CN215346368U

CN215346368U - Rolling brush type brush frame structure of cleaning robot

Info

Publication number: CN215346368U
Application number: CN202121577002.9U
Authority: CN
Inventors: 路卫国; 赵庆江; 郭庆峰; 路遥
Original assignee: Harbin Tianhe Automobile Equipment Co ltd
Current assignee: Harbin Tianhe Automobile Equipment Co ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2021-12-31
Anticipated expiration: 2031-07-12

Abstract

The utility model provides a rolling brush type brush holder structure of a cleaning robot, wherein a fixed end of a front rolling brush of the brush holder structure is fixed below one side of a rotating shaft seat, two side baffles are fixed on two sides of a rear baffle of the rolling brush, a middle rolling brush is connected to a guide rail sliding block through a push rod expansion bracket, a middle scraper is connected below a middle brush protecting plate, a floating scraper is connected below the floating protecting plate, the front scraper is installed below the rear baffle of the rolling brush, the front end of a brush holder is connected with a front brush holder assembly, the middle part of the brush holder is connected with the lower part of a lifting assembly and the middle brush holder assembly, and the rear end of the brush holder structure is connected with a tail brush. The cleaning robot can crush excrement by the aid of rapid rotation of the rolling brush in a piggery excrement leaking floor environment, clean the crushed excrement to an excrement leaking floor groove by means of the scraping plate and the tail brush, and fall into a trench below the floor to realize in-situ crushing and cleaning of the excrement of the piggery.

Description

Rolling brush type brush frame structure of cleaning robot

Technical Field

The utility model relates to a rolling brush type brush holder structure of a cleaning robot, and belongs to the technical field of electromechanical integrated agricultural intelligent equipment.

Background

At present, in the animal husbandry developed based on the modern agricultural background, manual labor is mostly used as service support, semi-automatic service equipment is introduced into a small number of animal husbandry places with large scales, and for piggery cleaning work in large-scale pig farms, cleaning is still performed by manually using tools and consuming a large amount of water resources, so that the piggery cleaning work can be performed cleanly, the time consumption is long, the cost is high, and the efficiency is low. The existing intelligent cleaning robot equipment has few brush holder functions, incomplete excrement cleaning and poor applicability. Aiming at the pigsty cleaning work related in the field, the utility model develops a novel brush holder structure of the pigsty cleaning robot, which is convenient to use, thorough in cleaning, and suitable for various pigsty environments paved with excrement-leaking floors, so that in-situ crushing and cleaning of excrement are realized.

SUMMERY OF THE UTILITY MODEL

The utility model provides a rolling brush type brush holder structure of a cleaning robot, aiming at solving the technical problems of difficult cleaning of pigsties, poor environmental sanitation, much water source waste, high labor cost and the like in a large-scale pig farm in the existing pigsties cleaning technology and influencing the economic development benefit of enterprises to a certain extent.

The utility model provides a rolling brush type brush frame structure of a cleaning robot, which comprises a brush frame, a lifting assembly, a front brush frame assembly, a middle brush frame assembly and a rolling brush scraper assembly, wherein the front brush frame assembly is arranged on the brush frame; the rolling brush scraper component comprises a front rolling brush, two side baffles, a front scraper, a middle rolling brush, a middle scraper, a floating scraper and a tail brush; the utility model discloses a brush, including pivot seat, preceding round brush stiff end, two side shields, middle round brush pass through the push rod expansion bracket and connect on the guide rail slider, scraper blade in the middle of the brush backplate below is connected, unsteady scraper blade has been connect to unsteady backplate below, preceding scraper blade is installed to the below of round brush backplate, the front end and the preceding brush yoke subassembly of brush yoke are connected, and the middle part is connected with lifting unit's lower part and well brush yoke subassembly, and the rear end is connected with the tail brush.

Preferably, the brush yoke includes brush yoke floorbar, brush yoke front-end coupling beam, brush yoke centre sill and brush yoke back coupling beam, brush yoke front-end coupling beam, brush yoke floorbar, brush yoke centre sill and brush yoke back coupling beam connect gradually from the past to the back.

Preferably, a first limit switch is arranged on the bottom plate of the cleaning robot.

