CN112168076A

CN112168076A - Floor sweeping robot

Info

Publication number: CN112168076A
Application number: CN202011024891.6A
Authority: CN
Inventors: 赵子建; 周奎; 张伟; 汪伟; 于振中; 李文兴
Original assignee: HRG International Institute for Research and Innovation
Current assignee: Hefei Haogong Aoting Intelligent Technology Co ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2021-01-05
Anticipated expiration: 2040-09-25
Also published as: CN112168076B

Abstract

The invention discloses a sweeping robot, which comprises a main brush assembly, a rack assembly and an edge brush assembly, wherein the main brush assembly is arranged on the rack assembly; the side brush assembly and the main brush assembly are respectively connected to the front end and the rear end of the rack assembly; the main brush assembly comprises a main brush lifting assembly and a main brush roll; the main brush lifting assembly comprises a main brush steel wire rope and a main brush cylinder; the main brush roller is connected to the output end of the main brush cylinder through a flexible main brush steel wire rope; the side brush assembly comprises a side brush lifting structure and a side brush connecting piece; the side brush lifting structure comprises a side brush steel wire rope and a side brush cylinder; one end of the side brush connecting piece is rotatably connected to the rack component; the other end of the side brush connecting piece is connected to the output end of the side brush air cylinder through a flexible side brush steel wire rope; according to the invention, when the main brush component and the side brush component clean bumpy ground, the main brush component and the side brush component are lifted, the connected side brush and main brush steel wire ropes become loose, and the damage to parts is reduced.

Description

Floor sweeping robot

Technical Field

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

Background

A sweeping robot is a machine for sweeping the ground. The sweeping robot with low price uses the rotating traveling wheels to sweep places, the sweeping track is an arc track, when encountering an obstacle, the sweeping robot is blocked and does not move towards the direction of the obstacle any more, and the sweeping robot continues to work until the traveling wheels rotate to the other direction, so that the obstacle avoidance is realized, but some obstacles are slightly higher than the ground by 0.5-2cm and can completely span the obstacle, and the sweeping robot with low price cannot realize the sweeping robot, so that the sweeping effect is poor; the robot with high price induces the obstacles by arranging various inductors, thereby achieving the purpose of avoiding the obstacles, but the robot with high price selectively avoids the obstacles with the height slightly higher than the ground by 0.5-2cm, which is completely unnecessary, and the sensors of the robot with high price are arranged in various types and complex structures, and the installation structure of the dust collecting and storing device is improper and has high cost.

The traditional lifting structure for the cleaning main part uses rigid connection, for example, a motor, an air cylinder and other power output parts are used, the rigid connection is directly connected onto the cleaning main part through a rigid connecting part, then the cleaning main part moves up and down on a guide rail, but when the cleaning main part encounters bumpy ground, the ground has an upward jacking force on the cleaning main part, the power output parts such as the air cylinder and the motor can rise, but due to the conduction of the rigid connecting part, an instant deviation pause can be generated, the pause can cause damage to the rigid connecting part, the air cylinder or the motor and the like to a certain extent, and the long-term operation of the sweeping robot is not facilitated.

For example, patent publication No. CN109464075A discloses a cleaning control method and a device for a cleaning robot, and a cleaning robot, where the control method includes: controlling the sweeping robot to advance, and triggering a collision detector on the sweeping robot to send a trigger signal; controlling the sweeping robot to retreat by a first distance according to the trigger signal; and controlling the sweeping robot to rotate in situ so that the driving direction of the sweeping robot is parallel to the contour line of the obstacle or the tangent line of the contour line. The robot for sweeping disclosed by the application document avoids the obstacle through the sensor, and is difficult to sweep the ground behind the obstacle, so that the cost is high, and the use is inconvenient.

If the publication is CN 105433879B's reference, a clean robot is disclosed, use the round brush constantly rotatory, make rubbish get into in the garbage container, realize cleaning, though this kind of tradition cleans efficiently, but clean the effect poor, ground after cleaning, the dust is kicked up, and when cleaning large-scale place, especially when cleaning of market or airport or railway station platform square, can not use the watering machine of large tracts of land, the processing of dust also just can not effectively be solved, and big rubbish and little rubbish are all concentrated on a piece and are handled, lead to the increase of cleaning burden, clean the effect is poor.

The publication No. CN205054052U discloses a floating quick-change side brush mechanism for a sweeper, and specifically discloses that when an oil cylinder pushes away a rotary fixed block, a roller gradually leaves a lifting disc, an AD section rotates downward along a point a, and a brush body acts on the ground by the gravity of the brush body to form a cleaning operation.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the floor sweeping robot can operate for a long time and cause small damage to a main brush edge brush lifting structure.

In order to solve the technical problems, the invention provides the following technical scheme: a sweeping robot comprises a main brush assembly, a rack assembly and an edge brush assembly; the side brush assembly and the main brush assembly are respectively connected to the front end and the rear end of the rack assembly; the main brush assembly comprises a main brush lifting assembly and a main brush roll; the main brush lifting assembly comprises a main brush steel wire rope and a main brush cylinder; the main brush roller is connected to the output end of the main brush cylinder through a flexible main brush steel wire rope; the side brush assembly comprises a side brush lifting structure and a side brush connecting piece; the side brush lifting structure comprises a side brush steel wire rope and a side brush cylinder; one end of the side brush connecting piece is rotatably connected to the rack component; the other end of the side brush connecting piece is connected to the output end of the side brush air cylinder through a flexible side brush steel wire rope.

When the main brush assembly and the side brush assembly encounter the bumpy ground, the main brush assembly and the side brush assembly are upwards jacked up by the reaction force of the ground, and at the moment, the flexible main brush and the flexible side brush steel wire rope can become loose when the main brush assembly and the side brush assembly are lifted up, so that the damage to parts is reduced.

Preferably, the main brush lifting assembly further comprises a first linkage rod, a swinging rod and a second guide wheel; the frame assembly is rotatably connected with a main brush cylinder swinging along the height direction of the sweeping robot through a hinge; the output end of the main brush cylinder is arranged towards the main brush assembly; the bottom end of the first linkage rod is rotatably connected with the output end of the main brush cylinder through a hinge; the top end of the first linkage rod is fixedly connected to the central shaft; when the output end of the main brush cylinder outputs, the top end of the first linkage rod is close to the main brush cylinder relative to the bottom end; the central shaft is rotatably connected to the lifting support plate; the lifting support plate is fixed at the center; a swing rod is welded on the shaft body of the central shaft; the free end of the swinging rod faces the main brush cylinder; and the free end of the swing rod is fixed with a main brush steel wire rope; the lifting support plate is also rotatably connected with a second guide wheel through a connecting shaft; one end of the main brush steel wire rope is led out from the swinging rod, bypasses the top of the second guide wheel, extends towards the lower part of the second guide wheel and is finally fixed on the main brush pair roller through a lock catch;

when the sweeping robot stops, a main brushing cylinder is started, the output end of the main brushing cylinder outputs, a push rod of the main brushing cylinder is ejected outwards, the bottom end of a first linkage rod connected with the output end of the main brushing cylinder is pushed and rotates around a central shaft, then the top end of the first linkage rod and the central shaft rotate along with the first linkage rod, the central shaft rotates to drive a swing rod fixed on a shaft body of the central shaft to rotate, the free end of the swing rod moves downwards, a main brushing steel wire rope fixed to the free end of the swing rod is pulled to move downwards, the main brushing steel wire rope extending downwards around the top of a second guide wheel is recovered upwards, and a main brushing top plate fixed to the bottom end of the main brushing steel wire rope is made to ascend, namely; otherwise, the output end of the main brush cylinder retracts into the main brush cylinder, the bottom end of the first linkage rod rotates around the central shaft towards the main brush cylinder to drive the central shaft and the swing rod on the shaft body of the central shaft to rotate, the free end of the swing rod moves upwards around the central shaft, the main brush steel wire rope fixed at the free end of the swing rod moves towards the second guide wheel, the main brush steel wire rope below the second guide wheel descends under the action of gravity of the main brush assembly, the main brush pair rollers are attached to the ground, the retraction of the main brush assembly is completed, the operation is simple, and the automation degree is high; when the main brush component meets bumpy ground, the main brush steel wire rope becomes loose, damage to the main brush lifting component is prevented, and the defect that the traditional rigid main brush lifting component is easy to damage parts is overcome;

preferably, the side brush lifting structure further comprises a rope sleeve, a supporting angle plate, a loop bar and a third connecting sheet; the third connecting piece is fixed on the side brush connecting piece; the loop bar penetrates through the edge lugs on two sides of the third connecting piece and is fixed through a nut; an inverted L-shaped supporting angle plate fixed on the rack component is arranged above the sleeve rod; a rope sleeve is fixedly penetrated on the supporting angle plate; one end of the side brush steel wire rope penetrates through the rope sleeve, and the bottom end of the side brush steel wire rope is wound on the loop bar; the other end of the side brush steel wire rope is fixed on a lock catch at the output end of the side brush cylinder through sleeve joint.

Preferably, the main brush lifting assembly further comprises a first tensioning assembly; the first tensioning assembly comprises a first tensioning wheel, a second linkage rod and a tensioning spring which is always in a stretching state; the rack assembly fixes one end of the tension spring through a fixing column; the second linkage rod is rotatably connected to the lifting support plate through a hinge point; the hinge point of the second linkage rod is arranged on one side, away from the main brush cylinder, of the second guide wheel; the hinge point of the second linkage rod is arranged in the middle of the rod body of the second linkage rod; the other end of the tension spring is hooked at the top end of the second linkage rod; the bottom end of the second linkage rod is rotatably connected with the first tensioning wheel through a fixed shaft; the first tensioning wheel is arranged below the second guide wheel; and the wheel body of the first tensioning wheel straightens the main brush steel wire rope.

When the main brush pair rollers meet bumpy ground, the main brush pair rollers are lifted under the reaction force of the bumpy ground, then the main brush steel wire ropes fixed on the main brush top plates above the main brush pair rollers are in a loose state, at the moment, the second linkage rods are pushed to rotate around the hinge points under the elastic action of the tensioning springs, the first tensioning wheels at the bottoms of the second linkage rods compress the main brush steel wire ropes towards the main brush air cylinder, the tensioning degree of the main brush steel wire ropes is guaranteed, the main brush steel wire ropes are prevented from being loosened, and the main brush steel wire ropes are separated from the second guide wheels.

When the sweeping robot stops, a main brushing cylinder is started, the output end of the main brushing cylinder outputs, a push rod of the main brushing cylinder is ejected outwards, the bottom end of a first linkage rod connected with the output end of the main brushing cylinder is pushed and rotates around a central shaft, then the top end of the first linkage rod and the central shaft rotate along with the first linkage rod, the central shaft rotates to drive a swing rod fixed on a shaft body of the central shaft to rotate, the free end of the swing rod moves downwards, a main brushing steel wire rope fixed to the free end of the swing rod is pulled to move downwards, the main brushing steel wire rope extending downwards around the top of a second guide wheel is recovered upwards, and a main brushing top plate fixed to the bottom end of the main brushing steel wire rope is made to ascend, namely; otherwise, the output end of the main brush cylinder retracts into the main brush cylinder, the bottom end of the first linkage rod rotates around the central shaft towards the main brush cylinder to drive the central shaft and the swing rod on the shaft body of the central shaft to rotate, the free end of the swing rod moves upwards around the central shaft, the main brush steel wire rope fixed at the free end of the swing rod moves towards the second guide wheel, the main brush steel wire rope below the second guide wheel descends under the action of gravity of the main brush assembly, the main brush pair rollers are attached to the ground, the retraction of the main brush assembly is completed, the operation is simple, and the automation degree is high;

and when the main brush subassembly meets jolt ground, the main brush wire rope becomes lax, prevent to lead to the fact the damage to main brush lifting element, it is adjustable to avoid the tensioning degree of traditional rigidity main brush lifting element to easily lead to the fact the drawback belt of damage to the part, avoid taking place lax problem behind the belt live time process, then lax main brush wire rope, under tensioning spring elastic action, promote the second linkage and rotate around the pin joint, the first tight pulley of second linkage bottom compresses tightly main brush wire rope towards main brush cylinder direction, guarantee main brush wire rope's rate of tension, prevent that main brush wire rope relaxes, break away from the second guide pulley.

