CN119035123A

CN119035123A - Cleaning robot

Info

Publication number: CN119035123A
Application number: CN202411271017.0A
Authority: CN
Inventors: 李振华; 方海东
Original assignee: Ningbo Shengmu Zhixun Technology Co ltd
Current assignee: Ningbo Shengmu Zhixun Technology Co ltd
Priority date: 2024-09-11
Filing date: 2024-09-11
Publication date: 2024-11-29

Abstract

The present invention discloses a cleaning robot, comprising a detachable mobile module and a cleaning module, wherein the mobile module can be movably assembled on the bridge frame along the bridge frame, the cleaning module is connected and fixed to the side of the mobile module, the cleaning module comprises a connection chamber detachably connected to the mobile module, the connection chamber is connected to a lifting cleaning chamber, the bottom of the cleaning chamber extends forward to form a water collecting tray, a roller brush mechanism is arranged on the cleaning chamber above the water collecting tray, a water storage tank is arranged on the mobile module, and a spray pipe connected to the water storage tank pipeline and an air shower joint connected to a compressed air pump are arranged on the roller brush mechanism. The advantages are: reasonable structure, low investment and construction cost, high cleaning efficiency and good safety.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of cleaning robot manufacturing, in particular to a cleaning robot for cleaning tunnel bridge accessories.

Background

When the tunnel is constructed, a bridge is often used for laying cables, and the bridge is formed by connecting a bridge piece end to end. In order to ensure that accessories such as an illuminating lamp and a camera can work normally, the accessories need to be cleaned regularly, and the regular cleaning of the accessories becomes a difficult problem. The regular cleaning of the accessories is usually finished manually, and when the cleaning operation is carried out, a semi-sealing channel is needed, so that traffic is influenced, and great potential safety hazards exist for operators.

Along with the continuous development of robot technique, present cleaning work can be accomplished by orbital cruising cleaning robot, for example, the application number is CN201320740226.6 and is a cleaning device of full-automatic tunnel lamps and lanterns, "a longitudinal rail is installed in the tunnel, and this longitudinal rail is close to the inner wall of tunnel lining layer, and longitudinal rail is parallel with the tunnel axis be equipped with running gear on the longitudinal rail, this running gear can follow longitudinal rail and remove, and longitudinal rail is the I-steel, running gear comprises motor, motor cabinet, action wheel and follower, installs the follower at the one end at motor cabinet top, and the other end installs the motor, suit action wheel on the output shaft of motor, the axis of this action wheel and follower are in a straight line, and action wheel and follower are located respectively in two track grooves that longitudinal rail formed, and above-mentioned cleaning device needs to lay special track, and the construction cost is high, and in addition, its cleaning device is electric cleaning brush or towel, and cleaning ability is very limited, therefore its structure needs further improvement.

Disclosure of Invention

The invention aims to overcome the defects, and discloses a cleaning robot which has reasonable structure, low construction cost, high cleaning efficiency and good safety.

The technical scheme of the invention is realized as follows:

The utility model provides a cleaning robot, includes detachable complex movable module and cleaning module, movable module can follow the crane span structure and assemble on the crane span structure with moving, cleaning module connect and be fixed in movable module's side, cleaning module including the connection storehouse of being connected with movable module dismantlement, the connection storehouse on be connected with liftable cleaning storehouse, cleaning storehouse's bottom extend forward and be formed with the water collecting tray, cleaning storehouse on be provided with round brush mechanism in the top of water collecting tray, movable module on be provided with the storage water tank, round brush mechanism on be provided with the shower that is connected with the storage water tank pipeline and the wind that is connected with the compressed air pump drenches the joint.

The measures for further optimizing the technical scheme are as follows:

The movable module is movably assembled on the bridge along the bridge, and the movable module is provided with a main movable wheel and an auxiliary movable wheel which are matched with a guide rail on the bridge, the main movable wheel is driven to rotate by a movable driving device, two sides of the movable module are respectively provided with a plurality of groups of side wheel assemblies, and the side wheel assemblies are arranged on the outer sides of the guide rail. The main moving wheel and the auxiliary moving wheel enable the moving module to move on the guide rail on the bridge frame, the side wheel assembly is arranged on the outer side of the guide rail, the side wheel assembly is utilized to limit the outer side of the guide rail, swing of the cleaning robot during moving is avoided, the moving module can be prevented from being separated from the guide rail, and moving is stable and reliable.

