CN112025734A

CN112025734A - Cleaning robot

Info

Publication number: CN112025734A
Application number: CN202010931913.0A
Authority: CN
Inventors: 康望才
Original assignee: Hunan Hankun Industrial Co Ltd
Current assignee: Hunan Hankun Industrial Co Ltd
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2020-12-04
Anticipated expiration: 2040-09-08
Also published as: CN112025734B

Abstract

The invention discloses a cleaning robot, which comprises a transverse moving mechanism, a longitudinal moving mechanism, a cleaning mechanism and a clamping mechanism, wherein the transverse moving mechanism comprises a transverse supporting frame and a first linear moving driving assembly; the first winding component comprises a first motor, a first winding drum and a first steel sheet; the second winding assembly comprises a second motor, a second winding drum and a second steel sheet. The automatic garbage cleaning device realizes automatic cleaning of garbage in the window gap, has good cleaning efficiency and good effect, saves time and labor, and effectively ensures the attractiveness and sanitation of the window.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

After current window durable uses, can pile up a large amount of rubbish in its gap, influence the pleasing to the eye of window, while is unhygienic, then window gap space is little, difficult manual clearance, and the clearance is fairly troublesome moreover, wastes time and energy, consequently needs an equipment that can realize the automatic clearance of rubbish in the window gap urgently, and this remains further research and development to solve.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a cleaning robot, which realizes automatic cleaning of garbage in a window gap, has good cleaning efficiency and good effect, saves time and labor and effectively ensures the beauty and sanitation of a window. In order to achieve the above object, the present invention provides a cleaning robot, including a transverse moving mechanism, a longitudinal moving mechanism, a cleaning mechanism, and a clamping mechanism, where the transverse moving mechanism includes a transverse support frame and a first linear movement driving assembly, the longitudinal moving mechanism includes a longitudinal support frame and a second linear movement driving assembly, and the cleaning mechanism includes a moving frame, a rotation driving assembly, a rotation disc, a support, a first winding assembly, a second winding assembly, a vibration driving assembly, a flexible layer, and a joint assembly; the first winding component comprises a first motor, a first winding drum and a first steel sheet; the second winding assembly comprises a second motor, a second winding drum and a second steel sheet;

the transverse support frames and the longitudinal support frames are distributed in a cross shape; the transverse support frame is movably connected with the longitudinal support frame through the first linear movement driving assembly; the moving frame is movably connected with the longitudinal supporting frame through the second linear movement driving assembly; the clamping mechanisms are mounted at two ends of the transverse supporting frame;

the rotating disc is mounted on the moving frame through the rotating driving assembly; the two supports are parallelly and alternately arranged on the rotating disc; the first winding assembly and the second winding assembly are arranged on the two supports, the first motor is mounted on the supports, the first winding drum is rotatably mounted on the supports and connected with an output shaft of the first motor, one end of the first steel sheet is connected with the first winding drum, and the first steel sheet is wound on the first winding drum; the second motor is arranged on the support, the second winding drum is rotatably arranged on the support and is connected with an output shaft of the second motor, one end of the second steel sheet is connected with the second winding drum, the second steel sheet is wound on the second winding drum, and the first winding drum and the second winding drum are arranged in parallel at intervals;

the other ends of the two first steel sheets are connected; the joint component comprises a plurality of joint sleeves which are hinged in sequence; the joint sleeve at one end of the joint component is connected with the rotating disc; the other ends of the two first steel sheets penetrate through the joint sleeves; the joint assembly is clamped between the other ends of the two second steel sheets, and the other ends of the two second steel sheets are respectively connected with two outer side edges of a joint sleeve at the other end of the joint assembly; the other ends of the two first steel sheets are wrapped by the flexible layer; the vibration driving assembly is connected with the rotating disc and is used for driving the first reel to vibrate.

Furthermore, the first linear movement driving assembly comprises a first driving motor, a first driving gear and a first rack arranged along the length direction of the transverse support frame, the first driving motor is mounted on the longitudinal support frame, the first driving gear is mounted on an output shaft of the first driving motor, and the first driving gear is meshed with the first rack.

Furthermore, the second linear movement driving assembly comprises a second driving motor, a second driving gear and a second rack arranged along the length direction of the longitudinal support frame, the second driving motor is mounted on the moving frame, the second driving gear is mounted on an output shaft of the second driving motor, and the second driving gear is meshed with the second rack.