Preferably, the main brush assembly further comprises a main brush housing mounted on the frame assembly; the main brush shell comprises a main brush top plate, a main brush side plate and a transmission side plate; the main brush top plate is arranged above the main brush pair rollers; a transmission side plate is fixed on one side of the main brush top plate; the other side of the main brush top plate is provided with a main brush side plate and a garbage box side plate respectively; the main brush side plate is fixed on the side edge of the main brush top plate facing the front side of the sweeping robot; the side plate of the garbage box is movably clamped on the side edge of the main brush top plate facing the rear side of the sweeping robot; a main brush rear plate is fixed on the rear side edge of the main brush top plate;

two main brush roll pairs with axes arranged in parallel are arranged between the main brush side plate and the transmission side plate, and the axes of the main brush roll pairs are vertical to the vertical surface of the transmission side plate; the two main brush roller pairs have the same horizontal height and rotate oppositely; the axes of the main brush pair rollers penetrate through the main brush shaft; one end of the main brush shaft is arranged on one vertical surface of the main brush side plate through a shaft seat; the other end of the main brush shaft penetrates through the vertical surface of the transmission side plate, and a shaft sleeve is sleeved at the penetrating position; a main brush top plate is arranged above the two main brush pair rollers; two ends of the main brush top plate are fixed on the side walls of the transmission side plate and the main brush side plate; the garbage box is arranged behind the main brushing rollers and on the side face of the side plate of the garbage box.

Preferably, the garbage grading treatment device comprises a filtering device, a silencing box, a dust collecting component, an air suction pump, an air suction port, an air suction cover and a filtering hole; the dust collection assembly is arranged above the main brush assembly; the dust collecting component is fixed at the rear end of the main beam through a connecting block; the filter device is fixed at the top of the dust collection component; a silencing box is arranged above the filtering device; the silencing box is fixed on the dust collecting component through a fixing rod; an air extracting pump is arranged on one side of the silencing box; the air suction end of the air suction pump is communicated with the air outlet end of the silencing box; the silencing box is communicated with the filtering device through a connecting pipe; the dust inlet end of the filter device is connected with an air inlet pipe; one end of the air inlet pipe is connected to the main brush top plate at the upper opening of the garbage box; the main brush top plate is provided with a through hole at the position of the upper opening of the garbage box, and garbage is pumped to the air inlet pipe; the through opening is internally provided with a filtering hole for separating large garbage from small garbage; an air suction cover fixed on the main brush top plate is arranged above the filter holes; the air suction cover is provided with an air suction port; the pipe orifice of the air inlet pipe is screwed and fixed with the air suction pipe through threads.

The negative pressure of the dust suction port above the garbage box sucks small garbage and dust through the filter holes, so that the large garbage and the small garbage are separately treated, and the subsequent garbage is conveniently treated again; after the garbage box is filled with garbage, the stop door is opened, and the garbage box is pulled out from the rear plate of the shell along the guide rail, so that the garbage can be poured and cleaned conveniently.

Preferably, the filter device comprises a filter box, an air outlet, an air inlet and a filter element; the top of the filter box is provided with an air outlet; one end of the connecting pipe is in threaded connection with the air outlet; a filter element with an outlet communicated with the air outlet is arranged in the filter box; the air inlet end of the filter element is exposed to the interior of the filter box; an air inlet is formed in the side edge of the filter box; the other end of the air inlet pipe is screwed at the air inlet.

Preferably, the primary brush assembly further comprises a primary brush drive; the main brush transmission part comprises a driving wheel, a belt, a main brush motor, a first main brush wheel, a second main brush wheel and a first guide wheel; one end of the main brush pair roller penetrates through the transmission side plate and is respectively sleeved with a second main brush wheel and a first main brush wheel; the first main brush wheel is arranged at the rear side of the second main brush wheel; a first guide wheel with consistent horizontal height is arranged at the rear side of the first main brush wheel; the second main brush wheel, the first main brush wheel and the first guide wheel are all arranged on one outward side of the transmission side plate; a driving wheel arranged outside the transmission side plate is also arranged above the first main brush wheel; the belt passes by the upper part of the driving wheel, then passes by the lower part of the second main brush wheel, passes by the upper part of the first main brush wheel, passes by the lower part of the first guide wheel and then is drawn to the driving wheel; the center of the driving wheel penetrates through an output shaft of the main brush motor; the motor is fixed on the inner side of the transmission side plate.

The second main brush wheel, the first guide wheel and the belt on the driving wheel form a triangular transmission path, so that the compactness of the structure is improved, and the installation space of the structure is saved.

Preferably, the primary brush drive further comprises a second tensioning assembly; the second tensioning assembly comprises a second tensioning wheel, a fixing plate, an adjusting screw and an L-shaped connecting plate; the second tension wheel is arranged between the driving wheel and the second main brush wheel; and the body of the second tension pulley is pressed on the outer side of the belt; the second tensioning wheel is rotatably connected to the plate surface at one end, parallel to the transmission side plate, of the L-shaped connecting plate through a second tensioning wheel shaft; the surface of the other end of the L-shaped connecting plate, which is parallel to the transmission side plate, penetrates through a gap between the bottom of the belt and the side surface of the transmission side plate; an adjusting screw is fixed on the integrally formed plate surface of the L-shaped connecting plate, which is perpendicular to the side surface of the transmission side plate; the rod end of the adjusting screw penetrates through a fixing sheet spot-welded on the transmission side plate; and the threaded fit of the penetrating part of the adjusting screw and the fixing piece is realized.

After the belt is used for a long time, the belt becomes loose, the adjusting screw rod is adjusted to move in the direction away from the belt, then the L-shaped connecting plate at the rod end of the adjusting screw rod is driven to move, then the second tensioning wheel on the other side of the belt is tightly attached to the belt, and the tension degree of the belt is improved; the tensioning degree of the belt is adjustable, and the problem that the belt is loosened after the use time is avoided.

Preferably, the side brush assembly further comprises a side brush motor, a speed reducer, a brush disc and bristles; the side brush connecting piece is movably connected to the front side of the frame component through a pin shaft; the free end of the side brush connecting piece does up-and-down swinging motion around the pin shaft; a speed reducer is fixed at the free end of the side brush connecting piece; the input end of the speed reducer is in transmission connection with the output end of the side brush motor; the side brush motor is fixed on the side wall of one side of the speed reducer through a connecting block; the output end of the speed reducer is arranged downwards and is rotationally connected with a brush disc through a rotating shaft; the bottom surface of the brush disc is embedded with brush hair.

Preferably, the side brush connecting piece comprises a hinged plate, a first connecting piece, a hinged shaft, a hinged seat and a second connecting piece; the hinged support is fixedly connected to the vertical surface of the rack component; a hinge shaft capable of rotating is inserted into the vertical surface of the hinge seat along the vertical direction; a first connecting piece capable of rotating along the axis direction of the hinge shaft is sleeved outside the hinge shaft; the vertical side of the first connecting piece is connected with a hinged plate which swings up and down along the height direction through a connecting shaft; the tail end of the hinged plate is connected with a second connecting piece through a connecting shaft; an L-shaped sheet with a through hole on the horizontal plane is fixed on the vertical side of the second connecting sheet; the output end of the motor is in transmission connection with a speed reducer; the bottom end of the speed reducer is an output end, and is in transmission connection with an output shaft; the speed reducer is fixed on the horizontal plane of the L-shaped sheet, and an output shaft of the output end of the speed reducer penetrates through the through hole.

Preferably, the side brush assembly further comprises a side brush mounting structure, and the side brush mounting structure comprises a connecting cap, a clamping rod, a first clamping hole, a locking pin, a chuck and a pin hole; the bottom end of the output shaft is embedded into a clamping rod; the periphery of the rod body of the clamping rod is correspondingly provided with a bead groove; the top of the connecting cap is provided with a second clamping hole; the rod end of the clamping rod is embedded in the second clamping hole, and the clamping rod is in interference fit with the second clamping hole; two pin holes communicated with the second clamping holes are correspondingly formed in the peripheral sides of the connecting caps; a lock pin is inserted into the pin hole; one end of the lock pin, which faces the clamping rod, is provided with a collision bead; the lock pin is inserted into the pin hole, and the collision bead at the end part of the lock pin is matched with the bead groove at the peripheral side of the rod body of the clamping rod; the bottom of the connecting cap is adhered with the chuck; a first clamping hole is formed in the center of the top of the brush disc; the chuck has magnetism; a magnetic medium is adhered in the first clamping hole; the chuck is embedded in the first clamping hole and matched with the first clamping hole through magnetic attraction.

Preferably, the rack assembly comprises a main beam; the length of the main beam is the same as the width direction of the sweeping robot; two ends of the main beam are respectively connected with walking wheels through wheel shafts in a rotating way; the end face of the main beam facing the front side of the shell is rotatably connected with a side brush assembly capable of swinging up and down; the side brush assemblies are symmetrically distributed at two ends of the main beam.

Preferably, the sweeping robot comprises a housing; a rear panel of the casing is embedded in the rear side of the casing; the center of the rear plate of the machine shell is rotationally connected with a dust collecting component stop door through a hinge; a key switch is arranged above the dust collecting component stop door; the key switch is fixed on the rear plate of the machine shell.

Preferably, the top of the casing is clamped with a casing top plate; an integrally formed handrail is fixed at the rear end of the top plate of the shell; a display screen is embedded between the handrail and the top plate of the machine shell.

Preferably, an emergency stop switch is further fixed on the top plate of the machine shell.

Preferably, a depth camera is fixed to the front side of the housing.

Preferably, the bottom end of the front side of the casing is provided with a lamp strip mounting hole and an electrode mounting hole.

Preferably, the top surfaces of the main beams close to the two ends are correspondingly provided with a machine shell lifting assembly; the machine shell lifting assembly comprises a guide rail, a sliding block, a guide rail connecting frame and an air spring; the guide of the guide rail is along the height direction of the sweeping robot; the bottom end of the guide rail is fixed at the top end of the main beam; one outward side of the guide rail is connected with a sliding block in a sliding manner; the outward side of the sliding block is fixedly connected with the inner wall of the shell; the vertical side of the guide rail is provided with an air spring; the guide of the gas spring is consistent with that of the guide rail; the bottom end of the gas spring is fixed on the outer side wall of the guide rail through a fixing block; a guide rail connecting frame is fixed at the top end of the gas spring; the guide rail connecting frame is fixedly connected with the inner wall of the machine shell close to the top.

When parts in the sweeping robot need to be maintained, the air spring is started, pushes the shell to move upwards, and enables the sliding block fixed on the shell to ascend in the guide rail along the guide rail in a guiding mode until the sliding block ascends to the highest position, parts in the shell are exposed, and operations such as replacement and maintenance are convenient to carry out; then a main brush lifting limiting part is arranged at the rear end of the main beam, when the main brush meets an obstacle, a guide rod at the top end of the main brush component moves up and down in the fixed sleeve to stabilize the lifting action of the main brush component and prevent the main brush component from shaking left and right when meeting the obstacle; then, a dust collecting component and a filtering device are respectively erected above the main brush component through a first support and a second support, the second support is erected on the first support through a first supporting beam, and then the first support is fixed on the main beam through a second supporting beam, so that the mounting stability of the dust collecting component and the filtering device is improved; and set up battery and electric cabinet in collection dirt subassembly, filter equipment's front side, battery, electric cabinet support through third support and third supporting beam respectively moreover, further promote installation stability to concentrate battery, electric cabinet, collection dirt subassembly, filter equipment, main brush subassembly, limit brush subassembly through all kinds of supports and install on the girder, save occupation space, improve casing internal structure compactness and stability.

Preferably, a second support beam is fixed on the end face of the main beam facing the rear side of the enclosure; the second supporting beam extends from the side surface of the main beam to the rear side of the shell, and the top end of the second supporting beam is arranged upwards; a first bracket horizontally arranged is fixed at the top end of the supporting beam; a dust collecting component is fixed at the top of the first bracket;

a first support beam which is vertically upward is welded at the edge of the top end of the first support; a second support arranged in parallel with the first support is fixed at the top end of the first support beam; a filtering device is fixed at the top end of the second bracket; the filtering device is arranged right above the dust collecting component;

a front wheel bracket is also fixed on the end surface of the main beam facing the front side of the shell; the front wheel bracket is arranged between the two side brush assemblies; a motor is fixed on one side of the front wheel bracket; the bottom of the front wheel bracket is rotatably connected with a supporting wheel through a rotating shaft; the side walls of the two sides of the front wheel bracket are respectively fixed with a second connecting plate; a third supporting beam which is vertically and upwards arranged is fixed at the top end of the second connecting plate; and the third bracket is fixed on the vertical surface of the third support beam.

