A cleaning robot with a point steering device

Abstract

The application relates to a fixed-point steering device for a cleaning robot, which comprises a rudder fixing mechanism, a rudder mechanism, a lifting mechanism and a rotary adsorption mechanism, the rudder mechanism is fixedly arranged on the rudder fixing mechanism, the rudder fixing mechanism comprises a rudder fixing plate and fixing support columns, the fixing support columns are vertically arranged, the rudder fixing plate is arranged at the top end of the fixing support columns, the rudder mechanism comprises a rudder, a rudder support, a rudder arm and a rudder arm support, the rudder is fixedly arranged below the rudder fixing plate through the rudder support, the driving shaft of the rudder is fixedly connected with one end of the rudder arm, the other end of the rudder arm is movably connected with one end of the rudder arm support, the other end of the rudder arm support is movably connected with the lifting mechanism, the rotary adsorption mechanism is arranged at the lower end of the lifting mechanism, and the lifting mechanism is driven to ascend and descend by the rudder mechanism so as to drive the rotary adsorption mechanism to ascend and descend. The application has the characteristics of simple structure, safety and reliability and strong adsorption capacity.

Description

TECHNICAL FIELD

[0001] The application relates to a fixed-point steering device for a cleaning robot. BACKGROUND

[0002] The glass curtain wall photovoltaic robot belongs to one of limit operation robots, is mainly applied to vertical or inclined wall surfaces and photovoltaic panels, and can realize cleaning of the wall surfaces and the photovoltaic panels by carrying cleaning operation tools.

[0003] At present, most of the glass curtain wall robots in the industry adopt the wheel track type and the step type; the wheel track type structure has a faster moving speed, but cannot accurately control the steering angle and cannot overcome the position deviation problem during steering; the step type structure can easily realize movement and steering on the wall surface through structural cooperation, but has the disadvantages of low efficiency and low commercial value. The motion mode adopted by the photovoltaic cleaning robot is mainly the track type, and the angle and the robot body deviation of the structure are serious during steering on the photovoltaic panel with a certain angle. The angle and the robot body deviation caused by steering seriously affect the cleaning coverage rate of the robot and the planned cleaning path. SUMMARY

[0004] In view of the above problems existing in the prior art, the main purpose of the application is to provide a fixed-point steering device for a cleaning robot, which is simple in structure, safe and reliable, and has strong adsorption capacity.

[0005] The technical scheme of the application is as follows:

[0006] A fixed-point steering device for a cleaning robot, comprising a rudder fixing mechanism, a rudder mechanism, a lifting mechanism and a rotating adsorption mechanism, wherein the rudder mechanism is fixedly arranged on the rudder fixing mechanism; the rudder fixing mechanism comprises a rudder fixing plate and a plurality of fixed support columns, the fixed support columns are vertically arranged, and the rudder fixing plate is arranged at the top end of the fixed support columns; the rudder mechanism comprises a rudder, a rudder support, a rudder arm and a rudder arm support, the rudder is fixedly arranged below the rudder fixing plate through the rudder support, the driving shaft of the rudder is fixedly connected with one end of the rudder arm, the other end of the rudder arm is movably connected with one end of the rudder arm support, the other end of the rudder arm support is movably connected with the lifting mechanism, and the rotating adsorption mechanism is arranged at the lower end of the lifting mechanism; the lifting mechanism is lifted and lowered under the drive of the rudder mechanism, and the rotating adsorption mechanism is lifted and lowered simultaneously in the lifting and lowering process of the lifting mechanism.

[0007] The number of the fixed support columns is four, the shape of the rudder fixing plate is square, and the rudder fixing plate is horizontally arranged at the top end of the four fixed support columns.

[0008] Two of the four fixed support columns are respectively arranged at the front end and the rear end of the left side of the steering gear fixing plate, and the other two fixed support columns are respectively arranged at the front end and the rear end of the right side of the steering gear fixing plate.