Furthermore, the clamping mechanism comprises a third linear moving driving piece, a clamping seat, a T-shaped tensioning head and a spring, the third linear moving driving piece is mounted on the transverse supporting frame and connected with the clamping seat, a plurality of T-shaped tensioning heads are mounted on the clamping seat, rod parts of the T-shaped tensioning heads are movably matched and connected with the clamping seat, and the spring is sleeved outside the T-shaped tensioning heads; one end of the spring props against the T-shaped head of the T-shaped tightening head, and the other end of the spring props against the clamping seat.

Further, the rotary driving assembly comprises a rotary driving motor, a gear and a gear ring arranged on the moving frame, the rotary driving motor is arranged on the rotary disc, the gear is arranged on an output shaft of the rotary driving motor, and the gear is meshed with the gear ring.

Further, the vibration driving assembly comprises a vibration frame, a driving motor, a driving wheel and a driving shaft, the driving motor is installed on the rotating disc, the driving wheel is installed on an output shaft of the driving motor, the driving shaft is connected with the edge of the driving wheel, a waist round hole is formed in one end of the vibration frame, the driving shaft is inserted into the waist round hole, and the other end of the vibration frame is connected with the first reel.

Further, the third linear movement driving part comprises a nut seat, a screw rod and a motor, the motor is installed on the clamping seat, one end of the screw rod is connected with the motor, the other end of the screw rod is in threaded fit connection with the nut seat, and the nut seat is connected with the transverse supporting frame.

Furthermore, the transverse moving mechanism further comprises a transverse moving guide assembly, the transverse moving guide assembly comprises a transverse guide groove arranged along the length direction of the transverse support frame, and a transverse guide part matched with the transverse guide groove is arranged on the longitudinal support frame.

Furthermore, the longitudinal moving mechanism further comprises a longitudinal moving guide assembly, the longitudinal moving guide assembly comprises a longitudinal guide groove arranged along the length direction of the longitudinal support frame, and a longitudinal guide part matched with the longitudinal guide groove is arranged on the moving frame.

Furthermore, the number of the transverse support frames is two, and the two transverse support frames are arranged in parallel at intervals; and the two ends of the longitudinal support frame are movably connected with the two transverse support frames through the first linear movement driving assembly respectively.

The invention takes the garbage cleaning in the window gap as an example to explain the working principle of the cleaning robot of the invention: the transverse support frame is supported on the wall of a corresponding window through the clamping mechanism, the longitudinal support frame is driven to move on the transverse support frame through the first linear movement driving piece, and the moving frame is driven to move on the longitudinal support frame through the second linear movement driving piece, so that the transverse and longitudinal position adjustment of the cleaning mechanism is realized, and the position of the cleaning mechanism is adjusted in real time according to the position of a window gap. When the cleaning mechanism works, the connecting ends of the two first steel sheets are inserted into a window gap, the moving frame moves relative to the longitudinal supporting frame when the window gap is in a longitudinal state, and the longitudinal supporting frame moves relative to the transverse supporting frame when the window gap is in a transverse state, so that the flexible layer moves along the window gap, and the garbage in the window gap is cleaned, wherein the two first steel sheets ensure the structural strength of the flexible layer; the first reel of vibrations of cleaning in-process simultaneously through vibrations drive assembly drive to two first steel sheets of drive and flexible layer vibrations, so that the flexible layer rubbish process in the clearance window gap, rubbish can be along with two first steel sheets and flexible layer vibrations and break away from the window gap fast in, improve rubbish clearance efficiency and effect.

The invention adjusts the depth of the connecting end of the two first steel sheets extending into the window gap in real time through the first motor, and is flexible and convenient to use. Adjust the length of unreeling of receipts of two second steel sheets in real time through first motor to adjust the degree that the joint subassembly is by taut, thereby adjust the crooked degree between a plurality of joint covers, so the joint subassembly is crooked, so that the other end that passes two first steel sheets in the joint subassembly cover is crooked, thereby adjusts the angle of two first steel sheet other ends, so that clean mechanism can go deep into the gap of the different degree of depth of all directions, improves clean mechanism's clean scope. Meanwhile, the joint component is beneficial to improving the structural strength of the connecting end of the two first steel sheets and ensuring the structural stability.

