Lightly loaded intelligent robotic tooling cleaning apparatus

Abstract

This invention discloses a lightweight intelligent robotic tool-type cleaning equipment. The invention relates to the field of machining center cleaning technology and includes an anti-winding mechanism fixedly connected to the bottom of the inner side of the device wall. When a drill bit of a drilling device drills into metal materials, metal shavings are wrapped around its surface. The anti-winding mechanism is used to clean the drill bit. It includes a second rotating wall and a rotating assembly, with a fixed cylinder fixedly connected to the surface of the second rotating wall. In this lightweight intelligent robotic tool-type cleaning equipment, after the drill bit completes the drilling process, metal shavings are wrapped around its surface. The first rotating wall drives the second rotating wall to approach the drill bit. During this process, the second rotating wall remains parallel to the ground. When the fixed cylinder is directly below the drill bit, the rotating assembly drives the lifting assembly to rotate and move upward, thereby scraping away the metal shavings adhering to the drill bit surface. This solves the problem that axial cleaning during tool magazine rotation easily leads to tool breakage.

Description

Technical Field

[0001] This invention relates to the field of machining center cleaning technology, specifically to a light-duty intelligent robotic tool-type cleaning equipment. Background Technology

[0002] During the machining of aluminum parts, chips often become entangled on the cutting tool, forming a spherical shape. If not cleaned promptly, these spherical chips can easily scratch the surface of the next workpiece, affecting its surface quality. In precision hole machining, these spherical chips cause instability and can easily lead to tool breakage. Existing tool magazine cleaning devices utilize the rotation of the tool magazine and employ a lateral cleaning method to remove the tools from the magazine. However, this method is prone to tool breakage during the cleaning process. With the rapid development of technology, the demand for intelligent and automated systems is increasing, especially in the industrial machinery manufacturing sector. Intelligent robots are gradually replacing human labor in harsh environments. Compared to humans, intelligent robots can operate regardless of the working environment and offer higher precision. Therefore, intelligent robots have been widely adopted. Currently, common cleaning operations such as cutting, grinding, and chamfering of workpieces are often performed using machining centers. However, machining centers are limited by their multi-axis rotation and tool magazine space design, taking up considerable space. If combined with a gantry robot, the required gantry length is excessive, further increasing the factory's space utilization costs.

[0003] Existing lightweight intelligent robotic tool-type cleaning equipment has structural design flaws, such as tool breakage caused by the tool magazine rotating during axial cleaning, and wear on the track surface caused by unremoved metal debris during operation. Summary of the Invention

[0004] This invention provides a lightweight intelligent robotic cleaning tool that solves the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a lightweight intelligent robotic tool-type cleaning device, comprising...

[0006] The device wall has an opening and closing door rotatably connected to its surface, a control box fixedly connected to its surface, and a drilling device fixedly connected to its top. A metal billet is placed above the anti-wear mechanism. The drilling device moves along the X and Z axes, and the anti-wear mechanism moves along the Y axis, thereby drilling holes in the surface of the metal billet.

[0007] An anti-winding mechanism is fixedly connected to the bottom of the inner side of the device wall. When the drill bit of the drilling equipment drills into metal materials, metal chips are wrapped around the surface of the drill bit. The anti-winding mechanism is used to clean the drill bit of the drilling equipment. It includes a second rotating wall and a rotating assembly. A fixed cylinder is fixedly connected to the surface of the second rotating wall, and a lifting assembly is slidably connected to the surface of the rotating assembly. The second rotating wall is located near the lower part of the drilling equipment. The rotating assembly drives the lifting assembly to move upward, and the inner side of the lifting assembly scrapes away the drill chips from the surface of the drill bit.

[0008] The wear-resistant mechanism is located at the bottom of the inner side of the device wall and is used to place the metal billet. The drilling equipment drills holes in the metal billet, and the metal chips are collected and cleaned by the wear-resistant mechanism.

