CN211806114U

CN211806114U - Cleaning arm of intelligent barrier cleaning robot

Info

Publication number: CN211806114U
Application number: CN201921862217.8U
Authority: CN
Inventors: 张明勇; 路士超
Original assignee: Shandong Future Artificial Intelligence Research Institute Co ltd
Current assignee: Shandong Future Artificial Intelligence Research Institute Co ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2020-10-30
Anticipated expiration: 2029-10-30

Abstract

The utility model belongs to the intelligent robot field specifically, relates to a clearance arm of barrier clearance intelligent robot, including the automobile body, the top of automobile body is equipped with support arm mount pad and PLC treater, and the front end of automobile body is equipped with the barrier and accomodates the fill, the barrier accomodate fill with the open chamber that holds in top is injectd in the automobile body cooperation, but the front end that the barrier was accomodate the fill be equipped with accomodate the barrier clearance shovel of fighting the pivot and linking to each other with the barrier, be equipped with a driving motor between left support board and the right branch fagging, a driving motor is biax synchronous machine. Can dismantle the portion of getting of linking to each other through setting up on the automobile body, can assemble intelligent robot according to the demand, through equipment, control or the operation to intelligent robot, can promote user's understanding and understanding to intelligent robot moreover. And the whole volume is small, light in weight, easy and simple to handle, safety, the clamp is got the device and is moved in a flexible way, and the clamp force is big, and the reaction is sensitive, and it is steady to advance, and is fast, and clearance obstacle effect is showing.

Description

Cleaning arm of intelligent barrier cleaning robot

Technical Field

The utility model belongs to intelligent robot field specifically, relates to a clearance arm of barrier clearance intelligent robot.

Background

Intelligent robots, a technology that contains considerable disciplinary knowledge, are almost all generated with artificial intelligence. However, the intelligent robot becomes more and more important in the current society, and more fields and posts need the intelligent robot to participate, so that the research of the intelligent robot is more and more frequent. In daily life, the application of intelligent robots is quite common, and relates to various aspects of life. Nowadays, a plurality of powerful robots for obstacles are available on the market, but the robots are mainly used for industrial production, are extremely large in size, make people difficult to contact with the robots in daily life, have little or no application to daily life, have low intelligence degree, and cannot be called intelligent robots. Patent (207534821U) discloses a can clear up exhaust fume robot of barrier, and this exhaust fume robot includes frame and obstacle clearance mechanism, is equipped with the chimney that is used for carrying out the exhaust fume on the frame, obstacle clearance mechanism sets up the front end of frame, just obstacle clearance mechanism can export the reciprocating motion along a direction at least. The utility model discloses an intelligent degree is low, needs to consume a large amount of manpowers and operates to the manual operation precision is hardly ensured, and this utility model is bulky, is not suitable for the barrier clearance operation among the daily life.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.

Therefore, the utility model provides a clearance arm of barrier clearance intelligent robot.

According to the embodiment of the utility model, the cleaning arm of the intelligent robot for cleaning obstacles comprises a vehicle body, wherein the top of the vehicle body is provided with a support arm mounting seat and a PLC (programmable logic controller) processor, the support arm mounting seat is arranged near the front end of the vehicle body, a support arm is arranged on the support arm mounting seat, the support arm is pivotally connected to the support arm mounting seat in the vertical direction, a first driving motor electrically connected with the PLC processor is arranged between the support arm mounting seat and the support arm, the first driving motor is used for driving the support arm to rotate, the front end of the support arm is provided with an infrared detection radar in signal connection with the PLC processor, and the infrared detection radar is used for detecting obstacles in front of the vehicle body and providing position information of the obstacles; the front end of automobile body is equipped with the barrier and accomodates the fill, the barrier accomodate the fill with the open chamber that holds in top is injectd in the automobile body cooperation, the front end that the fill was accomodate to the barrier be equipped with but the barrier clearance shovel of fighting pivot link is accomodate to the barrier, the barrier clearance shovel with link to each other through first connecting rod is articulated between the front end of automobile body, the middle part of first connecting rod with link to each other through second connecting rod is articulated between the front end of support arm, the support arm for support arm mount pad pivot is in order to drive the barrier clearance shovel for the fill pivot is accomodate to the barrier.