Preferably, an electric cabinet is fixed at the top end of the third support beam; the electric cabinet is arranged on the front side of the filtering device; a battery is arranged right below the electric cabinet; the battery is movably clamped on the third bracket through a buckle.

Preferably, a main brush lifting limiting piece is installed on the rear side, facing the sweeping robot, of the main beam; the main brush lifting limiting part comprises a first connecting plate, a guide rod and a fixing sleeve; the fixed sleeve is fixedly connected to the top end of the main beam through the fixed block; a guide rod is inserted into the fixed sleeve; the guide rod is arranged along the height direction; the bottom end of the guide rod is fixedly provided with a first connecting plate; and a main brush assembly is fixed at the bottom of the first connecting plate.

Preferably, the sweeping robot further comprises an anti-collision plate and an anti-collision plate connecting structure; the anti-collision plate connecting structure comprises a ball head rod and a buffer spring; an anti-collision plate is arranged on the front side of the outer bottom of the rack assembly;

the outer side wall of the rack component is also provided with a mounting hole; the mounting hole is formed in the outer side wall, covering the rack assembly, of the anti-collision plate; a ball head rod is inserted into the mounting hole; one end of the ball head rod is clamped in the mounting hole; and a buffer spring is sleeved on the rod body of the ball head rod;

the diameter of a section of the mounting hole facing the orifice is larger than that of a section of the mounting hole facing the bottom of the hole; the diameter of a section of the mounting hole facing the bottom of the hole is slightly larger than the rod diameter of the ball head rod and smaller than the maximum outer diameter of the buffer spring;

a fixing plate is arranged on one side, facing the anti-collision plate, of the mounting hole; the anti-collision plate is fixed on the fixing plate; the fixing plate is provided with two T-shaped holes which are distributed in the same direction from top to bottom and a square hole in the middle of the two T-shaped holes;

one side of the fixing plate facing the mounting hole is clamped in the hole through a connecting sheet; the ball head rod penetrates through the T-shaped hole; the fixing plate is arranged on the rod body of the ball head rod through the T-shaped hole and moves along the T-shaped path of the T-shaped hole.

Preferably, the T-shaped hole comprises a waist hole, a connecting hole and a round hole; the waist hole penetrates through the plate surface of the fixing plate; the bottom of the center of the waist hole is communicated with a connecting hole which is vertically downward; the bottom end of the connecting hole is connected with a round hole;

the ball head rod comprises a spherical clamping block, a first section of rod, a second section of rod and a third section of rod; a first section of rod and a third section of rod with the same rod diameter are integrally formed at the two ends of the second section of rod respectively; the rod diameter of the second section of rod is smaller than that of the first section of rod; the first section of rod is arranged on one side, facing the anti-collision plate, of the second section of rod; a spherical clamping block is fixed at one end of the first section of rod, which faces the anti-collision plate; the third section of rod is clamped in the clamping groove in the mounting hole in an interference fit manner;

the inner diameter of the round hole is slightly larger than the diameter of the spherical clamping block; the width of the waist hole and the width of the connecting hole are consistent, the waist hole and the connecting hole are smaller than the diameter of the spherical clamping block and slightly larger than the rod diameter of the first section of rod.

Preferably, a gasket is sleeved on the rod body of the first section of rod, which is positioned on one side of the fixing plate facing the shell; the gasket is attached to the back of the fixing plate; the buffer spring is arranged on one side of the gasket, which faces the rack assembly.

Preferably, a microswitch with a contact point facing the inner side of the anti-collision plate is arranged in the square hole; the signal output end of the microswitch is electrically connected with the signal input end of the PLC controller, and the signal output end of the PLC controller is electrically connected with the walking wheel and controls the walking wheel to brake and steer.

When the sweeping robot is about to touch an obstacle, an anti-collision plate arranged in front of a machine shell touches the obstacle, then the anti-collision plate is extruded to move towards the machine shell, a fixing plate fixed on the anti-collision plate is driven to press backwards, and a buffer spring behind a gasket is extruded, so that the buffer spring generates elastic deformation; part of impact force is buffered, and the case of the sweeping robot is prevented from directly touching the obstacle to cause damage; when the robot is operated by a person, the side wall of the anti-collision plate touches the micro switch, the micro switch transmits a pressure signal to the PLC, and the PLC controls the traveling wheels to stop advancing and rotate for a certain angle, so that the advancing direction is changed, and the sweeping robot is prevented from continuously advancing and colliding with an obstacle; after the anti-collision plate is used for a certain period of time, the anti-collision plate needs to be cleaned, maintained or replaced, at the moment, the anti-collision plate only needs to be manually held, the T-shaped hole in the fixing plate is viewed from the upper part of the gap between the anti-collision plate and the machine shell, the anti-collision plate swings left and right to drive the T-shaped hole in the fixing plate to move around the rod body of the ball rod, when the connecting hole in the middle of the T-shaped hole is aligned with the rod body of the ball rod, the anti-collision plate is lifted upwards, the T-shaped hole in the fixing plate fixed at the rear part of the anti-collision plate moves up and down on the ball rod, the round hole of the T-shaped hole is butted with the spherical clamping block of the ball rod, then the anti-collision plate is pulled outwards, the anti-collision plate and the fixing plate can be detached from the ball rod, the anti-collision plate is separated; then through installing the corner board at mainboard both ends, can protect casing corner effectively, improve the protective effect.

Preferably, the anti-collision plate comprises a main plate and a corner plate; corner plates at corners at two sides of the rack assembly are fixed at two vertical ends of the main board;

a second ultrasonic distance measuring sensor is embedded in the center of the front end face of the main board; the outward sides of the two corner plates are embedded with first ultrasonic distance measuring sensors; collision sensors symmetrically distributed on two sides of the second ultrasonic distance measuring sensor are embedded in the main board;

a first infrared sensor with a downward probe is fixed at the center of the bottom end of the main board; and the bottom ends of the two corner plates are fixedly provided with a second infrared sensor with a downward probe.

The anti-collision plate is arranged in front of the robot and can shield each sensor assembly in front of the robot, so that the sensor assemblies are prevented from being damaged when the robot collides with an obstacle in the walking process, the first and second ultrasonic distance measurement sensor assemblies and the first and second infrared sensor assemblies on the anti-collision plate are effectively prevented from being collided, each sensor assembly on the anti-collision plate is protected, and dust can be effectively prevented from entering the sensor during cleaning; meanwhile, the arranged sensors cooperate with each other, so that the information of the surrounding environment of the robot can be sensed and detected conveniently; and these sensors are concentrated and are installed on crashproof board, not only can not influence the work of each sensor, have reduced sensor occupation space moreover for the structure of robot of sweeping the floor is inseparabler, and the degree of integration is higher.

The sweeping robot is started, a side brush motor at the front end of the sweeping robot works, a speed reducer drives a brush disc to rotate, brush bristles at the bottom of the brush disc are in contact with the ground, garbage is collected in the middle and is conveyed backwards under the rotation of the brush disc, then the garbage enters a main brush assembly area through a flow guide channel, then a main brush motor is started to drive a second main brush wheel and a first main brush wheel to rotate back to back through a belt, a main brush roller close to the side brush assembly rolls the garbage in the flow guide channel in front from the lower part to the upper part of a gap of a main brush roller, then a main brush roller far away from the side brush assembly rolls the garbage from the upper part of the gap to the rear part of a garbage box and rolls the garbage into the garbage box, an air suction pump works to input negative pressure into the noise reduction box, and due to the negative pressure, the air inlet end of an extraction pump can generate large-amplitude air vibration to cause large noise, after passing through the noise reduction box, the vibration amplitude of the air is reduced, and the noise is further reduced; then the silencing box inputs negative pressure into the air outlet of the filtering device through the connecting pipe, then the air flow in the filtering device is output to the silencing box along the air outlet pipe, the air inlet of the filtering device inputs negative pressure into the air suction port above the garbage box through the air inlet pipe, and small-particle garbage in the garbage box is absorbed into the filtering device through the filtering holes, so that classification treatment of large and small garbage is realized, and the garbage treatment burden is reduced; then, after the air of the small-particle garbage penetrates through the filter element in the filter device and is filtered to the periphery of the filter element, after a certain amount of air is accumulated, the air is settled and falls into the dust collection assembly, and then the small garbage is cleaned out from the dust collection assembly in a unified manner, so that the cleaning is simple and convenient; wholly through limit brush subassembly, main brush subassembly, rubbish grading plant, realize rubbish and clean the processing, this clean structure of robot of sweeping the floor, the cleaning performance is good.

Compared with the prior art, the invention has the beneficial effects that:

A. when the main brush assembly and the side brush assembly meet bumpy ground, the main brush assembly and the side brush assembly are jacked upwards by the reaction force of the ground, and at the moment, the flexible main brush and the flexible side brush steel wire ropes become loose when the main brush assembly and the side brush assembly are lifted, so that the damage to parts is reduced;

B. when parts in the sweeping robot need to be maintained, the air spring is started, pushes the shell to move upwards, and enables the sliding block fixed on the shell to ascend in the guide rail along the guide rail in a guiding mode until the sliding block ascends to the highest position, parts in the shell are exposed, and operations such as replacement and maintenance are convenient to carry out; then a main brush lifting limiting part is arranged at the rear end of the main beam, when the main brush meets an obstacle, a guide rod at the top end of the main brush component moves up and down in the fixed sleeve to stabilize the lifting action of the main brush component and prevent the main brush component from shaking left and right when meeting the obstacle; then, a dust collecting component and a filtering device are respectively erected above the main brush component through a first support and a second support, the second support is erected on the first support through a first supporting beam, and then the first support is fixed on the main beam through a second supporting beam, so that the mounting stability of the dust collecting component and the filtering device is improved; the battery and the electric cabinet are arranged on the front sides of the dust collecting component and the filtering device and are supported by the third support and the third supporting beam respectively, so that the mounting stability is further improved, and the battery, the electric cabinet, the dust collecting component, the filtering device, the main brush component and the side brush component are mounted on the main beam in a centralized manner through various supports, so that the occupied space is saved, and the structural compactness and the stability in the shell are improved; the anti-collision plate is arranged in front of the robot and can shield each sensor assembly in front of the robot, so that the sensor assemblies are prevented from being damaged when the robot collides with an obstacle in the walking process, the first and second ultrasonic distance measurement sensor assemblies and the first and second infrared sensor assemblies on the anti-collision plate are effectively prevented from being collided, each sensor assembly on the anti-collision plate is protected, and dust can be effectively prevented from entering the sensor during cleaning; meanwhile, the arranged sensors cooperate with each other, so that the information of the surrounding environment of the robot can be sensed and detected conveniently; the sensors are intensively arranged on the anti-collision plate, so that the work of each sensor cannot be influenced, the occupied space of the sensors is reduced, and the sweeping robot has a tighter structure and higher integration degree; when the sweeping robot is about to touch an obstacle, an anti-collision plate arranged in front of a machine shell touches the obstacle, then the anti-collision plate is extruded to move towards the machine shell, a fixing plate fixed on the anti-collision plate through a bolt is driven to press backwards, and a buffer spring behind a gasket is extruded, so that the buffer spring generates elastic deformation; part of impact force is buffered, and the case of the sweeping robot is prevented from directly touching the obstacle to cause damage; when the robot is operated by a person, the side wall of the anti-collision plate touches the micro switch, the micro switch transmits a pressure signal to the PLC, and the PLC controls the traveling wheels to stop advancing and rotate for a certain angle, so that the advancing direction is changed, and the sweeping robot is prevented from continuously advancing and colliding with an obstacle; after the anti-collision plate is used for a certain period of time, the anti-collision plate needs to be cleaned, maintained or replaced, at the moment, the anti-collision plate only needs to be manually held, the T-shaped hole in the fixing plate is viewed from the upper part of the gap between the anti-collision plate and the machine shell, the anti-collision plate swings left and right to drive the T-shaped hole in the fixing plate to move around the rod body of the ball rod, when the connecting hole in the middle of the T-shaped hole is aligned with the rod body of the ball rod, the anti-collision plate is lifted upwards, the T-shaped hole in the fixing plate fixed at the rear part of the anti-collision plate moves up and down on the ball rod, the round hole of the T-shaped hole is butted with the spherical clamping block of the ball rod, then the anti-collision plate is pulled outwards, the anti-collision plate and the fixing plate can be detached from the ball rod, the anti-collision plate is separated; then, the corner plates are arranged at the two ends of the main board, so that the corners of the shell can be effectively protected, and the protection effect is improved; the main brush pair roller facing the side brush of the sweeping robot rotates towards the side brush to roll the garbage collected by the side brush to the other main brush. The other main brush rotates towards the rear, and the garbage is rolled into a garbage box arranged behind the other main brush; before the main brush pair roller works, a main brush motor is started firstly, the main brush motor drives a driving wheel to rotate, the driving wheel drives a second main brush wheel to rotate through a belt, and the belt penetrates through the bottom of the second main brush wheel and the top of the first main brush wheel, so that the belt drives the second main brush wheel to move in the direction opposite to that of the first main brush wheel; the two main brush roll pairs move back to back, so that the function that the main brush roll pair close to the side brushes rolls the garbage from the bottom to the other main brush roll pair is realized, secondary treatment on the garbage is facilitated, and the ground cleanliness is improved; the negative pressure of the dust suction port above the garbage box sucks small garbage and dust through the filter holes, so that the large garbage and the small garbage are separately treated, and the subsequent garbage is conveniently treated again; after the garbage box is filled with garbage, the stop door is opened, and the garbage box is drawn out from the rear plate of the shell along the guide rail, so that the garbage can is convenient to dump and clean; the bottom of the first guide wheel, which is at the same height with the second main brush wheel and the first main brush wheel, penetrates back to the wheel body of the driving wheel, and the second main brush wheel, the first guide wheel and the belt on the driving wheel form a triangular transmission path, so that the compactness of the structure is improved, and the installation space of the structure is saved; after the belt is used for a long time, the belt becomes loose, the adjusting screw rod is adjusted to move in the direction away from the belt, then the L-shaped connecting plate at the rod end of the adjusting screw rod is driven to move, then the second tensioning wheel on the other side of the belt is tightly attached to the belt, and the tension degree of the belt is improved; the tensioning degree of the belt is adjustable, and the problem that the belt is loosened after the use time is avoided.

