CN210472046U

CN210472046U - Cleaning robot suitable for truss and pipeline

Info

Publication number: CN210472046U
Application number: CN201920993760.5U
Authority: CN
Inventors: 方铮
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-05-08
Anticipated expiration: 2029-06-28

Abstract

The utility model relates to a cleaning robot suitable for a truss and a pipeline, which comprises a left manipulator, a right manipulator, an arm and a dust suction device; the left manipulator and the right manipulator are identical in structure and respectively comprise a driving arc-shaped component, an opening and closing steering engine and a driven arc-shaped component; the opening and closing steering engine drives the opening and closing actions of the driving arc-shaped component and the driven arc-shaped component; the mechanical arm is a telescopic and/or rotary mechanical arm which is bilaterally symmetrical, the left mechanical arm and the right mechanical arm are respectively arranged at the left end and the right end of the mechanical arm, and the truss or the pipeline is encircled by the driving arc-shaped component and the driven arc-shaped component; the mechanical arm drives the left mechanical arm and the right mechanical arm to move on the truss and the pipeline through stretching and/or rotating; the dust suction device is arranged in the middle of the mechanical arm and is used for cleaning the truss and the pipeline. The utility model discloses a cleanness of truss and pipeline has reduced artifical washing danger, has shortened clean time, has improved clean efficiency, has practiced thrift clean expense.

Description

Cleaning robot suitable for truss and pipeline

Technical Field

The utility model relates to a cleaning machines people, concretely relates to cleaning machines people suitable for truss and pipeline.

Background

In large buildings such as airport terminal buildings, stadiums, museums and the like, because the floor height is higher, the cleaning difficulty of trusses, pipelines and the like on the upper part is higher, the trusses usually have the problems of various trends, mutual staggering, various sizes and materials, indefinite shapes and the like, and the pipelines also have the problems of steering, pipe diameter change and the like, so that the cleaning process of daily maintenance is complex, the efficiency is low, and the manual cleaning cost is high and dangerous.

If the intelligent robot is adopted, the cleaning cost can be saved to a great extent, and the working efficiency of a cleaning project is improved, but the existing cleaning equipment capable of climbing up is more suitable for plane cleaning, such as a high-altitude wall surface rail type, a vacuum adsorption high-altitude cleaning robot, a magnetic adsorption high-altitude cleaning robot and the like. However, the high-altitude wall surface rail type needs to be installed when a building is built, so that the attractiveness of the building is affected, and a cleaning area is narrow; the vacuum adsorption high-altitude cleaning robot has higher requirement on the sealing performance of a vacuum sucker, the adsorption area of the sucker must be ensured, the structure is complex, the manufacturing cost is high, and the working reliability and the adaptability to the high-altitude wall surface are poorer; the magnetic adsorption high-altitude cleaning robot is only suitable for working on a high-altitude wall surface made of a specific material (such as steel). The truss used by the large building is formed by splicing cylinders, the curved surface of the truss is large and complex, the pipeline is also of a cylinder structure, a reliable adsorption surface is not provided, meanwhile, the installation of the track in advance is not convenient, and the existing cleaning equipment is not suitable for cleaning the truss and the pipeline.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem that exists among the prior art, the utility model provides a cleaning machines people suitable for truss and pipeline, it can realize among the large building the automatic cleanness of the crooked surface on truss and the pipeline, realizes reducing the manual cleaning danger, shortens clean time, improves clean efficiency, practices thrift the purpose of clean expense.

In order to achieve the above object, the utility model provides a following technical scheme:

a cleaning robot suitable for trusses and pipelines is characterized by comprising a left manipulator, a right manipulator, a mechanical arm and a dust suction device;

the left manipulator and the right manipulator are identical in structure and respectively comprise a driving arc-shaped component, an opening and closing steering engine and a driven arc-shaped component; the opening and closing steering engine drives the driving arc-shaped assembly and the driven arc-shaped assembly to open and close;

the mechanical arm is a telescopic and/or rotary mechanical arm which is bilaterally symmetrical, the left mechanical arm and the right mechanical arm are respectively arranged at the left end and the right end of the mechanical arm, and the truss or the pipeline is surrounded and embraced by the driving arc-shaped component and the driven arc-shaped component; the mechanical arm drives the left mechanical arm and the right mechanical arm to move on the truss and the pipeline through stretching and/or rotation; the dust suction device is arranged in the middle of the mechanical arm and is used for cleaning the truss and the pipeline.

