CN106821152B

CN106821152B - Intelligent roller cleaning cloth floor wiping and sweeping cleaning robot

Info

Publication number: CN106821152B
Application number: CN201710034436.6A
Authority: CN
Inventors: 郑明珠
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-01-17
Filing date: 2017-01-17
Publication date: 2022-03-01
Anticipated expiration: 2037-01-17
Also published as: CN106821152A

Abstract

An intelligent roller cleaning cloth floor-wiping and sweeping cleaning robot comprises a shell, wherein a partition plate is arranged in the shell, and a clean water tank, a sewage tank with a vacuum pump, a driving motor and a control mechanism are arranged on the partition plate; a connecting shaft penetrates through the middle of the partition plate, a driving wheel is sleeved on the connecting shaft, and a rotating platform is arranged at the bottom of the driving wheel; two floor sweeping mechanisms are oppositely arranged on the bottom surface of the rotary platform, two floor wiping mechanisms are oppositely arranged between the two floor sweeping mechanisms, and each floor wiping mechanism comprises a rotary drum and a cleaning cloth sleeve sleeved on the periphery of the rotary drum; the middle part of the roller is provided with a roller which is arranged on a fixed plate of the rotating platform in a penetrating way, and the tail end of the roller is provided with a driven bevel gear which is sleeved at the bottom of the connecting shaft; the bottom surface of the rotary platform is provided with a cleaning wheel with a cleaning brush, one side of the roller opposite to the cleaning wheel is provided with a dehydrator, and a spray pipe with a nozzle is arranged above the dehydrator; the bottom of the connecting shaft is communicated with the dehydrator, and the top of the connecting shaft is communicated with the sewage tank; the top of the distribution channel in the rotary platform is communicated with the clean water tank, and the bottom of the distribution channel is communicated with the spray pipe.

Description

Intelligent roller cleaning cloth floor wiping and sweeping cleaning robot

Technical Field

The invention relates to an automatic cleaning machine, in particular to an intelligent roller rag floor-wiping and sweeping cleaning robot.

Background

In real life, for each family, the mop is commonly used for cleaning the floor of the family or the rag is directly held by hands to clean the floor, for cleaning the floor by using the mop, although the hand is not stained with water, if the mop is used for mopping the floor, the mop is stained with a lot of dirty floor by mopping the floor for a plurality of times, the mop is attached to the mop, the mop needs to be washed in a washing bucket by water in time, the mop needs to be taken to wipe the floor for a plurality of times, and the mop needs to be soaked and washed by clean water, and the water of the mop cloth is also required to be wrung out and dewatered, otherwise, drip marks and foot marks appear on the ground when the mop is used for mopping, but also needs to bend to push and pull the mop handle when mopping, which is a heavy manual work with great effort and time, and a large amount of clear water is consumed, precious water resources are wasted, the water price of the city is very high at present, and the cost for cleaning the bottom surface is correspondingly increased.

Therefore, people want to invent and modify the existing bottom surface cleaning mode for a long time, so that the cleaning tools on the international and domestic markets are all five-fold. However, in general, the basic product structure is not changed, and the basic structure and principle of the original mop are not basically separated from the water and the rag to be used for mopping. Therefore, when people are in household cleaning, the heavy labor is not reduced, the use trouble degree is not reduced, and particularly, the defects of time waste and water waste are not reduced at all.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an intelligent roller cleaning cloth floor-wiping and sweeping robot, which has high automation degree, can reduce labor intensity, improve labor efficiency, has good effect of wiping the bottom surface, and saves water resources.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent roller rag floor-wiping and sweeping cleaning robot comprises a shell with an opening at the bottom, wherein the bottom of the shell is provided with a crawler-type omnidirectional wheel; a horizontal partition board is arranged in the shell, and a clean water tank, a sewage tank with a vacuum pump, a driving motor and a control mechanism are arranged on the partition board; a connecting shaft penetrates through the middle of the partition plate, a driving wheel is sleeved on the part, located below the partition plate, of the connecting shaft, a rotating platform is arranged at the bottom of the driving wheel, and an output shaft of the driving motor is connected with the driving wheel through a belt;

the bottom surface of the rotating platform is oppositely provided with two sweeping mechanisms, each sweeping mechanism comprises a first dustbin and a sweeping wheel which is arranged at an opening at the bottom of the first dustbin and is provided with a sweeping brush, and the sweeping wheel is in contact with the ground;