[0009] Preferably, the end of the second rotating wall away from the fixed cylinder is rotatably connected to the first rotating wall, and the end of the first rotating wall away from the second rotating wall is rotatably connected to the rotating seat. The bottom of the rotating seat is fixedly connected to the bottom of the inner side of the device wall. The second rotating wall drives the fixed cylinder to approach the drill bit. When the fixed cylinder is directly below the drill bit, the motor drives the gear to rotate, and the fixed cylinder supports and limits the upper position of the rotating cylinder surface.

[0010] Preferably, the rotating assembly includes a motor, the bottom of which is fixedly connected to the lower part of the surface of the fixed cylinder, and a gear is fixedly connected to the rotating shaft at the output end of the motor.

[0011] Preferably, a rotating cylinder is rotatably connected to the upper position of the fixed cylinder surface, a toothed surface is formed at the lower position of the rotating cylinder surface, and a sliding groove is formed on the surface of the rotating cylinder, the sliding groove being spiral in shape.

[0012] Preferably, the lifting assembly includes a sliding pin, the surface of which is slidably connected to the surface of the rotating cylinder near the sliding groove, and the lifting cylinder is fixedly connected to the surface of the sliding pin.

[0013] Preferably, a nozzle is fixedly connected to the top of the lifting cylinder, the output end of the nozzle is deflected in a vertical direction, and a brush is fixedly connected to the inner side of the lifting cylinder.

[0014] Preferably, the wear-resistant mechanism includes a fixed platform, the bottom of which is fixedly connected to the bottom of the inner side of the device wall, and a sliding table is slidably connected to the surface of the fixed platform.

[0015] Preferably, a platform is fixedly connected to the top of the slide, and a spiral groove is formed on the top of the platform. A drive component is fixedly connected to the surface of the platform, and a scraping component is fixedly connected above the surface of the drive component. A metal billet is placed above the platform near the spiral groove. When the drill bit moves downward, it performs drilling operations on the metal billet. This device uses a lightly loaded industrial robot to replace the axial cleaning operation of the tool magazine.

[0016] Preferably, the driving component includes a connecting plate, the surface of which is fixedly connected to the surface of the shelf, and a driving device is fixedly connected to the surface of the connecting plate.

[0017] Preferably, the rotating shaft at the output end of the drive device is fixedly connected to a worm gear, and the inner side of the platform is rotatably connected to a worm wheel. The surface of the worm gear meshes with the surface of the worm wheel. The slide slides on the surface of the fixed platform and works with the drilling equipment to process the metal billet. The drive device drives the worm gear to rotate, and the surface of the worm gear meshes with the surface of the worm wheel.

[0018] Preferably, the scraping assembly includes a fixing plate, the bottom of which is fixedly connected to the upper position of the worm gear surface, and a slider is fixedly connected to the inner side of the fixing plate.

[0019] Preferably, the surface of the platform is slidably connected to the surface of the slider, a rubber strip is fixedly connected to the upper part of the platform surface, and a hole is opened in the middle of the inner side of the platform. The slider slides on the surface of the platform, making the rotation of the fixed plate by the worm gear more stable and reliable. The end of the rubber strip away from the fixed plate extends to the middle of the platform.

[0020] This invention provides a lightweight intelligent robotic cleaning tool. It offers the following advantages:

[0021] 1. This lightweight intelligent robotic tool-type cleaning equipment has metal shavings rolled around its surface after the drill bit completes the drilling process. The first rotating wall drives the second rotating wall to approach the drill bit. During this process, the second rotating wall remains parallel to the ground. When the fixed cylinder is directly below the drill bit, the rotating component drives the lifting component to rotate and move upward, thereby scraping off the metal shavings adhering to the surface of the drill bit. This solves the problem that the tool breakage is easily caused by the tool magazine rotating axially for cleaning.

[0022] 2. This lightweight intelligent robotic tool-type cleaning equipment uses gears whose tooth surfaces mesh with the surface of a rotating cylinder. The gears drive the rotating cylinder to rotate, and the spiral-shaped sliding groove causes the sliding pin to slide. The sliding pin slides upward along the sliding groove, causing the lifting cylinder to rotate and move upward. The surface of the brush comes into direct contact with the surface of the drill bit, and the brush scrapes off the metal shavings adhering to the surface of the drill bit. The metal shavings are collected by the lifting cylinder, thus preventing metal shavings from adhering to the surface of the drill bit.