Further, the cleaning robot further comprises an intermediate robot arm; the middle manipulator and the left manipulator have the same structure; the middle manipulator is arranged in the middle of the mechanical arm through the opening and closing steering engine, and the left manipulator and the right manipulator are symmetrically arranged relative to the middle manipulator; the middle manipulator encircles through the initiative arc subassembly with driven arc subassembly truss and pipeline, middle manipulator lower part with dust extraction links to each other, dust extraction is used for the absorption the dust in the middle manipulator encircles the region.

Furthermore, an airflow channel is further arranged at the lower part of the middle manipulator, and the dust suction device is communicated with the surrounding area of the middle manipulator through the airflow channel.

Furthermore, the inner side of the middle manipulator is also provided with two hairbrushes which are respectively attached to the inner sides of the driving arc assembly and the driven arc assembly facing the pipeline.

Furthermore, the mechanical arm comprises a left outer arm, a left inner arm, a middle arm, a right inner arm and a right outer arm, and the cleaning robot further comprises two straight-line rotating steering engines, two first straight-line steering engines and two second straight-line steering engines;

the left outer arm and the right outer arm are respectively connected with the left inner arm and the right inner arm through the straight-going rotary steering engine, and the telescopic and rotary motion of the left outer arm and the left inner arm as well as the telescopic and rotary motion of the right outer arm and the right inner arm are realized under the driving of the straight-going rotary steering engine;

the left inner arm and the right inner arm are connected with the middle arm through the first straight steering engine respectively, and the left inner arm, the right inner arm and the middle arm are driven by the first straight steering engine to move telescopically;

and the two second straight-line steering engines are symmetrically arranged on the middle arm and drive the middle arm to move linearly.

Furthermore, the cleaning robot also comprises a second rotary steering engine, and the middle manipulator is connected with the middle arm through the second rotary steering engine; and the second rotary steering engine drives the middle manipulator to rotate.

Further, the cleaning robot further comprises a first rotary steering engine; the first rotary steering engine is connected with the left manipulator and the right manipulator respectively; the first rotary steering engine drives the left manipulator and the right manipulator to rotate relative to the mechanical arm.

Furthermore, the left manipulator and the right manipulator respectively comprise a driving gear and a driven gear, the two driving gears are symmetrically arranged at the left end and the right end of the opening and closing steering engine, are respectively meshed and connected with the two driven gears, and are driven by the opening and closing steering engine to synchronously rotate; the driving arc assembly and the driven arc assembly are fixedly connected with the driving gear and the driven gear respectively; the opening and closing steering engine drives the driving gear to realize the opening and closing actions of the driving arc assembly and the driven arc assembly.

Further, the outer end of the driving arc-shaped component or the driven arc-shaped component is provided with a roller.

Furthermore, the driving arc-shaped assembly is formed by fixing at least two arc-shaped supports through a fixing assembly, and the two arc-shaped supports are respectively connected with the driving gear; the driven arc-shaped assembly is also formed by fixing at least two arc-shaped supports through the fixing assembly, and the two arc-shaped supports are respectively connected with the driven gear.

The utility model has the advantages that:

the utility model discloses simple structure, design benefit drives arm and the light steady removal that realizes on truss and pipeline of gripper through the steering wheel to utilize dust extraction to collect the dust and reach clean purpose, improved the artifical clean problem to truss and the crooked surface of pipeline of ordinary robot in tradition widely, reduce artifical washing danger, shorten clean time, improve clean efficiency, practice thrift clean expense.

Drawings

Fig. 1 is a schematic structural view of a cleaning robot suitable for a truss and a pipeline of the present invention;

fig. 2 is a schematic structural view of a left manipulator of the present invention;

fig. 3 is a schematic view of a result of the robot arm of the present invention;

FIG. 4 is a schematic view of a moving manner of the midspan tube according to the present invention;

fig. 5 is a schematic view of a moving mode of the middle span tube of the present invention.

