block 122 can slide along the slideway 14. The slideway 14 can be a dovetail slide rail, and the bottom of the movable block 122 can be provided with a dovetail groove. The matching shape of the slide rail. The moving block 122 can be fixed by the second accommodating groove 15 during the working process. Specifically, the material of the moving block 122 can be set to shape memory alloy, and a heating device is provided inside the moving block 122. The moving block 122 can be adjusted according to the temperature The volume of the body is changed, so as to realize sliding and fixation in the second receiving groove 15. It is also possible to set the material of the moving block 122 to a magnetic metal material, and an electromagnet is arranged inside the second accommodating groove 15, and the moving block 122 is fixed after the electromagnet is energized.

The moving direction of the moving block 122 is parallel to the normal traveling direction of the fuselage 1. A pushing mechanism 123 is arranged between the fixed block 121 and the moving block 122. One end of the pushing mechanism 123 is connected with the fixed block 121, and the other end of the pushing mechanism 123 is connected with the moving block 122. The pushing mechanism 123 is used to push the moving block 122 to move along the slideway 14. At the same time, the pushing mechanism 123 can not only push the moving block 122 to move in the direction opposite to the fixed block 121, but also pull the moving block 122 to the direction opposite to the fixed block 121 mobile.

Both the fixed block 121 and the movable block 122 are provided with a suction device 124 at the bottom, and the suction device 124 can suction and fix the cleaning robot on the ground. The distance from the lowest point of the traveling mechanism 112 to the bottom of the fuselage 1 during lifting is greater than the distance from the lowest point of the suction device 124 to the bottom of the fuselage 1, and the distance from the highest point of the traveling mechanism 112 to the bottom of the fuselage 1 is less than that of the suction device 124 The distance from the lowest point to the bottom of the fuselage 1, that is, during normal operation, the lowest point of the walking mechanism 112 is in contact with the bottom surface. At this time, the walking mechanism 112 is working. When an obstacle is encountered, the lifting mechanism 111 drives the walking mechanism 112 toward the bottom surface. Move in opposite directions, so that the adsorption device 124 gradually approaches the ground, and finally makes the adsorption device 124 contact the ground, and the adsorption device 124 starts to work. At this time, the sweeping robot moves forward in a creeping manner while pushing away obstacles.

Refer to FIG. 6 for the specific manner in which the adsorption device 124 drives the fuselage to move.

The initial state S1 is: the pushing mechanism 123 is in an extended state, and the fixed block 121 and the moving block 122 are farthest away.

The intermediate state S2 is: the pushing mechanism 123 starts to contract after being opened. At this time, the suction device 124 at the bottom of the fixed block 121 stops working, and the suction device 124 at the bottom of the moving block 122 continues to work. At the same time, the moving block 122 and the second containing tank 15 The interior is in a non-fixed state, and the moving block 122 remains adsorbed on the ground. When the pushing mechanism 123 contracts, the fixed block 121 is driven to move. Since the fixed block 121 is fixedly connected to the fuselage 1, it can simultaneously drive the fuselage 1 to move forward.

The reduction state S3 is: when the pushing mechanism 123 shrinks to the shortest limit, the suction device 124 at the bottom of the moving block 122 stops working, the suction device 124 at the bottom of the fixed block 121 starts to work, the fixed block 121 is adsorbed on the ground, and the moving block 122 and the first The inside of the two accommodating grooves 15 is in a fixed state, and when the pushing mechanism 123 expands and contracts, the moving block 122 is brought back to the initial position along the slide 14 at the same time. After the initial state, the intermediate state and the restoring state, the fuselage 1 completes a complete peristaltic process. Through several cycles of the peristaltic process, the fuselage 1 can move a certain distance, and at the same time, the volume and mass of the body 1 when pushed open Light obstacles.