Drawings

Fig. 1 is a schematic structural view of the whole external shaft side of the sweeping robot of the invention;

FIG. 2 is an enlarged view of area A of FIG. 1 in accordance with the present invention;

fig. 3 is an exploded view of the sweeping robot of the present invention;

FIG. 4 is an enlarged view of area B of FIG. 3 in accordance with the present invention;

FIG. 5 is an isometric view of the housing of the present invention;

FIG. 6 is an isometric view of the fender of the present invention;

FIG. 7 is a first isometric view of the interior of the sweeping robot of the present invention;

FIG. 8 is an enlarged view of area C of FIG. 7 in accordance with the present invention;

fig. 9 is a second axial view of the interior of the sweeping robot of the present invention;

FIG. 10 is an enlarged view of area D of FIG. 9 in accordance with the present invention;

FIG. 11 is an enlarged view of area E of FIG. 9 in accordance with the present invention;

FIG. 12 is a partially enlarged view of a side brush assembly of the sweeping robot according to the present invention;

FIG. 13 is an enlarged view of the area Q of FIG. 12 in accordance with the present invention;

FIG. 14 is an exploded view of the edge brush assembly of the present invention;

fig. 15 is a partial structural view of a main brush component part of the sweeping robot of the invention;

FIG. 16 is an enlarged view of area F of FIG. 12 in accordance with the present invention;

FIG. 17 is a view of the main brush drive assembly mounting configuration of the present invention;

FIG. 18 is an enlarged view of the area G of FIG. 14 in accordance with the present invention;

FIG. 19 is a view showing an installation structure of a main brush roller according to the present invention;

fig. 20 is a third axial side view of the interior of the sweeping robot of the present invention;

FIG. 21 is an isometric view of a main brush assembly of the present invention;

FIG. 22 is an isometric view of an edge brush assembly of the present invention;

FIG. 23 is an exploded view of a second filter assembly according to the present invention;

FIG. 24 is a partial cross-sectional view of the front fender of the housing of the present invention;

fig. 25 is an enlarged view of the area H of fig. 21 according to the present invention.

Reference numerals: 101. a housing; 102. a display screen; 103. a handrail; 104. a scram switch; 105. a top plate of the housing; 106. a depth camera; 107. a lamp strip mounting hole; 108. an electrode mounting hole; 109. a dust collecting box shutter; 110. a main coaming; 111. side coaming plates; 112. a housing back plate; 2. a garbage grading treatment device; 201. a dust collection assembly; 2011. a dust collecting box; 2012. a dust collection grid; 202. a filter hole cover; 203. a filtration device; 2031. a filter cartridge; 2032. a filter element; 204. an air pump; 205. a trash box; 206. a silencing box; 207. a filtration pore; 3. an edge brush assembly; 31. a side brush attachment; 311. a hinge plate; 312. a first connecting piece; 313. a hinge shaft; 314. hinging seat; 315. a second connecting sheet; 32. a side brush motor; 33. a speed reducer; 34. brushing a disc; 35. brushing; 36. the side brush lifting structure; 361. brushing a steel wire rope at the side; 362. rope sleeves; 363. supporting the corner plate; 364. a loop bar; 365. a third connecting sheet; 37. a side brush mounting structure; 371. a connecting cap; 372. a clamping rod; 373. a first card hole; 374. a lock pin; 375. a chuck; 376. a pin hole; 4. an anti-collision plate; 401. a first ultrasonic ranging sensor; 402. a collision sensor; 403. a second ultrasonic ranging sensor; 404. a first infrared sensor; 405. a second infrared sensor; 406. an anti-collision plate connecting structure; 4061. a T-shaped hole; 4062. a square hole; 4063. a fixing plate; 4064. a ball-head rod; 4065. a buffer spring; 4066. a microswitch; 6. a main brush assembly; 601. the main brush lifts the limiting piece; 6011. a first connecting plate; 6012. a guide bar; 6013. fixing a sleeve; 602. a main brush drive member; 6021. a main brush motor; 6022. a transmission housing; 6023. a driving wheel; 6024. a first guide wheel; 6025. a first main brush wheel; 6026. a belt; 6027. a second main brush wheel; 6028. a transmission side plate; 603. a main brush rear plate; 604. a main brush sealing sheet; 605. a main brush lifting assembly; 6051. a main brush cylinder; 6052. a main brush wire rope; 6053. a swing lever; 6054. a central shaft; 6056. a first linkage rod; 6057. a second guide wheel; 606. a first tensioning assembly; 6061. a first tensioning wheel; 6062. a second linkage rod; 6063. tensioning the spring; 607. lifting the supporting plate; 608. a main brush side plate; 609. a second tensioning assembly; 6091. an L-shaped connecting plate; 6092. adjusting the screw rod; 6093. a fixing sheet; 6094. a second tensioning wheel; 610. a main brush pair roller; 611. a main brush shaft; 612. a main brush top plate; 7. a flow guide sealing fin; 71. a flow guide channel; 8. a housing lifting assembly; 801. a guide rail; 802. a slider; 804. a gas spring; 9. a rack assembly; 901. a main beam; 902. a first bracket; 903. a first support beam; 904. a second bracket; 905. a second support beam; 906. a second connecting plate; 908. a third support beam; 909. a third support; 910. a front wheel bracket.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 and 7, the embodiment discloses a sweeping robot, which includes a housing 1 and a frame assembly 9; the rack assembly 9 includes a main beam 901. The length of the main beam 901 is the same as the width direction of the sweeping robot. Two ends of the main beam 901 are respectively connected with walking wheels through wheel shafts in a rotating manner. The end surface of the main beam 901 facing the front side of the casing 1 is rotatably connected with a side brush assembly 3 which swings up and down. The side brush assemblies 3 are symmetrically distributed at two ends of the main beam 901.

Referring to fig. 5, a rear side of the cabinet 1 is embedded with a cabinet rear plate 112. Referring to fig. 3, the center of the rear plate 112 of the housing is rotatably connected to a dust box shutter 109 through a hinge. Referring to fig. 1, a key switch is disposed above the dust box shutter 109. The key switch is fixed to the cabinet rear plate 112 by bolts.

Referring to fig. 3, a top plate 105 of the housing is fastened to the top of the housing 1. Referring to fig. 1, an integrally formed handle 103 is fixed to a rear end of the housing top plate 105. A display screen 102 is embedded between the armrest 103 and the top plate 105 of the housing. The top plate 105 of the casing is also fixed with an emergency stop switch 104 through bolts.

Referring to fig. 1 and 2, a depth camera 106 is fixed to the front side of the housing 1 by bolts. The front or the periphery of the sweeping robot is convenient to detect obstacles. The bottom end of the front side of the case 1 is provided with a lamp strip mounting hole 107 and an electrode mounting hole 108.

A main surrounding plate 110 is fixed to the bottom of the rear side of the casing 1 through bolts. Two ends of the main coaming 110 facing to two sides of the casing 1 are respectively connected with a coaming board 111 extending to the travelling wheels through hinges.

Referring to fig. 4, the top surfaces of the main beams 901 near the two ends are correspondingly provided with a casing lifting assembly 8. The casing lifting assembly 8 comprises a guide rail 801, a slide block 802, a guide rail 801 connecting frame and a gas spring 804. The guide rail 801 is guided along the height direction of the sweeping robot. The bottom end of the guide rail 801 is fixed to the top end of the main beam 901 through a bolt. The outward side of the guide rail 801 is connected with a sliding block 802 in a sliding way. The outward side of the sliding block 802 is fixedly connected with the inner wall of the casing 1 through a bolt. The vertical side of the guide rail 801 is provided with a gas spring 804. The guidance of the gas spring 804 corresponds to the guidance of the guide 801. The bottom end of the gas spring 804 is fixed on the outer side wall of the guide rail 801 through a fixing block. The top end of the gas spring 804 is fixed with a guide rail 801 connecting frame through a bolt. The guide rail 801 connecting frame is fixedly connected with the inner wall of the machine shell 1 close to the top through bolt fixing.

The guide rail 801 connecting frame spans one side of the guide rail 801 facing outwards, and one end of the guide rail 801 connecting frame, which is far away from the gas spring 804, is attached to the other vertical side of the guide rail 801.

Referring to fig. 7 and 8, a second support beam 905 is fixed to an end surface of the main beam 901 facing the rear side of the cabinet 1 by bolts. The second support beam 905 extends from the side of the main beam 901 to the rear side of the enclosure 1, and the top end of the second support beam is arranged upward. The top end of the support beam is fixed with a first bracket 902 which is horizontally arranged through a bolt. The top of the first bracket 902 is fixed with a dust collecting assembly 201 through bolts.

The top edge of the first bracket 902 is welded with a first support beam 903 which is vertically upward. A second bracket 904 disposed parallel to the first bracket 902 is fixed to the top end of the first support beam 903 by a bolt. The top end of the second bracket 904 is fixed with the filter 203 through bolts. The filter device 203 is disposed directly above the dust collection assembly 201.

Referring to fig. 9 and 10, a front wheel bracket 910 is further fixed to an end surface of the main beam 901 facing the front side of the casing 1 by bolts. The front wheel bracket 910 is disposed between the two side brush assemblies 3. A motor is fixed on one side of the front wheel bracket 910. The bottom of the front wheel bracket 910 is rotatably connected with a supporting wheel (not shown) through a rotating shaft. And the side walls of the two sides of the front wheel bracket 910 are all fixed with a second connecting plate 906 through bolts. A third support beam 908 is fixed to the top end of the second connecting plate 906 by a bolt and is vertically arranged upward. An electric cabinet is fixed to the top end of the third support beam 908 by bolts. The electric cabinet is disposed at the front side of the filtering device 203. And a battery is arranged right below the electric cabinet. The battery is movably snapped on the third bracket 909 by a snap. The third support 909 is fixed to the vertical surface of the third support beam 908 by bolts.

The second connecting plate 906 is a 7-shaped plate with a side facing the front wheel bracket 910.

Referring to fig. 8 and 11, a main brush lifting limiting member 601 is installed on the main beam 901 toward the rear side of the sweeping robot. The main brush lifting limiting part 601 includes a first connecting plate 6011, a guide rod 6012, and a fixing sleeve 6013. The fixing sleeve 6013 is fixedly connected to the top end of the main beam 901 through a fixing block. A guide rod 6012 is inserted into the fixing sleeve 6013. The guide of the guide rod 6012 is provided in the height direction. The bottom end of the guide rod 6012 is fixed to the first connection plate 6011 by bolts. The bottom of the first connecting plate 6011 is fixed with a main brush assembly 6 by bolts.