The robot comprises a left manipulator 1, a driving arc assembly 1.1, an opening and closing steering engine 1.2, a driving gear 1.3, a driven gear 1.4, a driven arc assembly 1.5, a roller 1.6, a fixing assembly 1.7, a limiting plate 1.8, a middle manipulator 2, a right manipulator 3, a left outer arm 4, a left inner arm 5, a middle arm 6, a right inner arm 7, a right outer arm 8, a first rotary steering engine 9, a straight rotary steering engine 10, a first straight rotary steering engine 11, a second straight steering engine 12, a second rotary steering engine 13 and a dust collector 14.

Detailed Description

The following description will be made in detail with reference to the accompanying drawings and examples. The following examples are merely illustrative of the present invention and are not intended to limit the scope of the present invention.

In the present specification, terms of orientation or positional relationship such as up, down, left, right, inside, outside, front, rear, head, and tail are established based on the orientation or positional relationship shown in the drawings. The corresponding positional relationship may also vary depending on the drawings, and therefore, should not be construed as limiting the scope of protection.

The present invention relates to a portable electronic device, and more particularly, to a portable electronic device, which can be connected to a portable electronic device, and can be connected to a portable electronic device through a connection structure, such as a connector, a. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The embodiment describes a cleaning robot suitable for a truss and a pipeline, the cleaning robot comprises a mechanical arm, a mechanical arm and a dust collection device, the cleaning robot stably walks and moves on the truss or the pipeline by using the mechanical arm and the mechanical arm, and the dust collection action is completed by the dust collection device, so that the cleaning operation is realized.

As shown in fig. 1, the robot in this embodiment is composed of three sets of a left robot 1, a middle robot 2, and a right robot 3. The left mechanical hand 1 and the right mechanical hand 3 are symmetrically arranged on the left side and the right side of the middle mechanical hand 2, and the three groups of mechanical hands are respectively arranged on the mechanical arms.

Left side manipulator 1 and right manipulator 3 symmetry are installed at the arm both ends about, and three group manipulators all include spare parts such as initiative arc subassembly 1.1, the steering wheel that opens and shuts 1.2, driving gear 1.3, driven gear 1.4, driven arc subassembly 1.5, gyro wheel 1.6, fixed subassembly 1.7 and limiting plate 1.8. The structure of these parts after assembly will be described below by taking the left hand 1 shown in fig. 2 as an example.

Two driving gears 1.3 are symmetrically installed at both ends about the steering wheel 1.2 that opens and shuts, by the synchronous rotation of steering wheel 1.2 drive that opens and shuts to be connected with two driven gear 1.4 meshing respectively, and driving gear 1.3 and driven gear 1.4 left and right sides install limiting plate 1.8 respectively, and used limiting plate 1.8 is all fixed through fixed subassembly 1.7, prevent driving gear 1.3 and driven gear 1.4 skew meshing position, influence the drive conveying of steering wheel 1.2 that opens and shuts. The driving arc-shaped assembly 1.1 and the driven arc-shaped assembly 1.5 are fixedly connected with the driving gear 1.3 and the driven gear 1.4 respectively. When the opening and closing steering engine 1.2 drives the driving gear 1.3 to rotate, the driving arc assembly 1.1 and the driven arc assembly 1.5 move relatively under the meshing action of the driving gear 1.3 and the driven gear 1.4, and the opening and closing action of the left manipulator 1 is completed. The roller 1.6 is arranged at the outer side of the driving arc-shaped component 1.1 or the driven arc-shaped component 1.5, so that the friction between the left manipulator 1 and a truss or a pipeline can be reduced when the left manipulator moves.

In addition, a size measuring sensor can be arranged on the roller 1.6, when the cleaning robot moves across the pipe, the distance between the pipeline and the target pipeline and the pipe diameter of the truss or the pipeline can be detected, the detection result is transmitted to the PLC, the PLC compares preset movement parameters with the detection result, if deviation exists, the length of a mechanical arm of the cleaning robot is adjusted in time, the opening and closing angle of the mechanical arm is controlled through the opening and closing steering engine 1.2, and the mechanical arm can tightly hold the support columns with various pipe diameters, so that the surface of the truss or the pipeline can be cleaned.