The side wheel assembly comprises a side wheel support, an assembly shaft and side wheels, wherein an opening of the side wheel support is arranged inwards, the assembly shaft is vertically arranged on the side wheel support, the side wheels are arranged on the assembly shaft in a penetrating mode, the side wheels are of a cylindrical structure, anti-falling wheels are coaxially arranged below the side wheels, and the diameter of the anti-falling wheels is larger than that of the side wheels.

As an improvement, the output shaft of the movable driving device is provided with a driving gear, the wheel shaft of the main movable wheel is provided with a driven gear, and the driving gear is meshed with the driven gear for transmission. The movable module adopts gear transmission, and has simple structure and reliable transmission.

The lifting type cleaning bin is characterized in that a lifting driving device and a screw rod which is connected with the lifting driving device for transmission are arranged in the cleaning bin, a connecting frame capable of moving along the axis direction of the screw rod is connected to the screw rod in a screwed mode, the cleaning bin is fixed with the connecting frame, guide rods are respectively arranged on two sides of the screw rod, and sliding blocks which are in sliding fit with the guide rods are fixed on the connecting frame. The lifting driving device drives the screw rod to rotate, and the transmission connecting frame is lifted, so that the aim of lifting the cleaning bin is fulfilled.

As an improvement, the rolling brush mechanism comprises a bottom plate, a mounting plate is mounted on the bottom plate, a damping piece is arranged between the mounting plate and the bottom plate, a rolling brush assembly driven by a rolling brush driving device to rotate is arranged on the mounting plate, and the rolling brush assembly comprises a hairbrush cleaning rolling brush and a lint cleaning rolling brush. Adopt brush cleaning round brush and the round brush subassembly of cotton flannel cleaning round brush, can improve cleaning performance, in addition, be provided with the damping piece between mounting panel and the bottom plate, reduce the influence of vibrations to the cleaning operation through the damping piece.

As an improvement, the mounting plate is fixed on a swinging rod connected with the swinging motor. The swing motor drives the swing rod to rotate, so that the rolling brush mechanism is driven to integrally swing, and the cleaning angle can be adjusted.

As an improvement, the rolling brush driving device is connected with a driving wheel, the hairbrush cleaning rolling brush and the flannelette cleaning rolling brush are respectively connected with a synchronous wheel, a synchronous belt is arranged outside the synchronous wheel, the driving wheel is in friction transmission fit with the synchronous belt, a tensioning wheel is arranged on the mounting plate, and the synchronous belt is arranged outside the synchronous wheel and the tensioning wheel. The synchronous belt is utilized to drive, so that the hairbrush cleaning rolling brush and the flannelette cleaning rolling brush synchronously rotate, and meanwhile, the synchronous belt keeps tension through the arrangement of the tensioning wheel, so that the slipping phenomenon is prevented.

As an improvement, the inner side of the cleaning module is provided with at least one group of floating support components, each floating support component comprises a base, a movable frame is assembled on the base, an elastic piece is arranged between the movable frame and the base, rollers are transversely arranged on the movable frame, and the rollers are in supporting fit with the side wall of the bridge frame. The movable module of the cleaning robot can keep straight through the support of the floating support assembly, so that the travelling wheels on two sides of the movable module and the guide rails on two sides are uniformly stressed, and the moving stability of the cleaning robot can be improved.

As an improvement, a hook is arranged on the side wall of the mobile module, and a hook groove matched with the hook is arranged on the cleaning module.

Compared with the prior art, the invention has the advantages that:

The cleaning robot provided by the invention has a reasonable structure, comprises the movable module and the cleaning module which are detachably matched, the movable module moves along the bridge, the bridge is used as a moving track, the construction cost is greatly saved, the cleaning module is used for automatically cleaning accessories fixed on the bridge, and the cleaning efficiency and safety of the bridge accessories (lighting lamps, cameras and the like) are greatly improved.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a side view of the present invention;

FIG. 4 is a perspective view of the mobile module of FIG. 1;

FIG. 5 is a perspective view of the mobile module of FIG. 1 from another perspective;

FIG. 6 is an enlarged view of portion B of FIG. 5;

FIG. 7 is a perspective view of the cleaning module of FIG. 1;

FIG. 8 is a perspective view of the cleaning module of FIG. 1 from another perspective;

FIG. 9 is an enlarged view of portion C of FIG. 8;

FIG. 10 is a schematic diagram of a connection structure of a mobile module and a cleaning module according to the present invention;

FIG. 11 is an enlarged view of portion D of FIG. 10;

FIG. 12 is a perspective view of the roller brush mechanism of the present invention;

fig. 13 is an enlarged view of the portion E in fig. 12;

FIG. 14 is a perspective view of another view of the roller brush mechanism of the present invention;

Fig. 15 is an exploded view of the roller brush mechanism of the present invention.