[0009] The lifting mechanism comprises a first fixing plate, a second fixing plate, a first guide rail, a second guide rail, a first sliding block, a second sliding block and a connecting plate, wherein: the first fixing plate is arranged on the left side below the steering gear fixing plate in the vertical direction, the first guide rail is fixedly arranged on the first fixing plate in the length direction, and the first sliding block is sleeved on the first guide rail and can slide up and down thereon; the second fixing plate is arranged on the right side below the steering gear fixing plate in the vertical direction, the second guide rail is fixedly arranged on the second fixing plate in the length direction, and the second sliding block is sleeved on the second guide rail and can slide up and down thereon; the left end of the connecting plate is fixedly arranged on the first sliding block, and the right end of the connecting plate is fixedly arranged on the second sliding block.

[0010] A first mounting portion is arranged on the left side of the lower end of the connecting plate and extends downward, a second mounting portion is arranged on the right side of the lower end of the connecting plate and extends downward, and the rotary suction mechanism is fixedly connected with the connecting plate through the first mounting portion and the second mounting portion.

[0011] The rotary suction mechanism comprises a central suction disc, a fixed disc, a deep groove ball bearing, a bearing seat and an upper cover, wherein: the fixed disc is fixedly arranged at the upper end of the central suction disc, a cylindrical first mounting protrusion is arranged on the upper surface of the fixed disc and extends upward along the central axis, a second mounting protrusion is arranged on the upper surface of the first mounting protrusion and extends upward, a first fixing recess is arranged on the outer side wall of the upper end of the second mounting protrusion in the circumferential direction, and a first snap spring is arranged in the first fixing recess; the bearing seat is cylindrical in shape, a positioning through hole is arranged on the bearing seat along the central axis, a mounting recess is formed in the side wall of the positioning through hole of the bearing seat, and the deep groove ball bearing is movably arranged in the mounting recess and sleeved on the second mounting protrusion.

[0012] A second fixing recess is arranged on the inner side wall of the mounting recess of the bearing seat in the circumferential direction of the lower part, a second snap spring is arranged in the second fixing recess, and when the deep groove ball bearing is arranged in the mounting recess, the lower surface of the deep groove ball bearing abuts against the second snap spring.

[0013] The upper cover is cylindrical in shape and is fixedly arranged on the upper surface of the bearing seat, an upper surface of the upper cover is provided with a third mounting protrusion extending upward along the central axis, the third mounting protrusion is provided with a mounting hole penetrating through the upper cover, a side wall of the third mounting protrusion is provided with an opening in communication with the mounting hole, and the opening extends to the upper surface of the third mounting protrusion.

[0014] The rotating adsorption mechanism further comprises a rotatable air pipe joint arranged in the mounting hole, a lower end of the rotatable air pipe joint is fixedly connected with the second mounting protrusion, and the rotatable air pipe joint is in communication with the adsorption cavity of the central adsorption disc.

[0015] The upper surface of the upper cover is provided with a first fixing protrusion and a second fixing protrusion on the left side and the right side of the outer side wall of the third mounting protrusion respectively, the first fixing protrusion is fixedly connected with the first mounting part, and the second fixing protrusion is fixedly connected with the second mounting part.

[0016] The first mounting part and the second mounting part are located between the first guide rail and the second guide rail, the first fixing protrusion is provided with a first mounting groove, the first mounting part is arranged in the first mounting groove and connected through a fastening bolt, the second fixing protrusion is provided with a second mounting groove, and the second mounting part is arranged in the second mounting groove and connected through a fastening bolt.