The structure of the middle manipulator 2 is different from that of the left and

right manipulators

1 and 3 in that the middle manipulator 2 is also provided with an airflow channel, the airflow channel is positioned at the lower part of the middle manipulator 2, the outlet end of the airflow channel is connected with a dust suction device 14, and the dust suction device 14 sucks dust in the surrounding area of the middle manipulator 2 into the dust suction device 14 through the airflow channel to finish cleaning operation.

In addition, for avoiding raise dust, the drive arc assembly 1.1 and the driven arc assembly 1.5 of the middle manipulator 2 can be respectively provided with a whole brush towards the inner side of the pipeline, and the brushes surround the pipeline to form a relatively closed space in the surrounding area of the middle manipulator 2, so that the dust can be prevented from flying out. The middle manipulator 2 can also be moved back and forth when the brush contacts the pipeline, so that the brush can sweep dust on the surfaces of the truss and the pipeline, and the cleaning speed is accelerated.

The driving arc-shaped component 1.1 is formed by fixing at least two arc-shaped supports through a fixing component 1.7, wherein the two arc-shaped supports are respectively connected with the driving gear 1.3, in addition, in order to enlarge the gripping area of the manipulator, the fixing component 1.7 in the embodiment extends outwards from the arc-shaped support at one end, and the arc-shaped supports are additionally arranged at the end parts of the fixing component 1.7, as shown in fig. 2. Driven arc subassembly 1.5 is similar with initiative arc subassembly 1.5 structure, also includes the arc support of corresponding quantity, and the difference lies in, wherein two arc supports link to each other with driven gear 1.4 respectively.

The mechanical arm of the embodiment is a telescopic and/or rotary mechanical arm which is bilaterally symmetrical, and as shown in fig. 3, the mechanical arm is composed of a left outer arm 4, a left inner arm 5, a middle arm 6, a right inner arm 7 and a right outer arm 8, wherein the left outer arm 4, the right outer arm 8, the left inner arm 5 and the right inner arm 7 are symmetrically arranged above the left side and the right side of the middle arm 6 respectively. The steering engine further comprises a first rotary steering engine 9, a straight-line rotary steering engine 10, a first straight-line steering engine 11, a second straight-line steering engine 12 and a second rotary steering engine 13.

The number of the first rotary steering engines 9 is two, and the first rotary steering engines are respectively connected with the left manipulator 1 and the right manipulator 3 and are symmetrically arranged. In this embodiment, the steering wheel that opens and shuts 1.2 sets up respectively on the upper portion of the 4 left ends of left outer arm and the 8 right-hand members of right outer arm, and first rotatory steering wheel 9 sets up the lower part at the 4 left ends of left outer arm and the 8 right-hand members of right outer arm, and first rotatory steering wheel 9 drives the relative left outer arm 4 of left manipulator 1 and the relative right outer arm 8 of right manipulator 3 respectively and rotates. The middle manipulator 2 is connected with a second rotary steering engine 13 through an opening and closing steering engine 1.2. And a second rotary steering gear 13 is arranged on the middle arm 6 and drives the middle manipulator 2 to rotate relative to the middle arm 6.

The right end of the left outer arm 4 is connected with the left end of the left inner arm 5 through a straight-line rotary steering engine 10, under the action of the straight-line rotary steering engine 10, the left outer arm 4 and the left inner arm 5 realize telescopic motion so as to change the relative position between the left manipulator 1 and the middle manipulator 2 and realize the relative rotary motion between the left outer arm 4 and the left inner arm 5. The right end of the left inner arm 5 is mounted above the middle arm 6 through a first straight-line steering engine 11, and the first straight-line steering engine 11 can drive the left inner arm 5 and the middle arm 6 to complete telescopic motion. Two second straight steering engines 12 are respectively arranged on the left side and the right side of a second rotary steering engine 13 on the middle arm 6 and drive the middle arm 6 to move in a straight line together.