The invention also adjusts the orientation of the rotating disk through the rotating driving component, thereby adjusting the orientations of the upper support seat, the first winding component and the second winding component of the rotating disk, enabling the cleaning mechanism to be suitable for gaps with different angles and improving the application range of the cleaning mechanism.

Drawings

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

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of fig. 1 rotated by a certain angle.

Fig. 3 is a partially enlarged perspective view of the lateral bracing frame of the present invention.

Fig. 4 is a perspective view of the cleaning mechanism of the present invention.

Fig. 5 is a perspective view of fig. 4 rotated by a certain angle.

Fig. 6 is a partial perspective view of the cleaning mechanism of the present invention cut away.

FIG. 7 is a perspective view of the joint assembly of the present invention, the first reel, the second reel, the first steel plate, and the second steel plate assembled together.

Fig. 8 is a perspective view of the present invention in use.

The above reference numerals:

10 transverse support frame, 110 first driving gear, 111 first rack, 112 second driving motor, 20 longitudinal support frame, 210 second driving motor, 211 second rack, 212 second driving gear, 3 cleaning mechanism, 40 clamping seat, 41T-shaped tensioning head, 42 spring, 43 motor, 44 wire rod, 45 nut seat, 1110 transverse guide groove, 30 moving frame, 31 rotating disk, 32 support, 33 first motor, 34 first reel, 35 first steel sheet, 36 second motor, 37 second steel sheet, 38 joint sleeve, 39 rotary driving motor, 390 gear ring, 391 driving motor, 392 driving wheel, 393 driving shaft, 394 vibrating frame, 395 second reel, 396 gear, 3940 waist hole, 301 longitudinal guide part, 5 window, 6 wall.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 8, the cleaning robot provided in this embodiment includes a transverse moving mechanism, a longitudinal moving mechanism, a cleaning mechanism 3, and a clamping mechanism, the transverse moving mechanism includes a transverse support frame 10, a first linear movement driving assembly, the longitudinal moving mechanism includes a longitudinal support frame 20, a second linear movement driving assembly, the cleaning mechanism 3 includes a moving frame 30, a rotary driving assembly, a rotary disc 31, a support 32, a first winding assembly, a second winding assembly, a vibration driving assembly, a flexible layer (not shown in the figures), and a joint assembly; the first winding component comprises a first motor 33, a first winding cylinder 34 and a first steel sheet 35; the second winding assembly comprises a second motor 36, a second winding drum 395 and a second steel sheet 37.

The transverse support frames 10 and the longitudinal support frames 20 are distributed in a cross shape; the transverse support frame 10 is movably connected with the longitudinal support frame 20 through the first linear movement driving component; the moving frame 30 is movably connected with the longitudinal supporting frame 20 through the second linear motion driving component; the clamping mechanisms are mounted at two ends of the transverse support frame 10.

The rotating disc 31 is mounted on the moving frame 30 through the rotating drive assembly; the two supports 32 are arranged on the rotating disc 31 in parallel at intervals; the two supports 32 are respectively provided with the first winding assembly and the second winding assembly, wherein the first motor 33 is mounted on the supports 32, the first winding drum 34 is rotatably mounted on the supports 32 and connected with an output shaft of the first motor 33, one end of the first steel sheet 35 is connected with the first winding drum 34, and the first steel sheet 35 is wound on the first winding drum 34; the second motor 36 is installed on the support 32, the second winding drum 395 is rotatably installed on the support 32 and is connected with an output shaft of the second motor 36, one end of the second steel sheet 37 is connected with the second winding drum 395, the second steel sheet 37 is wound on the second winding drum 395, and the first winding drum 34 and the second winding drum 395 are arranged in parallel at intervals.

The other ends of the two first steel sheets 35 are connected; the joint assembly comprises a plurality of joint sleeves 38 which are sequentially hinged; the joint sleeve 38 at one end of the joint component is connected with the rotating disc 31; the other ends of the two first steel sheets 35 penetrate through the plurality of joint sleeves 38; the joint assembly is clamped between the other ends of the two second steel sheets 37, and the other ends of the two second steel sheets 37 are respectively connected with two outer side edges of a joint sleeve 38 at the other end of the joint assembly; the other ends of the two first steel sheets 35 are wrapped by the flexible layer; the vibration driving assembly is connected with the rotating disc 31 and is used for driving the first winding drum 34 to vibrate. The flexible layer of the present embodiment may be made of a flexible material such as sponge, rubber, etc., which is not particularly limited. In this embodiment, two adjacent joint sleeves 38 are hinged by a hinge shaft.