[0017] The cleaning robot point turning device provided by the embodiment of the present application can enable the photovoltaic cleaning robot to realize full coverage cleaning operation of large-scale indoor and outdoor glass curtain walls and photovoltaic panel clusters, enhance the accuracy of the turning angle of the photovoltaic cleaning robot, realize accurate turning of the photovoltaic cleaning robot at a fixed point, reduce the influence on the planned cleaning path, increase the cleaning coverage rate of the photovoltaic cleaning robot, increase the adaptability to complex environments, improve the degree of automation, reduce labor costs, reduce the safety hazards existing in manual cleaning, and improve the cleaning efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The figure is a schematic diagram of the three-dimensional structure of the cleaning robot point turning device provided by the embodiment of the present application.

[0019] Figure 2 The figure is a schematic diagram of the exploded structure of the cleaning robot point turning device provided by the embodiment of the present application.

[0020] Figure 3 The figure is a schematic diagram of the structure of the steering engine in the standby state in the cleaning robot point turning device provided by the embodiment of the present application.

[0021] Figure 4The structure schematic diagram of the steering device for the cleaning robot is shown in the working state of the rudder.

[0022] Figure 5 The enlarged and exploded structure schematic diagram of the rotating adsorption mechanism is shown.

[0023] Figure 6 The enlarged and exploded structure schematic diagram of the rotating adsorption mechanism is shown.

[0024] Figure 7 The main view structure schematic diagram of the rotating adsorption mechanism is shown.

[0025] Figure 8 The Figure 7 The structure schematic diagram of the central adsorption disc, the fixed disc, the bearing seat and the upper cover is shown.

[0026] Figure 9 The enlarged and exploded structure schematic diagram of the bearing seat is shown.

[0027] Figure 10 The enlarged and exploded structure schematic diagram of the bearing seat is shown.

[0028] Figure 11 The enlarged and exploded structure schematic diagram of the bearing seat is shown.

[0029] Figure 12 The enlarged and exploded structure schematic diagram of the bearing seat is shown. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0031] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 12 The image shows a fixed-point steering device for a cleaning robot provided in an embodiment of the present invention. The cleaning robot includes a vehicle body, and the fixed-point steering device is fixedly mounted on the vehicle body. The cleaning robot performs fixed-point steering through the fixed-point steering device to achieve precise steering. The fixed-point steering device includes a servo motor fixing mechanism, a servo motor mechanism, a lifting mechanism, and a rotating adsorption mechanism. The servo motor mechanism is fixedly mounted on the servo motor fixing mechanism. The servo motor fixing mechanism includes a servo motor fixing plate 321 and multiple fixed support columns 322. All of the multiple fixed support columns 322 are vertically arranged, and the servo motor fixing plate 321 is located at the top of the multiple fixed support columns 322. The servo mechanism includes a servo motor 390, a servo motor bracket 391, a servo motor arm 392, and a servo motor arm bracket 393. The servo motor 390 is fixedly mounted below the servo motor mounting plate 321 via the servo motor bracket 391. The drive shaft of the servo motor 390 (not shown in the figure) is fixedly connected to one end of the servo motor arm 392. The other end of the servo motor arm 392 is movably connected to one end of the servo motor arm bracket 393. The other end of the servo motor arm bracket 393 is movably connected to the lifting mechanism. The rotating suction mechanism is located at the lower end of the lifting mechanism. The lifting mechanism rises and falls under the drive of the servo mechanism, and simultaneously, the lifting mechanism drives the rotating suction mechanism to rise and fall during the rising and falling process.

[0035] The number of the plurality of fixed support columns 322 is four, the shape of the steering engine fixed plate 321 is square, and the steering engine fixed plate 321 is horizontally arranged at the top end of the four fixed support columns 322. Through the above arrangement, that is, the number of fixed support columns 322 is designed to be 4, so that the steering engine fixed plate 321 can be stably and safely arranged at the top end of the four fixed support columns 322, and the safety reliability is improved to a certain extent.