On the right side of the second rotary steering engine 13, a straight rotary steering engine 10 and a first straight steering engine 11 which are symmetrical to the left side of the second rotary steering engine 13 are arranged on the middle arm 6, so that the motion on the right side of the mechanical arm is realized. The right end of the right inner arm 7 is connected with the left end of the right outer arm 8 through a straight-line rotary steering engine 10, telescopic motion and rotary motion are achieved between the right inner arm 7 and the right outer arm 8 through the driving of the straight-line rotary steering engine 10, the left end of the right inner arm 7 is connected with the middle arm 6 through a first straight-line steering engine 11, and telescopic motion between the right inner arm 7 and the middle arm 6 is achieved under the driving of the first straight-line steering engine 11.

The suction unit 14 used in this embodiment is similar in principle to a vacuum cleaner, and may carry a dust collection bag or may be connected to other dust handling equipment.

In addition, each steering engine in the embodiment is respectively connected with the PLC, the walking path of the cleaning robot and the action parameters of each steering engine can be input in the PLC in advance, and the action parameters of each steering engine can be adjusted according to the detection result of the size measuring sensor in the cleaning process so as to prevent movement deviation and danger.

PLC still can link to each other with wireless receiving launcher, and PLC passes through signals such as wireless receiving launcher and wireless remote control ware or industrial computer and links to each other to make things convenient for the operator to use this cleaning robot to accomplish cleaning operation.

When the cleaning robot is used for cleaning, the cleaning robot can automatically climb to a truss or a pipeline above the cleaning robot through the upright post, and after the cleaning robot reaches a preset position, the dust suction device is started for cleaning. The moving process generally comprises two moving modes of linear movement and cross-pipe movement.

The linear moving process is described by taking the left movement of the position shown in fig. 1 as an example:

1. the middle manipulator 2 is opened and separated from the pipeline;

2. the left manipulator 1 is closed to grasp a pipeline, meanwhile, the right manipulator 3 is opened at a preset angle, the fixing force on the pipeline is released, but the pipeline is not separated, and at the moment, the left inner arm 5, the middle arm 6 and the right outer arm 8 drive the middle manipulator 2 and the right manipulator 3 to move leftwards together through the straight-line rotating steering engine 10, the first straight-line steering engine 11 and the second straight-line steering engine 12;

3. after the movement in the step 2 is completed, the right manipulator 3 is closed to grasp the pipeline, the left manipulator 1 loosens the fixing force on the pipeline but does not depart from the pipeline, and meanwhile, the left outer arm 4, the middle arm 6 and the right inner arm 7 push the left manipulator 1 and the middle manipulator 2 to move leftwards through the straight-line rotating steering engine 10, the first straight-line steering engine 11 and the second straight-line steering engine 12;

4. and (3) alternately reciprocating steps until the specified position is reached, closing the middle manipulator 2 upwards, and embracing the pipeline in a surrounding manner to finish the linear movement of the cleaning robot.

The following describes the cross-pipe moving process by taking the cleaning robot moving from the current pipe at the position of fig. 1 to the target pipe arranged in parallel as an example:

1. the left and right

mechanical arms

1 and 3 are opened to be separated from the current pipeline;

2. the size measuring sensor detects the distance between the current pipeline and a target pipeline and the diameter of the target pipeline, if the detection result deviates from the preset parameter, the preset parameter is modified into the detection result, and the left and right lengths of the mechanical arm are adjusted, namely the relative positions of the left outer arm 4, the left inner arm 5 and the middle arm 6 and the relative positions of the right inner arm 7, the right outer arm 8 and the middle arm 6 are adjusted; then under the rotating action of the two straight-line rotating steering engines 10, the left outer arm 4 and the right outer arm 8 respectively rotate by 90 degrees and face a target pipeline, and as shown in fig. 4, the left manipulator 1 and the right manipulator 3 reach the lower part of the target pipeline;

3. under the action of a first rotary steering engine 9, the left and

right manipulators

1 and 3 respectively rotate 90 degrees, and then the left and

right manipulators

1 and 3 are respectively closed upwards to surround and hold a target pipeline under the drive of an opening and closing steering engine 1.2;