In order to realize the above-mentioned control process, in the present application, the controller 22 may be a data processing chip that can meet the above-mentioned calculation requirements, such as a single-chip microcomputer, PLC, etc. The controller 22 is respectively connected to the pressure sensor 21, the lifting mechanism 111, the pushing mechanism 123, the suction device 124, and the control device that the moving block 122 is fixed to the second accommodating groove 15. The controller 22 obtains the pressure value generated by the collision between the fuselage and the obstacle measured by the pressure sensor 21, and analyzes the relationship between the pressure value and the preset pressure value. If the pressure value is greater than the preset pressure value, the lifting mechanism 111 is not activated , The pushing mechanism 123, the adsorption device 124, and the control device fixed to the moving block 122 and the second accommodating tank 15. If the pressure value is less than the preset pressure value, the lifting mechanism 111 is first activated to lift the walking mechanism 112 until the adsorption device 124 and The bottom surface is in contact, and then the pushing structure 123 and the suction device 124 are controlled by the internal program to realize the forward creep of the fuselage, thereby pushing away the collision obstacle.

As shown in FIG. 8, this is a structural diagram of the controller 22 in a cleaning robot of this application. In order to configure the controller 22 to realize the control function, the controller includes a signal receiving unit 221, a rolling component control unit 222, and a peristaltic component control unit. 223. The signal receiving unit 221 is configured to receive a pressure signal transmitted by a sensor, such as the pressure sensor 21 of the present application. The rolling assembly control unit 222 is configured to control the rolling assembly 11 according to the received pressure signal, specifically controlling the lifting action of the lifting mechanism 111. The peristaltic component control unit 223 is configured to control the peristaltic component 12 according to the received pressure signal, specifically controlling the pushing action of the pushing mechanism 123 and controlling the opening of the adsorption device 124.

The floor of the environment where the sweeping robot is used is usually a relatively smooth ceramic tile or floor. If you directly use the forward thrust of the walking mechanism 112 to push the obstacle, it will often cause slipping. Not only cannot the obstacle be pushed away, but also easily damaged. It is a machine, so the creeping travel method of the present application can not only push away the obstacles well, but also smooth ground such as tiles and floors is more suitable for the use of the adsorption device 124 of the present application. Furthermore, an operation panel can be set on the surface of the sweeping robot, and the preset pressure value can be changed according to the use environment through the operation panel. For example, a room with children at home is prone to have more toys on the ground. Set the preset pressure value for the weight of the sweeping robot. You can also set up an obstacle library inside the sweeping robot. The user can directly select the same or similar obstacles in the obstacle library, and control the entire sweeping through the built-in preset pressure value robot.

In the technical solution provided by the present application, the bottom of the fuselage 1 is provided with a rolling component 11 and a peristaltic component 12, and the rolling component 11 is symmetrically arranged on both sides of the peristaltic component 12. The rolling assembly 11 includes a lifting mechanism 111 and a walking mechanism 112, and the peristaltic assembly 12 includes a fixed block 121, a moving block 122, a pushing mechanism 123 and a suction device 124.

A pressure sensor 21 is provided on the outside of the fuselage. In actual use of the sweeping robot provided by this application, when the fuselage 1 encounters an obstacle, the outer wall of the fuselage 1 will be squeezed against the obstacle. If the obstacle is large in size and heavy When it is heavy, the pressure sensor 21 detects that the pressure is high, and the controller 22 controls the lifting mechanism 111, the pushing mechanism 123 and the suction device 124 to close. If the obstacle is small in size and light in weight, the pressure sensor 21 detects that the pressure is low, and the controller 22 controls the lifting mechanism 111 to open, and the lifting mechanism 111 lifts the working walking mechanism 112 upwards, and the sweeping robot stops moving forward , Simultaneously turn on the pushing mechanism 123 and the suction device 124. Under the action of the pushing mechanism 123 and the adsorption device 124, the sweeping robot pushes the obstacle to creep forward. The present application can receive the size and volume of the detected obstacle through a controller 22, and determine whether the obstacle can be pushed away. It can accurately determine when encountering a smaller and lighter obstacle, and Pushing away the smaller and lighter obstacles, while cleaning the area around the smaller and lighter obstacles, can effectively prevent the cleaning from not in place, and significantly improve the cleaning coverage and cleaning efficiency.