[0036] Among the four fixed support columns 322, two fixed support columns 322 are arranged at the front end and the rear end of the left side of the steering engine fixed plate 321 respectively, and the other two fixed support columns 322 are arranged at the front end and the rear end of the right side of the steering engine fixed plate 321 respectively. Specifically, four fixed holes 380 can be arranged on the steering engine fixed plate 321, and the upper end of the fixed support column 322 is provided with a fixed part 383, and the fixed part 383 is arranged in the fixed hole 380, that is, the upper end of the fixed support column 322 is fixedly connected with the steering engine fixed plate 321 through the cooperation of the fixed part 383 and the fixed hole 380, and the safety reliability is further improved, so that the combination of the fixed support column 322 and the steering engine fixed plate 321 is more firm, thereby prolonging the service life of the fixed-point turning device for the cleaning robot.

[0037] The lifting mechanism comprises a first fixed plate 323, a second fixed plate 324, a first guide rail 325, a second guide rail 326, a first sliding block 327, a second sliding block 328 and a connecting plate 329, wherein: the first fixed plate 323 is arranged below the rudder plate 321 on the left side in the vertical direction, the first guide rail 325 is fixedly arranged on the first fixed plate 323 in the length direction, and the first sliding block 327 is sleeved on the first guide rail 325 and can slide up and down; the second fixed plate 324 is arranged below the rudder plate 321 on the right side in the vertical direction, the second guide rail 326 is fixedly arranged on the second fixed plate 324 in the length direction, and the second sliding block 328 is sleeved on the second guide rail 326 and can slide up and down; the left end of the connecting plate 329 is fixedly arranged on the first sliding block 327, and the right end of the connecting plate 329 is fixedly arranged on the second sliding block 328. Through the above design, that is, the lower ends of the first fixed plate 323 and the second fixed plate 324 are fixedly arranged on the body of the cleaning robot by fastening bolts, the first guide rail 325 is fixedly arranged on the first fixed plate 323 by fastening screws, and the second guide rail 326 is fixedly arranged on the second fixed plate 324 by fastening screws, thereby improving the firmness of the combination of the first guide rail 325 and the first fixed plate 323 and the firmness of the combination of the second guide rail 326 and the second fixed plate 324. In addition, the first sliding block 327 is sleeved on the first guide rail 325 and can freely slide up and down along the first guide rail 325, and the second sliding block 328 is sleeved on the second guide rail 326 and can freely slide up and down along the second guide rail 326. At the same time, since one end of the connecting plate 329 is fixedly arranged on the first sliding block 327 by screws, and the other end of the connecting plate 329 is fixedly arranged on the second sliding block 328 by screws, that is, the connecting plate 329 moves up and down along the first guide rail 325 and the second guide rail 326 through the first sliding block 327 and the second sliding block 328.

[0038] The lower left end of the connecting plate 329 extends downward to be provided with a first mounting portion 381, the lower right end of the connecting plate 329 extends downward to be provided with a second mounting portion 382, and the rotating adsorption mechanism is fixedly connected with the connecting plate 329 through the first mounting portion 381 and the second mounting portion 382. Through the above design, that is, the lower left end and the right end of the connecting plate 329 extend downward to be provided with the first mounting portion 381 and the second mounting portion 382, respectively, so that the firmness of the combination of the first mounting portion 381 and the second mounting portion 382 with the connecting plate 329 can be improved, and the safety and reliability are improved. At the same time, the first mounting portion 381 and the second mounting portion 382 are fixedly connected with the rotating adsorption mechanism by fastening bolts, so as to achieve the purpose of firmly connecting the rotating adsorption mechanism with the connecting plate 329, thereby prolonging the service life of the fixed-point turning device for the cleaning robot.