Preferably, the lifting assembly comprises a stepping motor and a sliding table; the brush holder is characterized in that the sliding table is installed on a bottom plate of the cleaning robot, a stepping motor is installed above the sliding table, and the brush holder vertical beam is installed on a sliding block of the sliding table.

Preferably, the lifting assembly further comprises a second limit switch, and the second limit switch is mounted on an outer fixing frame of the stepping motor.

Preferably, the sliding table is provided with a driving sliding block and a floating sliding block, the driving sliding block is arranged above the floating sliding block, a compression spring is arranged between the two sliding blocks and penetrates through a screw shaft of the sliding table, the brush holder vertical beam is arranged on the floating sliding block, the lower part of the brush holder connecting plate is in fastening connection with a brush holder vertical beam through a bolt, the upper part of the brush holder connecting plate is provided with a long circular hole, and a fastening bolt penetrates through the long circular hole and is fixed on the driving sliding block.

Preferably, the front brush holder assembly comprises a front rolling brush baffle, a rotating shaft seat and a rear rolling brush baffle, and the front rolling brush baffle and the rear rolling brush baffle are respectively installed on the front side and the rear side of the rotating shaft seat.

Preferably, preceding brush yoke subassembly still includes preceding balance plate, wire casing and extension spring, preceding balance plate and brush yoke preceding tie-beam fixed connection, connect two extension springs between preceding balance plate and the round brush backplate, the wire casing is fixed and is qualified for the next round of competitions one side at round brush backplate round brush motor.

Preferably, the middle brush frame assembly comprises a middle brush fixing plate, a middle brush balancing plate, an electric push rod, a push rod telescopic frame, a floating guard plate, a middle brush guard plate, three sections of sliding rails and a guide rail sliding block; a pair of deep groove ball bearings is embedded between a welding shaft at the rear end of the brush frame middle beam and a middle brush fixing plate, the middle brush balance plate is sleeved on the brush frame middle beam, the middle brush fixing plate and the middle brush balance plate are fixedly connected, a guide rail sliding block is fixed below the middle brush fixing plate, a pin shaft of the middle brush fixing plate is connected with a fixed end of an electric push rod through a hinge, an extending end of the electric push rod is connected with a pin shaft on a push rod telescopic frame, three sections of slide rails are installed on the outer side of a middle brush guard plate, a floating guard plate is respectively connected with the three sections of slide rails and the push rod telescopic frame, and the middle brush fixing plate, the middle brush guard plate and a brush frame rear connecting beam are fixedly connected; and the middle brush balance plate is elastically connected with the middle brush fixing plate through a tension spring.

Preferably, well brush yoke subassembly still includes No. three limit switch, be provided with No. three limit switch on the well brush backplate.

Preferably, the rolling brush scraper component comprises a front rolling brush, two side baffles, a front scraper, a middle rolling brush, a middle scraper and a floating scraper; the front rolling brush fixing end is fixed below one side of the rotating shaft seat, the two side baffles are fixed on two sides of the rolling brush rear baffle, the middle rolling brush is connected to the guide rail sliding block through the push rod expansion bracket, the middle scraper is connected below the middle brush protective plate, the floating scraper is connected below the floating protective plate, and the front scraper is installed below the rolling brush rear baffle.

The working principle of the rolling brush type brush frame structure of the cleaning robot is as follows: the robot brush frame adopts a combination form of a rolling brush and a tail hair brush, the rolling brush rotates rapidly, the brush hair with certain hardness breaks the excrement, the broken excrement particles fall below the robot under the shielding of a protective plate, part of the broken excrement particles directly pass through the notch of the excrement-leaking floor and enter the trench, and part of the excrement is pushed into the notch of the excrement-leaking floor to fall under the action of a scraper; the automobile body is stretched out to middle round brush unilateral, can realize the faecal clearance in sow fence below space, promotes the clear excrement ability and the clear excrement efficiency of robot, and the tail brush is cleared up once more ground, strengthens robot clearance effect.

The rolling brush type brush holder structure of the cleaning robot has the beneficial effects that:

1. the cleaning robot can crush the excrement by the quick rotation of the rolling brush under the environment of the pig house excrement leaking floor, clean the crushed excrement to the groove of the excrement leaking floor by the scraping plate and the tail brush, and fall into a trench under the floor, so that the in-situ crushing and cleaning of the pig house excrement are realized.