The names of the reference numerals in the drawings of the present invention are:

The movable module 1, the hook 1a, the main movable wheel 11, the wheel shaft 11a, the driven gear 11b, the auxiliary movable wheel 12, the movable driving device 13, the driving gear 13a, the side wheel assembly 14, the side wheel bracket 14a, the assembly shaft 14b, the side wheel 14c, the drop-off preventing wheel 14d, the cleaning module 2, the hook groove 2a, the connecting bin 21, the cleaning bin 22, the water collecting tray 23, the bridge 3, the guide rail 31, the rolling brush mechanism 4, the bottom plate 41, the mounting plate 42, the swinging motor 42a, the swinging rod 42b, the shock absorbing member 43, the brush cleaning rolling brush 44, the lint cleaning rolling brush 45, the driving wheel 46, the synchronizing wheel 47, the synchronizing belt 48, the tension wheel 49, the water storage tank 5, the shower pipe 61, the air shower joint 62, the lifting driving device 71, the screw 72, the connecting frame 73, the guide rod 74, the slider 75, the floating support assembly 8, the base 81, the movable frame 82, the elastic member 83, the roller 84, the mandrel 91, the connector 92, the mounting seat 93, and the elastic member 94.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings:

The following description is presented to enable one of ordinary skill in the art to practice the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. indicate orientations or positions based on the orientation or positional relationship shown in the drawings, which are merely for convenience in describing the present simplified description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus the above terms are not to be construed as limiting the present invention.

It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.

As shown in fig. 1 to 15, a cleaning robot comprises a moving module 1 and a cleaning module 2 which are detachably matched, wherein the moving module 1 can be movably assembled on a bridge 3 along the bridge 3, the cleaning module 2 is fixedly connected to the side surface of the moving module 1, the cleaning module 2 comprises a connecting bin 21 detachably connected with the moving module 1, a lifting cleaning bin 22 is connected to the connecting bin 21, a water collecting tray 23 is formed by extending forward of the bottom of the cleaning bin 22, a rolling brush mechanism 4 is arranged above the water collecting tray 23 on the cleaning bin 22, a water storage tank 5 is arranged on the moving module 1, and a spray pipe 61 connected with a pipeline of the water storage tank 5 and a wind spray joint 62 connected with a compressed air pump are arranged on the rolling brush mechanism 4.

The cleaning robot of the present invention uses the bridge 3 as a moving rail, and can move along the bridge 3, thereby automatically cleaning accessories (lighting lamps, cameras, etc.) fixed on the bridge 3, and blowing and drying the cleaned vicinity.

As shown in fig. 4 to 6, the moving module 1 is movably assembled on the bridge 3 along the bridge 3, and has a specific structure that a main moving wheel 11 and an auxiliary moving wheel 12 matched with a guide rail 31 on the bridge 3 are disposed on the moving module 1, the main moving wheel 11 is driven to rotate by a moving driving device 13, a plurality of sets of side wheel assemblies 14 are respectively disposed on two sides of the moving module 1, and the side wheel assemblies 14 are disposed on the outer sides of the guide rail 31. The above-described movement driving device 13 is preferably a motor.

The side wheel assembly 14 comprises a side wheel support 14a, an assembly shaft 14b and a side wheel 14c, wherein an opening of the side wheel support 14a is arranged inwards, the assembly shaft 14b is vertically arranged on the side wheel support 14a, the side wheel 14c is arranged on the assembly shaft 14b in a penetrating mode, the side wheel 14c is of a cylindrical structure, an anti-falling wheel 14d is coaxially arranged below the side wheel 14c, and the diameter of the anti-falling wheel 14d is larger than that of the side wheel 14 c. The anti-drop wheel 14d can act as an anti-drop to prevent the side wheel assembly 14 from being detached from the rail 31 of the bridge 3.

The output shaft of the movable driving device 13 is provided with a driving gear 13a, the wheel shaft 11a of the main movable wheel 11 is provided with a driven gear 11b, and the driving gear 13a is meshed with the driven gear 11b for transmission.