[0039] The rotating adsorption mechanism comprises a central suction disc 394, a fixed disc 395, a deep groove ball bearing 396, a bearing seat 397 and an upper cover 398, wherein: the fixed disc 395 is fixedly arranged at the upper end of the central suction disc 394, the upper surface of the fixed disc 395 is provided with a cylindrical first mounting protrusion 401 extending upwards along the central axis, the upper surface of the first mounting protrusion 401 is provided with a second mounting protrusion 402 extending upwards, the outer side wall of the upper end of the second mounting protrusion 402 is provided with a first fixing recess 440 in the circumferential direction, and the first fixing recess 440 is provided with a first clamping spring 441; the bearing seat 397 is cylindrical in shape, is provided with a positioning through hole 404 along the position of the central axis, is provided with a mounting recess 403 in the inner side wall of the positioning through hole 404, and the deep groove ball bearing 396 is movably arranged in the mounting recess 403 and is sleeved on the second mounting protrusion 402. Through the above design, that is, the upper end of the fixed disc 395 is sequentially provided with the first mounting protrusion 401 and the second mounting protrusion 402 extending upwards, thereby improving the firmness of the combination of the first mounting protrusion 401, the second mounting protrusion 402 and the fixed disc 395; in addition, the mounting recess 403 is recessed in the inner side wall of the positioning through hole 404 on the bearing seat 397, so that the deep groove ball bearing 396 is arranged in the mounting recess 403, and the safety and reliability are improved.

[0040] The inner side wall of the mounting recess 403 on the bearing seat 397 is provided with a second fixing recess 480 in the lower part of the circumferential direction, the second fixing recess 480 is provided with a second clamping spring 444, and when the deep groove ball bearing 396 is installed in the mounting recess 403, the lower surface of the deep groove ball bearing 396 abuts against the second clamping spring 444. Through the above design, that is, the second fixing recess 480 is recessed in the lower part of the inner side wall of the mounting recess 403 on the bearing seat 397 in the circumferential direction, the inner diameter of the second fixing recess 480 is greater than the inner diameter of the mounting recess 403, the second clamping spring 444 is installed in the second fixing recess 480, the deep groove ball bearing 396 is stably and firmly arranged in the mounting recess 403 through the second clamping spring 444, that is, the deep groove ball bearing 396 is well supported through the second clamping spring 444, so that the deep groove ball bearing 396 is prevented from sliding out of the mounting recess 403, and the safety and reliability are improved.

[0041] The upper cover 398 is cylindrical in shape and is fixedly arranged on the upper surface of the bearing seat 397, the upper surface of the upper cover 398 is provided with a third mounting protrusion 399 extending upward along the central axis, the third mounting protrusion 399 is provided with a mounting hole 405, the mounting hole 405 penetrates the upper cover 398, the side wall of the third mounting protrusion 399 is provided with an opening 406 communicating with the mounting hole 405, and the opening 406 extends to the upper surface of the third mounting protrusion 399.

[0042] The rotating adsorption mechanism further comprises a rotatable air pipe joint 385 arranged in the mounting hole 405, the lower end of the rotatable air pipe joint 385 is fixedly connected with the second mounting protrusion 402, and the rotatable air pipe joint 385 communicates with the adsorption cavity 400 of the central adsorption disc 394.

[0043] The upper surface of the upper cover 398 is provided with a first fixing protrusion 407 and a second fixing protrusion 408 on the left side and the right side of the outer side wall of the third mounting protrusion 399, the first fixing protrusion 407 is fixedly connected with the first mounting portion 381 through a fastening bolt, the second fixing protrusion 408 is fixedly connected with the second mounting portion 382 through a fastening bolt, and the combination of the upper cover 398 and the connecting plate 329 is improved in firmness, the first mounting portion 381 and the second mounting portion 382 are located between the first guide rail 325 and the second guide rail 326, the first fixing protrusion 407 is provided with a first mounting groove 409, the first mounting portion 381 is arranged in the first mounting groove 409 and connected through a fastening bolt, the second fixing protrusion 408 is provided with a second mounting groove 410, and the second mounting portion 382 is arranged in the second mounting groove 410 and connected through a fastening bolt.