4. the middle manipulator 2 is opened at a certain angle, separated from the current pipeline and swings to the position below the target pipeline under the restraint of the manipulator arm;

5. the left and right

mechanical hands

1 and 3 move outwards for a preset distance under the action of the straight-line rotating steering engine 10 respectively, namely the left mechanical hand 1 moves leftwards and the right mechanical hand 3 moves rightwards until the mechanical hands move for the preset distance, so that the mechanical arms are in a horizontal state;

6. the middle manipulator 2 is closed under the action of the opening and closing steering engine 1.2 and encircles the target pipeline, so that the pipe spanning movement of the cleaning robot is completed, and the cleaning work of the target pipeline is started.

In the moving process, the left and

right manipulators

1 and 3 can also sequentially turn to the target pipeline, and after the length of the mechanical arm is adjusted, as shown in fig. 5, the left outer arm 4 and the right outer arm 8 horizontally rotate 90 degrees left relative to the left inner arm 5 and the right inner arm 7 respectively, so that the mechanical arm is integrally in an I shape. The right manipulator 3 reaches the lower part of the target pipeline, the right manipulator 3 is rotated by 90 degrees through the first rotary steering engine 9, and the target pipeline is closed and encircled upwards through the opening and closing steering engine 1.2; at the moment, the left mechanical arm 1 is located on the other side of the current pipeline (namely, the side far away from the target pipeline), under the driving of the straight-going rotary steering engine 10, the left outer arm 4 rotates 180 degrees rightwards relative to the left inner arm 5 (if the left mechanical arm 1 in a rotating area is close to a barrier, the overall length of the mechanical arm and the mechanical arm can be reduced before rotation, if the left mechanical arm 1 is driven to rotate 90 degrees, the left mechanical arm is perpendicular to the axial direction of the mechanical arm in the opening direction, or the length of the mechanical arm is adjusted), and the left mechanical arm 1 reaches the lower part of the target pipeline. Through the rotatory left manipulator 1 of first rotatory steering wheel 990, the target pipeline is embraced to the upwards closed surrounding of the steering wheel 1.2 drive left manipulator that opens and shuts 1.2 drive. This way the risk of accidental falling of the intermediate manipulator 2 can be reduced.

In addition, in the rotating process, the middle manipulator 2 can rotate for a certain angle under the driving of the second rotating steering engine 13, so that the middle arm 6 deviates to the target pipeline, and the time for the left manipulator 1 and the right manipulator 3 to reach the lower part of the target pipeline is shortened.

While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the above-described embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details in the embodiments do not constitute the limitations of the scope of the present invention, and any obvious changes such as equivalent transformation, simple replacement, etc. based on the technical solution of the present invention all fall within the protection scope of the present invention without departing from the spirit and scope of the present invention.

Claims

1. A cleaning robot suitable for trusses and pipelines is characterized by comprising a left manipulator (1), a right manipulator (3), a mechanical arm and a dust suction device (14);

the left manipulator (1) and the right manipulator (3) are identical in structure and respectively comprise a driving arc-shaped component (1.1), an opening and closing steering engine (1.2) and a driven arc-shaped component (1.5); the opening and closing steering engine (1.2) drives the driving arc-shaped component (1.1) and the driven arc-shaped component (1.5) to open and close;

the mechanical arm is a telescopic and/or rotary mechanical arm which is bilaterally symmetrical, the left mechanical arm (1) and the right mechanical arm (3) are respectively installed at the left end and the right end of the mechanical arm, and the truss or the pipeline is surrounded and embraced by the driving arc-shaped component (1.1) and the driven arc-shaped component (1.5); the mechanical arm drives the left mechanical arm (1) and the right mechanical arm (3) to move on the truss and the pipeline through stretching and/or rotation; the dust suction device (14) is arranged in the middle of the mechanical arm and used for cleaning the truss and the pipeline.