According to the utility model discloses clearance arm of obstacle clearance intelligent robot, obstacle clearance shovel is "L" type, just the width that hinders thing clearance shovel is less than the width of automobile body, the turned angle that hinders thing clearance shovel is 0 ~ 120.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, the barrier is accomodate the fill and is "L" type, the width that the fill was accomodate to the barrier is less than body width, and the barrier accomodate the upper edge of fill with barrier clearance shovel upper edge parallel and level.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, barrier clearance shovel with the barrier is accomodate the hinge and is linked to each other between the fill.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, the support arm mount pad includes: the horizontal plate with connect the horizontal plate left and right sides and with left branch fagging and the right branch fagging that the horizontal plate set up perpendicularly, the support arm is connected left branch fagging with between the right branch fagging, the horizontal plate rigid coupling is in the top of automobile body.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, the horizontal plate with link to each other through the bolt between the automobile body, the automobile body upper surface is equipped with the bolt hole, the bolt passes the bolt hole and links to each other horizontal plate and automobile body.

According to the embodiment of the utility model, the support arm comprises a left support rod and a right support rod which are arranged in parallel, the left support rod is connected between the left side of the connecting plate and the left support plate, the right support rod is connected between the right side of the connecting plate and the right support plate, and a reinforcing plate is arranged between the left support rod and the right support rod;

the left support plate with be equipped with first driving motor between the right branch fagging, first driving motor is biax synchronous machine, has coaxial left motor shaft and the right motor shaft of arranging, first driving motor establishes on the horizontal plate, the left side motor shaft pass the left support plate and with the left branch vaulting pole links to each other, the right side motor shaft pass the right branch fagging and with the right branch vaulting pole links to each other.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, the second connecting rod with link to each other through the third connecting rod between the support arm, the third connecting rod is followed the width direction of automobile body extends.

According to the utility model discloses clearance arm of obstacle clearance intelligent robot, infrared detection radar with link to each other through infrared detection radar seat between the front end of support arm, the left side of infrared detection radar seat is formed with the left side connection turn-ups of bending backward, the left side connect the turn-ups with the left branch vaulting pole links to each other, the right side of infrared detection radar seat is formed with the right side connection turn-ups of bending backward, the right side connect the turn-ups with the right branch vaulting pole links to each other.

According to the embodiment of the utility model, one side of the vehicle body is provided with a first driving wheel, the first driving wheel is connected with the vehicle body through a second driving motor, a first driven wheel is arranged in front of the first driving wheel, the first driving wheel is connected with the first driven wheel through a first walking crawler, the other side of the vehicle body is provided with a second driving wheel, the second driving wheel is connected with the vehicle body through a third driving motor, a second driven wheel is arranged in front of the second driving wheel, and the second driving wheel is connected with the second driven wheel through a second walking crawler; the second driving motor and the third driving motor are in signal connection with the PLC processor.

The beneficial technical effect of this application: according to the utility model discloses barrier clearance intelligent robot's clearance arm can dismantle the clamp that links to each other and get the portion through setting up on the automobile body, can assemble intelligent robot according to the demand, and through equipment, control or the operation to intelligent robot, can promote user's understanding and understanding to intelligent robot moreover. And the whole volume is small, light in weight, easy and simple to handle, safety, the clamp is got the device and is moved in a flexible way, and the clamp force is big, and the reaction is sensitive, and it is steady to advance, and is fast, and clearance obstacle effect is showing.

Drawings

Fig. 1 is a schematic structural diagram of a cleaning arm of an obstacle cleaning intelligent robot according to an embodiment of the present invention;

fig. 2 is a top view of a cleaning arm of an obstacle cleaning intelligent robot according to an embodiment of the present invention;

fig. 3 is a bottom view of the cleaning arm of the intelligent robot for cleaning obstacles according to the embodiment of the present invention.