two floor wiping mechanisms are oppositely arranged between the two floor sweeping mechanisms, and each floor wiping mechanism comprises a roller and a rag sleeve sleeved on the periphery of the roller; a roller is arranged in the middle of the roller and is arranged on a fixed plate of the rotating platform in a penetrating way, and a driven bevel gear is arranged at the tail end of the roller; the bottom of the connecting shaft is sleeved with a driving bevel gear meshed with the driven bevel gear; the bottom surface of the rotating platform is provided with a cleaning wheel with a cleaning brush, the cleaning wheel is connected with a belt pulley on the outer side of the roller through a belt, and the cleaning brush is in contact with the surface of the cleaning cloth sleeve; a second garbage can is arranged below the cleaning hairbrush; the side of the roller opposite to the cleaning wheel is provided with a dehydrator, the dehydrator is provided with a hollow rotating shaft with a plurality of through holes, an extrusion cylinder with a plurality of water suction holes is sleeved outside the hollow rotating shaft, and the peripheral surface of the extrusion cylinder is tightly contacted with the rag sleeve; a water spraying pipe is arranged above the extrusion cylinder, and a plurality of nozzles are arranged on the water spraying pipe corresponding to the position of the wiping cloth sleeve;

the connecting shaft is hollow, the bottom of the connecting shaft is communicated with the hollow rotating shaft, and the top of the connecting shaft is communicated with the sewage tank; an annular distribution channel is arranged in the rotary platform, the top of the distribution channel is communicated with the clean water tank, and the bottom of the distribution channel is communicated with the spray pipe.

Furthermore, a lifting device is sleeved on the part, located above the partition plate, of the connecting shaft.

Further, the drum advances in a direction opposite to the rotation direction of the drum.

Furthermore, the intelligent roller cleaning cloth floor sweeping cleaning robot also comprises a service mechanism, wherein the service mechanism comprises a frame platform, the bottom of the frame platform is provided with a water receiving tank, and the bottom of the water receiving tank is provided with a water outlet with a filter screen; a tap water inlet pipe is arranged on the side of the water receiving pool, and the tail end of the tap water inlet pipe is respectively connected with a clean water tank inlet pipe and a cleaning pipe with a spray head; a hot air outlet is arranged on the side of the frame platform corresponding to the position of the cleaning cloth sleeve, and a charging device is arranged at the top of the hot air outlet.

Furthermore, a camera is arranged at the top of the shell, and the control mechanism is connected with a remote controller.

Furthermore, a plurality of infrared object recognition sensors are arranged around the shell.

Furthermore, a manual operation handle is arranged at the top of the shell.

Furthermore, a plurality of ultraviolet lamps are arranged on the inner wall of the shell.

Furthermore, the cross section of the shell is octagonal, and the crawler-type omnidirectional wheels are arranged at the bottoms of the two groups of opposite sides.

Furthermore, the crawler-type omnidirectional wheel comprises two driving change gears and a change gear chain positioned on the peripheries of the two driving change gears; the periphery of the driving change gear is provided with semicircular nipples at equal intervals; the change gear chain comprises a plurality of chains which are sequentially connected into a ring shape, each chain comprises a framework with a U-shaped section, and one side or two sides of each framework are provided with transverse rubber wheels; two ends of the adjacent frameworks are rotationally connected through guide grooved wheels, and the cross section of each guide grooved wheel is I-shaped and can be meshed with the semicircular seam.

The intelligent roller rag floor wiping and sweeping cleaning robot has the following floor wiping and sweeping processes:

