CN114833840B

CN114833840B - Cleaning robot

Info

Publication number: CN114833840B
Application number: CN202210325228.2A
Authority: CN
Inventors: 于�玲; 于谢天; 吴民渊; 邱实; 王长春; 戴磊
Original assignee: Beris Engineering and Research Corp
Current assignee: Beris Engineering and Research Corp
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2024-01-30
Anticipated expiration: 2042-03-30
Also published as: CN114833840A

Abstract

The invention discloses a cleaning robot, which solves the technical problem that large complex equipment is difficult to clean integrally. The device includes the brace table, still includes: the cleaning room is fixed on the supporting table, and one side of the cleaning room is provided with a gate for the equipment to be cleaned to enter and exit; the rack traversing trolley is horizontally arranged on the supporting table in a sliding manner; the vertical support frame is fixed on the support table and positioned in the cleaning room; the cross deflection system is arranged on the vertical support frame; the manipulator is fixed on the cross deflection system; the nozzle is fixed on the manipulator; the high-pressure pump set is fixed on the cleaning room and is used for supplying water to the nozzle; the cross deflection system is used for controlling the mechanical arm to vertically and horizontally move. The invention can reduce the labor intensity, optimize the cleaning path, reduce the medium consumption, improve the assembly precision, save the production cost, improve the cleaning effect and also improve the overall cleanliness of the machine repair workshop.

Description

Cleaning robot

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot.

Background

In recent years, the intelligent and digital development becomes the leading edge technology of the development of steel enterprises, a machine room is a place for equipment assembly on a steel rolling workshop production line, and is also the place with the greatest manpower in the steel rolling workshop at present, and meanwhile, the precision of rolling mill assembly is also the guarantee of the precision of products produced by the steel rolling production line.

In a rolling mill shop, when red billets pass through the rolling mill, a large amount of iron scales, iron filings, dust and steam are generated before and after the rolling mill due to the participation of cooling water, and part of generated pollutants are sucked by a rolling mill dust removing device for dust removal treatment and then discharged, and part of the generated pollutants are attached to rolling mill and rolling line equipment. Meanwhile, some rolling line devices are lubricated by oil gas, and part of the oil gas leaks and adheres to the rolling line devices, so that the rolling line devices become dirty after continuous production for a period of time in a steel rolling workshop. The rolling mill is replaced with the most frequent rolling mill in rolling line equipment, the rolling mill needs to replace the rolling mill according to different rolling products of the rolling mill or the service life of the rolling mill, the short stress line rolling mill is replaced integrally, namely the rolling mill and a rolling mill housing are disassembled integrally to a machine room, then the frame housing is disassembled, a roller set of the rolling mill is disassembled, bearings are disassembled and cleaned, and finally a new rolling mill is reassembled.

Currently, when cleaning a rolling mill or other equipment, the rolling mill is disassembled firstly, then parts such as a stand and the like are cleaned manually, and finally the parts are assembled. However, since the rolling mill is severely contaminated, when a worker disassembles the rolling mill, it is necessary to consume much manpower and easily cause secondary pollution to the ground or other facilities. Meanwhile, when the simple cleaning device such as a spray gun is manually used for cleaning parts such as a stand, the labor intensity of workers is high, the cleaning environment is poor, the cleaning water consumption is greatly increased, secondary pollution to a machine room can be caused, and due to the fact that steel rolling equipment is huge, a plurality of parts which cannot be cleaned manually exist, and the problem that the overall cleaning effect of a rolling mill is poor is solved. When the spray gun cleans the frame and other parts, the effective cleaning distance of the spray gun is generally only within 100mm, however, the cleaning effect is further affected by the fact that the position of the spray gun is difficult to accurately control manually. Moreover, when the workman assembles each part, because the error of manual work production influences the assembly precision of equipment, and then influences the rolling precision of production line.

Therefore, the rolling mill cleaning equipment is a conventional operation with more participants, complex operation process and high labor intensity. Therefore, the labor intensity of workers is reduced, the operation time efficiency is improved, and the integral automatic cleaning of large complex equipment in a machine room is particularly important.