Reference numerals

1: vehicle body, 2: support arm mount, 3: PLC processor, 4: support arm, 5: first drive motor, 6: infrared detection radar, 7: obstacle storage bucket, 8: obstacle clearance shovel, 9: first link, 10: second link, 11: horizontal plate, 12: left support plate, 13: right support plate, 14: connecting plate, 15: left motor shaft, 16: left motor shaft, 17: third link, 18: infrared detection radar base, 19: the turn-ups is connected to the left side, 20: right side connection turn-ups, 21: first drive wheel, 22: second drive motor, 23: first driven pulley, 24: first traveling track, 25: second drive wheel, 26: third drive motor, 27: second driven wheel, 28: second traveling crawler, 29: left support bar, 30: right support bar, 31: a reinforcing plate.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The following describes a cleaning arm of an obstacle cleaning intelligent robot according to an embodiment of the present invention with reference to fig. 1, 2 and 3.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, including automobile body 1, the design of 1 lower part of automobile body is cavity mechanism, and the installation part of being convenient for has both reduced the volume of whole device, can make the installation of part more orderly again, pleasing to the eye, and the top of automobile body 1 is equipped with support arm mount pad 2 and PLC treater 3, and support arm mount pad 2 closes on the front end setting of automobile body 1, and 2 rigid couplings of support arm mount pad are in automobile body 1, and nonrotatable movement has increased the steadiness.

Be equipped with support arm 4 on support arm mount pad 2, but support arm 4 is connected at support arm mount pad 2 at vertical direction pivot ground, the two passes through bolted connection, be equipped with the first driving motor 5 of electricity connection PLC treater 3 between support arm mount pad 2 and the support arm 4, first driving motor 5 is biax synchronous machine, a left side, right motor shaft rigid coupling is on support arm 4, the motor rotates and drives 4 luffing motion of support arm, first driving motor 5 is used for driving support arm 4 rotation in vertical plane, the front end of support arm 4 is equipped with signal connection the infrared detection radar 6 of PLC treater 3, the infrared detection radar 6 rigid coupling is in the front end of support arm 4, infrared detection radar 6 is used for detecting the barrier in automobile body 1 the place ahead and provides the position information of barrier.

The front end of the vehicle body 1 is provided with a barrier receiving bucket 7, a rectangular receiving space which is equal to the vehicle body 1 in height is arranged in the receiving bucket, the barrier receiving bucket 7 is matched with the vehicle body 1 to limit a receiving cavity with an open top, the front end of the barrier receiving bucket 7 is provided with a barrier cleaning shovel 8 which is connected with the barrier receiving bucket 7 in a pivoting manner, the barrier cleaning shovel 8 is L-shaped, the tail end of the barrier cleaning shovel is tightly attached to the ground, the edge thickness of the barrier cleaning shovel is extremely thin, the barrier cleaning shovel 8 is connected with the front end of the vehicle body 1 in a hinging manner through a first connecting rod 9, the middle part of the first connecting rod 9 is connected with the front end of the supporting arm 4 in a hinging manner through a second connecting rod 10, the connecting rods are hollow, the strength of the connecting rods is guaranteed, the weight of the whole device can be reduced, the supporting arm 4 pivots relative to the supporting arm mounting base 2 to drive the barrier cleaning shovel 8 to pivot relative to the, the obstacle in the obstacle cleaning shovel 8 can be moved into the accommodating cavity of the obstacle accommodating bucket 7.

According to the utility model discloses a clearance arm of barrier clearance intelligent robot, barrier clearance shovel 8 are "L" type, and the width that hinders thing clearance shovel 8 is less than automobile body 1's width, and the turned angle that hinders thing clearance shovel 8 is 0 ~ 120 front end and the ground parallel of barrier clearance shovel 8, conveniently shovels up subaerial barrier.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, the barrier is accomodate fill 7 and is "L" type, and the width that fill 7 was accomodate to the barrier is less than automobile body 1 width, and is as wide as barrier clearance shovel 8 to the last border that fill 7 was accomodate to the barrier is along the parallel and level with 8 upper borders of barrier clearance shovel.

