CN216823266U

CN216823266U - Cleaning robot

Info

Publication number: CN216823266U
Application number: CN202122670384.6U
Authority: CN
Inventors: 韩志; 梁嘉俊; 韩英
Original assignee: Guangzhou Yisi Robot Co ltd
Current assignee: Guangzhou Yisi Robot Co ltd
Priority date: 2021-11-03
Filing date: 2021-11-03
Publication date: 2022-06-28
Anticipated expiration: 2031-11-03

Abstract

The utility model provides a cleaning robot which comprises a body, a vehicle body and a cleaning module, wherein the body, the vehicle body and the cleaning module are connected in a split mode, a vehicle body motor is arranged in the vehicle body, and the vehicle body motor is connected with a vehicle body frame; the top of the body is provided with a laser sensor, the lower part of the body is provided with a laser radar or a 3D camera, the middle of the body is provided with a water storage barrel, and a plurality of plate penetrating joints and a fan are arranged above the water storage barrel; the car body is provided with a cross beam and a longitudinal beam, the cross beam is connected with the longitudinal beam, and a small section of cross beam is arranged on the car body and used for limiting the cleaning module; the cleaning module is provided with a transmission shaft, a rolling brush is arranged on the transmission shaft, a garbage hopper is arranged on one side of the transmission shaft, a flexible baffle is arranged between the garbage hopper and the transmission shaft, a garbage guide plate is arranged above the transmission shaft, the cleaning module is provided with an electric push rod, the electric push rod drives the cleaning module to be lifted up or down, the cleaning module is connected with a suction scraper, and the suction scraper is provided with an adhesive tape; the utility model has the advantages of simple structure, low manufacture cost, simple equipment maintenance and other functions.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

With the progress of science and technology, the application of automation equipment is more and more extensive, in order to save the time and physical power for maintaining the clean environment at home, a cleaning robot for automatically cleaning the ground is present in the market at present, the cleaning robot can automatically walk indoors or outdoors, and after dust and garbage are collected by a cleaning brush (comprising an edge brush and a rolling brush) at the bottom of the cleaning robot in the walking process, the dust and the garbage are sucked into a dust collecting box of the cleaning robot, so that the purpose of automatically cleaning the ground is achieved.

The brush hair of cleaning machines people is given to traditional product drainage portion generally uses solenoid valve control switch, punches the mode that makes water flow down along with the brush dish above the brush dish, and this kind of scheme water receives centrifugal force effect can get rid of the cleaning equipment outside when the brush dish rotates, causes the more large tracts of land to leak or pollute because such problem need wrap round manger plate brush hair outside the brush dish. When the machine is out of service or the cleaning equipment needs to be lifted temporarily (e.g. through an area that cannot be cleaned) water can continue to drip from the brush tray causing contamination of that area.

Meanwhile, the traditional cleaning robot has the problems of complex structure, high manufacturing cost, difficult equipment maintenance and the like.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

An object of the present invention is to provide a cleaning robot to solve the problems set forth in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

a cleaning robot comprises a body, a vehicle body and a cleaning module, wherein the body, the vehicle body and the cleaning module are connected in a split mode, a vehicle body motor is arranged in the vehicle body, and a vehicle body motor 10 is connected with a vehicle body frame;

the laser sensor is arranged at the top of the body, the laser radar or the 3D camera is arranged below the body, the water storage barrel is arranged in the middle of the body, and a plurality of plate penetrating joints and a fan are arranged above the water storage barrel;

the cleaning device comprises a vehicle body, a cleaning module and a cleaning module, wherein the vehicle body is provided with a fixed beam and a longitudinal beam, the fixed beam is connected with the longitudinal beam, and a small section cross beam is arranged on the vehicle body and used for limiting the cleaning module;

the cleaning module is provided with a transmission shaft, a rolling brush is arranged on the transmission shaft, a garbage hopper is arranged on one side of the transmission shaft, a flexible baffle is arranged between the garbage hopper and the transmission shaft, a garbage guide plate is arranged above the transmission shaft, the cleaning module is provided with an electric push rod, the electric push rod drives the cleaning module to lift up or lower down, the cleaning module is connected with a suction scraper, and the suction scraper is provided with an adhesive tape;

Further, a rolling brush driving motor is arranged above the rolling brush, and the rolling brush driving motor is fixed on a mounting seat of the cleaning module frame and slides left and right to adjust the tightness of the synchronous belt.