Disclosure of Invention

In order to solve all or part of the problems, the invention aims to provide a cleaning robot which can reduce the labor intensity, optimize the cleaning path, reduce the medium consumption, improve the assembly precision, save the production cost, improve the cleaning effect and improve the overall cleanliness of a repair workshop.

The invention provides a cleaning robot, which comprises a supporting table and further comprises: the cleaning room is fixed on the supporting table, and one side of the cleaning room is provided with a gate for the equipment to be cleaned to enter and exit; the rack traversing trolley is horizontally arranged on the supporting table in a sliding manner, and can enter the cleaning room from the doorway; the vertical support frame is fixed on the support table and is positioned in the cleaning room; the cross deflection system is arranged on the vertical support frame; the manipulator is fixed on the cross deflection system; the nozzle is fixed on the manipulator; a high-pressure pump set fixed on the cleaning room and used for supplying water to the nozzle; the cross deflection system is used for controlling the mechanical arm to vertically and horizontally move.

Optionally, the cross deflection system includes: the horizontal control frame is horizontally arranged on the vertical support frame in a sliding manner; the vertical control frame is vertically arranged on the horizontal control frame in a sliding manner; the control piece is arranged between the horizontal control frame and the vertical support frame and is used for controlling the horizontal control frame to transversely move; and the pipe control is arranged between the horizontal control frame and the vertical control frame and used for controlling the vertical control frame to vertically move.

Optionally, a storage base is arranged on the rack traversing trolley.

Optionally, a guide rail for sliding the rack traversing trolley is fixed on the supporting table.

Optionally, a sewage collecting tank is formed on the surface of the supporting table, and the guide rail is located in the sewage collecting tank.

Optionally, a driving piece for driving the rack traversing trolley to horizontally slide is arranged on the supporting table.

Optionally, one end of the guide rail, which is close to the doorway, is an initial cleaning position, a starting proximity switch is arranged at the initial cleaning position of the guide rail, and when the rack traversing trolley slides to the initial cleaning position, the rack traversing trolley triggers the starting proximity switch and enables the high-pressure pump set to start.

Optionally, one end of the guide rail far away from the gate is a termination cleaning position, a termination proximity switch is arranged at the termination cleaning position of the guide rail, and when the rack traversing trolley slides to the termination cleaning position, the rack traversing trolley triggers the termination proximity switch, and the driving piece controls the rack traversing trolley to stop moving.

Optionally, a door plate for closing the gate is movably arranged on the outer wall of the cleaning room.

Optionally, the manipulator adopts a six-axis manipulator.

According to the technical scheme, the cleaning robot provided by the invention has the following advantages:

the device can carry out whole washing to large-scale equipment, need not the workman and carries out operations such as dismouting to equipment, can reduce artifical intensity of labour, optimize the cleaning route, reduce the medium consumption, improve assembly precision, practice thrift manufacturing cost, improve clean effect, can also improve the whole cleanliness in machine repair workshop simultaneously.

Additional features and advantages of the invention will be set forth in the description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.

FIG. 1 is a schematic view of the overall structure of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic view showing an internal structure of a cleaning booth of a cleaning robot according to an embodiment of the present invention;

FIG. 3 is an enlarged schematic view of area A of FIG. 2;

FIG. 4 is a front view of a cleaning robot in an embodiment of the present invention;

FIG. 5 is a top view of a cleaning robot in an embodiment of the invention;

FIG. 6 is a side view of a cleaning robot in an embodiment of the present invention;

fig. 7 is a schematic view illustrating a use state of the cleaning robot according to an embodiment of the present invention.

Reference numerals illustrate:

1. a support table; 2. a cleaning room; 3. a doorway; 4. a rack traversing trolley; 5. a vertical support frame; 6. a cross deflection system; 61. a horizontal control rack; 62. a vertical control rack; 63. a control member; 64. a pipe control; 7. a manipulator; 8. a nozzle; 9. a high pressure pump set; 10. a storage base; 11. a sewage collection tank; 12. a guide rail; 13. a driving member; 14. an initial cleaning position; 15. terminating the cleaning position; 16. a drainage channel;

100. a cleaning robot; 200. and (5) cleaning equipment.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail hereinafter with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be arbitrarily combined with each other.

Fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6 show an embodiment of the invention, in which a cleaning robot is disclosed, the cleaning robot comprises a supporting table 1, a cleaning room 2 is fixedly connected to the upper surface of the supporting table 1, and a door opening 3 for the equipment to be cleaned to enter and exit is provided on one side of the cleaning room 2. Meanwhile, the surface of the supporting table 1 is horizontally and slidably connected with a rack traversing trolley 4 for bearing equipment to be cleaned, and the rack traversing trolley 4 can enter the cleaning room 2 from the door 3 so as to realize the transportation of the equipment to be cleaned.

The surface of the supporting table 1 is fixedly connected with a vertical supporting frame 5 positioned in the cleaning room 2, and a cross deflection system 6 is arranged on the vertical supporting frame 5. The cross deflection system 6 is fixedly connected with a manipulator 7, and the cross deflection system 6 is used for controlling the manipulator 7 to move vertically and horizontally. Meanwhile, the manipulator 7 adopts a six-axis manipulator to realize multi-angle movement.

The end of the manipulator 7 is fixedly connected with a plurality of nozzles 8, and the state of only 3 nozzles 8 is shown in the application. Meanwhile, the outer wall of the cleaning room 2 is fixedly connected with a high-pressure pump set 9, and the high-pressure pump set 9 is communicated with the nozzle 8 through a flexible hose so as to realize water supply operation to the nozzle 8.

The cleaning robot in the embodiment can be arranged at any position in a workshop to integrally clean a rolling mill stand and large-scale complex equipment which are taken off, and work such as disassembly and assembly of a rolling mill or the large-scale complex equipment by workers is not needed, so that the labor intensity of workers can be reduced, and the work time efficiency can be improved. When the device is used for cleaning the rolling mill or the large-scale complex equipment, the rolling mill or the large-scale complex equipment does not need to be disassembled and assembled, so that the error amount of workers during assembling the rolling mill or the large-scale complex equipment is effectively reduced, and the precision of the rolling mill or the large-scale complex equipment is improved. Meanwhile, the design can also relieve the risk of polluting the ground when a worker dismounts the rolling mill or large-scale complex equipment, thereby improving the cleanliness of workshops.

Moreover, the device controls the movement of the nozzle 8 through the cross deflection system 6 and the manipulator 7, so that the nozzle 8 can clean the surface of each side of the equipment to be cleaned, water resources can be saved, the cleaning path can be optimized, and the operation time efficiency can be improved. Meanwhile, the distance between the nozzle 8 and the equipment to be cleaned is accurately controlled through the cross deflection system 6 and the manipulator 7, so that the surface distance between the nozzle 8 and the equipment to be cleaned is ensured not to exceed an effective cleaning distance (the effective cleaning distance of the nozzle 8 is not more than 100 mm), and the cleaning effect of the equipment to be cleaned is improved.

The cleaning room 2 can be of a steel structure or other structures such as a concrete building. The supporting table 1 can be directly fixed on the workshop floor, and can also be provided with rollers, so that a worker can conveniently carry and move the whole cleaning robot, and the cleaning robot can be randomly placed at any position in the workshop. Furthermore, the support table 1 may be a floor of a workshop directly as long as the cleaning room 2 can be supported. The vertical support 5 may be a single-sided bracket or a double-sided door-type bracket, as long as it is capable of supporting the cross deflection system 6.

In one embodiment, as shown in fig. 2 and 3, the cross deflection system 6 includes a horizontal control frame 61 horizontally slidably connected to a side wall of the vertical support frame 5, a control member 63 is disposed between the horizontal control frame 61 and the vertical support frame 5, and the control member 63 is used for controlling the horizontal control frame 61 to move laterally. The side wall of the horizontal control frame 61 is vertically and slidably connected with a vertical control frame 62, a pipe control 64 is arranged between the horizontal control frame 61 and the vertical control frame 62, and the pipe control 64 is used for controlling the vertical control frame 62 to vertically move.