Furthermore, a height measuring sensor 23 is provided on the top of the fuselage. The height measuring sensor 23 is used to detect the height of the obstacle, and the height measuring sensor 23 is connected to the controller 22. When cleaning robots, they may encounter objects that are large but light in gravity, such as cardboard boxes. The pressure generated by the robots when they collide with such special obstacles is relatively small. Such obstacles are usually not It needs to be pushed away, so if you only use the pressure sensor to determine whether to push such obstacles away, it is easy to cause erroneous operations.

Specifically, the height measuring sensor 23 can be arranged on the top of the sweeping robot, and the height of the obstacle can be obtained through the height measuring sensor 23, and the width of the obstacle can also be obtained, and finally the volume of the obstacle can be obtained. Similarly, the preset height or volume preset value is preset inside the sweeping robot. If the measured height or volume of the obstacle exceeds the height preset value and the volume preset value, it can be judged not to push the obstacle away .

In an illustrative embodiment of the present application, as shown in FIG. 4, the lifting mechanism 111 includes a gear support block 113 and a rack support block 114 arranged inside the first accommodating groove 13, and the gear support block 113 is connected to a gear 115 The drive motor 116 is used to drive the gear 115 to rotate. The rack support block 114 is connected with a rack 117. Two slide rails can be provided on both sides of the rack support block 114. The rack 117 can run along the rack. The sliding rail on the side wall of the support block 114 slides, the gear 115 and the rack 117 mesh with each other, the bottom of the rack 117 is connected to the traveling mechanism 112, and the driving motor 116 is connected to the controller 22 so that the controller 22 controls the driving motor The opening of 116.

When the pressure is lower than the preset pressure when it collides with an obstacle, the controller 22 controls the drive motor 116 to rotate, and the gear 115 rolls relative to the rack 117. As shown in FIG. 4, when the gear 115 rotates clockwise, the gear 115 rotates clockwise. The strip 117 moves to the top of the first accommodating groove 13 and at the same time drives the walking mechanism 112 to move to the top of the first accommodating groove 13, so that the body 1 is lowered as a whole until the suction device 124 contacts the ground. When the action of pushing the obstacle ends, the controller 22 can control the driving motor 116 to rotate in the opposite direction, so that the rack 117 moves away from the top of the first accommodating slot 13, so that the walking mechanism 112 is moved away from the first accommodating slot. The movement of the top of 13 causes the fuselage 1 to rise as a whole, until the suction device 124 is separated from the inside, and the traveling mechanism 112 drives the fuselage 1 to travel again. In addition, the rack 117 and the rack support block 114 can be connected by a connecting block 118. A limit block 119 is provided on the side wall of the rack support block 114. The limit block 119 is used to limit the sliding of the rack 117 to prevent the rack from sliding. 117 is disengaged from the gear 115.

In an illustrative embodiment of the present application, as shown in FIG. 3, the pushing mechanism 123 includes a cylinder 125 and a pushing rod 126. One end of the cylinder 125 is connected to the fixed block 121, and the other end of the cylinder 125 is connected to the pushing rod 126. The other end of the pushing rod 126 is connected with the moving block 122, the cylinder 125 is used to push the pushing rod 126, and the cylinder 125 is connected with the controller 22 so that the controller controls the opening of the cylinder 125. The controller 22 controls the progress of the peristaltic device by controlling the opening and closing of the cylinder 125, and the cylinder 125 drives the push rod 126 to reciprocate. Specifically, in the specific method of peristalsis, in the initial state, the cylinder is in a non-compressed state, and the pushing rod 126 is now extended; in the intermediate state, the cylinder is in a compressed state, and the pushing rod 126 is contracted at this time, and the cylinder is in a non-compressed state in the reduction state. In the compressed state, the pushing rod 126 is extended, and the fixed block 121 and the moving block 122 are pushed through the reciprocation of the cylinder to realize the entire process of peristaltic motion. In addition, a pushing plate 127 can be provided between the pushing rod 126 and the moving block 122, which can increase the pushing force to a certain extent.

