CN220069623U - Intelligent obstacle avoidance cleaning and wiping trolley - Google Patents

Abstract

The utility model relates to the field of cleaning equipment, in particular to an intelligent obstacle avoidance cleaning and wiping trolley, which comprises a moving mechanism and a cleaning and wiping mechanism, wherein the cleaning and wiping mechanism is used for wiping the ground, a first ultrasonic sensor is used for identifying obstacles in front of movement, a second ultrasonic sensor is used for identifying obstacles on the left side and the right side, further, a steering mechanism can be controlled to carry out intelligent obstacle avoidance, the moving mechanism can cross a step, the inclination angle of a trolley body when the trolley body passes the step is identified through an inclination angle sensor, further, the inclination angle is fed back to a six-degree-of-freedom platform, a six-degree-of-freedom platform driving and controlling supporting plate is kept in a horizontal state, a water storage tank is kept stable and balanced, the stability of the trolley is improved, the moving stability is high, the cleaning water is prevented from spilling out, the trolley is prevented from overturning, the use range is wide, the use performance is good, the cleaned ground is dried through a drying mechanism, and the use effect is improved.

Description

Intelligent obstacle avoidance cleaning and wiping trolley

Technical Field

The utility model relates to the field of cleaning equipment, in particular to an intelligent obstacle avoidance cleaning and wiping trolley.

Background

At present, robots for cleaning, dust collection and floor wiping are uniformly classified as floor sweeping robots, the floor sweeping robots for cleaning are also called cleaning and wiping trolleys, are one type of intelligent household appliances, floor cleaning work can be automatically completed in living rooms, rooms or toilets by means of artificial intelligence, floor cleaning functions are generally completed in a brushing mode, but the cleaning and wiping trolleys cannot dry the cleaned floor, the cleaning and wiping trolleys can only avoid obstacles to carry out detouring, and because a plurality of steps exist in the bathroom, such as a water-overflow-preventing step exists at the bottom of a shower room, a water-overflow-preventing step exists at the gate of the bathroom, the cleaning and wiping trolleys cannot cross obstacles such as the steps, the application range is small, cleaning water carried by the trolleys can be spilled if the trolleys cross the steps forcedly, and even the trolleys are caused to turn over, and the service performance is poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model aims to provide the intelligent obstacle avoidance cleaning trolley which can dry the cleaned ground, has a good using effect, can cross steps and keep the trolley balanced, has high moving stability, wide using range and good using performance.

The technical scheme adopted by the utility model is as follows:

the utility model provides an obstacle is kept away in intelligence washs and cleans dolly, including moving mechanism and washing and clean the mechanism, moving mechanism's top is connected with six degrees of freedom platforms, and six degrees of freedom platforms's top is connected with the backup pad, and the top of backup pad is connected with the storage water tank that is used for supplying water to washing and clean the mechanism, and six degrees of freedom platforms's bottom is provided with inclination sensor, and moving mechanism's front side is connected with steering mechanism and first ultrasonic sensor, washs and cleans the mechanism and be connected with steering mechanism, and moving mechanism's left and right sides all is connected with second ultrasonic sensor, and its rear side is provided with stoving mechanism.

Preferably, the steering mechanism comprises a hinged support, a connecting rod and a steering wheel, wherein the hinged support is fixed on the moving mechanism, one side of the hinged support is fixedly connected with a first servo motor, the output end of the first servo motor is connected with the connecting rod, the connecting rod is hinged with the hinged support, and the steering wheel is connected to one end of the connecting rod, which is far away from the hinged support.

Preferably, the cleaning and wiping mechanism comprises a first air cylinder and an installation frame, wherein the first air cylinder is fixed on one side of the connecting rod, the bottom output end of the first air cylinder is fixedly connected with the top of the installation frame, the bottom of the installation frame is rotationally connected with a rotating shaft, one side of the installation frame is connected with a second servo motor, the output end of the second servo motor penetrates through the installation frame and then is connected with the rotating shaft, and a plurality of wiping strips are distributed in an annular array manner on the outer side of the rotating shaft.