The control 63 and the pipe control 64 may employ a cylinder or an electric push rod to control the horizontal manipulation frame 61 and the vertical manipulation frame 62 to stably move. The control member 63 and the pipe control member 64 may also adopt a motor screw rod type driving structure, a motor turbine screw rod type driving structure, or a motor gear rack type driving structure, as long as other driving modes of stable movement of the horizontal control frame 61 and the vertical control frame 62 can be realized. The control member 63 and the pipe control member 64 in the present application are respectively selected from motor rack and pinion type driving structures, so as to realize stable movement of the horizontal control frame 61 and the vertical control frame 62.

In one embodiment, as shown in fig. 4 and 5, the surface of the rack traversing trolley 4 is fixedly connected with a storage base 10, and the storage base 10 is matched with equipment to be cleaned, so as to improve the transportation stability of the equipment to be cleaned. The surface of the supporting table 1 is provided with a sewage collecting tank 11, the tank bottom of the sewage collecting tank 11 is fixedly connected with a guide rail 12, and the guide rail 12 is used for the rack traversing trolley 4 to slide so as to improve the motion stability of the rack traversing trolley 4. Because frame sideslip dolly 4 can drive to wait to wash equipment and move in sewage collecting vat 11 for washing liquid or washing sewage can be discharged into in the sewage collecting vat 11, in order to realize collecting the stability of sewage, thereby be convenient for the workman to the unified processing of sewage.

In one embodiment, as shown in fig. 4 and 5, the guide rail 12 includes a guide rail and a plurality of struts, the guide rail and the plurality of struts can be connected, and gaps exist between the plurality of struts to improve the discharge effect of the sewage, thereby enabling the sewage to be rapidly discharged.

In one embodiment, as shown in fig. 4 and 5, the upper surface of the rack traversing trolley 4 is provided with a drainage groove 16, when the equipment to be cleaned is placed on the rack traversing trolley 4 and the equipment to be cleaned is washed, sewage can be discharged through the drainage groove 16, so that the risk of secondary pollution of the sewage to the equipment to be cleaned is reduced. Meanwhile, the cross section of the drainage groove 16 is of a T-shaped structure with a narrow upper part and a wide lower part, so that the drainage effect can be guaranteed, the contact area between the rack traversing trolley 4 and equipment to be cleaned can be increased, and the supporting stability of the equipment to be cleaned is improved.

The object placing base 10 can be connected to the rack transverse trolley 4 through screws, so that the object placing base 10 can be detached, and when workers clean different equipment, the workers can replace the object placing base 10 matched with the equipment, so that the practical suitability of the cleaning robot is improved. Meanwhile, the side wall of the cleaning room 2 can be directly connected with a drain pipe or other drainage facilities to realize stable collection of cleaning sewage.

In one embodiment, as shown in fig. 4 and 5, a driving member 13 for driving the rack traversing carriage 4 to slide horizontally is provided on the supporting table 1, so that the rack traversing carriage 4 can rapidly enter and exit the cleaning room 2, thereby improving working timeliness.

The driving member 13 may be an air cylinder or an electric push rod to control the stable movement of the frame traversing carriage 4. The driving piece 13 can also adopt a motor screw rod type driving structure and a motor turbine worm type driving structure, and can also adopt a motor gear rack type driving structure, as long as other driving modes of stable movement of the water rack traversing trolley 4 can be realized.

The driving member 13 in the present application adopts a motor gear chain type driving structure to realize the stable movement of the rack traversing trolley 4. The bottom rotation of frame sideslip dolly is connected with a plurality of chain axles, exists the chain with the gear looks meshing on the motor between two adjacent chain axles, so sets up, and when the gear on the motor rotated, the chain axle can take place to rotate to reduce the frictional force with the gear, and then improve life. Moreover, compared with the matching of a gear and a rack, the design is higher in durability, more convenient to replace and lower in maintenance cost. In other embodiments, the rack traversing carriage 4 can be pushed and pulled manually, so long as the rack traversing carriage 4 can be controlled to enter and exit the cleaning room 2.