[0023] 3. This lightweight intelligent robotic tool-type cleaning equipment features a lifting component that moves upwards under the drive of a rotating component. It scrapes away metal shavings by scraping, effectively preventing damage to the drill bit during the cleaning process. The metal shavings generated from the metal billet are collected and stored through a spiral groove. The scraping component scrapes the spiral groove, effectively preventing metal shavings from adhering to the surface of the fixed platform. This solves the problem that uncleaned metal shavings on the track will cause wear on the track surface during operation.

[0024] 4. This lightweight intelligent robotic tool-type cleaning equipment uses a worm gear that rotates to drive a worm wheel to rotate on the inner side of the platform. A connecting plate supports the worm gear and the driving device. Metal shavings are thrown to the top of the platform. The rotation of the worm wheel causes the rubber strip to rotate, and the surface of the rubber strip directly contacts the top of the platform, thereby guiding the thrown metal shavings into the spiral groove, preventing metal shavings from remaining on the top of the platform and causing wear on the metal blank.

[0025] 5. This lightweight intelligent robotic cleaning tool uses rubber strips to move metal shavings from the top of the platform into the spiral groove. A sliding pin drives the lifting cylinder to move upward in a spiral motion. A brush scrapes away long chips adhering to the drill bit surface. A nozzle sprays oil to maintain and cool the drill bit. The coiled long chips remain inside the lifting cylinder. Liquid water is introduced into the spiral groove to collect short chips. The rinsing liquid and short chips are discharged through holes inside the platform. The lifting cylinder prevents long chips from clogging the spiral groove. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the lightweight intelligent robot tool-type cleaning equipment of the present invention;

[0027] Figure 2 This is a schematic diagram of the internal structure of the lightweight intelligent robot tool-type cleaning equipment of the present invention;

[0028] Figure 3 This is a schematic diagram of the anti-winding mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the rotating assembly of the present invention;

[0030] Figure 5 This is a schematic diagram of the lifting assembly of the present invention;

[0031] Figure 6 This is a schematic diagram of the anti-wear mechanism of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the component driven by the present invention;

[0033] Figure 8This is a schematic diagram of the scraping component of the present invention.

[0034] In the diagram: 1. Device wall; 2. Opening / closing door; 3. Control box; 4. Drilling equipment; 5. Anti-winding mechanism; 51. Rotating seat; 52. First rotating wall; 53. Second rotating wall; 54. Fixed cylinder; 55. Rotating assembly; 551. Motor; 552. Gear; 553. Rotating cylinder; 554. Tooth surface; 56. Lifting assembly; 561. Sliding pin; 562. Lifting cylinder; 563. Nozzle; 564. Brush; 6. Anti-wear mechanism; 61. Fixed platform; 62. Slide table; 63. Storage platform; 64. Spiral groove; 65. Driving assembly; 651. Connecting plate; 652. Driving equipment; 653. Worm; 654. Worm wheel; 66. Scraping assembly; 661. Fixed plate; 662. Slider; 663. Rubber strip. Detailed Implementation

[0035] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figures 1-3 As shown, the present invention provides a technical solution: a lightweight intelligent robotic tool-type cleaning equipment, including...

[0037] Device wall 1, with an opening and closing door 2 rotatably connected to the surface of device wall 1, a control box 3 fixedly connected to the surface of device wall 1, and a drilling device 4 fixedly connected to the top of device wall 1.

[0038] The anti-winding mechanism 5 is fixedly connected to the bottom of the inner side of the device wall 1. When the drill bit of the drilling equipment 4 drills into the metal material, metal chips are wrapped around the surface of the drill bit. The anti-winding mechanism 5 is used to clean the drill bit of the drilling equipment 4. It includes a second rotating wall 53 and a rotating assembly 55. A fixed cylinder 54 is fixedly connected to the surface of the second rotating wall 53. A lifting assembly 56 is slidably connected to the surface of the rotating assembly 55. The second rotating wall 53 is located near the lower part of the drilling equipment 4. The rotating assembly 55 drives the lifting assembly 56 to move upward. The inner side of the lifting assembly 56 scrapes away the drill chips from the surface of the drill bit.

