Abstract: The present invention is an improved structure for robotic cleaner primarily comprising of a chassis with plurality of spherical casters fixed to the periphery of bottom deck, a dust collector mounted on the chassis, a lifting actuation mechanism mounted on the chassis that includes a lifting power supply at least to drive two parallel and extendable first swing arms and two parallel and extending second swing arms through a relevant linking device, a first gear train and a second gear train that can pivotally rotate in reverse direction, a drive wheel mounted at the moveable end of the two parallel and extending first swing arms each, a driven wheel mounted at the moveable end of the two parallel and extending second swing arms each, plural advancing power supplies mounted at the middle section of the first swing arms.

Abstract: The present invention is an improved structure for robotic cleaner primarily comprising of a chassis with plurality of spherical casters fixed to the periphery of bottom deck, a dust collector mounted on the chassis, a lifting actuation mechanism mounted on the chassis that includes a lifting power supply at least to drive two parallel & extendable first swing arms and two parallel & extending second swing arms through a relevant linking device, a first gear train and a second gear train that can pivotally rotate in reverse direction, a drive wheel mounted at the moveable end of the two parallel & extending first swing arms each, a driven wheel mounted at the moveable end of the two parallel & extending second swing arms each, plural advancing power supplies mounted at the middle section of the first swing arms.