Furthermore, a power wheel is arranged below the vehicle body and is installed on the installation beam.

Furthermore, a driven wheel is arranged in front of the power wheel, and the driven wheel is of a double-row wheel structure.

Furthermore, a tee joint or a four-way pipe is arranged on one side below the power wheel, and the other side of the tee joint or the four-way pipe is communicated with a fan exhaust pipe.

Further, transmission shaft fixed stop, bearing, synchronizing wheel, locking screw and transmission shaft are installed in proper order to transmission shaft both sides, transmission shaft fixed stop uses screw and clean module frame attach.

Further, the clean module is installed the fixed beam for fixed electric putter's push rod motor and filtration system.

Furthermore, the garbage hopper is composed of two aluminum grooves, and holes are punched in the bottoms of the aluminum grooves for draining water.

Further, install sewage pump, inlet tube, circuit electronic equipment in the water storage bucket, the sewage pump passes through water-cooling heat dissipation, the inlet tube is the hose, circuit electronic equipment adopts flexible material to make.

Further, a transmission shaft fixing baffle is installed on the outer side of the transmission shaft.

Compared with the prior art, the invention has the following beneficial effects:

(1) the traditional cleaning robot has the advantages of complex structure, high manufacturing cost and difficult equipment maintenance, and the cleaning robot is integrally designed, so that the parts of the robot are greatly reduced, and the production, assembly and maintenance are easier.

(2) The invention does not adopt the brush disc design commonly adopted by cleaning robots, can more flexibly adjust the cleaning effect according to scenes by using the rolling brush design, is easier to adjust the cleaning width and is more energy-saving.

(3) According to the invention, the cleaning robot is divided into three modules, namely the vehicle body, the cleaning module and the motion body, according to the functional modules, so that future products can be separately transported in use, the requirements on the vehicle volume and the vehicle type are reduced, the design and iteration can be distributed and not mutually influenced during research and development, and the production and processing can be separately carried out according to the factory capacity during assembly.

(4) Rotational molding, namely a plastic process, is commonly used in the traditional products, the production process of the process is not environment-friendly, the modification cost of a mold is high, and the yield of finished products is lower than 70%. In the research, a large amount of metal processing technology is used, standard materials are used for welding or locking, the production technology is greatly simplified, the environmental protection problem is solved, and the research and development iteration cost is reduced.

(5) The brush disc is arranged in front, the driving wheel is arranged in the middle, and the suction rake is arranged in the rear, so that the cleaning equipment is designed to prevent the wheels from leaving traces on the cleaned ground, and the cleaning equipment has large turning radius, large rotation resistance and water leakage in the ground washing process. The cleaning modules are all arranged in front, so that the problems are fundamentally solved, and the wheels can not leave impressions on the ground based on the better cleaning effect of the robot.

(6) The cleaning device has the advantages that only the ground washing function is achieved through the brush disc scheme in the traditional cleaning product, the cleaning device with the cleaning function is achieved through the double-rolling brush scheme, a single motor is utilized in the research, according to detailed measurement, calculation, simulation and verification, the cleaning and cleaning integrated design is achieved through the single-rolling brush by utilizing the characteristics of the motor, the brush hair and water, and the design reduces the number of device parts and the failure rate of the device and reduces the material consumption.

(7) The rarely used rolling brush scheme in traditional products is double rolling brushes, which clamp up the garbage by utilizing the opposite direction movement of the double rolling brushes, and the scheme needs two rolling brushes, two sets of motors and a transmission system. Although the number of the single rolling brushes used by the system is less, the cleaning capacity is stronger due to higher rotating speed, the ground is better protected on the damageable ground, and meanwhile, two rotating modes of leading and reversing with the robot are designed on the control system to adapt to different cleaning requirements.

(8) The invention relates to a cleaning module, which can only complete fixed cleaning work by one robot in a traditional product, and the cleaning module based on the modular design can be flexibly switched into modules with different functions according to application scenes, such as cleaning, grinding, polishing, cleaning, carpet maintenance and the like.