Preferably, the cleaning and wiping mechanism further comprises a transverse water outlet pipe which is connected to the front side of the mounting frame, a first water inlet is formed in the top of the transverse water outlet pipe, a first water outlet is formed in the front side of the water storage tank, a first valve core is arranged in the first water outlet and communicated with the first water inlet through a water guide pipe, a cavity is formed in the transverse water outlet pipe, a plurality of first water spraying ports are uniformly distributed in the bottom of the cavity, and the cavity is respectively communicated with the first water inlet and the first water spraying ports.

Preferably, the steering wheel is an omni-wheel.

Preferably, the six-degree-of-freedom platform comprises a top plate, a bottom plate and telescopic rods, wherein the top plate is fixedly connected with the bottom of the supporting plate, the telescopic rods are arranged above the top plate, the bottom plate is fixed on the top of the moving mechanism, the telescopic rods are arranged between the top plate and the bottom plate, the six telescopic rods are uniformly distributed, and the upper ends and the lower ends of the telescopic rods are respectively connected with the top plate and the bottom plate through universal hinges.

Preferably, the moving mechanism comprises a moving frame and driving wheel assemblies symmetrically arranged on two sides of the moving frame, the driving wheel assemblies comprise a tripod, a chain, a mounting plate, a third servo motor and a fourth servo motor, three ends of the tripod are rotationally connected with wheels, one side of each wheel is connected with a first gear, three first gears are in meshed connection with the inner side of the chain, the outer side of each chain is in meshed connection with a second gear, the output end of each third servo motor passes through the tripod and is fixedly connected with the second gear, the outer side of each third servo motor is connected with a third gear through a bearing, one side of each third gear is fixedly connected with one side of the tripod, the upper side of each third gear is in meshed connection with a fourth gear, the fourth servo motor and the third servo motor are all fixed on the mounting plate, and the mounting plate is fixedly connected with the moving frame.

Preferably, the drying mechanism comprises a drying box, a fan and an electric heating wire, wherein the top of the drying box is provided with an air inlet, the bottom of the drying box is provided with an air outlet, the fan and the electric heating wire are arranged in the drying box, and the fan is arranged above the electric heating wire.

Preferably, the top of the water storage tank is communicated with a cleaning solution storage tank through a second valve core.

Preferably, a fifth servo motor is arranged on one side of the cleaning solution storage tank, the fifth servo motor is fixed at the top of the water storage tank, the output end of the fifth servo motor is connected with a stirring shaft, the stirring shaft is arranged in the water storage tank, and the side face of the stirring shaft is connected with stirring blades.

The utility model has the beneficial effects that:

this cleaning and wiping dolly of barrier is kept away to intelligence cleans ground through cleaning and wiping mechanism, discerns the barrier in the place ahead through first ultrasonic sensor, discerns the barrier of left and right sides through the second ultrasonic sensor, and then can feedback control steering mechanism keeps away the barrier intelligently, can cross the step through moving mechanism, and discernment dolly automobile body through inclination when crossing the step, and then with inclination feedback to six degree of freedom platforms, make six degree of freedom platform drive control backup pads keep the horizontality, and then make the storage water tank keep stable in structure and balanced, improve the stability of dolly, the mobility stability is high, prevent that clean water from spilling out and prevent the dolly roll-over, application range is wide and the performance is good, can dry the ground after cleaning through drying mechanism, improve the result of use.

Drawings

Fig. 1 is a first perspective view of the present utility model.

Fig. 2 is a second perspective view of the present utility model.

Fig. 3 is a schematic view of a six-degree-of-freedom platform.

Fig. 4 is a schematic structural view of the drive wheel assembly.

FIG. 5 is an exploded schematic view of the drive wheel assembly.

Fig. 6 is a schematic view of the internal structure of the water storage tank.

Fig. 7 is a partially exploded schematic view of the cleaning wiper mechanism.

Fig. 8 is a schematic exploded view of the drying mechanism.