[0044] The cleaning robot with the fixed-point turning device of the embodiment of the application is fixedly arranged on the vehicle body, so that the accuracy of the turning angle of the cleaning robot is enhanced, the precise turning of the cleaning robot at a fixed point is realized, the influence on the planned cleaning path is reduced, the cleaning coverage of the robot is increased, the adaptability to complex environments is increased, complete autonomous driving is realized, the labor cost is reduced, the stable cleaning effect is maintained, and the cleaning efficiency is greatly improved.

[0045] Specifically, the central suction disc of the cleaning robot with the fixed-point turning device is installed at the rotation center position of the cleaning robot in the ideal state, the first fixed plate 323, the second fixed plate 324 and the four fixed support columns 322 are fixed on the chassis of the cleaning robot, when the cleaning robot normally advances or retreats, the cleaning robot with the fixed-point turning device is in standby state, when the cleaning robot needs to turn an angle to change the advancing direction, the walking assembly of the cleaning robot stops working, the cleaning robot is in the stationary state, the steering wheel 390 rotates to drive the steering arm 392 and the steering arm support 393 to push the lifting mechanism to move downward, the lifting mechanism drives the rotating suction mechanism to also move downward, when the central suction disc 394 is tightly attached to the wall surface, the steering wheel 390 stops rotating and is locked, then the air in the central suction disc 394 is pumped out through the rotatable air pipe joint 385 and the external vacuum pump, the atmospheric pressure makes the central suction disc 394 tightly attached to the wall surface, at this time, the walking assembly of the cleaning robot continues to work, the walking assemblies on both sides are reversely rotated to make the vehicle body of the cleaning robot turn an angle, at this time, the central suction disc 394, the fixed disc 395, the inner ring of the deep groove ball bearing 396, the shaft retainer and the part of the rotatable air pipe joint 385 connected with the fixed disc 395 are stationary, the remaining parts of the cleaning robot with the fixed-point turning device rotate with the vehicle body, when reaching the predetermined angle, the walking assembly stops working, the cleaning robot is in the stationary state, the vacuum pump stops pumping, the air pressure inside and outside the central suction disc 394 reaches the balance state, then the steering wheel 390 reversely rotates to drive the steering arm 392 and the steering arm support 393 to push the lifting mechanism to move upward.

[0046] Finally, it should be noted that: the above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A point steering device for a cleaning robot, characterized by: The rudder mechanism fixing mechanism, the rudder mechanism, the lifting mechanism and the rotating adsorption mechanism are arranged, the rudder mechanism is fixedly arranged on the rudder mechanism fixing mechanism, the rudder mechanism fixing mechanism comprises a rudder mechanism fixing plate and a plurality of fixed support columns, the plurality of fixed support columns are vertically arranged, the rudder mechanism fixing plate is arranged at the top end of the plurality of fixed support columns, the rudder mechanism comprises a rudder, a rudder support, a rudder arm and a rudder arm support, the rudder is fixedly arranged below the rudder mechanism fixing plate through the rudder support, the driving shaft of the rudder is fixedly connected with one end of the rudder arm, the other end of the rudder arm is movably connected with one end of the rudder arm support, the other end of the rudder arm support is movably connected with the lifting mechanism, the rotating adsorption mechanism is arranged at the lower end of the lifting mechanism, the lifting mechanism is lifted and lowered under the driving of the rudder mechanism, and the rotating adsorption mechanism is lifted and lowered in the lifting and lowering process of the lifting mechanism; The rotating adsorption mechanism comprises a central suction disc, a fixed disc, a deep groove ball bearing, a bearing seat and an upper cover, wherein: The fixed disc is fixedly arranged at the upper end of the central suction disc, the upper surface of the fixed disc is provided with a cylindrical first mounting convex part extending upwards along the position of the central axis, the upper surface of the first mounting convex part is provided with a second mounting convex part extending upwards, the outer wall of the upper end of the second mounting convex part is provided with a first fixing recess along the circumferential direction, and the first fixing recess is provided with a first clamping spring; The bearing seat is cylindrical, the bearing seat is provided with a positioning through hole along the position of the central axis, the bearing seat is recessed in the side wall of the positioning through hole to form a mounting recess, and the deep groove ball bearing is movably arranged in the mounting recess and sleeved on the second mounting convex part; The lifting mechanism comprises a first fixed plate, a second fixed plate, a first guide rail, a second guide rail, a first sliding block, a second sliding block and a connecting plate, the lower end left side of the connecting plate is provided with a first mounting part extending downwards, and the lower end right side of the connecting plate is provided with a second mounting part extending downwards; The upper cover is cylindrical, the upper cover is fixedly arranged on the upper surface of the bearing seat, the upper surface of the upper cover is provided with a third mounting convex part extending upwards along the position of the central axis, and the third mounting convex part is provided with a mounting hole; The rotating adsorption mechanism further comprises a rotatable air pipe joint, the rotatable air pipe joint is arranged in the mounting hole, the lower end of the rotatable air pipe joint is fixedly connected with the second mounting convex part, and the rotatable air pipe joint communicates with the adsorption cavity of the central suction disc; The upper surface of the upper cover is provided with a first fixing convex part and a second fixing convex part on the left side and the right side of the outer side wall of the third mounting convex part, the first fixing convex part is fixedly connected with the first mounting part, and the second fixing convex part is fixedly connected with the second mounting part; The first mounting portion and the second mounting portion are located between the first guide rail and the second guide rail, a first mounting groove is arranged in the first fixed protrusion, the first mounting portion is arranged in the first mounting groove and connected through a fastening bolt, a second mounting groove is arranged in the second fixed protrusion, and the second mounting portion is arranged in the second mounting groove and connected through a fastening bolt.