2. The extensible middle rolling brush can clean the bottom of the piggery fence and special positions where car bodies cannot be close to the piggery fence, such as excrement at the piggery fence, so that the environmental applicability and the excrement cleaning capability of the cleaning robot are enhanced.

3. The robot brush holder adopts a combination form of the rolling brush and the tail hair brush, the rolling brush rotates rapidly, the brush hair with proper hardness breaks the excrement, the broken excrement particles fall below the robot under the shielding of the protective plate, part of the broken excrement particles directly pass through the notch of the excrement-leaking floor and enter the trench, and part of the excrement is pushed into the notch of the excrement-leaking floor to fall under the action of the scraper plate; the automobile body is stretched out to middle round brush unilateral, can realize the faecal clearance in sow fence below space, promotes the clear excrement ability and the clear excrement efficiency of robot, and the tail brush is cleared up once more ground, strengthens robot clearance effect.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

In the drawings:

fig. 1 is a schematic structural diagram of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

fig. 2 is a left side view of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

fig. 3 is a front view of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

FIG. 4 is a first schematic view of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

FIG. 5 is a second schematic view of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

fig. 6 is a third schematic view of a rolling brush type brush holder structure of the cleaning robot according to the present invention;

fig. 7 is a plan view of a rolling brush type brush holder structure of a cleaning robot according to the present invention;

wherein, 1-brush holder, 2-lifting component, 3-front brush holder component, 4-middle brush holder component and 5-rolling brush scraper component; 1-1-brush holder vertical beam, 1-2-brush holder front connecting beam, 1-3-brush holder middle beam and 1-4-brush holder rear connecting beam; 1-5-first limit switch; 2-1-step motor, 2-2-sliding table, 2-2-1-driving sliding block, 2-2-2-floating sliding block, 2-3-second limit switch, 2-4-brush holder connecting plate, 3-1-rolling brush front baffle, 3-2-rotating shaft seat, 3-3-rolling brush rear baffle, 3-4-front balance plate, 3-5-wire protecting groove, 3-6-bearing, 3-7-round nut and 3-8-tension spring; 4-1-middle brush fixing plate, 4-2-middle brush balance plate, 4-3-electric push rod, 4-4-push rod expansion bracket, 4-5-floating guard plate, 4-6-middle brush guard plate, 4-7-three sections of sliding rails, 4-8-guide rail sliding block and 4-9-third limit switch; 5-1-front rolling brush, 5-2-side baffle, 5-3-front scraper, 5-4-middle rolling brush, 5-5-middle scraper, 5-6-floating scraper and 5-7-tail brush.

Detailed Description

The following detailed description of embodiments of the utility model is provided in conjunction with the appended drawings:

the first embodiment is as follows: the present embodiment is explained with reference to fig. 1 to 7. The rolling brush type brush frame structure of the cleaning robot comprises a brush frame 1, a lifting assembly 2, a front brush frame assembly 3, a middle brush frame assembly 4 and a rolling brush scraper assembly 5; the front end of the brush frame 1 is connected with the front brush frame component 3, the middle part of the brush frame 1 is connected with the lower part of the lifting component 2 and the middle brush frame component 4, the rear end of the brush frame is connected with the tail brush 5-7, and the rolling brush scraper component 5 is installed in the middle brush frame component 4.

The brush holder 1 comprises a brush holder vertical beam 1-1, a brush holder front connecting beam 1-2, a brush holder middle beam 1-3 and a brush holder rear connecting beam 1-4, wherein the brush holder front connecting beam 1-2, the brush holder vertical beam 1-1, the brush holder middle beam 1-3 and the brush holder rear connecting beam 1-4 are sequentially connected from front to back. A first limit switch 1-5 is arranged on the front connecting beam 1-2 of the brush holder.

The front end of the brush frame front connecting beam 1-2 is provided with a welding shaft, a pair of deep groove ball bearings 3-6 is embedded between the brush frame front connecting beam 1-2 and the rotating shaft seat 3-2, the rotating shaft seat 3-2 and the brush frame front connecting beam 1-2, the outer ring of the bearing 3-6 is embedded in a bearing chamber of the rotating shaft seat 3-2, and the bearing is tightly connected with the welding shaft on the brush frame front connecting beam 1-2 through a round nut 3-7 through threads.