In the figure: 1. a moving mechanism; 101. a moving rack; 102. a tripod; 103. a chain; 104. a mounting plate; 105. a third servo motor; 106. a fourth servo motor; 107. a wheel; 108. a first gear; 109. a second gear; 110. a third gear; 111. a fourth gear; 2. cleaning the wiping mechanism; 201. a first cylinder; 202. a mounting frame; 203. a rotating shaft; 204. a second servo motor; 205. a wiping strip; 206. a water outlet pipe is horizontally arranged; 207. a first water inlet; 208. a water conduit; 209. a first water jet; 3. a six degree of freedom platform; 301. a top plate; 302. a bottom plate; 303. a telescopic rod; 304. a universal hinge; 4. a support plate; 5. a water storage tank; 501. a first water outlet; 502. a water inlet pipe; 6. an inclination sensor; 7. a steering mechanism; 701. a hinged support; 702. a connecting rod; 703. a steering wheel; 704. a first servo motor; 8. a first ultrasonic sensor; 9. a second ultrasonic sensor; 10. a drying mechanism; 1001. a drying box; 1002. a blower; 1003. heating wires; 1004. an air inlet; 1005. an air outlet; 11. a cleaning liquid storage tank; 12. a fifth servo motor; 13. a stirring shaft; 14. stirring the leaves.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-2, the present utility model provides a technical solution: the utility model provides a cleaning and wiping dolly of barrier is kept away to intelligence which characterized in that: the cleaning and wiping device comprises a moving mechanism 1 and a cleaning and wiping mechanism 2, wherein the top of the moving mechanism 1 is connected with a six-degree-of-freedom platform 3, the top of the six-degree-of-freedom platform 3 is connected with a supporting plate 4, the top of the supporting plate 4 is connected with a water storage tank 5 for supplying water to the cleaning and wiping mechanism 2, the bottom of the six-degree-of-freedom platform 3 is provided with an inclination sensor 6, the front side of the moving mechanism 1 is connected with a steering mechanism 7 and a first ultrasonic sensor 8, the cleaning and wiping mechanism 2 is connected with the steering mechanism 7, the left side and the right side of the moving mechanism 1 are both connected with a second ultrasonic sensor 9, and the rear side of the moving mechanism is provided with a drying mechanism 10;

the cleaning and wiping mechanism 2 is used for wiping the ground, the first ultrasonic sensor 8 is used for identifying the obstacle in front of movement, the second ultrasonic sensor 9 is used for identifying the obstacle on the left side and the right side, the steering mechanism 7 can be controlled by feedback to conduct intelligent obstacle avoidance, the moving mechanism 1 can cross the step, the inclination angle of the trolley body when crossing the step is identified through the inclination angle sensor 6, the inclination angle is fed back to the six-freedom-degree platform 3, the six-freedom-degree platform 3 is used for driving and controlling the supporting plate 4 to keep a horizontal state, the water storage tank 5 is further used for keeping stable and balanced, the stability of the trolley is improved, the moving stability is high, the water for cleaning is prevented from being spilled out, the trolley is prevented from overturning, the use range is wide, the use performance is good, the ground after cleaning can be dried through the drying mechanism 10, and the use effect is improved.

In order to facilitate steering and obstacle avoidance, in this embodiment, preferably, the steering mechanism 7 includes a hinged support 701, a connecting rod 702 and a steering wheel 703, the hinged support 701 is fixed on the moving mechanism 1, one side of the hinged support is fixedly connected with a first servo motor 704, an output end of the first servo motor 704 is connected with the connecting rod 702, the connecting rod 702 is hinged with the hinged support 701, the steering wheel 703 is connected to one end of the connecting rod 702 far away from the hinged support 701, the purpose is to control the steering of the trolley through the steering wheel 703, and then obstacle avoidance is achieved, when a step is needed to be crossed, the connecting rod 702 is driven to overturn upwards through the first servo motor 704, and then the steering wheel 703 is driven to cross the step.