2. The device according to claim 1, wherein the device is configured to rotate the cleaning robot by a predetermined angle. The number of the plurality of fixed support columns is four, the rudder fixing plate is square, and the rudder fixing plate is horizontally arranged at the top end of the four fixed support columns.

3. The device according to claim 2, wherein the device is configured to rotate the cleaning robot by a predetermined angle. Of the four fixed support columns, two fixed support columns are arranged at the front end and the rear end on the left side of the rudder fixing plate respectively, and the other two fixed support columns are arranged at the front end and the rear end on the right side of the rudder fixing plate respectively.

4. The device according to any one of claims 1 to 3, wherein the device is configured to be attached to a robot cleaner. The first fixed plate is arranged on the left side below the rudder fixing plate in the vertical direction, the first guide rail is fixedly arranged on the first fixed plate in the length direction, and the first sliding block is sleeved on the first guide rail and can slide up and down thereon. The second fixed plate is arranged on the right side below the rudder fixing plate in the vertical direction, the second guide rail is fixedly arranged on the second fixed plate in the length direction, and the second sliding block is sleeved on the second guide rail and can slide up and down thereon. The left end of the connecting plate is fixedly arranged on the first sliding block, and the right end of the connecting plate is fixedly arranged on the second sliding block.

5. The device according to claim 4, wherein the device is configured to rotate the cleaning robot by a predetermined angle. The rotating adsorption mechanism is fixedly connected with the connecting plate through the first mounting portion and the second mounting portion.

6. The device according to claim 5, wherein the device is configured to rotate the cleaning robot by 90 degrees. A second fixing recess is arranged in the circumferential direction of the lower part of the inner side wall of the mounting recess of the bearing seat, a second snap spring is arranged in the second fixing recess, and when the deep groove ball bearing is arranged in the mounting recess, the lower surface of the deep groove ball bearing abuts against the second snap spring.

7. The device according to claim 6, wherein the device is configured to rotate the cleaning robot by 90 degrees. The mounting hole penetrates the upper cover, the sidewall of the third mounting protrusion is provided with an opening in communication with the mounting hole, and the opening extends to the upper surface of the third mounting protrusion.

Images