Adaptive adjustment mechanism and cleaning device

Abstract

The application provides a self-adaptive adjusting mechanism and a cleaning device, which comprises a brush assembly, a driving mechanism, a counterweight module and a guide rail assembly; the brush assembly is installed on the driving mechanism and realizes lifting movement through the driving mechanism; the driving mechanism and the counterweight module are slidingly installed on the guide rail assembly through a support bracket of the counterweight module; a movable counterweight block is arranged in the counterweight module; the counterweight block realizes exerting pressure on the brush assembly by pressing on the driving mechanism. The application measures the flatness of the ground through a measuring unit on a winding device, adjusts the position of the brush according to the flatness of the ground in cooperation with a motor and a linear electric cylinder, realizes the same adhesion of the brush assembly when the flatness of the road surface changes, improves the cleaning efficiency and reduces the manufacturing cost.

Description

Technical Field

[0001] This invention relates to the field of cleaning device technology, and more specifically, to an adaptive adjustment mechanism and a cleaning device. Background Technology

[0002] Mobile platforms typically include cleaning components, such as brushes, for sweeping away items and dust from the ground. During operation, the brushes remain in a fixed position relative to the platform. However, when the road surface is uneven, the platform moves up and down, causing the adhesion between the brushes and the ground to constantly change, which can easily lead to incomplete cleaning and accelerated brush wear. Furthermore, existing mobile platforms equipped with cleaning components lack ground flatness measurement capabilities, requiring additional measuring equipment and increasing costs.

[0003] For example, patent CN108478119A discloses a robotic vacuum cleaner for cleaning oil stains on wooden floors with oil stain detection capabilities. First, it employs dual-motor rotation to combat the problem of oil stain adhesion. Second, it uses a cleaning roller composed of a sponge and cotton; the sponge absorbs water, and the cotton fibers easily adhere to the oil stain layer, turning the oil-laden fibers into particles during cleaning. Third, it uses timed dual water spraying, ensuring that later layers of oil stains are treated with high-temperature water, while thinner layers are treated with low-temperature water, preventing the floor from warping due to heat. Patent CN216417054U discloses an adaptive cleaning device for a robotic vacuum cleaner, including a mounting bracket for a side brush wheel. An elastic component is fixed below the mounting bracket, and a drive motor is mounted on the elastic component. A mounting plate is coaxially connected to the shaft end of the drive motor. A fixed plate is fixed below the mounting plate, and a cleaning component is located between the fixed plate and the mounting plate. The cleaning component includes a horizontally positioned push ring, and a bristle component is vertically mounted at the bottom of the push ring. The lower end of the bristle component extends through the fixed plate. A drive mechanism on the mounting plate drives the push ring to move up and down vertically. A distance sensor on the underside of the mounting plate detects the distance between the fixed plate and the ground. A control module is fixed on the fixed plate, and both the drive mechanism and the distance sensor are electrically connected to the control module. Currently, existing cleaning equipment does not have a ground flatness measurement function, resulting in incomplete cleaning and accelerated brush wear.

[0004] Therefore, there is a demand in the industry for a cleaning device that can adjust the position of the brush according to the flatness of the ground, has a good cleaning effect, and is low in cost. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide an adaptive adjustment mechanism and a cleaning device.

[0006] The adaptive adjustment mechanism provided by the present invention includes: a brush assembly, a drive mechanism, a counterweight module, and a guide rail assembly;

[0007] The brush assembly is mounted on the drive mechanism and moves up and down through the drive mechanism. The drive mechanism and the counterweight module are slidably mounted on the guide rail assembly through the support bracket of the counterweight module. The counterweight module is provided with a movable counterweight block. The counterweight block applies pressure to the brush assembly by pressing on the drive mechanism.

[0008] Preferably, the drive mechanism includes: a four-bar linkage, a connecting rod assembly, and a drive module;

[0009] The connecting rod assembly is provided with the four-bar linkage at both ends. The brush assembly is mounted on the support bracket through the four-bar linkage. The drive module is mounted on the four-bar linkage and drives the four-bar linkage to deform, thereby realizing the lifting and lowering movement of the brush assembly.

[0010] Preferably, the four-bar linkage includes: a first link, a second link, a third link, and a fourth link;

[0011] The first link, the second link, the third link, and the fourth link are connected and rotated end to end in sequence to form a quadrilateral frame;

[0012] The second link is fixedly connected to the support bracket, and the fourth link is connected to the brush assembly.

[0013] Preferably, the drive module includes: a linear electric cylinder;

[0014] One end of the linear electric cylinder is coaxially rotatably connected to the hinge point of the first connecting rod and the second connecting rod, and the other end is coaxially rotatably connected to the hinge point of the third connecting rod and the fourth connecting rod. When the actuator of the linear electric cylinder extends or retracts, the fourth connecting rod moves up or down relative to the second connecting rod, thereby realizing the up or down movement of the brush assembly relative to the support bracket.