The bridge 3 is formed with a square guide rail 31, the main moving wheel 11 and the auxiliary moving wheel 12 are in rolling contact with the upper surface of the guide rail 31, and the side wheels 14c of the side wheel assembly 14 are in rolling contact with the side surfaces of the guide rail 31. The main moving wheel 11 is driven to rotate by a motor to provide power for the cleaning robot to move on the bridge 3, and the auxiliary moving wheel 12 is not powered to output power and only rotates along with the movement of the cleaning robot.

The moving module 1 of the cleaning robot has reasonable structure, the moving module 1 can move on the guide rail 31 of the bridge frame 3 through the arrangement of the main moving wheel 11 and the auxiliary moving wheel 12, the side wheel assembly 14 is arranged on the outer side of the guide rail 31, the side wheel assembly 14 is utilized to limit the position from the outer side of the guide rail 31, the swinging of the cleaning robot during moving is avoided, the moving module can be prevented from being separated from the guide rail 31, and the moving is more stable and reliable.

As shown in fig. 7 to 9, the cleaning module 2 of the present invention includes a connection bin 21, a cleaning bin 22, and a water collecting tray 23. Adopts a sectional structure formed by the connecting bin 21 and the cleaning bin 22, and the cleaning bin 22 can be lifted to meet the cleaning requirements of accessories with different mounting heights. The shower 61 on the round brush mechanism 4 is utilized, the shower operation can be carried out, the surface of the accessory can be washed, the cleaning effect can be greatly improved, shower water is collected through the water collecting disc 23, the bottom of the water collecting disc 23 is provided with filter cotton, filtered sewage in the water collecting disc 23 is pumped into the sewage tank by a pump, when the next accessory needs to be wetted before being washed, the water in the sewage tank can be reused, so that the sewage can be prevented from being stored as much as possible, and the water utilization rate is improved. And the air shower function is designed, when the air shower device is used, the air supply pipe is connected with the air shower connector 62, and the air shower is carried out by conveying power through the compressed air pump, so that the cleaned accessories can be dried quickly.

The cleaning bin 22 has a lifting driving device 71 and a screw 72 connected with the lifting driving device 71 for transmission, a connecting frame 73 capable of moving along the axis direction of the screw 72 is screwed on the screw 72, the cleaning bin 22 is fixed with the connecting frame 73, guide rods 74 are respectively arranged on two sides of the screw 72, and a sliding block 75 in sliding fit with the guide rods 74 is fixed on the connecting frame 73. The lifting drive device 71 is preferably a motor.

When the cleaning bin 22 is lifted, the lifting driving device 71 drives the screw 72 to rotate, so that the connecting frame 73 screwed on the screw 72 moves (lifts) along the axis direction of the screw 72, and the cleaning bin 22 is driven to lift. The guide rod 74 and the slider 75 cooperate to enable the link 73 to be lifted and lowered more smoothly.

As shown in fig. 12 to 15, the rolling brush mechanism 4 includes a base plate 41, a mounting plate 42 is mounted on the base plate 41, a shock absorbing member 43 is disposed between the mounting plate 42 and the base plate 41, a rolling brush assembly driven to rotate by a rolling brush driving device is disposed on the mounting plate 42, and the rolling brush assembly includes a brush cleaning rolling brush 44 and a lint cleaning rolling brush 45. The roller brush drive is preferably an electric motor.

The brush cleaning roller brush 44 and the lint cleaning roller brush 45 are provided with quick-release mechanisms to facilitate replacement of consumable parts (cleaning roller brushes). The brush cleaning rolling brush 44 and the lint cleaning rolling brush 45 are respectively provided with connectors 92 at two ends of a mandrel 91, one end, far away from the rolling brush driving device, of the mounting plate 42 is fixedly provided with a mounting seat 93, an elastic piece 94 is arranged between the connector 92, far away from one end of the rolling brush driving device, and the mounting seat 93, a square groove is arranged on the connector 92, close to one side of the rolling brush driving device, and a square transmission block matched with the square groove is arranged on one end, close to the rolling brush driving device, of the mandrel 92. The square transmission block is matched with the square groove to realize transmission. The other end of the mandrel 92 is engaged with the cylindrical groove on the connector 92 at the other end by a cylindrical transmission block, and the other end is engaged by rotation, that is, the connector 92 at one side of the quick release mechanism does not rotate.