The lifting assembly 2 comprises a stepping motor 2-1, a sliding table 2-2, a second limit switch 2-3 and a brush holder connecting plate 2-4; the sliding table 2-2 is installed on a bottom plate of the cleaning robot, the stepping motor 2-1 is installed above the sliding table 2-2, and the brush holder vertical beam 1-1 is installed on a sliding block of the sliding table 2-2. And a second limit switch 2-3 is arranged on an outer fixing frame of the stepping motor 2-1. The improved brush holder is characterized in that two sliding blocks are arranged on the sliding table 2-2, the driving sliding block 2-2-1 is arranged on the upper portion, the floating sliding block 2-2-2 is arranged on the lower portion, a compression spring 2-2-3 is arranged between the sliding blocks and penetrates through a screw shaft of the sliding table, the brush holder vertical beam 1-1 is arranged on the floating sliding block 2-2-2, the lower portion of a brush holder connecting plate 2-4 is fixedly connected with the brush holder vertical beam 1-1 through bolts, a long circular hole is formed in the upper portion of the brush holder connecting plate, and a fastening bolt penetrates through the long circular hole and is fixed on the driving sliding block 2-2-1.

When the stepping motor works, the sliding table screw shaft is driven to rotate, the driving slide block 2-2-1 descends, the floating slide block 2-2-2 descends synchronously under the gravity of the brush holder, after the integral brush holder structure lands, the driving slide block 2-2-1 descends continuously, and downward pressure is applied to the floating slide block 2-2-2 and the brush holder through the compression spring 2-2-3; the descending stop position of the driving sliding block 2-2-1 is adjusted by changing the height position of the first limit switch 1-5, and the deformation of the compression spring 2-2-3 is changed, so that the adjustment of the ground pre-pressure of the bristles on the brush frame is realized; when the brush frame is lifted, the driving slide block rises, the fixing bolt on the driving slide block moves upwards relative to the long round hole on the brush frame connecting plate 2-4, and when the bolt moves to the upper edge of the long round hole, the brush frame connecting plate and the driving slide block rise synchronously.

The front brush frame assembly 3 comprises a rolling brush front baffle 3-1, a rotating shaft seat 3-2 and a rolling brush rear baffle 3-3, wherein the rolling brush front baffle 3-1 and the rolling brush rear baffle 3-3 are respectively arranged at the front and the rear of the rotating shaft seat 3-2. The front balance plate 3-4 is fixedly connected with the front connecting beam 1-2 of the brush frame, two tension springs 3-8 are connected between the front balance plate 3-4 and the rolling brush rear baffle 3-3, and the wire protection groove 3-5 is fixed on the wire outlet side of the rolling brush motor of the rolling brush rear baffle 3-3.

The middle brush frame assembly 4 comprises a middle brush fixing plate 4-1, a middle brush balance plate 4-2, an electric push rod 4-3, a push rod telescopic frame 4-4, a floating protection plate 4-5, a middle brush protection plate 4-6, three sections of slide rails 4-7 and guide rail slide blocks 4-8; a pair of deep groove ball bearings 3-6 is embedded between a welding shaft at the rear end of a brush frame middle beam 1-3 and a middle brush fixing plate 4-1, the middle brush balance plate 4-2 is sleeved on the brush frame middle beam 1-3, the middle brush fixing plate 4-1 and the middle brush balance plate 4-2 are tightly connected through a round nut 3-7, a guide rail sliding block 4-8 is fixed below the middle brush fixing plate 4-1, a middle rolling brush 5-4 is connected on the guide rail sliding block 4-8 through a push rod expansion bracket 4-4, a pin shaft is left on the middle brush fixing plate 4-1 and is hinged with the fixed end of an electric push rod 4-3, the extending end of the electric push rod 4-3 is connected with a pin shaft on the push rod expansion bracket 4-4, three sections of sliding rails 4-7 are installed on the outer side of a middle brush protection plate 4-6, the floating guard plate 4-5 is respectively connected with three sliding rails 4-7 and a push rod telescopic frame 4-4, and the middle brush fixing plate 4-1, the middle brush guard plate 4-6 and the brush frame rear connecting beam 1-4 are fixedly connected; the middle brush balance plate 4-2 is elastically connected with the middle brush fixing plate 4-1 through a tension spring 3-8. And a third limit switch 4-9 is arranged on the middle brush guard plate 4-6.