drive rotary platform and rotate when driving motor rotates, and then drive two mechanisms of sweeping the floor and rotate, at this moment wipe the ground mechanism also connect to be fixed at rotary platform, consequently sweep the floor the mechanism and wipe the ground mechanism and rotate simultaneously, but both work content is different: the sweeping brush of the sweeping mechanism is driven by the sweeping wheel to rotate in a high-speed contact manner, and garbage scattered on the ground is collected and swept into the first garbage can, so that the sweeping purpose is achieved; the roller of the floor wiping mechanism integrally rotates under the driving of the rotating platform, and due to the interaction of the driven bevel gear and the driving bevel gear on the connecting shaft, the roller also rotates around the roller while revolving around the connecting shaft, and the wiping cloth sleeve rubs the ground to wipe the floor; when the rag sleeve rotates in a grounding way, the clean water in the clean water tank is supplied to the distribution channel and is sprayed to the rag sleeve through the nozzle of the water spraying pipe; the cleaning wheel is driven by the roller to rotate, and the cleaning brush brushes off dirt and garbage on the cleaning cloth sleeve and automatically loads the dirt and the garbage into a second garbage can for storage; the cleaned rag sleeve is rotated to a dehydrator and is extruded and dehydrated by an extrusion cylinder, and sewage is sucked into a negative-pressure sewage tank through a hollow rotating shaft and a connecting shaft; at the moment, the cleaning cloth sleeve enters the floor wiping procedure again and wipes the floor, and the robot floor wiping cloth sleeve rotates and operates repeatedly and circularly for a plurality of times, so that the robot floor wiping cloth sleeve always wipes the floor in a clean state, and the wiped floor is clean and has no peculiar smell.

After the floor cleaning of the intelligent roller rag floor cleaning robot is finished, the service mechanism of the invention is utilized to carry out subsequent treatment:

after the robot finishes mopping the floor according to a designated program, the robot moves to the frame platform, a drain switch of a sewage tank of the robot is turned on, and sewage is drained; meanwhile, a clear water tank water inlet pipe fills clear water into a clear water tank of the robot; and meanwhile, a nozzle of the cleaning pipe washes the robot by using tap water, and then the robot is transferred to a hot air outlet to be dried and charged simultaneously.

The process for replacing the wiping cloth sleeve of the intelligent roller wiping cloth floor sweeping cleaning robot comprises the following steps:

when the cleaning cloth sleeve needs to be replaced, the side face of the robot is erected, the movable thrust ring on the outer side of the rolling shaft is taken down, the old cleaning cloth sleeve is detached, a new cleaning cloth sleeve is sleeved, and the movable thrust ring is screwed.

The invention has the beneficial effects that: the intelligent roller cleaning cloth floor-wiping and sweeping cleaning robot is high in automation degree, capable of reducing labor intensity and improving labor efficiency, good in floor-wiping effect and capable of saving water resources.

Drawings

Fig. 1 is a schematic view of the overall structure of the intelligent roller rag floor sweeping and cleaning robot.

Fig. 2 is a schematic bottom structure diagram of the intelligent roller rag floor-sweeping cleaning robot.

Fig. 3 is a schematic structural diagram of a sweeping mechanism of the intelligent roller rag floor-sweeping cleaning robot.

Fig. 4 is a schematic structural diagram of a floor wiping mechanism of the intelligent roller cleaning cloth floor sweeping cleaning robot.

Fig. 5 is a schematic structural diagram of a rotating platform of the intelligent roller cleaning cloth floor sweeping cleaning robot.

Fig. 6 and 7 are a cross-sectional view and an appearance schematic diagram of a dehydrator of the intelligent roller rag floor sweeping cleaning robot.

Fig. 8 is a schematic structural diagram of a service mechanism of the intelligent roller rag floor sweeping and cleaning robot.

Fig. 9 is an appearance schematic diagram of the intelligent roller rag floor sweeping cleaning robot with the camera.

Fig. 10 is an appearance schematic diagram of a manual mode belt handle of the intelligent roller rag floor sweeping cleaning robot.

Figure 11 is a schematic structural view of a track-type omni-wheel of the intelligent drum wipe floor sweeping cleaning machine of the present invention.

Fig. 12 and 13 are schematic structural diagrams of a driving hanging wheel and a chain of a crawler-type omni wheel of the intelligent roller cleaning cloth floor sweeping cleaning robot.

FIG. 14 is a schematic view of the intelligent roller wipe sweeping the floor for cleaning the large volume of the robot in public.

Detailed Description

The invention is described in more detail below by way of example with reference to the accompanying drawings.