The damper 43 is preferably a spring. The damping piece 43 is arranged between the mounting plate 42 and the bottom plate 41, and the vibration is absorbed by the springs, so that the influence of the vibration on the cleaning operation can be reduced, the cleaning rolling brush can always be in contact with the cleaning surface, and the cleaning effect is improved. In this embodiment, the brush cleaning roller brush 44 and the lint cleaning roller brush 45 are used to form a cleaning assembly, so as to achieve better cleaning effect by using the characteristics of the cleaning roller brushes made of different materials. The brush cleaning rolling brush 44 is made of fiber materials, has good cleaning capability, can effectively clean dust on the surface of the accessory, and the lint cleaning rolling brush 45 can rapidly and effectively clean dust on the surface of the accessory and can effectively absorb waste water generated during cleaning.

The mounting plate 42 is fixed to a swing lever 42b connected to a swing motor 42 a. The swing motor 42a drives the swing rod 42b to rotate, so that the rolling brush mechanism 4 is driven to swing integrally, and the cleaning angle can be adjusted.

The driving device of the rolling brush is connected with a driving wheel 46, the cleaning rolling brush 44 of the hairbrush and the cleaning rolling brush 45 of the flannelette are respectively connected with a synchronous wheel 47, a synchronous belt 48 is arranged outside the synchronous wheel 47, the driving wheel 46 is in friction transmission fit with the synchronous belt 48, a tensioning wheel 49 is arranged on the mounting plate 42, and the synchronous belt 48 is arranged outside the synchronous wheel 47 and the tensioning wheel 49.

The above-mentioned rolling brush driving device is preferably a motor, the motor drives the driving wheel 46 to rotate, then the driving wheel 46 drives the synchronous belt 48 to move, and then the synchronous belt 48 drives the synchronous wheel 47 to rotate (the synchronous belt 48 is engaged with the synchronous wheel 47 through a tooth slot), so as to drive the rolling brush to rotate. Further, a tensioning wheel 49 is provided on the mounting plate 42, and the synchronous belt 48 is disposed outside the synchronous belt 48 and the tensioning wheel 49. The tension pulley 49 can improve the tension of the timing belt 48, and prevent occurrence of slip due to insufficient tension of the timing belt 48.

The inner side of the cleaning module 2 is provided with at least one group of floating support components 8, the floating support components 8 comprise a base 81, a movable frame 82 is assembled on the base 81, an elastic piece 83 is arranged between the movable frame 82 and the base 81, a roller 84 is transversely arranged on the movable frame 82, and the roller 84 is in supporting fit with the side wall of the bridge 3. The elastic member 83 is preferably a spring.

As shown in fig. 1 to 3, after the cleaning robot is installed, the rollers 84 of the floating support assembly 8 are in supporting fit with the side walls of the bridge frame 3, so that the moving module 1 of the cleaning robot can be kept straight, and the travelling wheels (the main moving wheel 11 and the auxiliary moving wheel 12) of the moving module 1 and the guide rails 31 on two sides are uniformly stressed, so that the moving stability of the cleaning robot can be improved, and meanwhile, the stress of components (the larger torque caused to the bridge frame 3 due to the weight of the cleaning module 2 is avoided) is reduced, the requirements on the materials and the strength of the components are reduced, and the aim of reducing the manufacturing cost is fulfilled.

In the floating support assembly 8, a base 81 is fixed to the cleaning module 2, the base 81 has an L-shaped structure, a movable frame 82 is mounted on the base 81, rollers 84 are transversely arranged on the movable frame 83, and springs are arranged between the movable frame 83 and the base 81, so that a floating support structure is formed. A rail-slider assembly is provided between the movable frame 83 and the lateral portion of the base 81 to improve flexibility of movement of the movable frame 83. When the cleaning robot moves, the spring of the floating support structure is utilized to absorb shock, and when the cleaning robot moves to turn (house type guide rail, trapezoid guide rail and the like), the moving module 1 of the cleaning robot can be kept straight all the time by utilizing the movement of the position of the movable frame 83.

As shown in fig. 10 to 11, a hook 1a is provided on a side wall of the mobile module 1, and a hook groove 2a adapted to the hook 1a is provided on the cleaning module 2.

According to the cleaning robot, the moving module 1 and the cleaning module 2 adopt a quick dismounting structure, when the cleaning robot is mounted, the moving module 1 and the cleaning module 2 are separated, so that the weight during carrying can be reduced, after the moving module 1 is mounted on the bridge 3, the cleaning module 2 is hung on the moving module 1 by utilizing the cooperation of the hook groove 2a on the cleaning module 2 and the hook 1a on the moving module 1 to form pre-fixing, and then all pipelines and signal wires are connected to fix the cleaning module 2 and the moving module 1 together. Here, the electric connector is arranged between the two hooks 1a, so that the connection of the pipeline and the signal wire is more convenient.