The working principle of the cleaning robot in the embodiment is described by taking the cleaning robot for cleaning garbage in a window gap as an example: the transverse support frame 10 is supported on the wall 6 of the corresponding window 5 through the clamping mechanism, the longitudinal support frame 20 is driven to move on the transverse support frame 10 through the first linear movement driving piece, and the moving frame 30 is driven to move on the longitudinal support frame 20 through the second linear movement driving piece, so that the transverse and longitudinal position adjustment of the cleaning mechanism 3 is realized, and the position of the cleaning mechanism 3 is adjusted in real time according to the position of a gap of the window 5. When the cleaning mechanism 3 works, the connecting ends of the two first steel sheets 35 are inserted into a gap of the window 5, when the gap of the window 5 is in a longitudinal state, the moving frame 30 moves relative to the longitudinal support frame 20, and when the gap of the window 5 is in a transverse state, the longitudinal support frame 20 moves relative to the transverse support frame 10, so that the flexible layer moves along the gap of the window 5, and the garbage in the gap of the window 5 is cleaned, wherein the structural strength of the flexible layer is ensured by the two first steel sheets 35; the first reel 34 vibrations of vibrations through vibrations drive assembly drive simultaneously in the clearance process to drive two first steel sheets 35 and flexible layer vibrations, so that the flexible layer rubbish process in clearance window 5 gap, rubbish can be along with two first steel sheets 35 and flexible layer vibrations and break away from the window 5 gap fast in, improve rubbish clearance efficiency and effect.

This embodiment is through first motor 33 with the depth that two first steel sheet 35 link ends stretched into to window 5 gap in real time, and it is nimble convenient to use. Adjust the length of rolling up and unreeling of two second steel 37 pieces in real time through second motor 36 to adjust the degree that the joint subassembly is strained, thereby adjust the crooked degree between a plurality of joint cover 38, so the joint subassembly is crooked, so that the other end that passes two first steel sheets 35 in the joint subassembly is crooked, thereby adjust the angle of two first steel sheets 35 other ends, so that cleaning mechanism 3 can go deep into the gap of the different degree of depth of all directions, improve cleaning mechanism 3's clean scope. This embodiment joint subassembly still is favorable to improving the structural strength of two first steel sheets 35 looks connection ends simultaneously, guarantees the stability of structure.

As shown in fig. 6, in order to clearly reflect the position relationship and structure between the joint component, the first steel plate 35, and the second steel plate 37, the gap between the joint component and the first steel plate 35 is set to be larger, and in the actual use process, the gap between the joint component and the first steel plate 35 may be set reasonably according to the influence of different bending degrees, which is not specifically limited.

In the embodiment, the orientation of the rotating disc 31 is adjusted through the rotating driving assembly, so that the orientations of the upper support 32, the first winding assembly and the second winding assembly on the rotating disc 31 are adjusted, the cleaning mechanism 3 can be suitable for gaps with different angles, and the application range of the cleaning mechanism 3 is enlarged.

The cleaning robot of the embodiment is not limited to be used for cleaning gaps of windows 5, and can also be used in other occasions where gaps are difficult to clean, and the application range is wide.

In this embodiment, the first linear movement driving assembly preferably includes a first driving motor 112, a first driving gear 110, and a first rack 111 disposed along the length direction of the horizontal supporting frame 10, the first driving motor 112 is mounted on the vertical supporting frame 20, the first driving gear 110 is mounted on an output shaft of the first driving motor 112, and the first driving gear 110 is engaged with the first rack 111. When the cleaning device is used, the first driving motor 112 is started to drive the first driving gear 110 to rotate, so that the longitudinal support frame 20 and the cleaning mechanism 3 mounted on the longitudinal support frame 20 move relative to the transverse support frame 10 under the action of the first rack 111.