In one embodiment, as shown in fig. 4 and 5, the end of the guide rail 12 near the doorway 3 is an initial cleaning position 14, and the end of the guide rail 12 far from the doorway 3 is a final cleaning position 15. Meanwhile, an activation proximity switch (not shown) is provided at the initial cleaning position 14 of the guide rail 12, and a termination proximity switch (not shown) is provided at the termination cleaning position 15 of the guide rail 12.

In one embodiment, as shown in fig. 2 and 5, the high pressure pump unit 9 includes a controller that activates the proximity switch when the rack traversing carriage 4 slides to the initial cleaning position 14. At this time, the start proximity switch transmits a start signal to the controller on the high-pressure pump group 9, and then the controller on the high-pressure pump group 9 controls the high-pressure pump group 9 to start.

In one embodiment, as shown in fig. 4 and 5, the drive member 13 includes a controller that activates the end proximity switch when the rack traversing carriage 4 slides to the end cleaning position 15. At this time, the end proximity switch transmits a closing signal to the controller on the driving member 13, and then the controller on the driving member 13 controls the rack traversing carriage 4 to stop moving.

In one embodiment, as shown in fig. 1 and 2, a door plate (not shown in the drawings) for closing the doorway 3 is slidably or rotatably connected to the outer wall of the cleaning room 2, and an air cylinder or an electric push rod may be disposed on the outer wall of the cleaning room 2, and when the rack traversing trolley 4 enters and exits the cleaning room 2, the door plate is controlled to automatically move by using the air cylinder or the electric push rod, so that the automatic opening and closing of the doorway 3 can be controlled.

The cleaning robot 100 in this embodiment is used as shown in fig. 7: the equipment 200 to be cleaned is placed on the object placing base 10, and then the movement of the rack traversing trolley 4 is controlled by the driving piece 13, so that the equipment 200 to be cleaned enters the cleaning room 2. When the rack traversing carriage 4 moves to the initial cleaning position 14, the high-pressure pump group 9 is started, and then the cross deflection system 6 and the manipulator 7 control the nozzle 8 to move, thereby cleaning the equipment 200 to be cleaned. As the driving member 13 continues to control the movement of the rack traversing carriage 4, when the rack traversing carriage 4 moves to the end cleaning position 15, the driving member 13 controls the rack traversing carriage 4 to stop moving, at which time the robot 7 and the cross indexing system 6 may stop or continue working depending on the cleaning condition until the entire surface of the apparatus 200 to be cleaned is cleaned. Subsequently, the door panel is opened, and then the rack traversing carriage 4 is controlled to reversely move by the driving member 13, and the whole cleaning process can be completed when the equipment 200 to be cleaned is carried out of the cleaning room 2.

According to the process, the device is used for cleaning a rolling mill or large complex equipment, and the movement of the nozzle 8 is controlled through the cross deflection system 6 and the manipulator 7, so that the nozzle 8 can clean the surface of each side of the equipment to be cleaned, water resources can be saved, the cleaning path can be optimized, and the operation time efficiency can be improved. Meanwhile, the distance between the nozzle 8 and the equipment to be cleaned is accurately controlled by the cross deflection system 6 and the manipulator 7, so that the surface distance between the nozzle 8 and the equipment to be cleaned is not more than an effective cleaning distance (the effective cleaning distance of the nozzle 8 is not more than 100 mm), and the cleaning effect of the equipment to be cleaned is improved.