Referring to fig. 7, in order to facilitate wiping the ground and improve the automation and the intelligentization degree, in this embodiment, preferably, the cleaning and wiping mechanism 2 includes a first cylinder 201 and a mounting frame 202, the first cylinder 201 is fixed on one side of a connecting rod 702, the bottom output end of the first cylinder is fixedly connected with the top of the mounting frame 202, the bottom of the mounting frame 202 is rotatably connected with a rotating shaft 203, one side of the mounting frame 202 is connected with a second servo motor 204, the output end of the second servo motor 204 passes through the mounting frame 202 and then is connected with the rotating shaft 203, and a plurality of wiping strips 205 are distributed on the outer side of the rotating shaft 203 in an annular array;

the purpose is to wipe the ground through the wiping strip 205, after the wiping strip 205 is wiped the ground along the cleaning route once, the wiping strip 205 is driven to leave the ground through the first air cylinder 201, then the rotating shaft 203 is driven to rotate through the second servo motor 204, finally the next wiping strip 205 is driven to descend to be abutted with the ground through the first air cylinder 201, and then the ground is wiped through the next wiping strip 205 for the second time, so that the wiping effect is improved, and the cleanliness is improved.

In order to facilitate cleaning and wiping the ground and improve the automation and the intelligentization degree, in this embodiment, preferably, the cleaning and wiping mechanism 2 further includes a horizontal water outlet pipe 206, the horizontal water outlet pipe 206 is connected to the front side of the mounting frame 202, the top of the horizontal water outlet pipe is provided with a first water inlet 207, the front side of the water storage tank 5 is provided with a first water outlet 501, a first valve core is arranged in the first water outlet 501 and is communicated with the first water inlet 207 through a water guide pipe 208, a cavity is arranged in the horizontal water outlet pipe 206, and a plurality of first water spray openings 209 are uniformly distributed at the bottom of the horizontal water outlet pipe, and the cavity is respectively communicated with the first water inlet 207 and the first water spray openings 209;

the purpose is that the water outlet of the first water outlet 501 is controlled through the first valve core, so that the first water outlet 501 conveys the cleaning water in the water storage tank 5 into the cavity after passing through the first water inlet 207, the cleaning water in the cavity is uniformly discharged to the table top from the plurality of first water spray ports 209, and then the table top with the cleaning water is cleaned by the wiping strip 205, so that the cleaning effect is improved.

In order to facilitate the steering of the trolley and improve the automation and the intelligence degree, in this embodiment, it is preferable that the steering wheel 703 is an omni wheel, so as to be suitable for steering driving on poor road conditions through the omni wheel.

Referring to fig. 3, in order to keep the water storage tank 5 balanced for convenience, prevent the water from spilling out and prevent the trolley from turning over, in this embodiment, preferably, the six-degree-of-freedom platform 3 includes a top plate 301, a bottom plate 302 and a telescopic rod 303, the top plate 301 is fixedly connected with the bottom of the supporting plate 4, and is disposed above the bottom plate 302, the bottom plate 302 is fixed on the top of the moving mechanism 1, the telescopic rod 303 is disposed between the top plate 301 and the bottom plate 302, and six telescopic rods are uniformly arranged, and the upper and lower ends of the telescopic rod 303 are respectively connected with the top plate 301 and the bottom plate 302 through universal hinges 304;

the purpose is when crossing the step, discernment dolly automobile body through inclination sensor 6 when crossing the step, and then with inclination feedback to six degree of freedom platform 3, makes telescopic link 303 drive control roof 301 keep the horizontality, and then makes backup pad 4 keep the horizontality, keeps storage water tank 5 stable in structure and balance, improves the stability of dolly, and the mobility stability is high, prevents that clean water from spilling and prevents the dolly from turning over.

Referring to fig. 4-5, in order to facilitate the step crossing by the moving mechanism 1, in this embodiment, preferably, the moving mechanism 1 includes a moving frame 101 and driving wheel assemblies symmetrically disposed at two sides of the moving frame 101, the driving wheel assemblies include a tripod 102, a chain 103, a mounting plate 104, a third servo motor 105 and a fourth servo motor 106, three ends of the tripod 102 are all rotatably connected with a wheel 107, one side of the wheel 107 is connected with a first gear 108, three first gears 108 are all engaged and connected with an inner side of the chain 103, an outer side of the chain 103 is engaged and connected with a second gear 109, an output end of the third servo motor 105 passes through the tripod 102 and is fixedly connected with the second gear 109, an outer side of the third servo motor 105 is fixedly connected with a third gear 110 through a bearing, the third gear 110 is fixedly connected with one side of the tripod 102, an upper side of the third servo motor 105 is engaged and connected with a fourth gear 111, the fourth servo motor 106 and the third servo motor 105 are all fixedly connected with the mounting plate 104, and the mounting plate 104 is fixedly connected with the moving frame 101;