[0039] The first rotating wall 52 is rotatably connected to the end of the second rotating wall 53 away from the fixed cylinder 54, and the rotating seat 51 is rotatably connected to the end of the first rotating wall 52 away from the second rotating wall 53. The bottom of the rotating seat 51 is fixedly connected to the bottom of the inner side of the device wall 1.

[0040] The anti-wear mechanism 6 is located at the bottom of the inner side of the device wall 1. It is used to place the metal billet, and the drilling equipment 4 drills holes in the metal billet. The metal chips are collected and cleaned by the anti-wear mechanism 6.

[0041] In use, the metal billet is placed above the anti-wear mechanism 6. The drilling device 4 moves along the X and Z axes, and the anti-wear mechanism 6 moves along the Y axis, thereby drilling a hole in the surface of the metal billet. After the drill bit completes the drilling process, metal chips will be rolled around the surface. The first rotating wall 52 drives the second rotating wall 53 to approach the drill bit. During this process, the second rotating wall 53 remains parallel to the ground. When the fixed cylinder 54 is directly below the drill bit, the rotating component 55 drives the lifting component 56 to rotate and move upward, thereby scraping off the metal chips adhering to the surface of the drill bit. This solves the problem that the tool breakage is easily caused by the tool magazine rotating for axial cleaning.

[0042] like Figure 3 , Figure 4 , Figure 5 As shown, the rotating assembly 55 includes a motor 551, the bottom of which is fixedly connected to the lower part of the surface of the fixed cylinder 54. A gear 552 is fixedly connected to the shaft at the output end of the motor 551. A rotating cylinder 553 is rotatably connected to the upper part of the surface of the fixed cylinder 54. A toothed surface 554 is provided at the lower part of the surface of the rotating cylinder 553. A sliding groove with a spiral shape is provided on the surface of the rotating cylinder 553. The lifting assembly 56 includes a sliding pin 561, the surface of which is slidably connected to the surface of the rotating cylinder 553 near the sliding groove. A lifting cylinder 562 is fixedly connected to the surface of the sliding pin 561. A nozzle 563 is fixedly connected to the top of the lifting cylinder 562. The output end of the nozzle 563 is deflected in the vertical direction. A brush 564 is fixedly connected to the inner side of the lifting cylinder 562.

[0043] In use, the second rotating wall 53 drives the fixed cylinder 54 to approach the drill bit. When the fixed cylinder 54 is directly below the drill bit, the motor 551 drives the gear 552 to rotate. The fixed cylinder 54 supports and limits the upper position of the rotating cylinder 553. The surface of the gear 552 meshes with the surface of the rotating cylinder 553 through the tooth surface 554. The gear 552 drives the rotating cylinder 553 to rotate. The spiral-shaped sliding groove causes the sliding pin 561 to slide. The sliding pin 561 slides upward along the sliding groove, causing the lifting cylinder 562 to rotate and move upward. The surface of the brush 564 directly contacts the surface of the drill bit. The brush 564 scrapes away the metal chips adhering to the surface of the drill bit. The metal chips are collected by the lifting cylinder 562, thereby preventing the metal chips from adhering to the surface of the drill bit.

[0044] like Figure 3 , Figure 6As shown, a lifting component 56 is slidably connected to the surface of the rotating component 55. The second rotating wall 53 is located near the lower part of the drilling device 4. The rotating component 55 drives the lifting component 56 to move upward. The inner side of the lifting component 56 scrapes away the drill chips from the surface of the drill bit. The anti-wear mechanism 6 is located at the bottom of the inner side of the device wall 1 and is used to place the metal billet. The drilling device 4 drills holes in the metal billet, and the metal chips are collected and cleaned by the anti-wear mechanism 6. The anti-wear mechanism 6 includes a fixed platform 61. The bottom of the fixed platform 61 is fixedly connected to the bottom of the inner side of the device wall 1. A slide 62 is slidably connected to the surface of the fixed platform 61. A shelf 63 is fixedly connected to the top of the slide 62. A spiral groove 64 is opened on the top of the shelf 63. A driving component 65 is fixedly connected to the surface of the shelf 63. A scraping component 66 is fixedly connected to the upper part of the surface of the driving component 65.

