A point-turning system for a cleaning robot

Abstract

The application discloses a kind of for cleaning robot fixed point steering system, it is related to wall surface robot equipment technical field, including rudder assembly, the rudder assembly includes rudder bracket and rudder body, the inside fixed connection of rudder bracket has rudder body, the outside rotationally connected of rudder bracket has the rudder rocker arm of cooperation with rudder body use, the beneficial effects of the present application are: be equipped with rudder assembly, guide component, suction cup positioning assembly and vacuum component, increase the cleaning coverage of robot, increase the adaptability to complex environment, realize complete autonomous driving, maintain stable cleaning effect, cleaning efficiency is greatly improved, simultaneously, first suction disc is not needed to lift up the whole machine body, first suction disc will not be all the weight of machine body pressed on, avoid the case that first suction disc causes hidden crack due to the pressure increase of photovoltaic panel, simultaneously, it is not necessary to increase a big torque motor to lift machine body, guarantee steering mechanism simple, reliable, small in size, power consumption.

Description

Technical Field

[0001] This invention relates to the field of wall robot equipment technology, specifically a point-to-point steering system for a cleaning robot. Background Technology

[0002] Glass curtain wall panel and photovoltaic panel robots belong to a type of extreme work robot, mainly used on vertical or inclined walls and photovoltaic panels. They can clean walls and photovoltaic panels by carrying cleaning tools. The photovoltaic cleaning robot primarily uses a tracked motion, which requires a certain turning radius. When facing photovoltaic panels at an angle, the robot's own weight can cause deviation. These two factors combined severely affect the cleaning coverage and the planned cleaning path. The aim is to enhance the accuracy, stability, and reliability of the cleaning robot's turning angle in large-scale indoor and outdoor glass curtain wall panel and photovoltaic panel cluster cleaning operations. This will enable precise turning of the cleaning robot at fixed points, reduce the impact on the planned cleaning path, increase the robot's cleaning coverage, enhance adaptability to complex environments, improve automation, reduce labor costs, reduce safety hazards associated with manual cleaning, and improve cleaning efficiency. Simultaneously, the turning structure needs to be simplified, reliable, and power-efficient to minimize the pressure exerted by the cleaning robot on the photovoltaic panels and prevent microcracks. Therefore, this invention designs a fixed-point turning system for the cleaning robot to solve the aforementioned problems. Summary of the Invention

[0003] In view of the above-mentioned problems in the prior art, the object of the present invention is to provide a point-to-point steering system for cleaning robots to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a fixed-point steering system for a cleaning robot, comprising a servo motor assembly, the servo motor assembly including a servo motor bracket and a servo motor body, the servo motor body being fixedly connected inside the servo motor bracket, a servo motor rocker arm cooperating with the servo motor body being rotatably connected to the outside of the servo motor bracket, the servo motor body being used to drive the servo motor rocker arm to rotate, a suction cup lifting link being rotatably connected to the side of the servo motor rocker arm away from the servo motor bracket, a guide assembly being installed at the bottom of the suction cup lifting link, and a suction cup positioning assembly being installed at the bottom of the suction cup lifting link, wherein:

[0005] The guiding assembly includes a lifting linkage bearing and a first linear bearing. A suction cup guide plate is installed on the outer bottom of the suction cup lifting linkage. The lifting linkage bearing is fixedly connected inside the suction cup guide plate and is rotatably connected to the bottom of the suction cup lifting linkage. A suction cup positioning assembly is installed inside the suction cup guide plate. The suction cup positioning assembly includes a suction cup support column and a first suction cup upper fixing block. Multiple suction cup support columns are fixedly connected inside the suction cup guide plate. The bottom of each suction cup support column is fixedly connected to the first suction cup upper fixing block. A first linear bearing is fixedly connected inside the suction cup guide plate on the side away from the lifting linkage bearing. A first bearing seat is fixedly connected to the bottom of the first suction cup upper fixing block.

[0006] Preferably, the first bearing housing is rotatably connected to a first suction cup lower fixing block, which can rotate relative to the first suction cup lower fixing block. The bottom of the first suction cup lower fixing block is fixedly connected to a first suction cup. The bottom of the first suction cup lower fixing block and the side away from the first suction cup are fixedly connected to a first rotary joint, which can rotate relative to the first suction cup lower fixing block through the internal bearing. The bottom of the servo motor bracket is fixedly connected to a positioning structure main bracket, and the bottom of the positioning structure main bracket is fixedly connected to the chassis of the cleaning robot.