the purpose is to drive the second gear 109 to rotate through the third servo motor 105, so that the second gear 109 drives the first gear 108 to rotate through the chain 103, and then drives the wheels 107 to rotate, thereby realizing the forward or backward movement of the trolley;

when the trolley needs to span a step, the fourth servo motor 106 drives the fourth gear 111 to rotate, so that the fourth gear 111 drives the third gear 110 to rotate, and then the third gear 110 drives the tripod 102 to turn over, thereby realizing the climbing of the trolley and enabling the trolley to span the step with a certain height.

Referring to fig. 8, for convenience in automatic drying of the cleaned table top, the preferred drying mechanism 10 in this embodiment includes a drying box 1001, a fan 1002 and an electric heating wire 1003, an air inlet 1004 is provided at the top of the drying box 1001, an air outlet 1005 is provided at the bottom of the drying box 1001, the fan 1002 and the electric heating wire 1003 are both disposed in the drying box 1001, the fan 1002 is disposed above the electric heating wire 1003, and the purpose is to blow air to the electric heating wire 1003 through the fan 1002, so that the air is changed into hot air through the electric heating wire 1003 and then discharged downwards from the air outlet 1005, and the discharged hot air automatically dries the cleaned table top.

Referring to fig. 6, in order to improve the cleaning effect, in this embodiment, preferably, the top of the water tank 5 is provided with a cleaning solution storage tank 11 through a second valve core, so as to control the cleaning solution in the cleaning solution storage tank 11 through the second valve core to further reach the water tank 5, so that the cleaning solution is mixed with the clean water, and the cleaning effect is improved.

In order to conveniently improve the mixing effect of the cleaning solution and the clean water, in this embodiment, preferably, one side of the cleaning solution storage tank 11 is provided with a fifth servo motor 12, the fifth servo motor 12 is fixed at the top of the water storage tank 5, the output end of the fifth servo motor is connected with a stirring shaft 13, the stirring shaft 13 is arranged in the water storage tank 5, and the side surface of the stirring shaft is connected with a stirring blade 14, so that the stirring shaft 13 is driven to rotate by the fifth servo motor 12, and the stirring blade 14 is used for stirring the cleaning solution and the clean water in the water storage tank 5, so that the cleaning solution and the clean water are fully mixed, and the cleaning effect is improved.

In order to facilitate water replenishment, in this embodiment, preferably, a water inlet pipe 502 is provided at the top of the water storage tank 5, and a third valve core is provided in the water inlet pipe 502.

In order to facilitate improvement of the automation degree, in this embodiment, the telescopic rod 303 is preferably an electric cylinder, an air cylinder or a hydraulic cylinder.

In order to improve the intelligent degree conveniently, in this embodiment, the intelligent control device preferably further includes a controller, where the first valve core, the second valve core and the third valve core are all electromagnetic valves, and the third servo motor 105, the fourth servo motor 106, the first cylinder 201, the second servo motor 204, the telescopic rod 303, the inclination sensor 6, the steering wheel 703, the first servo motor 704, the first ultrasonic sensor 8, the second ultrasonic sensor 9, the fan 1002, the heating wire 1003, the fifth servo motor 12, the first valve core, the second valve core and the third valve core are all electrically connected with the controller.