As shown in fig. 1-7, the invention provides an intelligent roller cleaning cloth floor-mopping and sweeping robot, which comprises a shell 1 with an opening at the bottom, wherein the bottom of the shell 1 is provided with a crawler-type omnidirectional wheel 11, the crawler-type omnidirectional wheel can move forwards and can also slide transversely to change the walking direction, and the rotation and the change of a machine body are not needed when the robot turns. A horizontal partition plate 12 is arranged in the housing 1, and a clean water tank 121, a sewage tank 122 with a vacuum pump, a driving motor 123 and a control mechanism 124 are arranged on the partition plate 12. The clear water tank 121 is provided with a water inlet for irrigation and a clear water supply outlet, and the clear water tank 121 is internally provided with a water level indicating sensor and a water tank water shortage alarm device. The middle part of the partition board 12 is provided with a connecting shaft 2 in a penetrating way, the part of the connecting shaft 2 below the partition board 12 is sleeved with a driving wheel 3, the bottom of the driving wheel 3 is provided with a rotating platform 31, and the output shaft of the driving motor 123 is connected with the driving wheel 3 through a belt. The upper part of the partition is also provided with a high-performance rechargeable battery 125 for supplying power to the robot.

Two sweeping mechanisms 4 are oppositely arranged on the bottom surface of the rotating platform, as shown in fig. 3, each sweeping mechanism 4 comprises a first garbage can 41 and a sweeping wheel 43 with a sweeping brush 42 arranged at an opening at the bottom of the first garbage can 41, and the sweeping wheel 43 is in contact with the ground. Due to the friction between the ground-contacting sweeping wheel 43 and the ground, the sweeping brush 42 of the sweeping wheel belt 43 rotates, and the garbage on the ground is collected and swept into the first garbage can 41.

Two floor wiping mechanisms 5 are oppositely arranged between the two floor sweeping mechanisms 4, and as shown in fig. 4, each floor wiping mechanism 5 comprises a roller 51 and a rag sleeve 52 sleeved on the periphery of the roller 51. The roller 51 is provided with a roller 53 at the middle part, the roller 53 is arranged on the fixed plate of the rotating platform 31 in a penetrating way, and the tail end of the roller 53 is provided with a driven bevel gear 54. The bottom of the connecting shaft 2 is sleeved with a driving bevel gear 21 meshed with the driven bevel gear 54. When the rotating platform 31 rotates, the advancing direction of the roller 51 is opposite to the rotating direction of the roller 51, so that the wiping cloth cover 52 and the ground generate a twisted friction, the friction coefficient between the wiping cloth cover 52 and the ground is enhanced, and the ground wiping effect is improved. The bottom of the rotary platform 31 is provided with a cleaning wheel 56 with a cleaning brush 55, the cleaning wheel 56 is connected with a belt pulley outside the roller 51 through a belt, and the cleaning brush 55 is in contact with the surface of the rag sleeve 52. A second garbage can 57 is arranged below the cleaning brush, and the cleaning brush 55 brushes off the particles adhered to the floor by the mopping cover 52 and stores the particles in the second garbage can 57. The side of the drum 51 opposite to the cleaning wheel 56 is provided with a dehydrator 58, as shown in fig. 6 and 7, the dehydrator 58 has a hollow rotating shaft 581 with a plurality of through holes, an extruding cylinder 583 with a plurality of water suction holes 582 is sleeved outside the hollow rotating shaft 581, and the peripheral surface of the extruding cylinder 583 is tightly contacted with the rag sleeve 52. A spray pipe 59 is arranged above the extrusion cylinder 583, and a plurality of spray nozzles are arranged at the positions of the spray pipe 59 corresponding to the wiping cloth sleeve 52.

The connecting shaft 2 is hollow, the bottom of the connecting shaft is communicated with the hollow rotating shaft 581, and the top of the connecting shaft is communicated with the sewage tank 122. When the squeezing cylinder 583 squeezes the cloth of the cloth cover 52, the squeezed dirty water is directly sucked into the hollow rotating shaft 581 through the water suction hole 582 and is sucked into the dirty water tank 122 through negative pressure for storage. As shown in fig. 5, an annular distribution channel 32 is provided in the rotary platform 31, the top of the distribution channel 32 is connected to the clean water tank 121, and the bottom is connected to the spray pipe 59. Clean water in the clean water tank 121 enters the water spraying pipe 59 through the distribution channel 32 and is sprayed onto the rag sleeve 52 from the spraying opening to wet and clean the rag.

The part of the connecting shaft 2 above the partition board 12 is sleeved with a lifting device 22 for adjusting the friction coefficient of the floor wiping mechanism 5 and the ground and retracting the floor wiping mechanism 5.