[0007] Preferably, a vacuum assembly is installed inside the main support of the positioning structure. The vacuum assembly includes a vacuum filter and an air pipe body. A guide column extending into the first linear bearing is fixedly connected to the inner side of the main support of the positioning structure. A vacuum filter is fixedly connected to the top of the cleaning robot chassis and inside the main support of the positioning structure. A vacuum pump is fixedly connected to one side of the vacuum filter. A solenoid valve is fixedly connected to the side of the vacuum filter away from the vacuum pump. An air pressure detection device is installed on the outer side of the vacuum filter. Both ends of the solenoid valve are connected to the air pipe body. An air pipe connector is installed on the outer side of the air pipe body.

[0008] Preferably, the vacuum pump is connected to one of the main gas tubes via a PU tube, and a photoelectric sensor is fixedly connected to one side of the main support of the positioning structure.

[0009] Preferably, a suction cup dust cover is fixedly connected to the outer side of the first suction cup, and the top of the suction cup dust cover is fixedly connected to the bottom of the cleaning robot chassis.

[0010] Preferably, the guide assembly includes a second linear bearing and a second bearing housing. The second bearing housing is installed below the suction cup lifting linkage, and the second linear bearing is installed inside the second bearing housing. The second linear bearing rotates with the second bearing housing.

[0011] Preferably, the suction cup positioning assembly includes a second suction cup upper fixing block and a second rotary joint. A connecting rod connecting bracket is fixedly installed on the top of the second suction cup upper fixing block, and the connecting rod connecting bracket is rotatably connected to the suction cup lifting connecting rod. The second suction cup upper fixing block is fixedly connected to the bottom of the second bearing seat, which can move up and down relative to the second linear bearing. A central suction cup bearing seat is fixedly connected to the bottom of the second suction cup upper fixing block. A second suction cup lower fixing block is fixedly connected to one end of the second rotary joint. A second rotary joint is installed on the upper part of the second suction cup lower fixing block, and a second suction cup is fixedly connected to the bottom of the second suction cup lower fixing block.

[0012] Preferably, a vacuum assembly with the same structure is installed between the fixing block on the second suction cup and the central suction cup bearing seat, and a suction cup dust cover is fixedly connected to the outside of the second suction cup.

[0013] Preferably, a dust cover pressure ring is installed on the outer side of the first suction cup to cooperate with the dust cover of the suction cup, and multiple bolts are installed inside the first suction cup.

[0014] This invention has the following advantages and beneficial effects: It is equipped with a servo motor assembly, a guide assembly, a suction cup positioning assembly, and a vacuum assembly, and employs a fixed-point steering mechanism. This ensures that the robot can rotate in place without deviation, enhancing the accuracy and stability of the cleaning robot's steering angle, achieving precise steering for positioning, reducing the impact on the planned cleaning path, increasing the robot's cleaning coverage, increasing adaptability to complex environments, achieving fully autonomous driving, reducing labor costs, maintaining stable cleaning results, and greatly improving cleaning efficiency. Furthermore, it eliminates the need for the first suction cup to lift the entire robot body, preventing the entire weight of the robot from pressing on the first suction cup and avoiding the increased pressure on the photovoltaic panel that could lead to microcracks. It also eliminates the need for a high-torque motor to lift the robot body, ensuring that the steering mechanism is simple, reliable, small in size, and low in power consumption. Attached Figure Description

[0015] Figure 1 This is an exploded view of the structure of the first embodiment of the present invention;

[0016] Figure 2 This is an exploded view of the structure of the second embodiment of the present invention;

[0017] Figure 3 This is a three-dimensional structural view of the second embodiment of the present invention;

[0018] Figure 4 This is an enlarged schematic diagram of the vacuum component structure of the present invention;

[0019] Figure 5 This is an enlarged three-dimensional structural diagram of the positioning structure main support provided in an embodiment of the present invention;

[0020] Figure 6 This is an enlarged three-dimensional structural diagram of the suction cup guide plate provided in an embodiment of the present invention.