(9) Traditional product is in the cleanness for brush hair drain part universal use solenoid valve control switch, punches the mode that makes water flow down along with the brush dish above the brush dish, and this kind of scheme water receives centrifugal force effect can get rid of the cleaning equipment outside when the brush dish rotates, causes the more large tracts of land to leak or pollute because such problem need wrap round manger plate brush hair in the brush dish outside. When the machine is out of service or the cleaning equipment needs to be lifted temporarily (e.g. through an area that cannot be cleaned) water can continue to drip from the brush tray causing contamination of that area. The round brush scheme direction of rotation that this scheme used follows in that the brush dish direction is different, and the direction that water splashes becomes fore-and-aft direction, and the fore-and-aft direction all is that cleaning machines people passes through the region so can self-cleaning totally. In the water discharging part, a mode of controlling natural running water in a point-order mode is not adopted, but a mode of controlling the motor to work and atomizing clear water by utilizing pressure is adopted, so that the design can save more water and is more uniform, and secondary pollution can not be caused when the work needs to be stopped temporarily. Structurally, the electromagnetic valve is reduced in application, components and wiring are reduced, and manufacturing and using cost is reduced.

(10) The traditional robot product has a water circulating system, and a water filtering system is arranged in a water-free tank, so that the design has the problem that the filter is inconvenient to replace; the use condition of the filter element is not easy to observe; the filter needs to be additionally perforated to send water out of the water tank, so that the water leakage risk is increased; the filter element has more sanitary dead angles in a water-free tank, is difficult to clean, and causes secondary pollution to places where the cleaning robot arrives after bacteria are bred. This research is external with filtration system, conveniently observes the renew cartridge, and its mounted position does not have the vulnerable part and can not cause the robot to damage because of equipment leaks.

(11) The sewage case of cleaning machines people accumulates a large amount of rubbish and dirt in the course of the work, and traditional product will be inside cleaning machines people every day, just can guarantee inside clean, and then guarantees that no water tank water can not foul, extension equipment life, and the problem of bilge can self-cleaning has been solved in this design.

(12) Traditional products generally adopt the slop pail to be close to bottom position and punch or reserve the pipeline in order to make the sewage of slop pail clean, and under the long-term motion scene of robot, strain and destruction and then cause the damage robot that leaks easily appear in these positions. A special water pump structure is used in the research, so that the water pump in the sewage bucket is more energy-saving, and massive garbage can be crushed to ensure that the robot system can operate for a long time.

(13) The cleaning module of traditional product adopts many connecting rods mode or a plurality of independent connecting rods to control more, and is structural comparatively complicated, inconvenient adjustment. In the invention, only one connecting rod is adopted to control two sets of modules simultaneously, so that the structure is simpler and more reliable.

(14) The connecting rod part of the traditional product is generally a rigid link, which can cause the damage of the mechanism when the cleaning module touches the ground uplifting area, and the spring is used by part of the product to ensure the pressure to the ground. The flexible link mode has been used in this research, clean module both can hug closely ground and guarantee clean effect under clean ground unevenness or the condition that has the downhill path, can adapt to ground again and lift up, compares and uses the spring to produce the scheme to ground pressure, and this scheme is simple more and the holding down force is more balanced.

(15) The place ahead of the clean module of traditional product has the bearing wheel structure, if the unsettled condition in place ahead then can cause the risk that the front wheel blocked even the robot falls in the robot appears in the robot, even have the dropproof sensor also have the condition that the sensor is malfunctioning or can't detect, still have the risk of toppling over forward. The cleaning module is of a cantilever beam structure with a limit position, and the risk of forward tilting is still avoided under the condition that the cleaning module is completely suspended.

(16) The water absorption fan of the traditional product is only used for absorbing water and has no other purpose, and in the invention, the fan is used for absorbing water, and the air exhausted by the fan is used for drying the cleaned ground, so that the ground is quickly dried, the ground slip is prevented, potential safety hazards are avoided for people, meanwhile, the branch pipes are led to the driving motor to help the driving motor to dissipate heat, and the service life of the driving motor is prolonged.