In this embodiment, the second linear motion driving assembly preferably includes a second driving motor 210, a second driving gear 212, and a second rack 211 disposed along the length direction of the longitudinal support frame 20, the second driving motor 210 is mounted on the moving frame 30, the second driving gear 212 is mounted on an output shaft of the second driving motor 210, and the second driving gear 212 is engaged with the second rack 211. In use, the second driving motor 210 is activated to drive the second driving gear 212 to rotate, so that the cleaning mechanism 3 moves relative to the longitudinal support frame 20 under the action of the second rack 211.

In this embodiment, the clamping mechanism preferably includes a third linear motion driving element, a clamping seat 40, a T-shaped tensioning head 41, and a spring 42, the third linear motion driving element is mounted on the transverse support frame 10, the third linear motion driving element is connected to the clamping seat 40, a plurality of T-shaped tensioning heads 41 are mounted on the clamping seat 40, a rod portion of each T-shaped tensioning head 41 is movably connected to the clamping seat 40 in a matching manner, and the spring 42 is sleeved on the T-shaped tensioning head 41; one end of the spring 42 is pressed against the T-shaped head of the T-shaped bracing head 41, and the other end is pressed against the clamping seat 40. When the clamping mechanism is used, the T-shaped head of the T-shaped bracing head 41 is abutted against the wall 6 corresponding to the window 5, the clamping seat 40 is driven to move through the third linear movement driving piece, so that the clamping seat 40 moves towards the wall 6, the spring 42 is effectively compressed, the T-shaped head of the T-shaped bracing head 41 is effectively braced against the wall 6, and the transverse support frame 100 is effectively fixed on the wall 6 corresponding to the window 5.

In this embodiment, the third linear driving member preferably includes a nut seat 45, a screw rod 44, and a motor 43, the motor 43 is mounted on the clamping seat 40, one end of the screw rod 44 is connected to the motor 43, the other end of the screw rod 44 is connected to the nut seat 45 in a screw-fit manner, and the nut seat 45 is connected to the lateral support frame 10.

In the present embodiment, the rotation driving assembly preferably includes a rotation driving motor 39, a gear 396, and a gear ring 390 provided on the movable frame 30, the rotation driving motor 39 is mounted on the rotary plate 31, the gear 396 is mounted on an output shaft of the rotation driving motor 39, and the gear 396 is engaged with the gear ring 390. In use, the rotary driving motor 39 is started to drive the gear 396 to rotate, and the gear ring 390 is fixed on the movable frame 30, so that the rotary disc 31 moves relative to the movable frame 30 to adjust the orientation of the connecting end of the two first steel plates 35, and is suitable for the insertion of different angle gaps.

Preferably, the vibration driving assembly includes a vibration frame 394, a driving motor 391, a driving wheel 392, and a driving shaft 393, wherein the driving motor 391 is mounted on the rotating disc 31, the driving wheel 392 is mounted on an output shaft of the driving motor 391, the driving shaft 393 is connected with an edge of the driving wheel 392 to realize eccentricity of the driving shaft 393, one end of the vibration frame 394 is provided with a kidney-shaped hole 3940, the driving shaft 393 is inserted into the kidney-shaped hole 3940, and the other end of the vibration frame 394 is connected with the first reel 34. In use, the drive motor 391 is activated to rotate the drive wheel 392, thereby driving the drive shaft 393 to move within the oblong opening 3940, thereby vibrating the vibration frame 394 back and forth to drive the first reel 34 to vibrate. The other end of the shock frame 394 is in a U-shaped structure, and two U-shaped ends of the U-shaped structure are provided with through holes, so that the two U-shaped ends of the shock frame 394 are sleeved on shafts at two ends of the first reel 34, and a gap is formed between the through holes and the shafts.

In this embodiment, the transverse moving mechanism further includes a transverse moving guide assembly, the transverse moving guide assembly includes a transverse guide groove 1110 disposed along the length direction of the transverse support frame 10, and the longitudinal support frame 20 is provided with a transverse guide portion engaged with the transverse guide groove 1110. The guide function of the longitudinal support frame 20 moving relative to the transverse support frame 10 is realized by the transverse moving guide component.

In this embodiment, the longitudinal moving mechanism further includes a longitudinal moving guide assembly, the longitudinal moving guide assembly includes a longitudinal guide slot disposed along the length direction of the longitudinal support frame 20, and the moving frame 30 is provided with a longitudinal guide portion 301 matched with the longitudinal guide slot. The guiding function of the moving frame 30 relative to the longitudinal support frame 20 is realized by the longitudinal moving guiding component.