[0021] In the diagram: 1-Servo assembly, 2-Guide assembly, 3-Suction cup positioning assembly, 4-Vacuum assembly, 5-Servo bracket, 6-Servo body, 7-Servo rocker arm, 8-Suction cup lifting link, 9-Lifting link bearing, 10-First linear bearing, 11-Suction cup guide plate, 12-Positioning structure main bracket, 13-Photoelectric sensor, 14-Guide post, 15-First rotary joint, 16-Suction cup support post, 17-First suction cup upper fixing block, 18-First bearing seat, 19-First suction cup lower fixing block 20-Cleaning robot chassis, 21-Dust cover for suction cup, 22-Dust cover pressure ring, 23-First suction cup, 24-Vacuum filter, 25-Air pipe body, 26-Solenoid valve, 27-Air pipe connector, 28-Air pressure detection equipment, 29-Vacuum pump, 30-Second linear bearing, 31-Second bearing seat, 32-Linkage connecting bracket, 33-Second suction cup upper fixing block, 34-Second rotary joint, 35-Central suction cup bearing seat, 36-Second suction cup lower fixing block, 37-Second suction cup. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] 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.

[0024] 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.

[0025] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0026] Example 1

[0027] Please see Figures 1 to 4 This invention provides a technical solution: a fixed-point steering system for a cleaning robot, comprising a servo motor assembly 1, the servo motor assembly 1 including a servo motor bracket 5 and a servo motor body 6, the servo motor body 6 being fixedly connected inside the servo motor bracket 5, and a servo motor rocker arm 7 rotatably connected to the outside of the servo motor bracket 5 for use with the servo motor body 6, the servo motor body 6 being used to drive the servo motor rocker arm 7 to rotate, a suction cup lifting link 8 being rotatably connected to the side of the servo motor rocker arm 7 away from the servo motor bracket 5, a guide component 2 being installed at the bottom of the suction cup lifting link 8, and a suction cup positioning component 3 being installed at the bottom of the suction cup lifting link 8 for positioning operations.

[0028] The guide assembly 2 includes a lifting link bearing 9 and a first linear bearing 10. A suction cup guide plate 11 is installed on the outer bottom of the suction cup lifting link 8. The suction cup lifting link 8 can rotate relative to the servo arm 7 and the suction cup guide plate 11. The lifting link bearing 9 is fixedly connected inside the suction cup guide plate 11. The lifting link bearing 9 is rotatably connected to the bottom of the suction cup lifting link 8. A suction cup positioning assembly 3 is installed inside the suction cup guide plate 11. The suction cup positioning assembly 3 includes a suction cup support column 16 and a first suction cup upper fixing block 17. Multiple suction cup support columns 16 are fixedly connected inside the suction cup guide plate 11. The bottom of each suction cup support column 16 is fixedly connected to the first suction cup upper fixing block 17. A first linear bearing 10 is fixedly connected inside the suction cup guide plate 11 on the side away from the lifting link bearing 9. A first bearing seat 18 is fixedly connected to the bottom of the first suction cup upper fixing block 17.