(17) The traditional product is generally characterized in that 2D laser is installed at the bottom for avoiding obstacles, 2D or 3D laser is installed in the middle for judging the position of a robot, and a 3D laser scheme selected by most manufacturers along with localization of the 3D laser is taken as a navigation obstacle avoiding scheme. In the invention, 1 2D laser is used for navigation, and in addition, a 3D camera or a 2D laser is installed for obstacle avoidance, so that the advantages of the 2D laser are brought into play, the cost is lower, and the reliability is higher.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

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

FIG. 2 is a schematic view of a cleaning robot according to the present invention;

FIG. 3 is a schematic view of a cleaning robot according to the present invention;

FIG. 4 is a schematic view of a cleaning module of the cleaning robot of the present invention;

FIG. 5 is a schematic view of a vehicle body structure of a cleaning robot according to the present invention;

FIG. 6 is a schematic structural diagram of a cleaning robot body according to the present invention;

FIG. 7 is a schematic diagram of different components of a cleaning module of the cleaning robot according to the present invention;

FIG. 8 is a schematic view of the cleaning module of the cleaning robot according to the present invention;

FIG. 9 is a schematic diagram of different components of a cleaning module of the cleaning robot according to the present invention;

FIG. 10 is a schematic diagram of the structure of different parts of a cleaning module of the cleaning robot of the present invention;

FIG. 11 is a schematic view of the top part of a water storage tank of a cleaning robot according to the present invention;

FIG. 12 is a schematic view of different components of a cleaning module of the cleaning robot of the present invention;

FIG. 13 is a schematic diagram of different components of a cleaning module of a cleaning robot according to the present invention.

In the figure: 1. the garbage cleaning device comprises a body, a vehicle body, a cleaning module, a water storage tank, a plate penetrating joint, a fan, a fixed beam, a longitudinal beam, a small section cross beam, a vehicle body motor, a power wheel, a mounting cross beam, a transmission shaft fixing baffle, a bearing, a synchronizing wheel, a locking screw, a rolling brush driving motor, a garbage hopper, a flexible baffle, a garbage guide plate, a rolling brush, a filtering system, a power push rod, a driving rod, a driven wheel, a water level sensor, a water pump water outlet pipe, a clear water inlet pipe and a sewage inlet pipe, wherein the fan is 6, the fixed beam is 7, the longitudinal beam is 8, the small section cross beam is 9, the vehicle body motor is 10, the power wheel is 11, the mounting cross beam is 12, the transmission shaft is 13, the transmission shaft fixing baffle is 15, the bearing, the synchronizing wheel is 16, the locking screw 17, the rolling brush driving motor is 18, the garbage hopper is 19, the flexible baffle is 20, the garbage guide plate, the rolling brush is 23, the filtering system is 24, the electric push rod is 25, the clear water inlet pipe is 26, 27, and the water inlet pipe is 28.

Detailed Description

The invention is further described with reference to the following drawings and detailed description:

as shown in fig. 1-13, a cleaning robot includes a body 1, a vehicle body 2, and a cleaning module 3, wherein the body 1, the vehicle body 2, and the cleaning module 3 are connected in a split manner, a vehicle body motor 10 is disposed inside the vehicle body 2, and the vehicle body motor 10 is connected to a vehicle body frame;

three module of cleaning machines people is body 1, automobile body 2, clean module 3 respectively, and the module uses to link between three standard, installs and spacing through the structure.

The laser radar water storage device comprises a body 1, a laser sensor, a water storage barrel 4, a fan 6 and a plurality of plate penetrating connectors 5, wherein the top of the body 1 is provided with the laser sensor, the lower part of the body is provided with the laser radar or the 3D camera, the middle of the body 1 is provided with the water storage barrel 4, and the upper part of the water storage barrel 4 is provided with the fan 6;

a water level sensor 27, a water pump water outlet pipe 28, a clean water inlet pipe 29 and a sewage inlet pipe 30 are respectively arranged in the water storage barrel 4, a water injection valve is arranged below a clean water inlet of the clean water inlet pipe 29, when the water level exceeds the valve, a water inlet passage is automatically cut off, and excessive water is prevented from overflowing; the water level sensor detects the water level, prevents that the water injection from overflowing excessively, and the water injection is too little to burn out the sewage motor or can't carry out the cleaning task.