[0045] In use, a metal billet is placed above the platform 63 near the spiral groove 64. When the drill bit moves downward, it drills holes in the metal billet. This device uses a lightly loaded industrial robot to replace the axial cleaning operation of the tool magazine. The lifting component 56 moves upward under the drive of the rotating component 55 and scrapes away metal chips by scraping, which can effectively prevent the drill bit from being damaged during the cleaning process. The metal chips generated by the metal billet are collected and stored through the spiral groove 64. The scraping component 66 scrapes the spiral groove 64, which can effectively prevent metal chips from adhering to the surface of the fixed platform 61, thus solving the problem that the metal chips that are not cleaned on the track will cause wear on the track surface during operation.

[0046] like Figure 6 , Figure 7 , Figure 8 As shown, the driving component 65 includes a connecting plate 651, the surface of which is fixedly connected to the surface of the platform 63. A driving device 652 is fixedly connected to the surface of the connecting plate 651. A worm gear 653 is fixedly connected to the shaft at the output end of the driving device 652. A worm wheel 654 is rotatably connected to the inner side of the platform 63. The surface of the worm gear 653 meshes with the surface of the worm wheel 654. The scraping component 66 includes a fixing plate 661, the bottom of which is fixedly connected to the upper position of the surface of the worm wheel 654. A slider 662 is fixedly connected to the inner side of the fixing plate 661. The surface of the platform 63 is slidably connected to the surface of the slider 662. A rubber strip 663 is fixedly connected to the upper position of the surface of the platform 63. A hole is opened in the middle of the inner side of the platform 63.

[0047] In use, the slide table 62 slides on the surface of the fixed table 61, and works with the drilling equipment 4 to process the metal billet. The equipment 652 drives the worm gear 653 to rotate. The surface of the worm gear 653 meshes with the surface of the worm wheel 654. The rotation of the worm gear 653 drives the worm wheel 654 to rotate on the inner side of the platform 63. The connecting plate 651 supports the worm gear 653 and the driving equipment 652. The metal chips are thrown to the upper position of the platform 63. The rotation of the worm wheel 654 causes the rubber strip 663 to rotate. The surface of the rubber strip 663 directly contacts the top of the platform 63, thereby pushing the thrown metal chips into the spiral groove 64, avoiding the problem of metal chips remaining on the top of the platform 63 and causing wear on the metal billet.

[0048] like Figure 5 , Figure 8 As shown, the surface of the sliding pin 561 is slidably connected to the surface of the rotating cylinder 553 near the sliding groove. The surface of the sliding pin 561 is fixedly connected to the lifting cylinder 562. The top of the lifting cylinder 562 is fixedly connected to the nozzle 563. The output end of the nozzle 563 is deflected in the vertical direction. The inner side of the lifting cylinder 562 is fixedly connected to the brush 564. The bottom of the fixing plate 661 is fixedly connected to the upper position of the surface of the worm gear 654. The inner side of the fixing plate 661 is fixedly connected to the slider 662. The surface of the shelf 63 is slidably connected to the surface of the slider 662. The upper position of the surface of the shelf 63 is fixedly connected to the rubber strip 663. A hole is opened in the middle of the inner side of the shelf 63.