[0029] The first bearing housing 18 is rotatably connected to a first suction cup lower fixing block 19, allowing for relative rotational movement. A first suction cup 23 is fixedly connected to the bottom of the first suction cup lower fixing block 19. A first rotary joint 15 is fixedly connected to the bottom of the first suction cup lower fixing block 19, away from the first suction cup 23, allowing for rotational movement relative to the first suction cup lower fixing block 19 via an internal bearing. The bottom of the servo motor bracket 5 is fixedly connected to the positioning structure main bracket 12, and the bottom of the positioning structure main bracket 12 is fixedly connected to the cleaning robot chassis 20. When the external control terminal is turned on, and the robot is moving forward or backward normally, the point-to-point steering system is in standby mode, with the first suction cup 23 positioned above the plane. When the robot needs to rotate... When changing direction, the walking component first stops working, and the robot is stationary. The servo motor body 6 operates, driving the servo motor rocker arm 7 to rotate. Through the crank-rocker mechanism composed of the servo motor rocker arm 7 and the rocker arm connecting rod, the suction cup guide plate 11 is lowered, thereby causing the first suction cup 23 to descend to the working surface. The suction cup dust cover 21 is extended accordingly. The servo motor body 6 is de-energized. At this time, the solenoid valve 26 is not energized. The first connection port of the solenoid valve 26 is connected to the second connection port. The vacuum pump 29 operates, removing the air from the first suction cup 23. After the air pressure detection device 28 detects that the air pressure value has dropped from atmospheric pressure to a certain range, it determines that a vacuum space has been formed inside the first suction cup 23. The first suction cup 23 is firmly pressed onto the surface of the photovoltaic panel, which is equivalent to fixing it to the photovoltaic panel. Then, cleaning is performed. The robot drive module operates, with the two side tracks moving at the same speed but in opposite directions, rotating around the first suction cup 23. At this time, the central suction cup remains stationary relative to the photovoltaic panel, ensuring that the first suction cup 23 is not dragged, causing air leakage and unstable adhesion. The first rotary joint 15 of the servo motor assembly 1 remains stationary relative to the robot body, ensuring that the air pipe body 25 connected to the first rotary joint 15 does not become entangled due to rotation. The robot body rotates relative to the first suction cup 23. After the camera determines that the rotation is complete, the vacuum pump 29 stops working, and the solenoid valve 26 operates momentarily. The first and third connection ports of the solenoid valve 26 connect, and air enters the first suction cup 23 from the third connection port through the first connection port, rapidly breaking the vacuum inside the first suction cup 23. As the suction force rapidly decreases, the solenoid valve 26 is de-energized, connecting the first and second ports. The air pressure detection device 28 detects that the air pressure is close to atmospheric pressure and determines that the first suction cup 23 can be lifted. It then controls the servo motor 6 to operate, raising the first suction cup 23. The suction cup dust cover 21 is compressed accordingly. The suction cup guide plate 11 rises until it blocks the sensing area of ​​the photoelectric sensor 13, indicating that the first suction cup 23 has been raised to its correct position. The fixed-point steering system returns to standby mode, and the cleaning robot continues to move forward. Because of the fixed-point steering mechanism, it ensures that the robot rotates in place without deviation, enhancing the accuracy and stability of the robot's turning angle. This achieves precise steering for the cleaning robot's positioning, reduces the impact on the planned cleaning path, and increases the robot's cleaning coverage.This design enhances adaptability to complex environments, enabling fully autonomous driving, reducing labor costs, maintaining stable cleaning results, and significantly improving cleaning efficiency. Furthermore, it eliminates the need for the first suction cup 23 to fully lift the machine body, preventing the entire weight of the machine from pressing on the first suction cup 23 and thus avoiding the increased pressure on the photovoltaic panels that could lead to microcracks. It also eliminates the need for a high-torque motor to lift the machine body, ensuring a simple, reliable, compact, and low-power steering mechanism.

[0030] The cleaning robot chassis 20 is equipped with a vacuum assembly 4 on its top and inside the main support frame 12 of the positioning structure. The vacuum assembly 4 includes a vacuum filter 24 and an air pipe body 25. A guide post 14 extending into the first linear bearing 10 is fixedly connected to the top of the cleaning robot chassis 20 and outside the vacuum assembly 4. The vacuum filter 24 is fixedly connected to the top of the cleaning robot chassis 20 and inside the main support frame 12 of the positioning structure. A vacuum pump 29 is fixedly connected to one side of the vacuum filter 24. A solenoid valve 26 is fixedly connected to the side of the vacuum filter 24 away from the vacuum pump 29. A pressure detection device 28 is installed on the outside of the vacuum filter 24. Both ends of the solenoid valve 26 are connected to the air pipe body 25. An air pipe connector 27 is installed on the outside of the air pipe body 25.

[0031] The vacuum pump 29 is connected to one of the air pipe bodies 25 via a PU tube. The first connection port of the solenoid valve 26 is connected to an air pipe connector 27, the second connection port of the solenoid valve 26 is connected to another air pipe connector 27, and the third connection port of the solenoid valve 26 is connected to the atmosphere. The vacuum pump 29 is connected to the first air pipe connector 27 via a PU tube. The second air pipe connector 27 is connected to the first tee connector via a PU tube. The second tee connector is connected to the first rotary joint 15 via a silicone hose. The third tee connector is connected to the third air pipe connector 27 via a silicone hose. The third air pipe connector 27 is connected to the air pressure detection device 28 via a PU tube. A photoelectric sensor 13 is fixedly connected to one side of the main support 12 of the positioning structure.

[0032] The first suction cup 23 is fixedly connected to a suction cup dust cover 21 on its outer side. The top of the suction cup dust cover 21 is fixedly connected to the bottom of the cleaning robot chassis 20. It can deform as the suction cup moves up and down, ensuring that external dust will not enter the machine body from the opening of the fixed-point turning mechanism at all times.