Compared with the original operation flow, the device can carry out integral cleaning on the rolling mill stand or large-scale complex equipment which is taken off the line, does not need to carry out operations such as disassembly and assembly on the rolling mill or the large-scale complex equipment by workers, can reduce the labor intensity of the workers, and can improve the operation timeliness. When the device is used for cleaning the rolling mill or the large-scale complex equipment, the rolling mill or the large-scale complex equipment does not need to be disassembled and assembled, so that the error amount of workers during assembling the rolling mill or the large-scale complex equipment is effectively reduced, and the precision of the rolling mill or the large-scale complex equipment is improved. Meanwhile, the design can also relieve the risk of polluting the ground when a worker dismounts the rolling mill or the large-scale equipment, thereby improving the cleanliness of the workshop.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. The cleaning robot is characterized by comprising a supporting table (1), and further comprising:

a cleaning room (2) which is fixed on the supporting table (1) and one side of which is provided with a gate (3) for the equipment to be cleaned to enter and exit;

the rack traversing trolley (4) is horizontally arranged on the supporting table (1) in a sliding manner, and the rack traversing trolley (4) can enter the cleaning room (2) from the gate (3);

a vertical support frame (5) fixed on the support table (1) and positioned in the cleaning room (2);

the cross deflection system (6) is arranged on the vertical support frame (5);

a manipulator (7) fixed on the cross deflection system (6);

a nozzle (8) fixed to the manipulator (7);

a high-pressure pump group (9) fixed to the outside of the washing room (2) and for supplying water to the nozzle (8);

the cross deflection system (6) is used for controlling the mechanical arm (7) to move vertically and horizontally;

a guide rail (12) for sliding the rack traversing trolley (4) is fixed on the supporting table (1), a sewage collecting tank (11) is arranged on the surface of the supporting table (1) along the inner periphery direction of the cleaning room (2), the sewage collecting tank (11) is used for collecting wastewater, and the guide rail (12) is positioned in the sewage collecting tank (11);

the guide rail (12) comprises a guide rail and a plurality of struts, the guide rail is connected with the struts, and gaps exist among the struts so as to improve the sewage discharge effect, thereby enabling sewage to be discharged rapidly;

the upper surface of the rack traversing trolley (4) is provided with a drainage groove (16), when equipment to be cleaned is placed on the rack traversing trolley (4) and the equipment to be cleaned is washed, sewage can be discharged through the drainage groove (16), so that the risk of secondary pollution of the sewage to the equipment to be cleaned is reduced;

the cross section of water drainage tank (16) is narrow down wide T shape structure, can guarantee the drainage effect, can also increase frame sideslip dolly (4) and the area of contact of waiting to wash equipment, improves the supporting stability who waits to wash equipment.

2. The cleaning robot according to claim 1, characterized in that the cross indexing system (6) comprises:

the horizontal control frame (61) is horizontally arranged on the vertical support frame (5) in a sliding manner;

a vertical control frame (62) vertically slidably disposed on the horizontal control frame (61);

the control piece (63) is arranged between the horizontal control frame (61) and the vertical support frame (5) and is used for controlling the horizontal control frame (61) to move transversely;

and the pipe control (64) is arranged between the horizontal control frame (61) and the vertical control frame (62) and is used for controlling the vertical control frame (62) to move vertically.

3. The cleaning robot according to claim 1, characterized in that the rack traversing carriage (4) is provided with a storage base (10).

4. The cleaning robot according to claim 1, characterized in that a driving member (13) for driving the rack traversing carriage (4) to slide horizontally is provided on the supporting table (1).

5. The cleaning robot according to claim 4, characterized in that an end of the guide rail (12) close to the doorway (3) is an initial cleaning position (14), an actuation proximity switch is arranged at the initial cleaning position (14) of the guide rail (12), and when the rack traversing carriage (4) slides to the initial cleaning position (14), the rack traversing carriage (4) triggers the actuation proximity switch and causes the high-pressure pump group (9) to actuate.

6. The cleaning robot according to claim 4, characterized in that the end of the guide rail (12) far away from the doorway (3) is a termination cleaning position (15), a termination proximity switch is arranged at the termination cleaning position (15) of the guide rail (12), when the rack traversing carriage (4) slides to the termination cleaning position (15), the rack traversing carriage (4) triggers the termination proximity switch, and the driving piece (13) controls the rack traversing carriage (4) to stop moving.

7. The cleaning robot according to claim 1, characterized in that the outer wall of the cleaning room (2) is movably provided with a door panel for closing the doorway (3).

8. The cleaning robot according to claim 1, characterized in that the robot arm (7) is a six-axis robot arm.