The working principle and the using flow of the utility model are as follows: the water is fed into the water storage tank 5 through the water inlet pipe 502, the cleaning solution in the cleaning solution storage tank 11 is controlled through the second valve core to be further fed into the water storage tank 5, so that the cleaning solution is mixed with the clean water, the cleaning effect is improved, the stirring shaft 13 is driven to rotate through the fifth servo motor 12, the stirring blade 14 is further used for stirring the cleaning solution and the clean water in the water storage tank 5, the cleaning solution is fully mixed with the clean water, and the cleaning effect is improved;

the second gear 109 is driven to rotate through the third servo motor 105, so that the second gear 109 drives the first gear 108 to rotate through the chain 103, and then the wheels 107 are driven to rotate, and the trolley is driven to move forwards or backwards;

the first ultrasonic sensor 8 is used for identifying obstacles in front of movement, the second ultrasonic sensor 9 is used for identifying obstacles on the left side and the right side, and then the steering mechanism 7 can be controlled in a feedback manner to carry out intelligent obstacle avoidance, and specifically, the steering wheel 703 is used for controlling the steering of the trolley, so that obstacle avoidance is realized;

when the trolley needs to cross the step, the connecting rod 702 is driven by the first servo motor 704 to turn upwards, the steering wheel 703 is driven to cross the step, the fourth gear 111 is driven by the fourth servo motor 106 to rotate, the fourth gear 111 drives the third gear 110 to rotate, the tripod 102 is driven by the third gear 110 to turn over, the trolley can climb over the step with a certain height, and the trolley can cross the step with a certain height;

when the trolley body crosses the step, the inclination angle of the trolley body is identified through the inclination angle sensor 6, and then the inclination angle is fed back to the six-degree-of-freedom platform 3, so that the telescopic rod 303 drives the control top plate 301 to keep a horizontal state, the support plate 4 further keeps a horizontal state, the structure of the water storage tank 5 is kept stable and balanced, the stability of the trolley is improved, the movement stability is high, the cleaning water is prevented from being spilled, and the trolley is prevented from being overturned;

the first valve core is used for controlling the water outlet of the first water outlet 501, so that the first water outlet 501 conveys the cleaning water in the water storage tank 5 into the cavity through the first water inlet 207, the cleaning water in the cavity is uniformly discharged to the table top from the plurality of first water spray ports 209, then the table top with the cleaning water is cleaned by the cleaning strips 205, the cleaning effect is improved, after the cleaning strips 205 wipe the ground for one time along the cleaning route, the cleaning strips 205 are driven by the first cylinder 201 to leave the ground, then the rotating shaft 203 is driven by the second servo motor 204 to rotate, finally the next cleaning strips 205 are driven by the first cylinder 201 to descend to be abutted against the ground, and then the ground is cleaned by the next cleaning strips 205 for the second time, so that the cleaning effect is improved, and the cleaning degree is improved;

the fan 1002 blows air to the heating wire 1003, the air is changed into hot air through the heating wire 1003, and then the hot air is discharged downwards from the air outlet 1005, and the discharged hot air automatically dries the cleaned table top.

Finally, it should be noted that: the foregoing is merely a preferred example of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. The utility model provides a cleaning and wiping dolly of barrier is kept away to intelligence which characterized in that: including mobile mechanism (1) and washing and wiping mechanism (2), the top of mobile mechanism (1) is connected with six degree of freedom platform (3), the top of six degree of freedom platform (3) is connected with backup pad (4), the top of backup pad (4) is connected with storage water tank (5) that are used for carrying out water supply to washing and wiping mechanism (2), the bottom of six degree of freedom platform (3) is provided with inclination sensor (6), the front side of mobile mechanism (1) is connected with steering mechanism (7) and first ultrasonic sensor (8), washing and wiping mechanism (2) are connected with steering mechanism (7), the left and right sides of mobile mechanism (1) all is connected with second ultrasonic sensor (9), and its rear side is provided with stoving mechanism (10).

2. The intelligent obstacle avoidance cleaning and wiping cart of claim 1, wherein: the steering mechanism (7) comprises a hinged support (701), a connecting rod (702) and a steering wheel (703), wherein the hinged support (701) is fixed on the moving mechanism (1), one side of the hinged support is fixedly connected with a first servo motor (704), the output end of the first servo motor (704) is connected with the connecting rod (702), the connecting rod (702) is hinged with the hinged support (701), and the steering wheel (703) is connected with one end, far away from the hinged support (701), of the connecting rod (702).