[0033] The first suction cup 23 is equipped with a dust cover pressure ring 22 on its outer side, which is used in conjunction with the suction cup dust cover 21. The first suction cup 23 is equipped with bolts that are evenly distributed inside. The dust cover pressure ring 22 presses the suction cup dust cover 21 onto the cleaning robot chassis 20, which increases the contact area between the suction cup dust cover 21 and the bolts and reduces the possibility of being torn.

[0034] Example 2

[0035] Please see Figures 1 to 4 The guide assembly 2 includes a second linear bearing 30 and a second bearing seat 31. The second bearing seat 31 is installed below the suction cup lifting link 8. The second linear bearing 30 is installed inside the second bearing seat 31, and the second linear bearing 30 and the second bearing seat 31 can rotate relative to each other.

[0036] A suction cup positioning assembly 3 is installed at the bottom of the second bearing seat 31. The suction cup positioning assembly 3 includes a second suction cup upper fixing block 33 and a second rotary joint 34. A connecting rod connecting bracket 32 ​​is fixedly installed on the top of the second suction cup upper fixing block 33. The connecting rod connecting bracket 32 ​​is rotatably connected to the suction cup lifting connecting rod 8. The second suction cup upper fixing block 33 is fixedly connected to the bottom of the second bearing seat 31, and can move up and down relative to the second linear bearing 30. A central suction cup bearing seat 35 is fixedly connected to the bottom of the second suction cup upper fixing block 33. A second rotary joint 34 is installed inside the central suction cup bearing seat 35. A second suction cup lower fixing block 36 is fixedly connected to one end of the second rotary joint 34. A second suction cup 37 is fixedly connected to the bottom of the second suction cup lower fixing block 36.

[0037] Among them, a vacuum assembly 4 with the same structure is installed between the fixing block 33 on the second suction cup and the central suction cup bearing seat 35. The second three-way connector is connected to the second rotary connector 34 through a silicone hose. A suction cup dust cover 21 is fixedly connected to the outside of the second suction cup 37. The suction cup dust cover 21 is stretched accordingly to achieve protection.

[0038] The servo motor assembly 1 is equipped with an external control terminal. The servo motor body 6, photoelectric sensor 13, vacuum filter 24, solenoid valve 26, air pressure detection device 28 and vacuum pump 29 are all electrically connected to the external control terminal, realizing the normal operation of the whole system.

[0039] Specifically, when using this invention, when the external control terminal is turned on and the robot is moving forward or backward normally, the fixed-point steering system is in standby mode, and the first suction cup 23 is located above the plane. When the robot needs to rotate to change its direction of travel, the walking component first stops working, and the robot is stationary. The servo motor body 6 works, driving the servo motor rocker arm 7 to rotate. Through the crank-rocker mechanism composed of the servo motor rocker arm 7 and the rocker arm connecting rod, the suction cup guide plate 11 is lowered, thereby causing the first suction cup 23 to descend to the working surface. The suction cup dust cover 21 is then extended, the servo motor body 6 is de-energized, and the solenoid valve 26 is not energized. The first connection port and the second connection port of the solenoid valve 26 are connected, and the vacuum pump 29 works, discharging the first suction cup 23... After the air is drawn away and the air pressure detection device 28 detects that the air pressure has dropped from atmospheric pressure to a certain range, it determines that a vacuum space has been formed inside the first suction cup 23. The first suction cup 23 is firmly pressed onto the surface of the photovoltaic panel, essentially fixed to it. Then, the cleaning robot drive module works, with the two side tracks moving at the same speed but in opposite directions, rotating around the first suction cup 23. At this time, the central suction cup remains stationary relative to the photovoltaic panel, ensuring that the first suction cup 23 is not dragged and causes air leakage, thus preventing unstable adhesion. The first rotary joint 15 of the servo motor assembly 1 remains stationary relative to the body, ensuring that the air pipe body 25 connected to the first rotary joint 15 does not become entangled due to rotation. The body rotates relative to the first suction cup 23, and the camera determines that the vacuum has been established after the rotation is complete. Pump 29 stops working. For a brief moment, solenoid valve 26 activates, connecting its first and third ports. Air enters the first suction cup 23 from the third port through the first port, rapidly disrupting the vacuum and causing a sharp drop in suction force. After solenoid valve 26 is de-energized, the first and second ports connect. The air pressure detection device 28 detects that the air pressure is close to atmospheric pressure and determines that the first suction cup 23 can be lifted. It then controls the servo motor 6 to lift the first suction cup 23, compressing the suction cup dust cover 21. The suction cup guide plate 11 rises until it blocks the sensing area of ​​the photoelectric sensor 13. Once the first suction cup 23 is in position, the stationary steering system returns to standby mode, and the cleaning robot continues forward. Furthermore, the adoption of a fixed-point steering mechanism ensures that the robot can rotate in place without deviation, enhancing the accuracy and stability of the robot's steering angle. This enables precise steering of the robot's positioning, reduces the impact on the planned cleaning path, increases the robot's cleaning coverage, enhances its adaptability to complex environments, achieves fully autonomous driving, reduces labor costs, maintains stable cleaning results, and greatly improves cleaning efficiency. At the same time, it eliminates the need for the first suction cup 23 to lift the entire body, preventing the entire weight of the robot from pressing on the first suction cup 23 and avoiding the possibility of increased pressure on the photovoltaic panel caused by the first suction cup 23, which could lead to microcracks. It also eliminates the need for a high-torque motor to lift the body, ensuring that the steering mechanism is simple, reliable, small in size, and low in power consumption.