According to the utility model discloses a clearance arm of barrier clearance intelligent robot, barrier clearance shovel 8 and barrier are accomodate and are fought the hinge between 7 and link to each other, adopt the high strength hinge, can clear up the great barrier of quality.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, support arm mount pad 2 includes: horizontal plate 11 with connect in the 11 left and right sides of horizontal plate and with the perpendicular left support board 12 and the right branch fagging 13 that set up of horizontal plate, support arm 4 is connected between left support board 12 and right branch fagging 13, 11 rigid couplings of horizontal plate are at the top of automobile body 1, the horizontal plate 11 of support arm mount pad 2, thickening is done to left support board 12 and right branch fagging 13, link to each other through the bolt between horizontal plate 11 and the automobile body 1, 1 upper surface of automobile body is equipped with the bolt hole, the bolt passes the bolt hole and links to each other horizontal plate and automobile body, adopt the bolt fastening four corners, install on automobile body 1, the tensile strength and the torsional strength of support arm mount pad 2 have been increased.

According to the utility model discloses clearance arm of barrier clearance intelligent robot, support arm 4 includes parallel arrangement's left branch vaulting pole 29 and right branch vaulting pole 30, left branch vaulting pole 29 is connected between the left side of connecting plate 14 and left support plate 29, right branch vaulting pole 30 is connected between the right side of connecting plate 14 and right support plate 13, be equipped with reinforcing plate 31 between left branch vaulting pole 29 and the right branch vaulting pole 30, the reinforcing plate adopts the fretwork design, the weight of whole device has been alleviateed, left branch vaulting pole 29 and right branch vaulting pole 30 have been consolidated simultaneously.

The left branch fagging with be equipped with first driving motor 5 between the right branch fagging, first driving motor 5 is biax synchronous machine, left motor shaft 15 and right motor shaft 16 that have the coaxial arrangement, first driving motor 5 is established on horizontal plate 11, left motor shaft 15 passes left branch fagging 12 and links to each other with left branch fagging 29, right motor shaft 16 passes right branch fagging 13 and links to each other with right branch fagging 30, first driving motor 5 rotates and drives the ascending swing of support arm 4 in vertical direction, under the effect of first connecting rod 9, second connecting rod 10 and third connecting rod 17, reach the effect that promotes obstacle clearance shovel 8.

According to the utility model discloses clearance arm of barrier clearance intelligent robot links to each other through third connecting rod 17 between second connecting rod 10 and the support arm 4, and third connecting rod 17 extends along the width direction of automobile body 1, and with the same width of automobile body 1, and third connecting rod 17 rigid coupling can be along with 4 luffing motions of support arm in 4 tops of support arm, and second connecting rod 10 can receive pulling force and pressure.

According to the utility model discloses clearance arm of obstacle clearance intelligent robot, link to each other through infrared detection radar seat 18 between the front end of infrared detection radar 6 and support arm 4, infrared detection radar seat 18's left side is formed with the left side of bending backward and connects turn-ups 19, the turn-ups 19 is connected on a left side and the left branch vaulting pole 29 links to each other, infrared detection radar seat 18's right side is formed with the right side of bending backward and connects turn-ups 20, the right side is connected turn-ups 20 and is linked to each other with right branch vaulting pole 30, infrared detection radar seat 18 is "U" type, the installation and the dismantlement of the bolt of being convenient for of this kind of design, infrared detection radar seat 18's tensile and compressive strength have also been increased.

According to the embodiment of the utility model, a cleaning arm of an intelligent robot for cleaning obstacles, a first driving wheel 21 is arranged on one side of a vehicle body 1, the first driving wheel 21 is connected with the vehicle body 1 through a second driving motor 22, the first driving wheel 21 is fixedly connected with a motor shaft of the second driving motor 22, a first driven wheel 23 is arranged in front of the first driving wheel 21, the first driven wheel 23 is rotatably connected with the right side of the vehicle body 1, the first driving wheel 21 is connected with the first driven wheel 23 through a first walking crawler 24, protruded crawler teeth are arranged on the surface of the first walking crawler 24, the ground-holding force of the device during walking is increased, a second driving wheel 25 is arranged on the other side of the vehicle body 1, the second driving wheel 25 is connected with the vehicle body 1 through a third driving motor 26, the second driving wheel 25 is fixedly connected with the motor shaft of the third driving motor 26, a second driven wheel 27 is arranged in front of the second driving wheel 25, the second driven wheel 27 is rotatably connected to the left side of the vehicle body 1, the second driving wheel 25 is connected with the second driven wheel 27 through the second walking crawler 28, and the surface of the second walking crawler 28 is provided with protruded crawler teeth, so that the ground gripping force of the device during walking is increased; the second driving motor 25 and the third driving motor 26 are in signal connection with the PLC processor 3, and perform a walking task according to a signal of the PLC processor 3.