The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. The cleaning robot is characterized by comprising a movable module (1) and a cleaning module (2) which are detachably matched, wherein the movable module (1) can be movably assembled on a bridge frame (3) along the bridge frame (3), the cleaning module (2) is fixedly connected to the side face of the movable module (1), the cleaning module (2) comprises a connecting bin (21) which is detachably connected with the movable module (1), the connecting bin (21) is connected with a lifting cleaning bin (22), the bottom of the cleaning bin (22) is forwards extended to form a water collecting disc (23), a rolling brush mechanism (4) is arranged above the water collecting disc (23), a water storage tank (5) is arranged on the movable module (1), and a pipe (61) which is connected with a pipeline of the water storage tank (5) and a wind shower joint (62) which is connected with a compressed wind pump are arranged on the rolling brush mechanism (4).

2. The cleaning robot according to claim 1, wherein the moving module (1) is movably assembled on the bridge (3) along the bridge (3), the moving module (1) is provided with a main moving wheel (11) and a secondary moving wheel (12) which are matched with a guide rail (31) on the bridge (3), the main moving wheel (11) is driven to rotate by a moving driving device (13), two sides of the moving module (1) are respectively provided with a plurality of groups of side wheel assemblies (14), and the side wheel assemblies (14) are arranged outside the guide rail (31).

3. The cleaning robot according to claim 2, wherein the side wheel assembly (14) comprises a side wheel support (14 a), an assembly shaft (14 b) and a side wheel (14 c), the opening of the side wheel support (14 a) is arranged inwards, the assembly shaft (14 b) is vertically arranged on the side wheel support (14 a), the side wheel (14 c) is arranged on the assembly shaft (14 b) in a penetrating mode, the side wheel (14 c) is of a cylindrical structure, an anti-falling wheel (14 d) is coaxially arranged below the side wheel (14 c), and the diameter of the anti-falling wheel (14 d) is larger than that of the side wheel (14 c).

4. A cleaning robot according to claim 3, characterized in that the output shaft of the movement driving device (13) is provided with a driving gear (13 a), the wheel shaft (11 a) of the main movement wheel (11) is provided with a driven gear (11 b), and the driving gear (13 a) is meshed with the driven gear (11 b).

5. The cleaning robot of claim 1, wherein the cleaning bin (22) is characterized in that a lifting driving device (71) and a screw (72) connected with the lifting driving device (71) are arranged in the cleaning bin (22), a connecting frame (73) capable of moving along the axis direction of the screw (72) is connected to the screw (72) in a screwed mode, the cleaning bin (22) is fixed to the connecting frame (73), guide rods (74) are respectively arranged on two sides of the screw (72), and sliding blocks (75) in sliding fit with the guide rods (74) are fixed to the connecting frame (73).

6. The cleaning robot according to claim 5, wherein the rolling brush mechanism (4) comprises a bottom plate (41), a mounting plate (42) is mounted on the bottom plate (41), a damping piece (43) is arranged between the mounting plate (42) and the bottom plate (41), a rolling brush assembly driven to rotate by a rolling brush driving device is arranged on the mounting plate (42), and the rolling brush assembly comprises a brush cleaning rolling brush (44) and a lint cleaning rolling brush (45).

7. A cleaning robot according to claim 6, wherein the mounting plate (42) is fixed to a swing lever (42 b) connected to a swing motor (42 a).

8. The cleaning robot according to claim 7, wherein the driving wheel (46) is connected to the brush driving device, the synchronous wheels (47) are respectively connected to the brush cleaning roller brush (44) and the lint cleaning roller brush (45), a synchronous belt (48) is arranged outside the synchronous wheels (47), the driving wheel (46) is in friction transmission fit with the synchronous belt (48), a tensioning wheel (49) is arranged on the mounting plate (42), and the synchronous belt (48) is arranged outside the synchronous wheels (47) and the tensioning wheel (49).

9. The cleaning robot according to claim 1, wherein at least one group of floating support assemblies (8) are arranged on the inner side of the cleaning module (2), each floating support assembly (8) comprises a base (81), a movable frame (82) is assembled on each base (81), an elastic piece (83) is arranged between each movable frame (82) and each base (81), rollers (84) are transversely arranged on each movable frame (82), and the rollers (84) are in supporting fit with the side wall of the bridge frame (3).

10. The cleaning robot according to claim 1, wherein the side wall of the mobile module (1) is provided with a hook (1 a), and the cleaning module (2) is provided with a hook groove (2 a) matched with the hook (1 a).