2. The cleaning robot for trusses and pipes according to claim 1, further comprising an intermediate robot arm (2); the middle manipulator (2) and the left manipulator (1) have the same structure; the middle manipulator (2) is arranged in the middle of the mechanical arm through the opening and closing steering engine (1.2), and the left manipulator (1) and the right manipulator (3) are symmetrically arranged relative to the middle manipulator (2); the middle manipulator (2) encircles the truss and the pipeline through the driving arc-shaped component (1.1) and the driven arc-shaped component (1.5), the lower part of the middle manipulator (2) is connected with the dust suction device (14), and the dust suction device (14) is used for sucking dust in the surrounding area of the middle manipulator (2).

3. The cleaning robot for the trusses and pipes according to claim 2, wherein an air flow passage is further provided in a lower portion of the middle robot arm (2), and the dust suction device (14) communicates with a surrounding area of the middle robot arm (2) through the air flow passage.

4. The cleaning robot for the truss and the pipeline as claimed in claim 2 or 3, wherein the inner side of the middle manipulator (2) is further provided with two brushes, and the two brushes are respectively attached to the inner sides of the driving arc-shaped component (1.1) and the driven arc-shaped component (1.5) facing the pipeline.

5. The cleaning robot suitable for the trusses and the pipelines according to claim 2, wherein the mechanical arm comprises a left outer arm (4), a left inner arm (5), a middle arm (6), a right inner arm (7) and a right outer arm (8), and the cleaning robot further comprises two straight-line rotating steering engines (10), two first straight-line steering engines (11) and two second straight-line steering engines (12);

the left outer arm (4) and the right outer arm (8) are respectively connected with the left inner arm (5) and the right inner arm (7) through the straight-line rotary steering engine (10), and the telescopic and rotary motions of the left outer arm (4), the left inner arm (5), the right outer arm (8) and the right inner arm (7) are realized under the drive of the straight-line rotary steering engine (10);

the left inner arm (5) and the right inner arm (7) are connected with the middle arm (6) through the first straight steering engine (11) respectively, and the left inner arm (5), the right inner arm (7) and the middle arm (6) are driven to move telescopically through the first straight steering engine (11);

the two second straight-line steering engines (12) are symmetrically arranged on the middle arm (6) and drive the middle arm (6) to move linearly.

6. The cleaning robot suitable for the truss and the pipeline as claimed in claim 5, wherein the cleaning robot further comprises a second rotary steering engine (13), and the middle manipulator (2) is connected with the middle arm (6) through the second rotary steering engine (13); and the second rotary steering engine (13) drives the middle manipulator (2) to rotate.

7. The cleaning robot suitable for the truss and the pipeline as claimed in claim 1, wherein the cleaning robot further comprises a first rotary steering engine (9); the first rotary steering engine (9) is connected with the left manipulator (1) and the right manipulator (3) respectively; the first rotary steering engine (9) drives the left manipulator (1) and the right manipulator (3) to rotate relative to the mechanical arm.

8. The cleaning robot suitable for the trusses and the pipelines according to claim 1, wherein the left manipulator (1) and the right manipulator (3) further comprise a driving gear (1.3) and a driven gear (1.4) respectively, the two driving gears (1.3) are symmetrically arranged at the left end and the right end of the opening and closing steering engine (1.2), are respectively meshed and connected with the two driven gears (1.4), and are driven by the opening and closing steering engine (1.2) to rotate synchronously; the driving arc-shaped component (1.1) and the driven arc-shaped component (1.5) are fixedly connected with the driving gear (1.3) and the driven gear (1.4) respectively; the opening and closing steering engine (1.2) drives the driving gear (1.3) to realize the opening and closing actions of the driving arc-shaped assembly (1.1) and the driven arc-shaped assembly (1.5).

9. The cleaning robot for the truss and the pipeline as claimed in claim 1, wherein the outer end of the driving arc assembly (1.1) or the driven arc assembly (1.5) is provided with a roller (1.6).

10. The cleaning robot for the truss and the pipeline as claimed in claim 8, wherein the driving arc assembly (1.1) is composed of at least two arc brackets fixed by a fixing assembly (1.7), and the two arc brackets are respectively connected with the driving gear (1.3); the driven arc-shaped assembly (1.5) is also formed by fixing at least two arc-shaped supports through the fixing assembly (1.7), and the two arc-shaped supports are respectively connected with the driven gear (1.4).