If the laser radar is adopted below, and an included angle (such as 20 degrees) is formed between the radar and the ground, the low obstacle detection and the anti-falling detection can be carried out by utilizing the angle, so that the blind area of the robot is avoided.

The middle of the body 1 is provided with a water storage barrel 4, clean water is filled in the barrel during the initial working period, sewage is pumped in after the barrel starts to work, and the water is pumped to the front filtering system by a sewage circulating pump for reuse.

A plurality of plate penetrating joints are reserved above the water storage barrel 4 and are used for connecting an air inlet, a water inlet and a water outlet of the fan.

The cleaning device is characterized in that the vehicle body 2 is provided with a fixed beam 7 and a longitudinal beam 8, the fixed beam 7 is connected with the longitudinal beam 8, and a small section cross beam 9 is arranged on the vehicle body 2 and used for limiting the cleaning module 3; the small-section cross beam 9 reinforces and fixes the vehicle body.

The lower longitudinal beam of the robot penetrates through the vehicle body, the lower cross beam is in butt joint with the lower longitudinal beam, so that the joint of the cross beam and the longitudinal beam is stressed less or not stressed in the bearing direction of the robot by the completely penetrating longitudinal beam, thereby improving the rigidity of the vehicle body, the vertical columns of the vehicle body frame are all arranged on the longitudinal beams, the load is not born by utilizing the strength of the bolts and the friction force of the connecting blocks, thereby ensuring the strength of the vehicle body, each column of the vehicle body is connected with the upper layer longitudinal beam, the downward force in the middle of the vehicle body is converted into the compression force to the upper longitudinal beam, the aluminum alloy material used by the design has better mechanical strength and higher yield strength, so that the rigidity of the vehicle body is further improved, the small-section cross beam 9 above the cleaning robot is protruded out of other structural parts, the power wheel mounting cross beam is transversely penetrated by a reinforcing cross beam, and a middle seamless or connecting point enables the power wheel supporting part to fully exert the strength advantage.

Clean module 3 installs transmission shaft 13 and has round brush 22 on the transmission shaft 13, transmission shaft 13 one side sets up rubbish fill 19, install flexible baffle 20 between rubbish fill 19 and the transmission shaft 13, supplementary rubbish is to rubbish fill internal motion when round brush 22 anticlockwise rotation mode, and flexible material avoids the rigidity collision with ground simultaneously, when round brush 22 clockwise rotation, through the rubbish deflector that arc flexible material made, throws rubbish into in the rubbish fill clockwise. According to the relation between the flow velocity and the cavity in fluid mechanics, when garbage enters the flexible material, the garbage moves upwards under the influence of aerodynamic force, and the speed is gradually reduced along with the increase of the width of the rolling brush and the width of the garbage guide plate until the garbage enters the garbage hopper.

The garbage guide plate 21 is arranged above the transmission shaft 13, the cleaning module 3 is provided with an electric push rod 24, and the electric push rod 24 drives the cleaning module to lift up or lower down.

The electric push rod 24 and the frame of the cleaning module 3 use a flexible link mode, are not limited to steel wires and one or more stages of chain structures, and the design can ensure that the cleaning module always generates certain pressure on the ground under the action of gravity, so that the cleaning effect is achieved, and in addition, the impact cannot directly impact the vehicle body when the ground goes up a slope, goes down a slope and is in a rough road condition.