3. The intelligent obstacle avoidance cleaning and wiping cart of claim 2, wherein: the cleaning and wiping mechanism (2) comprises a first air cylinder (201) and a mounting frame (202), wherein the first air cylinder (201) is fixed on one side of a connecting rod (702), the bottom output end of the first air cylinder is fixedly connected with the top of the mounting frame (202), the bottom of the mounting frame (202) is rotationally connected with a rotating shaft (203), one side of the mounting frame is connected with a second servo motor (204), the output end of the second servo motor (204) penetrates through the mounting frame (202) and then is connected with the rotating shaft (203), and a plurality of wiping strips (205) are distributed in an annular array on the outer side of the rotating shaft (203).

4. The intelligent obstacle avoidance cleaning and wiping cart of claim 3, wherein: the cleaning and wiping mechanism (2) further comprises a transverse water outlet pipe (206), the transverse water outlet pipe (206) is connected to the front side of the mounting frame (202), a first water inlet (207) is formed in the top of the transverse water outlet pipe, a first water outlet (501) is formed in the front side of the water storage tank (5), a first valve core is arranged in the first water outlet (501), the first valve core is communicated with the first water inlet (207) through a water guide pipe (208), a cavity is formed in the transverse water outlet pipe (206), a plurality of first water spray ports (209) are uniformly distributed in the bottom of the cavity, and the cavity is respectively communicated with the first water inlet (207) and the first water spray ports (209).

5. The intelligent obstacle avoidance cleaning and wiping cart of any one of claims 2-4, wherein: the steering wheel (703) is an omni-wheel.

6. The intelligent obstacle avoidance cleaning and wiping cart of claim 1, wherein: six degree of freedom platform (3) include roof (301), bottom plate (302) and telescopic link (303), the bottom fixed connection of roof (301) and backup pad (4), and it sets up in the top of bottom plate (302), bottom plate (302) are fixed in the top of mobile mechanism (1), telescopic link (303) set up between roof (301) and bottom plate (302), and its even six of having arranged, the upper and lower both ends of telescopic link (303) are connected with roof (301) and bottom plate (302) through universal hinge (304) respectively.

7. The intelligent obstacle avoidance cleaning and wiping cart of claim 1, wherein: the utility model provides a moving mechanism (1) is including removing frame (101) and symmetry set up in the drive wheel subassembly of removing frame (101) both sides, drive wheel subassembly includes tripod (102), chain (103), mounting panel (104), third servo motor (105) and fourth servo motor (106), the three end of tripod (102) all rotates and is connected with wheel (107), one side of wheel (107) is connected with first gear (108), three first gear (108) all meshing is connected in the inboard of chain (103), the outside meshing of chain (103) is connected with second gear (109), the output of third servo motor (105) pass behind tripod (102) with second gear (109) fixed connection, and its outside is connected with third gear (110) through the bearing, one side fixed connection of third gear (110) and tripod (102), and its upside meshing is connected with fourth gear (111), fourth gear (111) are connected with the output of fourth servo motor (106), fourth servo motor (105) and third servo motor (104) are fixed connection on the mounting panel (104).

8. The intelligent obstacle avoidance cleaning and wiping cart of claim 1, wherein: the drying mechanism (10) comprises a drying box (1001), a fan (1002) and an electric heating wire (1003), an air inlet (1004) is formed in the top of the drying box (1001), an air outlet (1005) is formed in the bottom of the drying box, the fan (1002) and the electric heating wire (1003) are arranged inside the drying box (1001), and the fan (1002) is arranged above the electric heating wire (1003).

9. The intelligent obstacle avoidance cleaning and wiping cart of claim 1, wherein: the top of the water storage tank (5) is communicated with a cleaning liquid storage tank (11) through a second valve core.

10. The intelligent obstacle avoidance cleaning and wiping cart of claim 9, wherein: one side of the cleaning liquid storage tank (11) is provided with a fifth servo motor (12), the fifth servo motor (12) is fixed at the top of the water storage tank (5), the output end of the fifth servo motor is connected with a stirring shaft (13), the stirring shaft (13) is arranged in the water storage tank (5), and the side face of the stirring shaft is connected with stirring blades (14).