The intelligent roller cleaning cloth floor sweeping cleaning robot further comprises a service mechanism 6, as shown in fig. 8, the service mechanism 6 comprises a frame platform 61, a water receiving tank 62 is arranged at the bottom of the frame platform 61, and a water outlet 63 with a filter screen is arranged at the bottom of the water receiving tank 62. A tap water inlet pipe 64 is arranged at the side of the water receiving tank 62, and the tail end of the tap water inlet pipe 64 is respectively connected with a clean water tank inlet pipe 65 and a cleaning pipe 66 with a spray head. A hot air outlet 67 is arranged at the side of the frame platform 61 corresponding to the position of the wiping cloth cover 52, and a charging device 68 is arranged at the top of the hot air outlet 67.

As shown in fig. 9, a camera 13 can be arranged on the top of the housing 1, and the control mechanism 124 is connected with a remote controller, so that the robot can receive remote control signals and execute instructions when in work, and can transmit live images to the owner through a program when needed, so that the owner can monitor and supervise at any time. A plurality of infrared object recognition sensors 14 are arranged around the shell 1, the sensors 14 detect and recognize obstacles when the robot automatically walks, detection information data is transmitted to the module processor, and the control mechanism 124 controls the robot to walk and recognizes the obstacles to require the robot to avoid detour. In addition, as shown in fig. 10, a detachable hand-operated handle 15 is arranged on the top of the housing 1, so that the robot needs to be guided to drive a manual working mode for wiping when sudden floor sprinkling or local dirty conditions occur in a home, and the direction of the robot needs to be quickly and freely controlled by the handle 15 to quickly wipe or sweep the floor.

Because some viruses and bacteria pollute the air and can be propagated when the air enters a family and is adhered to the ground, the air is difficult to remove by wiping with a rag, so that as shown in figure 2, the ultraviolet lamps 16 are arranged on the inner wall of the shell 1, and the ultraviolet light sterilization and disinfection treatment can be carried out on the ground while the rag sleeve 52 is used for wiping the ground, thereby being beneficial to eradicating harmful bacteria and viruses.

As shown in fig. 2, 11-13, the section of the casing 1 is octagonal, and the crawler-type omni wheels 11 are arranged at the bottoms of two groups of opposite sides. The track-type omni wheel 11 includes two driving sheaves 111 and a sheave chain 112 located on the outer circumference of the two driving sheaves 111. The driving gear 111 has semicircular notches 1111 at regular intervals around its circumference. The change gear chain 112 includes a plurality of chains connected in sequence in a ring shape, each chain includes a framework 1121 with a U-shaped cross section, and a transverse rubber wheel 1122 is disposed on one side or both sides of the framework 1121. Two ends of the adjacent framework 1121 are rotatably connected through guide grooved wheels 113, and each guide grooved wheel 113 is h-shaped in cross section and can be meshed with the semicircular seam 1111. Still install pressure balance spring on crawler-type omniwheel 11's support fly leaf, because of spring pressure, if at ordinary times on ground, can automatically regulated compensation ground is uneven, avoids crawler-type omniwheel to skid and keeps the robot body steady.

As shown in fig. 14, when the intelligent roller rag floor-mopping cleaning robot is used in public places, the volume is larger than that of a household robot, but the floor-mopping function and mode are the same. But can install the large-format display 17 on the upper portion of the robot shell 1, can advertise and broadcast industry and inform the content to carry on the propaganda, and have rotatory camera watch-dog 18, because the public intelligent robot is served all weather, the robot can discern the barrier and pedestrian and walk when sweeping the floor and walking in mopping, broadcast the screen image at the same time. In addition, the intelligent floor cleaning robot can not only clean the ground, but also monitor the state of the mobile personnel through monitoring and camera shooting, and transmit information to a central monitoring room wirelessly to monitor illegal behaviors and people with suspicious behaviors.

The invention can also be used as a waxing machine, the sweeping mechanism 4 is removed, the vacuum pump is closed, the waxing oil is sprayed to the bottom of the wiping cloth sleeve 52, the waxing oil extruded by the extrusion cylinder 583 is coated on the wiping cloth sleeve 52 again, and waxing is repeated.