In an illustrative embodiment of the present application, as shown in FIG. 7, the adsorption device 124 includes an adsorption tank 128 arranged at the bottom of the fixed block 121 and the movable block 122, and the adsorption tank 128 is provided with a vacuum pump 129 and a holding tray. The inside of the holding bracket 130 is filled with magnetic metal balls 131. The magnetic metal balls 131 isolate the inside of the adsorption tank 128 from the outside air. The inside of the adsorption tank 128 is also provided with an electromagnetic device 132. A suction cup 133 is provided at the bottom. The suction cup 133 is connected to the adsorption tank 128. The electromagnetic device 132 is used to adsorb the magnetic metal balls 131. The vacuum pump 129 is used to extract air from the suction cup 133 so that the suction cup 133 is fixed on the ground by adsorption. 132 is connected with the controller 22, and the controller 22 is used to control the opening of the electromagnetic device 132 and the vacuum pump 129. In actual use, the controller 22 controls the electromagnetic device 132 to turn on. After the electromagnetic device 132 adsorbs the magnetic metal ball 131, the inside of the adsorption tank 128 is connected to the outside air. At the same time, the controller 22 controls the vacuum pump 129 to turn on, and the suction cup The internal air of the 133 is drawn out, so that the inside of the suction cup 133 is in a vacuum state, so that the suction cup 133 is tightly combined with the bottom surface, and the suction device 124 fixes the fixed block 121 or the movable block 122 on the ground. In addition, in order to further enhance the degree of fastening between the fixed block 121 or the movable block 122 and the ground, a plurality of suction devices 124 may be provided at the bottom of the fixed block 121 and the movable block 122.

Claims (10)