The cleaning module 3 is a rigid structure, the center of gravity is at a fixed position, the position of the center of gravity changes along with the lifting height of the cleaning module 3, and the track takes the hinge as the center of a circle and takes the hinge to the position of the center of gravity as the radius. The direction is vertically downward. The weight of the garbage is ignored and is a constant, and the weight is divided by 9.8N/kg to obtain the gravity. The angle of the cleaning module is close to horizontal in the cleaning state, and the downward gravity is gradually reduced along with the upward and downward force shared by the hinge and the link structure in the middle of the cleaning module. It can be simplified that the lifting angle of the cleaning module is θ, and the downward gravity component of the cleaning module is cos (θ). The feature of this construction is that the greater the force required to start from horizontal, the more and more effort is saved as the module is lifted. The pulling force borne by the two ends of the pulling force pushing rod of the electric pushing rod enables the electric pushing rod and the cleaning module to effectively act on the cleaning module more and more as the angle of the clockwise rotating force direction of the electric pushing rod and the cleaning module in the gravity direction is smaller. The lower part of the push rod and a connecting point on the cleaning module can move on the module in the horizontal direction on the structure to select a better position, the farther the action point is from a hinge (rotating center), the larger the force arm is, and the more labor is saved for the lever. And if the distance from the hinge to the link point of the push rod is k, and the installation angle of the push rod to the horizontal is alpha, the upward tension of the push rod is cos (90-alpha), so that k & cos (90-alpha) is smaller than the effective tension of the push rod, the push rod can pull up the cleaning module, and selection is performed according to the characteristics of different motors and reducers.

The cleaning module 3 is connected with a suction rake 25, and the suction rake 25 is attached with an adhesive tape; the suction rake 25 is connected with the main body framework of the cleaning module 3 through a metal structure, an adhesive tape carried by the suction rake 25 can be worn along with the prolonging of the service time and needs to be detached and maintained, and a quick-release screw on the left side can be loosened to detach the suction rake integrally during detachment. After the adhesive tape is installed or the angle, the height or the front and back positions of the cleaning module 3 are adjusted, the pressure of the suction and suction tool 25 on the ground is adjusted by adjusting the position of a connecting piece between the cleaning suction tool 25 and the cleaning module 3.

According to the above, a rolling brush driving motor 11 is arranged above the rolling brush 22, and the rolling brush driving motor is fixed on the mounting seat of the frame of the cleaning module 3 and the mounting seat slides to adjust the tightness of the synchronous belt.

According to the above, the power wheel 11 is arranged below the vehicle body 2, and the power wheel 11 is mounted on the mounting cross beam 12. The distance between the two power wheels 11 is wider than the vehicle body, the wider the distance is, the better the distance is, the distance is close to or exceeds the outer side of the vehicle body, the wheel distance of the power wheels 11 is increased while the strength of the vehicle body is ensured, so that the robot obtains a larger force arm when turning, and better course angle accuracy is obtained when the left wheel and the right wheel calculate differential mileage.

According to the above, the driven wheel 26 is arranged in front of the power wheel 11, and the driven wheel 26 adopts a double-gear structure. The driven wheel 26 is of a double-row structure, and the double-row wheel can utilize differential motion to reduce friction force when steering compared with a single-row wheel. A drainage ditch or an elevator crack may exist in the use scene of the robot design, and the double-row wheels can effectively prevent the driven wheel 26 of the robot from being blocked in the obstacle positions and being unable to get out of the way.

The driven wheel 26 may be configured to select one or more single-wheel or dual-wheel configurations depending on the ground environment of the application, with various options for user reference.

According to the above, one side below the power wheel 11 is provided with a tee joint or a four-way pipe, and the other side of the tee joint or the four-way pipe is communicated with a fan exhaust pipe. The other end of the structure is connected with a fan exhaust pipe, and the fan can blow air to dry the ground and assist the power motor to dissipate heat.

According to the above, a transmission shaft fixing baffle 14, a bearing 15, a synchronizing wheel 16, a locking screw 17 and the transmission shaft 13 are sequentially arranged on both sides of the transmission shaft 13, and the transmission shaft fixing baffle 14 is connected with the cleaning module 3 frame by using screws.

According to the above, the cleaning module 3 is provided with the fixed beam 7, the push rod motor for fixing the electric push rod 24 and the filtering system.

According to the above, the garbage hopper 19 is composed of two aluminum grooves, and the bottom of the aluminum groove is perforated for draining water.

The garbage hopper can be formed by an integral extrusion molding process or a plastic process instead of an aluminum groove, so that the mass production cost can be reduced.

According to the above, install sewage pump, inlet tube, circuit electronic equipment in 4 buckets of water storage bucket, the sewage pump passes through water-cooling heat dissipation, the inlet tube is the hose, circuit electronic equipment adopts flexible material to make. The sewage pump is arranged in the 4 barrels of the water storage barrel and is cooled by water, so that the design noise is low without an additional air duct, and the energy consumption is low. The water inlet pipe in the barrel uses a hose with a thinner diameter, so that the pressure of water can be increased, and the software can randomly swing in the barrel during water injection, so that the wall of the barrel can be effectively cleaned.