When parts in the sweeping robot need to be maintained, the gas spring 804 is started, the gas spring 804 pushes the machine shell 1 to move upwards, the sliding block 802 fixed on the machine shell 1 is guided and lifted in the guide rail 801 along the guide rail 801, and parts in the machine shell 1 are exposed until the sliding block is lifted to the highest position, so that operations such as replacement and maintenance are facilitated; then, a main brush lifting limiting piece 601 arranged at the rear end of the main beam 901, when the main brush meets an obstacle, a guide rod 6012 at the top end of the main brush assembly 6 moves up and down in a fixed sleeve 6013 to stabilize the lifting action of the main brush assembly 6, so that the main brush assembly 6 is prevented from shaking left and right when meeting the obstacle; then, a dust collection assembly 201 and a filter device 203 are respectively erected above the main brush assembly 6 through a first support 902 and a second support 904, the second support 904 is erected on the first support 902 through a first support beam 903, and then the first support 902 is fixed on a main beam 901 through a second support beam 905, so that the installation stability of the dust collection assembly 201 and the filter device 203 is improved; and set up battery and electric cabinet in the front side of collection dirt subassembly 201, filter equipment 203, and battery, electric cabinet support through third support 909 and third supporting beam 908 respectively, further promote installation stability to install battery, electric cabinet, collection dirt subassembly 201, filter equipment 203, main brush subassembly 6, limit brush subassembly 3 on girder 901 through all kinds of supports are concentrated, save occupation space, improve compact structure and stability in casing 1.

The dirt collection assembly 201 includes a dirt collection caddy 2011 and a dirt collection grid 2012. The dust box 2011 is slidably coupled within the dust bin 2012. The dust collection grid 2012 is fixed to the first bracket 902 by bolts.

Referring to fig. 24 and 25, the sweeping robot further includes an anti-collision plate 4 and an anti-collision plate connection structure 406; the crash pad attachment structure 406 includes a ball-end shaft 4064 and a buffer spring 4065. And an anti-collision plate 4 is arranged on the front side of the bottom of the machine shell 1.

Referring to fig. 25, the side wall of the housing 1 is further provided with a mounting hole. The mounting hole is arranged on the side wall of the anti-collision plate 4 covering the machine shell 1. A ball-end bar 4064 is inserted into the mounting hole. One end of the ball head rod 4064 is clamped in the mounting hole. And a buffer spring 4065 is sleeved on the rod body of the ball head rod 4064.

The diameter of the section of the mounting hole facing the aperture is larger than the diameter of the section facing the bottom of the hole (not shown). The diameter of the section of the mounting hole facing the bottom of the hole is slightly larger than the diameter of the ball-end rod 4064 and smaller than the maximum outer diameter (not shown) of the buffer spring 4065.

And a fixing plate 4063 is arranged on one side of the mounting hole facing the anti-collision plate 4. The anti-collision plate 4 is fixed on the fixing plate 4063 by bolts. The fixing plate 4063 is provided with two T-shaped holes 4061 distributed in the same direction and a square hole 4062 between the two T-shaped holes 4061.

One side of the fixing plate 4063 facing the mounting hole is clamped in the hole through a connecting sheet. The ball-head stem 4064 passes through the T-shaped aperture 4061. The retaining plate 4063 is mounted on the shaft of the ball-end shaft 4064 through the T-shaped aperture 4061 and follows the T-shaped path of the T-shaped aperture 4061.

The T-shaped hole 4061 comprises a waist hole, a connecting hole and a round hole. The waist hole penetrates through the plate surface of the fixing plate 4063. The bottom of the center of the waist hole is communicated with a connecting hole which is vertically downward. The bottom end of the connecting hole is connected with a round hole.

The ball-headed stem 4064 includes a ball-shaped cartridge, a first rod segment (not shown), a second rod segment (not shown), and a third rod segment (not shown). And a first section of rod and a third section of rod with the same rod diameter are integrally formed at the two ends of the second section of rod respectively. The rod diameter of the second section of rod is smaller than that of the first section of rod. The first section bar is arranged on the side of the second section bar facing the fender panel 4. And a spherical clamping block is fixed at one end of the first section of rod, which faces the anti-collision plate 4. The third section of rod is clamped in a clamping groove (not shown) in the mounting hole in an interference fit manner.

The inner diameter of the round hole is slightly larger than the diameter of the spherical clamping block. The width of the waist hole and the width of the connecting hole are consistent, the waist hole and the connecting hole are smaller than the diameter of the spherical clamping block and slightly larger than the rod diameter of the first section of rod.

A gasket (not shown) is sleeved on the rod body of the first section of rod on the side of the fixing plate 4063 facing the casing 1. The gasket is attached behind the fixing plate 4063. The buffer spring 4065 is arranged on the side of the washer facing the cabinet 1.

A micro switch 4066 whose contact point faces the inner side of the crash-proof plate 4 is provided in the square hole 4062. The signal output end of the microswitch 4066 is electrically connected with the signal input end of the PLC controller, and the signal output end of the PLC controller is electrically connected with the travelling wheels and controls the travelling wheels to brake and steer.

Referring to fig. 6, the impact prevention panel 4 includes a main panel and a corner panel. And corner plates at the corners at the two sides of the machine shell 1 are fixed at the two vertical ends of the main board.

A second ultrasonic distance measuring sensor 403 is embedded in the center of the front end face of the main board. The outward sides of the two corner plates are embedded with first ultrasonic distance measuring sensors 401. The main board is embedded with collision sensors 402 symmetrically distributed on both sides of the second ultrasonic distance measuring sensor 403.

A first infrared sensor 404 with a downward probe is fixed at the bottom center of the main board. The bottom ends of the two corner plates are fixed with a second infrared sensor 405 with a downward probe. The distance between the bottom end of the sweeping robot and the ground is conveniently detected, and the falling caused by the suspended condition is prevented.

The anti-collision plate 4 is arranged in front of the robot and can shield each sensor assembly in front of the robot, so that the sensor assemblies are prevented from being damaged when the anti-collision plate 4 touches a barrier in the walking process of the robot and the first and second ultrasonic distance measuring sensor 403 assemblies and the first and second infrared sensor 405 assemblies on the anti-collision plate 4 are effectively prevented from being collided, the sensor assemblies on the anti-collision plate 4 are protected, and dust can be effectively prevented from entering the sensor during cleaning; meanwhile, the arranged sensors cooperate with each other, so that the information of the surrounding environment of the robot can be sensed and detected conveniently; and these sensors are concentrated and are installed on crashproof board 4, not only can not influence the work of each sensor, have reduced sensor occupation space moreover for the structure of robot of sweeping the floor is inseparabler, and the degree of integration is higher.

When the sweeping robot is about to touch an obstacle, the anti-collision plate 4 arranged in front of the machine shell 1 touches the obstacle, then the anti-collision plate 4 is extruded to move towards the machine shell 1, the fixing plate 4063 fixed on the anti-collision plate 4 through the bolt is driven to press backwards, and then the buffer spring 4065 behind the gasket is extruded, so that the buffer spring 4065 is elastically deformed; part of impact force is buffered, and the case 1 of the sweeping robot is prevented from directly touching the obstacle to cause damage; when the robot is operated by no person, the side wall of the anti-collision plate 4 touches the micro switch 4066, the micro switch 4066 transmits a pressure signal to the PLC, and the PLC controls the traveling wheels to stop advancing and rotate for a certain angle, so that the advancing direction is changed, and the sweeping robot is prevented from continuously advancing and colliding with an obstacle; after the anti-collision plate 4 is used for a certain period of time, the anti-collision plate 4 needs to be cleaned, maintained or replaced, at the moment, the anti-collision plate 4 only needs to be manually held, the T-shaped hole 4061 on the fixing plate 4063 is observed from the upper part of the gap between the anti-collision plate 4 and the machine shell 1, and the anti-collision plate 4 is swung left and right to drive the T-shaped hole 4061 on the fixing plate 4063 to move around the rod body of the ball head rod 4064, when the connecting hole in the middle of the T-shaped hole 4061 is aligned with the rod body of the ball head rod 4064, the anti-collision plate 4 is lifted upwards, so that the T-shaped hole 4061 of the fixing plate 4063 fixed at the rear of the crash-proof plate 4 moves up and down on the ball-headed bar 4064, and the round hole of the T-shaped hole 4061 is butted with the spherical fixture block of the bulb bar 4064, then the anti-collision plate 4 is pulled out, the anti-collision plate 4 and the fixing plate 4063 can be detached from the bulb bar 4064, so that the anti-collision plate 4 is separated from the machine shell 1, maintenance and replacement are facilitated, and disassembly and assembly are convenient; then through installing the corner board at mainboard both ends, can protect casing 1 corner effectively, improve the protective effect.

Referring to fig. 17, 19, 20 and 21, the main brush assembly 6 includes a main brush housing, a main brush pair roller 610, and a main brush driver 602. The main brush housing is movably mounted on the main beam 901.

Referring to fig. 17 and 21, the main brush housing includes a main brush top plate 612, a main brush side plate 608, a transmission housing 6022, and a transmission side plate 6028. The main brush top plate 612 is disposed above the main brush pair roller 610. A transmission side plate 6028 is fixed on one side of the main brush top plate 612 through a bolt. The other side of the main brush top plate 612 is provided with a main brush side plate 608 and a garbage box 205 side plate respectively. The main brush side plate 608 is fixed on the side of the main brush top plate 612 facing the front side of the sweeping robot through bolts. The side plate of the garbage box 205 is movably clamped on the side edge of the main brush top plate 612 facing the rear side of the sweeping robot. The rear side edge of the main brush top plate 612 is fixed with a main brush rear plate 603 through bolts. One end of the transmission side plate 6028 is connected with a transmission case shell 6022 through a hinge.

Two main brush pair rollers 610 with parallel axes are arranged between the main brush side plate 608 and the transmission side plate 6028, and the axes of the main brush pair rollers 610 are perpendicular to the vertical surface of the transmission side plate 6028. The two main brush pair rollers 610 have the same horizontal height, and the two main brush pair rollers 610 rotate oppositely. The main brush pair roller 610 has an axis passing through the main brush shaft 611. One end of the main brush shaft 611 is mounted on a vertical surface of the main brush side plate 608 through a shaft seat. The other end of the main brush shaft 611 passes through the vertical surface of the transmission side plate 6028, and a shaft sleeve is sleeved at the passing position. A main brush top plate 612 is disposed above the two main brush pair rollers 610. The two ends of the main brush top plate 612 are fixed on the side walls of the transmission side plate 6028 and the main brush side plate 608 through bolts. Referring to fig. 19, the waste bin 205 is positioned behind the main brushing pair roller 610.

The main brush pair roller 610 facing the side brush of the sweeping robot rotates towards the side brush to roll the garbage collected by the side brush to the other main brush. The other main brush is rotated toward the rear to roll the garbage into the garbage box 205 disposed at the rear of the other main brush.

Before the main brush pair roller 610 works, the main brush motor 6021 is started, the main brush motor 6021 drives the driving wheel 6023 to rotate, the driving wheel 6023 drives the second main brush wheel 6027 to rotate through the belt 6026, and the belt 6026 passes through the bottom of the second main brush wheel 6027 and the top of the first main brush wheel 6025, so that the belt 6026 drives the second main brush wheel 6027 to move in the opposite direction to the first main brush wheel 6025; the two main brush roller pairs 610 move back to back, so that the main brush roller pairs 610 close to the side brushes roll the garbage from the bottom to the other main brush roller pairs 610, secondary treatment on the garbage is facilitated, and the ground cleanliness is improved;

referring to fig. 21, a filtering hole (not shown) is formed above the garbage box 205 and penetrates through the main brush top plate 612. The top of the filter hole is provided with a filter hole cover 202. The filter hole cover 202 is communicated with two pipeline connecting ports of dust suction pipes. The aperture of the filter hole is 2-5 mm.