The rolling brush scraper component 5 comprises a front rolling brush 5-1, two side baffles 5-2, a front scraper 5-3, a middle rolling brush 5-4, a middle scraper 5-5 and a floating scraper 5-6; the fixed end of the front rolling brush 5-1 is fixed below one side of the rotating shaft seat 3-2, the two side baffles 5-2 are fixed on two sides of the rolling brush rear baffle 3-3, the middle rolling brush 5-4 is connected to the guide rail sliding block 4-8 through the push rod expansion bracket 4-4, the middle scraper 5-5 is connected below the middle brush guard plate 4-6, the floating scraper 5-6 is connected below the floating guard plate 4-5, and the front scraper 5-3 is installed below the rolling brush rear baffle 3-3.

The middle of the front balance plate 3-4 and the rolling brush rear baffle 3-3, the middle brush balance plate 4-2 and the middle brush fixing plate 4-1 are directly and elastically connected through the tension spring 3-8, so that the front rolling brush 5-1, the middle rolling brush 5-4 and the tail brush 5-7 are uniformly pressed downwards when working, and the cleaning effect and the ground adaptability of the cleaning robot are improved.

The bearings 3-6 realize that the front brush frame component 3 rotates relative to the brush frame 1 and the middle brush fixing plate 4-1 rotates relative to the brush frame middle beam 1-3, and the tension springs 3-8 limit the rotation amplitude, so that the pressure of the front rolling brush 5-1 and the middle rolling brush 5-4 to the ground is uniform, and the corresponding ground clearance of the front scraping plate 5-3 and the middle scraping plate 5-5 is uniform, thereby adapting to the conditions of uneven ground and uneven excrement accumulation and enhancing the trafficability and cleaning capability of the robot.

The guide rail sliding blocks 4-8 and the three-section sliding rails 4-7 are used, so that the middle rolling brush 5-4 can realize lateral linear movement, the electric push rod 4-3 pushes the push rod telescopic frame 4-4 to drive the middle rolling brush 5-4 and the floating protection plate 5-6 to complete unfolding and folding actions, and the detection and control of the action point of the middle rolling brush 5-4 are realized through the triggering of the upper limit switch 4-9 of the middle brush protection plate 4-6.

The tail brushes 5-7 are fixed on the rear connecting beam 1-4 of the brush frame, and the tail brush hairs incline to a certain angle towards the rear of the advancing direction, so that the brush hairs can be better attached to the ground to finish the cleaning task.

When the cleaning robot works, the upper sliding table 2-2 drives the brush holder 1 and all the components mounted on the brush holder to move downwards under the driving of the stepping motor 2-1, so that the pressure of bristles on the ground during working is adjusted, and after the working is finished, the brush holder is lifted to enable the bristles to be separated from the ground.

The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rolling brush type brush frame structure of a cleaning robot is characterized by comprising a brush frame (1), a lifting assembly (2), a front brush frame assembly (3), a middle brush frame assembly (4) and a rolling brush scraper assembly (5); the rolling brush scraper component (5) comprises a front rolling brush (5-1), two side baffles (5-2), a front scraper (5-3), a middle rolling brush (5-4), a middle scraper (5-5), a floating scraper (5-6) and a tail brush (5-7); the fixed end of the front rolling brush (5-1) is fixed below one side of the rotating shaft seat (3-2), the two side baffles (5-2) are fixed on two sides of the rolling brush rear baffle (3-3), the middle rolling brush (5-4) is connected to the guide rail sliding block (4-8) through the push rod expansion bracket (4-4), the middle scraper (5-5) is connected below the middle brush guard plate (4-6), the floating scraper (5-6) is connected below the floating guard plate (4-5), the front scraper (5-3) is installed below the rolling brush rear baffle (3-3),

the front end of the brush frame (1) is connected with the front brush frame component (3), the middle part of the brush frame is connected with the lower part of the lifting component (2) and the middle brush frame component (4), and the rear end of the brush frame is connected with the tail brush (5-7).

2. The roller brush type brush holder structure of a cleaning robot according to claim 1, wherein the brush holder (1) includes a brush holder upright (1-1), a brush holder front connection beam (1-2), a brush holder middle beam (1-3), and a brush holder rear connection beam (1-4), and the brush holder front connection beam (1-2), the brush holder upright (1-1), the brush holder middle beam (1-3), and the brush holder rear connection beam (1-4) are sequentially connected from front to rear.