[0040] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A point-to-point steering system for a cleaning robot, comprising a servo motor assembly (1), characterized in that: The servo assembly (1) includes a servo bracket (5) and a servo body (6). The servo body (6) is fixedly connected inside the servo bracket (5). A servo rocker arm (7) that works with the servo body (6) is rotatably connected to the outside of the servo bracket (5). The servo body (6) can be used to drive the servo rocker arm (7) to rotate. A suction cup lifting link (8) is rotatably connected to the side of the servo rocker arm (7) away from the servo bracket (5). A guide assembly (2) is installed at the bottom of the suction cup lifting link (8). A suction cup positioning assembly (3) is installed at the bottom of the suction cup lifting link (8). The guide assembly (2) includes a second linear bearing (30) and a second bearing seat (31). The second bearing seat (31) is installed below the suction cup lifting link (8). The second linear bearing (30) is installed inside the second bearing seat (31), and the second linear bearing (30) and the second bearing seat (31) rotate together. The suction cup positioning assembly (3) includes a second suction cup upper fixing block (33) and a second rotary joint (34). A connecting rod connecting bracket (32) is fixedly installed on the top of the second suction cup upper fixing block (33). The connecting rod connecting bracket (32) is rotatably connected to the suction cup lifting connecting rod (8). The second suction cup upper fixing block (33) is fixedly connected to the bottom of the second bearing seat (31), and can move up and down relative to the second linear bearing (30). The central suction cup bearing seat (35) is fixedly connected to the bottom of the second suction cup upper fixing block (33). The second suction cup lower fixing block (36) is fixedly connected to one end of the second rotary joint (34). The second rotary joint (34) is installed on the upper part of the second suction cup lower fixing block (36). The second suction cup (37) is fixedly connected to the bottom of the second suction cup lower fixing block (36).

2. The point-to-point steering system for a cleaning robot according to claim 1, characterized in that: The bottom of the servo bracket (5) is fixedly connected to the positioning structure main bracket (12), and the bottom of the positioning structure main bracket (12) is fixedly connected to the cleaning robot chassis (20).

3. The point-to-point steering system for a cleaning robot according to claim 2, characterized in that: The main support (12) of the positioning structure is equipped with a vacuum assembly (4). The vacuum assembly (4) includes a vacuum filter (24) and a tracheal body (25). The vacuum filter (24) is fixedly connected to the upper part of the main support (12) of the positioning structure. A vacuum pump (29) is fixedly connected to one side of the vacuum filter (24). A solenoid valve (26) is fixedly connected to the side of the vacuum filter (24) away from the vacuum pump (29). A pressure detection device (28) is installed on the outside of the vacuum filter (24). Both ends of the solenoid valve (26) are connected to the tracheal body (25). A tracheal connector (27) is installed on the outside of the tracheal body (25).

4. The point-to-point steering system for a cleaning robot according to claim 3, characterized in that: The vacuum pump (29) is connected to one of the air tube bodies (25) through a PU tube, and a photoelectric sensor (13) is fixedly connected to one side of the positioning structure main support (12).

5. The point-to-point steering system for a cleaning robot according to claim 1, characterized in that: A vacuum assembly (4) is installed between the fixing block (33) on the second suction cup and the central suction cup bearing seat (35), and a suction cup dust cover (21) is fixedly connected to the outside of the second suction cup (37).

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