The negative pressure of the dust suction port above the garbage box 205 sucks small garbage and dust through the filtering holes 207, so that the large garbage and the small garbage are separately treated, and the subsequent garbage is conveniently treated again; after the garbage is fully stored in the garbage box 205, the stop door is opened, and the garbage box 205 is drawn out from the rear plate 112 of the casing along the guide rail 801, so that the garbage can be poured and cleaned conveniently;

referring to fig. 17, the bottom edges of the main brush back plate 603, the garbage can 205 side plate, the main brush side plate 608 and the transmission side plate 6028 are all adhered with a main brush sealing plate 604 with a bottom end attached to the ground. Dust and garbage are prevented from flying out of the gap between the bottom edges of the main brush back plate 603, the garbage box 205 side plate, the main brush side plate 608 and the transmission side plate 6028 and the ground.

Referring to fig. 17 or 21, the main brush drive member 602 includes a drive wheel 6023, a belt 6026, a main brush motor 6021, a first main brush wheel 6025, a second main brush wheel 6027, and a first guide wheel 6024. One end of the main brush pair roller 610 penetrates through the transmission side plate 6028 and is respectively sleeved with a second main brush wheel 6027 and a first main brush wheel 6025. The first main brush wheel 6025 is disposed at the rear side of the second main brush wheel 6027. A first guide wheel 6024 with a uniform horizontal height is further provided on the rear side of the first main brush wheel 6025. The second main brush wheel 6027, the first main brush wheel 6025 and the first guide wheel 6024 are mounted on the outward side of the drive side plate 6028. A driving wheel 6023 arranged outside the transmission side plate 6028 is also arranged above the first main brush wheel 6025. The belt 6026 passes over the driving wheel 6023, passes under the second main brush wheel 6027, passes over the first main brush wheel 6025, and passes under the first guide wheel 6024, and is drawn onto the driving wheel 6023. The center of the drive wheel 6023 extends through the output shaft of the main brush motor 6021. The motor is fixed on the inner side of the transmission side plate 6028 through a bolt.

Then the second main brush wheel 6027 and the first main brush wheel 6025 are threaded back to the body of the driving wheel 6023 from the bottom of the first guide wheel 6024 at the same height as the second main brush wheel 6027 and the first main brush wheel 6025, and the second main brush wheel 6027, the first main brush wheel 6025, the first guide wheel 6024 and the belt 6026 on the driving wheel 6023 form a triangular transmission path, thereby improving the compactness of the structure and saving the installation space of the structure.

Referring to FIG. 18, the primary brush drive member 602 also includes a second tensioning assembly 609. The second tensioning assembly 609 comprises a second tensioning wheel 6094, a fixing plate 6093, an adjusting screw 6092 and an L-shaped connecting plate 6091. The second tension pulley 6094 is disposed between the drive pulley 6023 and the second main pulley 6027. And the body of the second tensioner 6094 presses on the outside of the belt 6026. The second tensioning wheel 6094 is connected to an end plate surface of the L-shaped connecting plate 6091 parallel to the transmission side plate 6028 through the second tensioning wheel 6094 in a shaft rotation manner. The other end plate surface of the L-shaped connecting plate 6091 parallel to the drive side plate 6028 passes through the gap between the bottom of the belt 6026 and the side surface of the drive side plate 6028. And an adjusting screw 6092 is fixed on the plate surface of the L-shaped connecting plate 6091 which is integrally formed and is vertical to the side surface of the transmission side plate 6028. The rod end of the adjustment screw 6092 passes through a fixing plate 6093 spot welded to the drive side plate 6028. And the adjusting screw 6092 is screw-fitted to the penetrating portion of the fixing piece 6093.

When the belt 6026 is used for a longer time, the belt 6026 becomes loose, and the adjusting screw 6092 is adjusted to move in a direction away from the belt 6026, then the L-shaped connecting plate 6091 at the rod end of the adjusting screw 6092 is driven to move, and then the second tensioning wheel 6094 at the other side of the belt 6026 is tightly attached to the belt 6026, so that the tension of the belt 6026 is improved; the tension of the belt 6026 is adjustable to avoid the problem of loosening of the belt 6026 over time.

Referring to fig. 15 and 16, the main brush lifting assembly 605 includes a main brush cable 6052, a main brush cylinder 6051, a first linkage rod 6056, a swing rod 6053, and a second guide pulley 6057. The bottoms of the two ends of the first bracket 902 are fixed on the main beam 901 through bolts. One end of the first bracket 902 is rotatably connected with a main brush cylinder 6051 swinging along the height direction of the sweeping robot through a hinge. The output end of the main brush cylinder 6051 is disposed toward the main brush assembly 6. The bottom end of the first linkage rod 6056 is rotatably connected with the output end of the main brush cylinder 6051 through a hinge. The top end of the first linkage rod 6056 is fixedly connected to the central shaft 6054. And when the output end of the main brush cylinder 6051 is output, the top end of the first linkage rod 6056 is close to the main brush cylinder 6051 relative to the bottom end. The central shaft 6054 is rotatably connected to the lift support plate 607. The lifting support plate 607 is fixed at the center of the first bracket 902 by a bolt. A swing rod 6053 is welded on the shaft body of the central shaft 6054. The free end of the swing lever 6053 faces the main brush cylinder 6051. And the free end of the swing lever 6053 fixes the main brush wire rope 6052 by a bolt. The lifting support plate 607 is also rotatably connected with a second guide wheel 6057 through a connecting shaft. One end of the main brush wire 6052 is led out from the swing rod 6053, goes around the top of the second guide wheel 6057, extends below the second guide wheel 6057, and is finally fixed to the main brush top plate 612 by a lock catch.

When the sweeping robot stops, a main brush cylinder 6051 is started, the output end of the main brush cylinder 6051 is output, the push rod of the main brush cylinder 6051 is ejected outwards, the bottom end of a first linkage rod 6056 connected with the output end of the main brush cylinder 6051 is pushed and rotates around a central shaft 6054, then the top end of the first linkage rod 6056 and the central shaft 6054 rotate along with the first linkage rod 6056, the central shaft 6054 rotates to drive a swing rod 6053 fixed on the shaft body of the central shaft 6054 to rotate, the free end of the swing rod 6053 moves downwards to pull a main brush steel wire rope 6052 fixed at the free end of the swing rod 6053 to move downwards, namely, the main brush steel wire rope 6052 extending downwards around the top of a second guide wheel 6057 is recovered upwards, and a main brush top plate 612 fixed at the bottom end of the main brush steel wire rope 6052 is lifted, namely; on the contrary, the output end of the main brush cylinder 6051 retracts into the main brush cylinder 6051, the bottom end of the first linkage rod 6056 rotates towards the main brush cylinder 6051 around the central shaft 6054 to drive the central shaft 6054 and the swing rod 6053 on the shaft body of the central shaft 6054 to rotate, the free end of the swing rod 6053 moves upwards around the central shaft 6054, the main brush steel wire rope 6052 fixed at the free end of the swing rod 6053 moves towards the second guide wheel 6057, the main brush steel wire rope 6052 below the second guide wheel 6057 descends under the action of the gravity of the main brush assembly 6, and the main brush pair roller 610 is attached to the ground, so that the retraction and release of the main brush assembly 6 are completed, the operation is simple, and the automation degree is; and when the main brush component 6 meets bumpy ground, the main brush steel wire rope 6052 becomes loose, so that the main brush lifting component 605 is prevented from being damaged, and the defect that the traditional rigid main brush lifting component 605 easily damages parts is avoided.

Referring to FIG. 16, the main brush lift assembly 605 includes a first tensioning assembly 606. The first tensioning assembly 606 includes a first tensioning wheel 6061, a second linkage rod 6062, and a tensioning spring 6063 that is in tension at all times. The first bracket 902 fixes one end of a tension spring 6063 through a fixing post. The second linkage rod 6062 is pivotally connected to the lift support plate 607 through a hinge point. The hinge point of the second linkage rod 6062 is disposed on a side of the second guide pulley 6057 away from the main brush cylinder 6051. The hinge point of the second link rod 6062 is provided in the shaft center portion of the second link rod 6062. The other end of the tension spring 6063 hooks onto the top end of the second linkage rod 6062. The bottom end of the second linkage rod 6062 is rotatably connected with the first tensioning wheel 6061 through a fixed shaft. The first tension pulley 6061 is disposed below the second guide pulley 6057. And the body of the first tensioning wheel 6061 straightens the main brush wire rope 6052.

When the main brush pair roller 610 meets bumpy ground, the main brush pair roller 610 is lifted under the reaction force of the bumpy ground, then the main brush steel wire rope 6052 fixed on the main brush top plate 612 above the main brush pair roller 610 is in a loose state, at the moment, under the elastic action of the tensioning spring 6063, the second linkage rod 6062 is pushed to rotate around the hinge point, the first tensioning wheel 6061 at the bottom of the second linkage rod 6062 compresses the main brush steel wire rope 6052 towards the main brush air cylinder 6051, the tensioning degree of the main brush steel wire rope 6052 is ensured, the main brush steel wire rope 6052 is prevented from being loosened, and the main brush steel wire rope 6052 is separated from the second guiding wheel 6057.

When the sweeping robot stops, a main brush cylinder 6051 is started, the output end of the main brush cylinder 6051 is output, the push rod of the main brush cylinder 6051 is ejected outwards, the bottom end of a first linkage rod 6056 connected with the output end of the main brush cylinder 6051 is pushed and rotates around a central shaft 6054, then the top end of the first linkage rod 6056 and the central shaft 6054 rotate along with the first linkage rod 6056, the central shaft 6054 rotates to drive a swing rod 6053 fixed on the shaft body of the central shaft 6054 to rotate, the free end of the swing rod 6053 moves downwards to pull a main brush steel wire rope 6052 fixed at the free end of the swing rod 6053 to move downwards, namely, the main brush steel wire rope 6052 extending downwards around the top of a second guide wheel 6057 is recovered upwards, and a main brush top plate 612 fixed at the bottom end of the main brush steel wire rope 6052 is lifted, namely; on the contrary, the output end of the main brush cylinder 6051 retracts into the main brush cylinder 6051, the bottom end of the first linkage rod 6056 rotates towards the main brush cylinder 6051 around the central shaft 6054 to drive the central shaft 6054 and the swing rod 6053 on the shaft body of the central shaft 6054 to rotate, the free end of the swing rod 6053 moves upwards around the central shaft 6054, the main brush steel wire rope 6052 fixed at the free end of the swing rod 6053 moves towards the second guide wheel 6057, the main brush steel wire rope 6052 below the second guide wheel 6057 descends under the action of the gravity of the main brush assembly 6, and the main brush pair roller 610 is attached to the ground, so that the retraction and release of the main brush assembly 6 are completed, the operation is simple, and the automation degree is;

and when the main brush component 6 meets the bumpy ground, the main brush steel wire rope 6052 becomes loose, the main brush lifting component 605 is prevented from being damaged, the tension degree of the belt 6026 which is easy to damage the components of the traditional rigid main brush lifting component 605 is avoided to be adjustable, the problem that the belt 6026 is loosened after the use time process is avoided, then the loosened main brush steel wire rope 6052 pushes the second linkage rod 6062 to rotate around the hinge point under the elastic action of the tension spring 6063, the first tension wheel 6061 at the bottom of the second linkage rod 6062 compresses the main brush steel wire rope 6052 towards the main brush cylinder 6051 direction, the tension degree of the main brush steel wire rope 6052 is ensured, the main brush steel wire rope 6052 is prevented from being loosened, and the main brush steel wire rope 6052 is separated from the second tension wheel 6057.

Referring to fig. 7 and 20, the garbage classifying treatment device 2 includes a filter 203, a silencing box 206, a dust collecting component 201, an air pump 204, an air suction port, an air suction cover, and a filter hole. The dust collection assembly 201 is disposed above the main brush assembly 6. The dust collecting assembly 201 is fixed at the rear end of the main beam 901 through a connecting block. The filter 203 is fixed to the top of the dust collection assembly 201 by bolts. A silencing box 206 is arranged above the filtering device 203. The silencing box 206 is fixed on the dust collecting assembly 201 by a fixing rod. The air suction pump 204 is arranged on one side of the silencing box 206. The air suction end of the air suction pump 204 is communicated with the air outlet end of the silencing box 206. The silencing box 206 is communicated with the filter 203 through a connecting pipe. An air inlet pipe is connected to the dust inlet end of the filtering device 203. One end of the air inlet pipe is connected to the main brush top plate 612 at the upper opening of the garbage box 205. The main brush top plate 612 is provided with a through opening at the upper opening of the garbage box 205 for garbage to be pumped to the air inlet pipe. And the through opening is internally provided with a filtering hole for separating large garbage from small garbage. And an air suction cover fixed on the main brush top plate 612 is arranged above the filter holes. The air suction cover is provided with an air suction port. The pipe orifice of the air inlet pipe is screwed and fixed with the air suction pipe through threads.