A sweeping robot, characterized in that, the sweeping robot comprises: a body (1); the bottom of the body (1) is provided with a liftable rolling component (11) and a creeping component (12), the rolling The component (11) is used to drive the fuselage (1) to move in a rolling manner, and the peristaltic component (12) is used to drive the fuselage (1) to move in a peristaltic manner; A pressure sensor (21) is arranged on the outer wall of the fuselage (1) to detect the pressure generated by the collision and extrusion of the fuselage and obstacles. The sweeping robot also includes a controller (22), and the controller (22) ) Are respectively connected to the pressure sensor (21), the rolling component (11) and the peristaltic component (12), the controller (22) receives the pressure value detected by the pressure sensor (21) to determine The relationship between the pressure value and the preset pressure value is to control the lifting of the rolling component (11) and the opening of the peristaltic component (12). If the pressure value is less than the preset pressure value, control the The rolling component (11) is raised to make the peristaltic component (12) contact the ground, and the peristaltic component (12) is turned on to make the peristaltic component (12) drive the fuselage (1) to travel. The sweeping robot according to claim 1, wherein the bottom of the fuselage (1) is provided with a first accommodating slot (13), and the rolling assembly (11) includes The lifting mechanism (111) inside the trough (13) and the walking mechanism (112) arranged outside the body (1), the lifting mechanism (111) is used to control the lifting of the walking mechanism (112), so The walking mechanism (112) is used to drive the body (1) to travel. The sweeping robot according to claim 2, wherein the lifting mechanism (111) comprises a gear support block (113) and a rack support block (114) arranged inside the first accommodating groove (13) , The gear support block (113) is connected with a gear (115) and a drive motor (116), the drive motor (116) is used to drive the gear (115) to rotate, and the rack support block (113) is connected There is a rack (117), the rack (115) can slide along the side wall of the rack support block (113), the gear (115) and the rack (117) mesh with each other, and the tooth The bottom of the strip (117) is connected to the walking mechanism (112), and the driving motor (116) is connected to the controller (22) so that the controller (22) controls the driving motor ( 116) is turned on. The sweeping robot according to claim 3, wherein the rack (117) and the rack support block (113) are connected by a connecting block (118), and the rack support block (113) A limit block (119) is provided on the side wall, and the limit block (119) is used to limit the sliding of the rack (117) to prevent the rack (117) from disengaging from the gear (115) status. The sweeping robot according to claim 2, wherein the bottom of the fuselage (1) is further provided with a second accommodating groove (15), and the peristaltic component (12) is provided in the second accommodating Inside the slot (15), the peristaltic assembly (12) includes a fixed block (121) and a moving block (122), the fixed block (121) is fixedly connected to the body (1), and the second container The bottom of the slot (15) is provided with a slideway (14), the moving block (122) can move along the slideway (14), and the moving direction of the moving block (122) is the same as that of the fuselage (1). The traveling direction is parallel, the second accommodating groove (15) can fix the moving block (122), and a pushing mechanism (123) is arranged between the fixed block (121) and the moving block (122) ； The bottom of the fixed block (121) and the moving block (122) are both provided with an adsorption device (124), the adsorption device (124) can adsorb and fix the sweeping robot on the ground, and the walking mechanism ( 112) When the bottom surface is lowered to the lowest point, the distance from the bottom surface of the fuselage (1) is greater than the distance from the bottom surface of the suction device (124) to the bottom surface of the fuselage (1), and the walking mechanism (112) is raised The distance from the bottom surface to the bottom surface of the fuselage (1) when reaching the highest point is smaller than the distance from the bottom surface of the suction device (124) to the bottom surface of the fuselage (1). The sweeping robot according to claim 5, wherein the pushing mechanism (123) includes a cylinder (125) and a pushing rod (126), and one end of the cylinder (125) is opposite to the fixed block (121). Connected, the other end of the cylinder (125) is connected with the push rod (126), the other end of the push rod (126) is connected with the moving block (122), and the cylinder (125) is used for Pushing the pushing rod (126), the cylinder (125) is connected with the controller (22), so that the controller (22) controls the opening of the cylinder (125). The sweeping robot according to claim 6, characterized in that a pushing plate (127) is further provided between the pushing rod (126) and the moving block (122), and the pushing plate (127) is connected to the moving block (122). The push rod (126) is connected. The sweeping robot according to claim 5, characterized in that the suction device (124) comprises suction grooves (128) arranged at the bottom of the fixed block (121) and the movable block (122), and the suction The inside of the groove (128) is provided with a vacuum pump (129) and a holding bracket (130), and the inside of the holding bracket (130) is filled with a magnetic metal ball (131), the magnetic metal ball (131) ) The inside of the adsorption tank (128) is isolated from the outside air, the inside of the adsorption tank (128) is also provided with an electromagnetic device (132), and the bottom of the adsorption device (124) is provided with a suction cup (133) , The suction cup (133) is in communication with the adsorption tank (128), the electromagnetic device (132) is used to adsorb the magnetic metal ball (131), and the vacuum pump (129) is used to extract the suction cup (133) the air inside so that the suction cup (133) is adsorbed and fixed on the ground, the electromagnetic device (132) is connected to the controller (22), and the controller (22) is used to control the The electromagnetic device (132) and the vacuum pump (129) are turned on. The sweeping robot according to any one of claims 5 to 8, wherein the bottoms of the fixed block (121) and the movable block (122) are both provided with a plurality of the adsorption devices (124) . The sweeping robot according to claim 1, characterized in that a height measurement sensor (23) is further provided on the top of the fuselage, and the height measurement sensor (23) is used to detect the height of an obstacle, and the height measurement The sensor (23) is connected with the controller (22).

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