According to the embodiment of the utility model, during the assembly and use of the cleaning arm of the intelligent robot for cleaning obstacles, the vehicle body 1 is a hollow rectangular shell, the lower part of the vehicle body is provided with the second driving motor 22 and the third driving motor 26, the side surface is provided with the driving wheel, the driven wheel and the crawler belt, the upper surface of the vehicle body 1 is fixedly connected with the supporting arm mounting seat 2 which comprises a horizontal plate and a left supporting plate 12 and a right supporting plate 13 which are vertical to the horizontal plate, the PLC processor 3 is positioned right behind the supporting arm mounting seat 2 and is also fixedly connected on the vehicle body 1, the supporting arm is connected with the first driving motor 5, the second driving motor 22, the third driving motor 26 and the infrared detection radar 6 through signal lines, the supporting arm 4 is rotatably connected on the supporting arm mounting seat 2, the supporting arm comprises a left supporting rod 29 and a right supporting rod 30 which can swing in the plane, the end part of the supporting arm, the both ends of third connecting rod 17 respectively are connected with a second connecting rod 10, and two rotatable connections of first connecting rod are on second connecting rod 10, and rotatable connection of first connecting rod 9 is at the both ends of 8 portions of barrier clearance shovel head, and the tip rigid coupling of support arm 4 has infrared detection radar mount pad 18, and infrared detection radar 6 installs on infrared detection radar mount pad 18.

When the device is placed on the ground, the PLC 3 sends a walking instruction, the second driving motor 22 and the third driving motor 26 start to work to drive the first driving wheel 21 and the second driving wheel 25 to rotate, and the first driving wheel 21 and the second driving wheel 25 drive the first driven wheel 23 and the second driven wheel 27 to rotate through the first walking crawler 224 and the second walking crawler 28, so that the walking instruction is completed. When meetting the barrier be, infrared detection radar 6 is with signal transmission to PLC treater 3, PLC treater 3 sends the instruction of walking and promotion simultaneously, receive behind the promotion instruction, first driving motor 5 rotates and drives support arm 4 luffing motion, support arm 4 drives third connecting rod 17 luffing motion, effect through second connecting rod 10 and first connecting rod 9 promotes barrier clearance shovel 8 to a take the altitude, 8 upsets backward of barrier clearance shovel, the barrier falls to the barrier and accomodates in the fill 7, accomplish the work of barrier clearance.

Other configurations and operations of a cleaning arm of an obstacle cleaning intelligent robot according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.

In the description of the present invention, "a plurality" means two or more.

In the description of the present invention, the first feature "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween.

In the description of the invention, the first feature being "on", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a clearance arm of barrier clearance intelligent robot, includes automobile body (1), its characterized in that, the top of automobile body (1) is equipped with support arm mount pad (2) and PLC treater (3), support arm mount pad (2) close on the front end setting of automobile body (1), be equipped with support arm (4) on support arm mount pad (2), support arm (4) but vertical direction pivot ground is connected support arm mount pad (2), support arm mount pad (2) with be equipped with the electricity between support arm (4) and be connected the first driving motor (5) of PLC treater (3), first driving motor (5) are used for the drive support arm (4) rotate, the front end of support arm (4) is equipped with signal connection the infrared detection radar (6) of PLC treater (3), infrared detection radar (6) are used for detecting the barrier in automobile body (1) the place ahead provides the barrier The location information of (a);

the front end of automobile body (1) is equipped with the barrier and accomodates fill (7), the barrier accomodate fill (7) with the open chamber that holds in top is injectd in the cooperation of automobile body (1), the front end that the bucket (7) was accomodate to the barrier be equipped with but the barrier clearance shovel (8) that the bucket pivot is linked to each other are accomodate to the barrier, barrier clearance shovel (8) with link to each other through first connecting rod (9) are articulated between the front end of automobile body (1), the middle part of first connecting rod (9) with link to each other through second connecting rod (10) are articulated between the front end of support arm (4), support arm (4) for support arm mount pad (2) pivot is in order to drive barrier clearance shovel (8) for the bucket (7) pivot is accomodate to the barrier.