The bottom of the filter device 203 communicates with the top of the dust collection assembly 201.

Referring to fig. 23, the filter apparatus 203 includes a filter cartridge 2031, an air outlet, an air inlet, and a filter element 2032. The top of the filter box 2031 is provided with an air outlet. One end of the connecting pipe is in threaded connection with the air outlet. A filter element 2032 with an outlet communicated with the air outlet is arranged in the filter box 2031. The inlet end of the cartridge 2032 is exposed to the interior of the filter cartridge 2031. An air inlet is arranged on the side edge of the filter box 2031. The other end of the air inlet pipe is screwed at the air inlet.

Referring to fig. 14 and 22, the side brush assembly 3 includes a side brush connecting member 31, a side brush motor 32, a speed reducer 33, a brush plate 34, and bristles 35. The side brush connecting piece 31 is movably connected to the front side of the main beam 901 through a pin shaft. The free end of the side brush connecting piece 31 does up-and-down swinging motion around the pin shaft. And a speed reducer 33 is fixed at the free end of the side brush connecting piece 31 through a bolt. The input end of the speed reducer 33 is in transmission connection with the output end of the side brush motor 32. The side brush motor 32 is fixed on the side wall of one side of the speed reducer 33 through a connecting block. The output end of the speed reducer 33 is arranged downwards, and a brush disc 34 is rotatably connected with the output end of the speed reducer through a rotating shaft. The brush plate 34 has bristles 35 embedded in the bottom surface thereof.

The bristles 35 are circumferentially distributed along the center of the brush disc 34 and cover the bottom surface of the brush disc 34. The bristles 35 are of a soft material structure that does not generate static electricity.

Referring to fig. 14, the side brush attachment 31 includes a hinge plate 311, a first connecting piece 312, a hinge shaft 313, a hinge base 314, and a second connecting piece 315. The hinge base 314 is fixedly connected to the vertical surface of the main beam 901 through bolts. A hinge shaft 313 capable of rotating is inserted into the vertical surface of the hinge base 314 in the vertical direction. A first connecting piece 312 capable of rotating along the axial direction of the hinge shaft 313 is sleeved outside the hinge shaft 313. A hinge plate 311 vertically swinging in the height direction is connected to the vertical side of the first connecting piece 312 via a connecting shaft. The tail end of the hinge plate 311 is connected with a second connecting piece 315 through a connecting shaft. An L-shaped sheet with a through hole on the horizontal plane is fixed on the vertical side of the second connecting sheet 315. The output end of the motor is connected with a speed reducer 33 in a transmission way. The bottom of the speed reducer 33 is an output end, and is in transmission connection with an output shaft. The speed reducer 33 is fixed on the horizontal plane of the L-shaped sheet through bolts, and an output shaft of the output end of the speed reducer 33 penetrates through the through hole.

Referring to fig. 12 and 13, the side brush assembly 3 further includes a side brush lifting structure 36; the side brush lifting structure 36 includes a side brush wire rope 361, a rope sleeve 362, a supporting angle plate 363, a loop bar 364, and a third connecting piece 365. The third connecting piece 365 is fixed on the upper end of the plate body of the hinge plate 311 through a bolt. The loop bar 364 passes through the lugs on both sides of the third connecting piece 365 and is fixed by nuts. An inverted L-shaped supporting angle plate 363 fixed on the main beam 901 is arranged above the loop bar 364. The supporting angle plate 363 is fixed with a rope sleeve 362. One end of the side brush wire 361 passes through the rope socket 362, and the bottom end is wound around the loop bar 364. The other end of the side brush steel wire rope 361 is fixed on a lock catch at the output end of the side brush cylinder (not shown) through sleeve joint.

The side brush assembly 3 further comprises a side brush mounting structure 37, wherein the side brush mounting structure 37 comprises a connecting cap 371, a clamping rod 372, a first clamping hole 373, a locking pin 374, a clamping disc 375 and a pin hole 376. The bottom end of the output shaft is embedded into a clamping rod 372. The periphery of the rod body of the clamping rod 372 is correspondingly provided with a bead groove. The top of the connecting cap 371 is provided with a second clamping hole. The rod end of the clamping rod 372 is embedded in the second clamping hole, and the clamping rod 372 is in interference fit with the second clamping hole. Two pin holes 376 communicated with the second clamping holes are correspondingly formed on the peripheral side of the connecting cap 371. A locking pin 374 is inserted into the pin hole 376. The latch 374 has a ball catch mounted to an end thereof facing the catch 372. And when the locking pin 374 is inserted into the pin hole 376, the collision bead at the end of the locking pin 374 is matched with the bead groove at the peripheral side of the shaft of the clamping rod 372. The bottom of the connection cap 371 is adhered to the chuck 375. The brush disc 34 is provided with a first clamping hole 373 at the center of the top thereof. The chuck 375 is magnetic. A magnetic medium is also adhered to the first card hole 373. The chuck 375 is embedded in the first card hole 373 and is fitted by magnetic attraction.

The output end of the side brush cylinder is higher than the highest end of the rope sleeve 362, and the output end of the side brush cylinder is arranged at the top end of the side brush cylinder.

When the side brush works, the brush hair 35 at the bottom of the brush disc 34 cleans the ground, when the side brush encounters bumpy ground, the convex ground can give an upward reaction force to the side brush, so that the brush plate 34 has an upward moving trend, the top of the brush plate 34 moves through the movable connecting component connected with the side brush mounting structure 37, the specific second connecting piece 315 moves relative to the hinged plate 311, the hinged plate 311 moves relative to the first connecting piece 312, that is, the first connecting piece 312 connected with the upper end of the hinged plate 311 is used as the center of a circle, the bottom end of the hinged plate 311 rises under the action of the jacking of the projected ground to drive the side brush to rise to avoid the obstacle, and meanwhile, as the side brush lifting structure 36 adopts the soft connection of the side brush steel wire rope 361, when the side brush is jacked by an obstacle, the side brush lifting structure 36 cannot be damaged, and the protection performance of the side brush lifting structure 36 is improved; in addition, when the brush bristles 35 at the bottom of the brush disc 34 are cleaned or replaced, the brush disc 34 can be held by hand, and the brush disc 34 is pulled out in a direction away from the chuck 375 with force, so that the first clamping hole 373 on the brush disc 34 is separated from the chuck 375, and the brush disc 34 is further detached, convenient to disassemble and assemble and convenient to clean and replace; the clamping rod 372 fixed at the shaft end of the output shaft of the coupler is embedded in a second clamping hole of the connecting cap 371 at the top end of the chuck 375, and the contact balls at the end parts of the lock pins 374 are matched with the clamping grooves of the clamping rod 372 in a clamping manner to realize the connection of the output shaft and the side brush, so that the structure is simple, the original bolt connection is separated, and the problem that the bolt is corroded and difficult to disassemble after water enters the bolt is effectively solved; when the side brush is not used for working, the side brush air cylinder is started, the side brush steel wire rope 361 is pulled, the end, penetrating through the rope sleeve 362, of the side brush steel wire rope 361 lifts the sleeve rod 364, the sleeve rod 364 drives the third connecting piece 365 and the bottom end of the hinged plate 311 at the bottom of the third connecting piece to ascend, the side brush is lifted and collected, the side brush steel wire rope 361 replaces an original rigid connecting structure, and the protection performance of a machine body is improved.

One end of the main brush assembly 6 facing the side brush assembly 3 is connected with a flow guide channel 71 for guiding the garbage cleaned by the side brush assembly 3. The bottom of the flow guide channel 71 is adhered with a flow guide sealing sheet 7.

The working principle of the embodiment is as follows: the sweeping robot is started, the side brush motor 32 at the front end of the sweeping robot works, the brush disc 34 is driven to rotate through the speed reducer 33, the bristles 35 at the bottom of the brush disc 34 are further enabled to be in contact with the ground, garbage is collected to the middle, the garbage is conveyed backwards under the rotation of the brush disc 34, then the garbage enters the area of the main brush assembly 6 through the flow guide channel 71, then the main brush motor 6021 is started to drive the second main brush wheel 6027 and the first main brush wheel 6025 to rotate back to back through the belt 6026, the main brush roller close to the side brush assembly 3 rolls the garbage in the front flow guide channel 71 to the upper part of the gap of the main brush roller pair 610 from the lower part, then the main brush roller far away from the side brush assembly 3 rolls the garbage from the upper part of the gap to the rear part of the garbage box 205, then the air suction pump 204 works, negative pressure is input into the silencing box 206, and the air inlet end of the air suction pump can generate large-amplitude air due to the negative pressure, resulting in the generation of loud noise, which reduces the air vibration amplitude after passing through the silencing box 206, thereby reducing the noise; then the silencing box 206 inputs negative pressure into the air outlet of the filtering device 203 through a connecting pipe, then the air flow in the filtering device 203 is output to the silencing box 206 along the air outlet, the air inlet of the filtering device 203 inputs negative pressure into the air suction port above the garbage box 205 through an air inlet pipe, and small-particle garbage in the garbage box 205 is absorbed into the filtering device 203 through the filtering holes 207, so that classification treatment of large and small garbage is realized, and the garbage treatment burden is reduced; then, after the air of the small-particle garbage passes through the filter element 2032 in the filtering device 203 and is filtered to the periphery of the filter element 2032, after a certain amount of air is accumulated, the air is settled and falls into the dust collecting assembly 201, and then the small garbage is cleaned out from the dust collecting assembly 201 uniformly, so that the cleaning is simple and convenient; wholly through limit brush subassembly 3, main brush subassembly 6, rubbish grading plant 2, realize rubbish and clean the processing, this clean structure of robot of sweeping the floor, the clearance is effectual.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The above-mentioned embodiments only represent embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the concept of the present invention, and these embodiments are all within the protection scope of the present invention.

Claims

1. The utility model provides a robot of sweeping floor which characterized in that: comprises a main brush component, a frame component and an edge brush component; the side brush assembly and the main brush assembly are respectively connected to the front end and the rear end of the rack assembly; the main brush assembly comprises a main brush lifting assembly and a main brush roll; the main brush lifting assembly comprises a main brush steel wire rope and a main brush cylinder; the main brush roller is connected to the output end of the main brush cylinder through a flexible main brush steel wire rope; the side brush assembly comprises a side brush lifting structure and a side brush connecting piece; the side brush lifting structure comprises a side brush steel wire rope and a side brush cylinder; one end of the side brush connecting piece is rotatably connected to the rack component; the other end of the side brush connecting piece is connected to the output end of the side brush air cylinder through a flexible side brush steel wire rope.

2. The sweeping robot of claim 1, wherein: the main brush lifting assembly further comprises a first linkage rod, a swinging rod and a second guide wheel; the frame assembly is rotatably connected with a main brush cylinder swinging along the height direction of the sweeping robot through a hinge; the output end of the main brush cylinder is arranged towards the main brush assembly; the bottom end of the first linkage rod is rotatably connected with the output end of the main brush cylinder through a hinge; the top end of the first linkage rod is fixedly connected to the central shaft; when the output end of the main brush cylinder outputs, the top end of the first linkage rod is close to the main brush cylinder relative to the bottom end; the central shaft is rotatably connected to the lifting support plate; the lifting support plate is fixed at the center; a swing rod is welded on the shaft body of the central shaft; the free end of the swinging rod faces the main brush cylinder; and the free end of the swing rod is fixed with a main brush steel wire rope; the lifting support plate is also rotatably connected with a second guide wheel through a connecting shaft; one end of the main brush steel wire rope is led out from the swinging rod, bypasses the top of the second guide wheel, extends towards the lower part of the second guide wheel and is fixed on the main brush pair roller through a lock catch.

3. The sweeping robot of claim 2, wherein: the side brush lifting structure further comprises a rope sleeve, a supporting angle plate, a loop bar and a third connecting sheet; the third connecting piece is fixed on the side brush connecting piece; the loop bar penetrates through the edge lugs on two sides of the third connecting piece and is fixed through a nut; an inverted L-shaped supporting angle plate fixed on the rack component is arranged above the sleeve rod; a rope sleeve is fixedly penetrated on the supporting angle plate; one end of the side brush steel wire rope penetrates through the rope sleeve, and the bottom end of the side brush steel wire rope is wound on the loop bar; the other end of the side brush steel wire rope is fixed on a lock catch at the output end of the side brush cylinder through sleeve joint.