In this embodiment, preferably, the number of the transverse support frames is two, and the two transverse support frames are arranged in parallel at intervals; and the two ends of the longitudinal support frame are movably connected with the two transverse support frames through the first linear movement driving assembly respectively.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A cleaning robot is characterized by comprising a transverse moving mechanism, a longitudinal moving mechanism, a cleaning mechanism and a clamping mechanism, wherein the transverse moving mechanism comprises a transverse supporting frame and a first linear moving driving assembly, the longitudinal moving mechanism comprises a longitudinal supporting frame and a second linear moving driving assembly, and the cleaning mechanism comprises a moving frame, a rotating driving assembly, a rotating disc, a support, a first winding assembly, a second winding assembly, a vibrating driving assembly, a flexible layer and a joint assembly; the first winding component comprises a first motor, a first winding drum and a first steel sheet; the second winding assembly comprises a second motor, a second winding drum and a second steel sheet;

2. The cleaning robot as claimed in claim 1, wherein the first linear motion driving assembly includes a first driving motor, a first driving gear, and a first rack disposed along a length direction of the transverse support frame, the first driving motor is mounted on the longitudinal support frame, the first driving gear is mounted on an output shaft of the first driving motor, and the first driving gear is engaged with the first rack.

3. The cleaning robot as claimed in claim 1, wherein the second linear motion driving assembly includes a second driving motor, a second driving gear, and a second rack disposed along a length direction of the longitudinal support frame, the second driving motor is mounted on the moving frame, the second driving gear is mounted on an output shaft of the second driving motor, and the second driving gear is engaged with the second rack.

4. The cleaning robot as claimed in claim 1, wherein the clamping mechanism includes a third linear motion driving member, a clamping seat, a T-shaped tightening head, and a spring, the third linear motion driving member is mounted on the lateral support frame, the third linear motion driving member is connected to the clamping seat, a plurality of T-shaped tightening heads are mounted on the clamping seat, a rod of the T-shaped tightening head is movably coupled to the clamping seat, and the spring is sleeved on the T-shaped tightening head; one end of the spring props against the T-shaped head of the T-shaped tightening head, and the other end of the spring props against the clamping seat.

5. The cleaning robot as claimed in claim 1, wherein the rotary drive assembly includes a rotary drive motor, a gear, and a gear ring provided on the movable frame, the rotary drive motor is mounted on the rotary plate, an output shaft of the rotary drive motor mounts the gear, and the gear is engaged with the gear ring.

6. The cleaning robot as claimed in claim 1, wherein the vibration driving assembly includes a vibration frame, a driving motor, a driving wheel, and a driving shaft, the driving motor is mounted on the rotating plate, the driving wheel is mounted on an output shaft of the driving motor, the driving shaft is connected to an edge of the driving wheel, a waist circular hole is formed at one end of the vibration frame, the driving shaft is inserted into the waist circular hole, and the other end of the vibration frame is connected to the first reel.

7. The cleaning robot as claimed in claim 4, wherein the third linear motion driving member includes a nut holder, a lead screw, and a motor, the motor is mounted on the clamping holder, one end of the lead screw is connected to the motor, the other end of the lead screw is connected to the nut holder in a screw-fit manner, and the nut holder is connected to the lateral support frame.

8. The cleaning robot as claimed in claim 1, wherein the lateral moving mechanism further comprises a lateral moving guide assembly, the lateral moving guide assembly includes a lateral guide groove disposed along a length direction of the lateral support frame, and the longitudinal support frame is provided with a lateral guide portion engaged with the lateral guide groove.

9. The cleaning robot as claimed in claim 1, wherein the longitudinal moving mechanism further comprises a longitudinal moving guide assembly, the longitudinal moving guide assembly includes a longitudinal guide slot disposed along a length direction of the longitudinal support frame, and the moving frame is provided with a longitudinal guide portion engaged with the longitudinal guide slot.

10. The cleaning robot as claimed in claim 1, wherein the number of the lateral supporting frames is two, and the two lateral supporting frames are arranged in parallel and at intervals; and the two ends of the longitudinal support frame are movably connected with the two transverse support frames through the first linear movement driving assembly respectively.