2. The cleaning arm of the intelligent robot for cleaning obstacles according to claim 1, characterized in that the obstacle-cleaning blade (8) is "L" shaped, and the width of the obstacle-cleaning blade (8) is smaller than the width of the vehicle body (1), and the rotation angle of the obstacle-cleaning blade (8) is 0-120 °.

3. The cleaning arm of the intelligent robot for cleaning obstacles according to claim 1, characterized in that the obstacle-receiving bucket (7) is L-shaped, the width of the obstacle-receiving bucket (7) is smaller than the width of the vehicle body (1), and the upper edge of the obstacle-receiving bucket (7) is flush with the upper edge of the obstacle-cleaning shovel (8).

4. The obstacle clearing smart robot clearing arm of claim 1, wherein the obstacle clearing shovel (8) is hinged to the obstacle receiving bucket (7).

5. A cleaning arm of an obstacle cleaning intelligent robot according to claim 1, characterized in that the support arm mount (2) comprises: horizontal plate (11) and connection horizontal plate (11) left and right sides and with left branch fagging (12) and right branch fagging (13) that horizontal plate (11) set up perpendicularly, support arm (4) are connected left branch fagging (12) with between right branch fagging (13), horizontal plate (11) rigid coupling is in the top of automobile body (1).

6. The obstacle clearing smart robot's clearing arm of claim 5, characterized in that the horizontal plate (11) is connected with the car body (1) through a bolt, the car body upper surface is provided with a bolt hole, and the bolt passes through the bolt hole to connect the horizontal plate (11) with the car body (1).

7. The obstacle clearing smart robot's clearing arm of claim 5, characterized in that the support arm (4) comprises a left support bar (29) and a right support bar (30) arranged in parallel, the left support bar (29) is connected between the left side of a connecting plate (14) and the left support plate (12), the right support bar (30) is connected between the right side of the connecting plate (14) and the right support plate (13), a reinforcement plate (31) is provided between the left support bar (29) and the right support bar (30);

left support plate (12) with be equipped with first driving motor (5) between right branch fagging (13), first driving motor is biax synchronous machine, has left motor shaft (15) and right motor shaft (16) of coaxial arrangement, establish first driving motor (5) on horizontal plate (11), left side motor shaft (15) pass left support plate (12) and with left branch vaulting pole (29) link to each other, right side motor shaft (16) pass right support plate (13) and with right branch vaulting pole (30) link to each other.

8. The obstacle clearing smart robot's clearing arm of claim 1, characterized in that the second link (10) is connected to the support arm (4) by a third link (17), the third link (17) extending in the width direction of the vehicle body (1).

9. The obstacle clearing intelligent robot cleaning arm as claimed in claim 7, wherein the infrared detection radar (6) is connected with the front end of the supporting arm (4) through an infrared detection radar seat (18), a backward-bent left connecting flange (19) is formed on the left side of the infrared detection radar seat (18), the left connecting flange (19) is connected with the left supporting rod (29), a backward-bent right connecting flange (20) is formed on the right side of the infrared detection radar seat (18), and the right connecting flange (20) is connected with the right supporting rod (30).

10. The obstacle clearing smart robot cleaning arm of claim 1, a first driving wheel (21) is arranged on one side of the vehicle body (1), the first driving wheel (21) is connected with the vehicle body (1) through a second driving motor (22), a first driven wheel (23) is arranged in front of the first driving wheel (21), the first driving wheel (21) is connected with the first driven wheel (23) through a first walking crawler belt (24), a second driving wheel (25) is arranged on the other side of the vehicle body (1), the second driving wheel (25) is connected with the vehicle body (1) through a third driving motor (26), a second driven wheel (27) is arranged in front of the second driving wheel (25), and the second driving wheel (25) is connected with the second driven wheel (27) through a second walking crawler belt (28); the second driving motor (22) and the third driving motor (26) are in signal connection with the PLC processor (3).