In summary, the present invention has the following advantages:

firstly, the invention can imitate that when a person cleans the floor at home, the person holds the floor cleaning cloth with hands to wipe the floor, squats the floor to draw a circle pattern on the floor, and rubs the floor while walking, thereby having high automation degree and saving time and labor.

When the floor sweeping mechanism is used for sweeping the floor, local ground or other places (such as a carpet) which are inconvenient to wipe by using the cleaning cloth can be cleaned by the single floor sweeping mechanism, and the floor sweeping mechanism is convenient and practical.

Thirdly, the floor cleaning and polishing machine not only can realize the floor wiping and sweeping function, but also can perform the functions of waxing, polishing, beautifying and maintaining the floor.

The invention can automatically identify the obstacles on the terrain and the ground when the robot automatically walks, automatically avoids or detours, and has the functions of remote control and monitoring operation.

The ultraviolet light disinfection device can be used for carrying out ultraviolet light disinfection treatment on the ground while wiping the ground by the rag sleeve, and is beneficial to eradicating harmful bacteria and viruses.

Sixth, the invention can use self battery energy to supply power, can also use the ordinary 220V alternating current original power supply of family expenses. The robot is provided with two paths of power supplies, so that the robot is convenient for a user to use at any time.

The invention has the characteristics of low noise, less power consumption, water saving, no dust, no secondary pollution and full-automatic work in the cleaning process, and is simple to operate and convenient to repair.

The above description is of the preferred embodiment of the present invention and the technical principles applied thereto, and it will be apparent to those skilled in the art that any changes and modifications based on the equivalent changes and simple substitutions of the technical solution of the present invention are within the protection scope of the present invention without departing from the spirit and scope of the present invention.

Claims

1. An intelligent roller rag floor-wiping and sweeping cleaning robot is characterized by comprising a shell with an opening at the bottom, wherein the bottom of the shell is provided with a crawler-type omnidirectional wheel; a horizontal partition board is arranged in the shell, and a clean water tank, a sewage tank with a vacuum pump, a driving motor and a control mechanism are arranged on the partition board; a connecting shaft penetrates through the middle of the partition plate, a driving wheel is sleeved on the part, located below the partition plate, of the connecting shaft, a rotating platform is arranged at the bottom of the driving wheel, and an output shaft of the driving motor is connected with the driving wheel through a belt;

2. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the part of the connecting shaft above the clapboard is sleeved with a lifting device.

3. The intelligent roller wipe floor sweeping cleaning robot of claim 1 or 2, wherein: the drum advances in a direction opposite to the rotation direction of the drum.

4. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the water receiving device is characterized by also comprising a service mechanism, wherein the service mechanism comprises a frame platform, the bottom of the frame platform is provided with a water receiving tank, and the bottom of the water receiving tank is provided with a water outlet with a filter screen; a tap water inlet pipe is arranged on the side of the water receiving pool, and the tail end of the tap water inlet pipe is respectively connected with a clean water tank inlet pipe and a cleaning pipe with a spray head; a hot air outlet is arranged on the side of the frame platform corresponding to the position of the cleaning cloth sleeve, and a charging device is arranged at the top of the hot air outlet.

5. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the top of the shell is provided with a camera, and the control mechanism is connected with a remote controller.

6. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: and a plurality of infrared object recognition sensors are arranged around the shell.

7. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the top of the shell is provided with a hand-operated handle.

8. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the inner wall of the shell is provided with a plurality of ultraviolet lamps.

9. The intelligent roller wipe floor sweeping cleaning robot of claim 1, wherein: the cross section of the shell is octagonal, and the crawler-type omnidirectional wheels are arranged at the bottoms of the two groups of opposite sides.

10. The intelligent roller wipe floor sweeping cleaning robot of claim 9, wherein: the crawler-type omnidirectional wheel comprises two driving change gears and a change gear chain positioned on the peripheries of the two driving change gears; the periphery of the driving change gear is provided with semicircular nipples at equal intervals; the change gear chain comprises a plurality of chains which are sequentially connected into a ring shape, each chain comprises a framework with a U-shaped section, and one side or two sides of each framework are provided with transverse rubber wheels; two ends of the adjacent frameworks are rotationally connected through guide grooved wheels, and the cross section of each guide grooved wheel is I-shaped and can be meshed with the semicircular seam.