A block of material is mounted in the body 1 for mounting the circuit electronics. The material adopts a flexible connection mode such as a spring and the like, and avoids the damage of the vibration of the vehicle body to an electronic device. The height difference is formed between the mounting height of the water bucket and the bottom edge of the water bucket. The water and electricity separation is realized in design, the equipment damage caused by water leakage is effectively avoided, and the potential safety hazard is reduced.

According to the above, a transmission shaft fixing baffle 23 is installed outside the transmission shaft 13.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The cleaning robot is characterized by comprising a body (1), a vehicle body (2) and a cleaning module (3), wherein the body (1), the vehicle body (2) and the cleaning module (3) are connected in a split mode, a vehicle body motor (10) is arranged inside the vehicle body (2), and the vehicle body motor (10) is connected with a vehicle body frame (12);

the laser radar water storage device is characterized in that a laser sensor is installed at the top of the body (1), a laser radar or a 3D camera is installed below the body (1), a water storage barrel (4) is installed in the middle of the body (1), and a plurality of plate penetrating joints (5) and a fan (6) are arranged above the water storage barrel (4);

the cleaning device is characterized in that the vehicle body (2) is provided with a fixed beam (7) and a longitudinal beam (8), the fixed beam (7) is connected with the longitudinal beam (8), and a small section cross beam (9) is arranged on the vehicle body (2) and used for limiting the cleaning module (3);

The garbage cleaning device is characterized in that a transmission shaft (13) is installed on the cleaning module (3), a rolling brush (22) is arranged on the transmission shaft (13), a garbage hopper (19) is arranged on one side of the transmission shaft (13), a flexible baffle (20) is installed between the garbage hopper (19) and the transmission shaft (13), a garbage guide plate (21) is arranged above the transmission shaft (13), an electric push rod (24) is arranged on the cleaning module (3), the electric push rod (24) drives the cleaning module to be lifted up or lowered down, the cleaning module (3) is connected with a suction rake (25), and an adhesive tape is attached to the suction rake (25).

2. The cleaning robot as claimed in claim 1, wherein a roller brush driving motor (18) is arranged above the roller brush (22), and the roller brush driving motor (18) is fixed on a mounting seat of a frame of the cleaning module (3) and slides left and right to adjust the tightness of the synchronous belt.

3. The cleaning robot according to claim 1, characterized in that power wheels (11) are arranged below the body (2), said power wheels (11) being mounted on a fixing means, said fixing means being connected to the body frame (12).

4. The cleaning robot according to claim 3, characterized in that a driven wheel (26) is arranged in front of the power wheel (11), and the driven wheel (26) adopts a double-gear structure.

5. The cleaning robot as claimed in claim 3, wherein a tee or a four-way pipe is installed on one side below the power wheel (11), and the other side of the tee or the four-way pipe is communicated with a fan exhaust pipe.

6. The cleaning robot as claimed in claim 1, wherein a transmission shaft fixing baffle (14), a bearing (15), a synchronizing wheel (16), a locking screw (17) and the transmission shaft (13) are sequentially installed on both sides of the transmission shaft (13), and the transmission shaft fixing baffle (14) is connected with the frame of the cleaning module (3) by using the screw.

7. The cleaning robot according to claim 1, characterized in that the cleaning module (3) is fitted with a fixed beam (7) for fixing the pusher motor of the electric pusher (24) and the filtering system (27).

8. The cleaning robot according to claim 1, characterized in that the refuse hopper (19) consists of two aluminium troughs perforated at the bottom for draining.

9. The cleaning robot as recited in claim 1, characterized in that a sewage pump, a water inlet pipe and circuit electronic equipment are installed in the water storage barrel (4), the sewage pump dissipates heat by water cooling, the water inlet pipe is a hose, and the circuit electronic equipment is installed in a flexible structure or adopts flexible connection.

10. The cleaning robot according to claim 1, wherein a drive shaft fixing baffle (14) is installed outside the drive shaft (13).