3. The roller brush type brush holder structure of a cleaning robot according to claim 2, wherein the lifting assembly (2) comprises a stepping motor (2-1) and a slide table (2-2); the cleaning robot is characterized in that the sliding table (2-2) is installed on a bottom plate of the cleaning robot, a stepping motor (2-1) is installed above the sliding table (2-2), and the brush holder vertical beam (1-1) is installed on a sliding block of the sliding table (2-2).

4. The roller-brush type brush holder structure of a cleaning robot according to claim 3, wherein a first limit switch (1-5) is provided on a bottom plate of the cleaning robot.

5. The roller brush type brush holder structure of a cleaning robot according to claim 3, wherein the lifting assembly (2) further comprises a second limit switch (2-3), and the second limit switch (2-3) is mounted on an external fixing frame of the stepping motor (2-1).

6. The rolling brush type brush holder structure of the cleaning robot according to claim 3, wherein the sliding table 2-2 is provided with a driving slider (2-2-1) and a floating slider (2-2-2), the driving slider (2-2-1) is arranged above the floating slider (2-2-2), a compression spring (2-2-3) is arranged between the two sliders and penetrates through a screw shaft of the sliding table, the brush holder vertical beam (1-1) is arranged on the floating slider (2-2-2), the lower part of the brush holder connecting plate (2-4) is in bolt fastening connection with the brush holder vertical beam (1-1), the upper part of the brush holder connecting plate is provided with a long circular hole, and a fastening bolt penetrates through the long circular hole and is fixed on the driving slider (2-2-1).

7. The brush holder structure of the roller brush type of a cleaning robot according to claim 2, wherein the front brush holder assembly (3) includes a front roller brush retainer (3-1), a rotation shaft base (3-2), and a rear roller brush retainer (3-3), and the front and rear roller brush retainers (3-1, 3-3) are installed on the rotation shaft base (3-2), respectively.

8. The rolling brush type brush holder structure of a cleaning robot according to claim 7, wherein the front brush holder assembly (3) further comprises a front balance plate (3-4), a wire protecting groove (3-5) and tension springs (3-8), the front balance plate (3-4) is fixedly connected with the front connecting beam (1-2) of the brush holder, the two tension springs (3-8) are connected between the front balance plate (3-4) and the rolling brush rear baffle (3-3), and the wire protecting groove (3-5) is fixed on the wire outlet side of the rolling brush motor of the rolling brush rear baffle (3-3).

9. The roller brush type brush holder structure of a cleaning robot according to claim 7, wherein the middle brush holder assembly (4) comprises a middle brush fixing plate (4-1), a middle brush balance plate (4-2), an electric push rod (4-3), a push rod expansion bracket (4-4), a floating guard plate (4-5), a middle brush guard plate (4-6), three-section slide rails (4-7) and a guide rail slide block (4-8); a pair of deep groove ball bearings (3-6) is embedded between a welding shaft at the rear end of a brush frame middle beam (1-3) and a middle brush fixing plate (4-1), a middle brush balance plate (4-2) is sleeved on the brush frame middle beam (1-3), the middle brush fixing plate (4-1) and the middle brush balance plate (4-2) are fixedly connected, a guide rail sliding block (4-8) is fixed below the middle brush fixing plate (4-1), a pin shaft is reserved on the middle brush fixing plate (4-1) and is hinged with the fixed end of an electric push rod (4-3), the extending end of the electric push rod (4-3) is connected with the pin shaft on a push rod telescopic frame (4-4), and three sections of sliding rails (4-7) are installed on the outer side of a middle brush protection plate (4-6), the floating guard plates (4-5) are respectively connected with the three sliding rails (4-7) and the push rod telescopic frame (4-4), and the middle brush fixing plate (4-1), the middle brush guard plates (4-6) and the brush frame rear connecting beam (1-4) are fixedly connected; the middle brush balance plate (4-2) is elastically connected with the middle brush fixing plate (4-1) through a tension spring (3-8).

10. The roller-type brush holder structure of a cleaning robot according to claim 9, wherein the middle brush holder assembly (4) further comprises a third limit switch (4-9), and the middle brush guard plate (4-6) is provided with the third limit switch (4-9).