4. The sweeping robot of claim 1, wherein: the main brush lifting assembly further comprises a first tensioning assembly; the first tensioning assembly comprises a first tensioning wheel, a second linkage rod and a tensioning spring which is always in a stretching state; the rack assembly fixes one end of the tension spring through a fixing column; the second linkage rod is rotatably connected to the lifting support plate through a hinge point; the hinge point of the second linkage rod is arranged in the middle of the rod body of the second linkage rod; the other end of the tension spring is hooked at the top end of the second linkage rod; the bottom end of the second linkage rod is rotatably connected with the first tensioning wheel through a fixed shaft; and the wheel body of the first tensioning wheel straightens the main brush steel wire rope.

5. The sweeping robot of claim 1, wherein: the main brush assembly further comprises a main brush shell mounted on the frame assembly; the main brush shell comprises a main brush top plate, a main brush side plate and a transmission side plate; the main brush top plate is arranged above the main brush pair rollers; a transmission side plate is fixed on one side of the main brush top plate; the other side of the main brush top plate is provided with a main brush side plate and a garbage box side plate respectively; the main brush side plate is fixed on the side edge of the main brush top plate facing the front side of the sweeping robot; the side plate of the garbage box is movably clamped on the side edge of the main brush top plate facing the rear side of the sweeping robot; a main brush rear plate is fixed on the rear side edge of the main brush top plate;

6. The sweeping robot of claim 5, wherein: the garbage grading treatment device comprises a filtering device, a silencing box, a dust collecting component, an air suction pump, an air suction port, an air suction cover and a filtering hole; the dust collection assembly is arranged above the main brush assembly; the dust collecting component is fixed at the rear end of the main beam through a connecting block; the filter device is fixed at the top of the dust collection component; a silencing box is arranged above the filtering device; the silencing box is fixed on the dust collecting component through a fixing rod; an air extracting pump is arranged on one side of the silencing box; the air suction end of the air suction pump is communicated with the air outlet end of the silencing box; the silencing box is communicated with the filtering device through a connecting pipe; the dust inlet end of the filter device is connected with an air inlet pipe; one end of the air inlet pipe is connected to the main brush top plate at the upper opening of the garbage box; the main brush top plate is provided with a through hole at the position of the upper opening of the garbage box, and garbage is pumped to the air inlet pipe; the through opening is internally provided with a filtering hole for separating large garbage from small garbage; an air suction cover fixed on the main brush top plate is arranged above the filter holes; the air suction cover is provided with an air suction port; the pipe orifice of the air inlet pipe is screwed and fixed with the air suction pipe through threads.

7. The sweeping robot of claim 6, wherein: the filtering device comprises a filtering box, an air outlet, an air inlet and a filter element; the top of the filter box is provided with an air outlet; one end of the connecting pipe is in threaded connection with the air outlet; a filter element with an outlet communicated with the air outlet is arranged in the filter box; the air inlet end of the filter element is exposed to the interior of the filter box; an air inlet is formed in the side edge of the filter box; the other end of the air inlet pipe is screwed at the air inlet.

8. The sweeping robot of claim 1, wherein: the main brush assembly further comprises a main brush transmission member; the main brush transmission part comprises a driving wheel, a belt, a main brush motor, a first main brush wheel, a second main brush wheel and a first guide wheel; one end of the main brush pair roller penetrates through the transmission side plate and is respectively sleeved with a second main brush wheel and a first main brush wheel; the first main brush wheel is arranged at the rear side of the second main brush wheel; a first guide wheel with consistent horizontal height is arranged at the rear side of the first main brush wheel; the second main brush wheel, the first main brush wheel and the first guide wheel are all arranged on one outward side of the transmission side plate; a driving wheel arranged outside the transmission side plate is also arranged above the first main brush wheel; the belt passes by the upper part of the driving wheel, then passes by the lower part of the second main brush wheel, passes by the upper part of the first main brush wheel, passes by the lower part of the first guide wheel and then is drawn to the driving wheel; the center of the driving wheel penetrates through an output shaft of the main brush motor; the motor is fixed on the inner side of the transmission side plate.

9. The sweeping robot of claim 8, wherein: the main brush drive also includes a second tensioning assembly; the second tensioning assembly comprises a second tensioning wheel, a fixing plate, an adjusting screw and an L-shaped connecting plate; the second tension wheel is arranged between the driving wheel and the second main brush wheel; and the body of the second tension pulley is pressed on the outer side of the belt; the second tensioning wheel is rotatably connected to the plate surface at one end, parallel to the transmission side plate, of the L-shaped connecting plate through a second tensioning wheel shaft; the surface of the other end of the L-shaped connecting plate, which is parallel to the transmission side plate, penetrates through a gap between the bottom of the belt and the side surface of the transmission side plate; an adjusting screw is fixed on the integrally formed plate surface of the L-shaped connecting plate, which is perpendicular to the side surface of the transmission side plate; the rod end of the adjusting screw penetrates through a fixing sheet spot-welded on the transmission side plate; and the threaded fit of the penetrating part of the adjusting screw and the fixing piece is realized.

10. The sweeping robot of claim 1, wherein: the side brush assembly also comprises a side brush motor, a speed reducer, a brush disc and brush bristles; the side brush connecting piece is movably connected to the front side of the frame component through a pin shaft; the free end of the side brush connecting piece does up-and-down swinging motion around the pin shaft; a speed reducer is fixed at the free end of the side brush connecting piece; the input end of the speed reducer is in transmission connection with the output end of the side brush motor; the side brush motor is fixed on the side wall of one side of the speed reducer through a connecting block; the output end of the speed reducer is arranged downwards and is rotationally connected with a brush disc through a rotating shaft; the bottom surface of the brush disc is embedded with brush hair.

11. The sweeping robot of claim 10, wherein: the side brush connecting piece comprises a hinged plate, a first connecting piece, a hinged shaft, a hinged seat and a second connecting piece; the hinged support is fixedly connected to the vertical surface of the rack component; a hinge shaft capable of rotating is inserted into the vertical surface of the hinge seat along the vertical direction; a first connecting piece capable of rotating along the axis direction of the hinge shaft is sleeved outside the hinge shaft; the vertical side of the first connecting piece is connected with a hinged plate which swings up and down along the height direction through a connecting shaft; the tail end of the hinged plate is connected with a second connecting piece through a connecting shaft; an L-shaped sheet with a through hole on the horizontal plane is fixed on the vertical side of the second connecting sheet; the output end of the motor is in transmission connection with a speed reducer; the bottom end of the speed reducer is an output end, and is in transmission connection with an output shaft; the speed reducer is fixed on the horizontal plane of the L-shaped sheet, and an output shaft of the output end of the speed reducer penetrates through the through hole.

12. The sweeping robot of claim 10, wherein: the side brush assembly further comprises a side brush mounting structure, and the side brush mounting structure comprises a connecting cap, a clamping rod, a first clamping hole, a locking pin, a chuck and a pin hole; the bottom end of the output shaft is embedded into a clamping rod; the periphery of the rod body of the clamping rod is correspondingly provided with a bead groove; the top of the connecting cap is provided with a second clamping hole; the rod end of the clamping rod is embedded in the second clamping hole, and the clamping rod is in interference fit with the second clamping hole; two pin holes communicated with the second clamping holes are correspondingly formed in the peripheral sides of the connecting caps; a lock pin is inserted into the pin hole; one end of the lock pin, which faces the clamping rod, is provided with a collision bead; the lock pin is inserted into the pin hole, and the collision bead at the end part of the lock pin is matched with the bead groove at the peripheral side of the rod body of the clamping rod; the bottom of the connecting cap is adhered with the chuck; a first clamping hole is formed in the center of the top of the brush disc; the chuck has magnetism; a magnetic medium is adhered in the first clamping hole; the chuck is embedded in the first clamping hole and matched with the first clamping hole through magnetic attraction.

13. The sweeping robot of claim 1, wherein: the rack assembly includes a main beam; the length of the main beam is the same as the width direction of the sweeping robot; two ends of the main beam are respectively connected with walking wheels through wheel shafts in a rotating way; the end face of the main beam facing the front side of the shell is rotatably connected with a side brush assembly capable of swinging up and down; the side brush assemblies are symmetrically distributed at two ends of the main beam.

14. The sweeping robot of claim 13, wherein: the sweeping robot comprises a shell; a rear panel of the casing is embedded in the rear side of the casing; the center of the rear plate of the machine shell is rotationally connected with a dust collecting component stop door through a hinge; a key switch is arranged above the dust collecting component stop door; the key switch is fixed on the rear plate of the machine shell.

15. The sweeping robot of claim 13, wherein: the top of the shell is clamped with a shell top plate; an integrally formed handrail is fixed at the rear end of the top plate of the shell; a display screen is embedded between the handrail and the top plate of the machine shell.

16. The sweeping robot of claim 15, wherein: and an emergency stop switch is also fixed on the top plate of the machine shell.

17. The sweeping robot of claim 13, wherein: and a depth camera is fixed on the front side of the shell.

18. The sweeping robot of claim 13, wherein: and a lamp strip mounting hole and an electrode mounting hole are formed in the bottom end of the front side of the shell.

19. The sweeping robot of claim 13, wherein: the top surfaces of the main beams close to the two ends are correspondingly provided with a shell lifting assembly; the machine shell lifting assembly comprises a guide rail, a sliding block, a guide rail connecting frame and an air spring; the guide of the guide rail is along the height direction of the sweeping robot; the bottom end of the guide rail is fixed at the top end of the main beam; one outward side of the guide rail is connected with a sliding block in a sliding manner; the outward side of the sliding block is fixedly connected with the inner wall of the shell; the vertical side of the guide rail is provided with an air spring; the guide of the gas spring is consistent with that of the guide rail; the bottom end of the gas spring is fixed on the outer side wall of the guide rail through a fixing block; a guide rail connecting frame is fixed at the top end of the gas spring; the guide rail connecting frame is fixedly connected with the inner wall of the machine shell close to the top.

20. The sweeping robot of claim 13, wherein: a second supporting beam is fixed on the end face of the main beam facing the rear side of the shell; the second supporting beam extends from the side surface of the main beam to the rear side of the shell, and the top end of the second supporting beam is arranged upwards; a first bracket horizontally arranged is fixed at the top end of the supporting beam; a dust collecting component is fixed at the top of the first bracket;

21. The sweeping robot of claim 20, wherein: an electric cabinet is fixed at the top end of the third supporting beam; the electric cabinet is arranged on the front side of the filtering device; a battery is arranged right below the electric cabinet; the battery is movably clamped on the third bracket through a buckle.

22. The sweeping robot of claim 13, wherein: a main brush lifting limiting part is arranged on the rear side of the main beam facing the sweeping robot; the main brush lifting limiting part comprises a first connecting plate, a guide rod and a fixing sleeve; the fixed sleeve is fixedly connected to the top end of the main beam through the fixed block; a guide rod is inserted into the fixed sleeve; the guide rod is arranged along the height direction; the bottom end of the guide rod is fixedly provided with a first connecting plate; and a main brush assembly is fixed at the bottom of the first connecting plate.

23. The sweeping robot of claim 1, wherein: the sweeping robot further comprises an anti-collision plate and an anti-collision plate connecting structure; the anti-collision plate connecting structure comprises a ball head rod and a buffer spring; an anti-collision plate is arranged on the front side of the outer bottom of the rack assembly;

24. The sweeping robot of claim 23, wherein: the T-shaped holes comprise waist holes, connecting holes and round holes; the waist hole penetrates through the plate surface of the fixing plate; the bottom of the center of the waist hole is communicated with a connecting hole which is vertically downward; the bottom end of the connecting hole is connected with a round hole;

25. The sweeping robot of claim 24, wherein: a gasket is sleeved on the rod body of the first section of rod, which is positioned on one side of the fixed plate facing the shell; the gasket is attached to the back of the fixing plate; the buffer spring is arranged on one side of the gasket, which faces the rack assembly.

26. The sweeping robot of claim 23, wherein: a microswitch with a contact point facing the inner side of the anti-collision plate is arranged in the square hole; the signal output end of the microswitch is electrically connected with the signal input end of the PLC controller, and the signal output end of the PLC controller is electrically connected with the walking wheel and controls the walking wheel to brake and steer.

27. The sweeping robot of claim 23, wherein: the anti-collision plate comprises a main plate and a corner plate; corner plates at corners at two sides of the rack assembly are fixed at two vertical ends of the main board;