[0049] In use, the slider 662 slides on the surface of the platform 63, making the rotation of the fixed plate 661 by the worm gear 654 more stable and reliable. The end of the rubber strip 663 away from the fixed plate 661 extends to the middle of the platform 63. The rubber strip 663 pushes the metal shavings on the top of the platform 63 into the spiral groove 64. The sliding pin 561 drives the lifting cylinder 562 to move spirally upward. The brush 564 scrapes away the long chips adhering to the surface of the drill bit. The nozzle 563 sprays oil to maintain and cool the drill bit. The coiled long chips are left inside the lifting cylinder 562. Liquid water is introduced into the spiral groove 64 to collect the short chips. The rinsing liquid and short chips are discharged through the holes inside the platform 63. The lifting cylinder 562 can prevent long chips from clogging the spiral groove 64.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A lightweight intelligent robotic cleaning tool, characterized in that: include The device wall (1) has an opening and closing door (2) rotatably connected to its surface, a control box (3) fixedly connected to its surface, and a drilling device (4) fixedly connected to its top. The anti-winding mechanism (5) is fixedly connected to the bottom of the inner side of the device wall (1). When the drill bit of the drilling equipment (4) drills a hole in the metal material, metal chips are wrapped around the surface of the drill bit. The anti-winding mechanism (5) is used to clean the drill bit of the drilling equipment (4). It includes a second rotating wall (53) and a rotating assembly (55). A fixed cylinder (54) is fixedly connected to the surface of the second rotating wall (53). A lifting assembly (56) is slidably connected to the surface of the rotating assembly (55). The second rotating wall (53) is located near the lower part of the drilling equipment (4). The rotating assembly (55) drives the lifting assembly (56) to move upward. The inner side of the lifting assembly (56) scrapes away the drill chips from the surface of the drill bit. The anti-wear mechanism (6) is located at the bottom of the inner side of the device wall (1) and is used to place the metal billet. The drilling equipment (4) drills the metal billet, and the metal chips are collected and cleaned by the anti-wear mechanism (6). The rotating assembly (55) includes a motor (551), the bottom of which is fixedly connected to the lower part of the surface of the fixed cylinder (54), and a gear (552) is fixedly connected to the shaft at the output end of the motor (551). The wear-resistant mechanism (6) includes a fixed platform (61), the bottom of which is fixedly connected to the bottom of the inner side of the device wall (1), and a sliding platform (62) is slidably connected to the surface of the fixed platform (61). A rotating cylinder (553) is rotatably connected to the upper part of the surface of the fixed cylinder (54), a toothed surface (554) is provided at the lower part of the surface of the rotating cylinder (553), and a sliding groove is provided on the surface of the rotating cylinder (553), which is spiral in shape. The lifting assembly (56) includes a sliding pin (561), the surface of the sliding pin (561) is slidably connected to the surface of the rotating cylinder (553) near the sliding groove, and the lifting cylinder (562) is fixedly connected to the surface of the sliding pin (561). A nozzle (563) is fixedly connected to the top of the lifting cylinder (562), the output end of the nozzle (563) is deflected in the vertical direction, and a brush (564) is fixedly connected to the inner side of the lifting cylinder (562). A shelf (63) is fixedly connected to the top of the slide (62), a drive assembly (65) is fixedly connected to the surface of the shelf (63), and a scraping assembly (66) is fixedly connected above the surface of the drive assembly (65). The driving component (65) includes a connecting plate (651), the surface of which is fixedly connected to the surface of the platform (63), a driving device (652) is fixedly connected to the surface of the connecting plate (651), a worm gear (653) is fixedly connected to the shaft at the output end of the driving device (652), a worm wheel (654) is rotatably connected to the inner side of the platform (63), the surface of the worm gear (653) meshes with the surface of the worm wheel (654), the scraping component (66) includes a fixing plate (661), the bottom of the fixing plate (661) is fixedly connected to the upper position of the surface of the worm wheel (654), a slider (662) is fixedly connected to the inner side of the fixing plate (661), the surface of the platform (63) is slidably connected to the surface of the slider (662), and a rubber strip (663) is fixedly connected to the upper position of the surface of the platform (63). The rotation of the worm gear (654) causes the rubber strip (663) to rotate, and the worm gear (654) drives the fixed plate (661) to rotate.

2. The lightweight intelligent robotic tool-type cleaning equipment according to claim 1, characterized in that: The second rotating wall (53) is rotatably connected to the first rotating wall (52) at the end away from the fixed cylinder (54), and the first rotating wall (52) is rotatably connected to the rotating seat (51) at the end away from the second rotating wall (53). The bottom of the rotating seat (51) is fixedly connected to the bottom of the inner side of the device wall (1).

3. The lightweight intelligent robotic tool-type cleaning equipment according to claim 1, characterized in that: The top of the shelf (63) is provided with a spiral groove (64).

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