[0015] Preferably, the connecting rod assembly includes: an upper connecting rod and a lower connecting rod;

[0016] The upper connecting rod is connected at both ends to the hinge points of the first and fourth links of the four-bar linkage on both sides, and the lower connecting rod is connected at both ends to the hinge points of the second and third links of the four-bar linkage on both sides.

[0017] Preferably, the brush assembly includes: a brush and a mounting bracket;

[0018] The brush is mounted on the mounting bracket, which is mounted on the fourth link via a mounting plate.

[0019] Preferably, the guide rail assembly includes: a slider, a limiting plate, and a guide rail;

[0020] The slider is fixedly connected to the support bracket, and the slider is slidably connected to the guide rail. The guide rail is provided with limiting plates at both ends.

[0021] Preferably, the counterweight module further includes: a counterweight block, a cable reel, and a motor;

[0022] The counterweight is connected to the cable reel via a traction rope. The cable reel is connected to the output end of the motor. The motor drives the cable reel to press or release the counterweight from the support bracket. The motor is mounted on the limiting plate.

[0023] Preferably, the support bracket includes: a rear connecting plate, a side connecting plate, and a bottom connecting plate;

[0024] The rear connecting plate is connected to the bottom connecting plate, and the side connecting plates and the second connecting rod of the drive mechanism are respectively connected to the sides of the rear connecting plate and the bottom connecting plate. The slider is connected to the rear connecting plate.

[0025] A limiting groove is provided on the side connecting plate, and a limiting pin is installed in the limiting groove. The limiting pin is connected to the counterweight.

[0026] Preferably, the winding reel is provided with a measuring unit, the measuring unit is connected to a control device, the control device is connected to the linear electric cylinder of the motor and the drive mechanism, and the measuring unit is a displacement sensor.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] This application measures the flatness of the ground using a measuring unit on a cable reel. Based on the flatness of the ground, the position of the brush is adaptively adjusted in conjunction with the motor and linear electric cylinder. This ensures that the adhesion of the brush assembly remains the same when the road surface flatness changes, thereby improving cleaning efficiency and reducing manufacturing costs. Attached Figure Description

[0029] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the three-dimensional structure of the cleaning device;

[0031] Figure 2 This is a front view of the cleaning device;

[0032] Figure 3 This is a schematic diagram of the adaptive adjustment mechanism;

[0033] Figure 4 This is a schematic diagram of the guide rail assembly.

[0034] Figure 5 A side view of the first state of the drive mechanism;

[0035] Figure 6 A side view of the second state of the drive mechanism;

[0036] Figure 7 This is a structural diagram of the support bracket for the counterweight module;

[0037] As shown in the figure:

[0038] Detailed Implementation

[0039] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0040] Example 1

[0041] like Figure 1 and Figure 2 As shown, this embodiment provides a cleaning device that can adaptively adjust, including: a dust cover, a self-moving platform 2, and an adaptive adjustment mechanism 3; the adaptive adjustment mechanism 3 is installed on the side of the self-moving platform 2, and a dust cover is provided on the outside of the adaptive adjustment mechanism 3.

[0042] like Figure 3 As shown, the adaptive adjustment mechanism 3 includes a brush assembly, a drive mechanism, a counterweight module, and a guide rail assembly. The brush assembly is mounted on the drive mechanism and moves up and down via the drive mechanism. The drive mechanism and the counterweight module are slidably mounted on the guide rail assembly via a support bracket 330 of the counterweight module. A movable counterweight block 341 is provided inside the counterweight module, and the counterweight block 341 applies pressure to the brush assembly by pressing against the drive mechanism. The counterweight module is mounted on the self-moving platform 2 via the guide rail assembly.

[0043] The brush assembly includes a brush 311 and a mounting bracket 312; the brush 311 is mounted on the mounting bracket 312, and the mounting bracket 312 is mounted on the fourth link 324 of the four-bar linkage 320 via a mounting plate 355.

[0044] The counterweight module also includes: a counterweight block 341, a cable reel 342, and a motor 343; the counterweight block 341 is connected to the cable reel 342 via a traction rope, the cable reel 342 is connected to the output end of the motor 343, the motor 343 drives the cable reel 342 to move the counterweight block 341 to press or detach from the support bracket 330, and the motor 343 is mounted on the limit plate 352; a measuring unit is set on the cable reel 342, the measuring unit is connected to a control device, and the control device is connected to the motor 343 and the linear electric cylinder 360 of the drive mechanism.

[0045] like Figure 4 As shown, the guide rail assembly includes: a slider 351, a limiting plate 352, and a guide rail 353; the slider 351 is fixedly connected to the support bracket 330, the slider 351 is slidably connected to the guide rail 353, and the limiting plates 352 are provided at both ends of the guide rail 353.

[0046] like Figure 5 and Figure 6 As shown, the drive mechanism includes a four-bar linkage 320, a connecting rod assembly, and a drive module. The four-bar linkage 320 includes a first link 321, a second link 322, a third link 323, and a fourth link 324. The first link 321, the second link 322, the third link 323, and the fourth link 324 are sequentially connected end-to-end to form a quadrilateral frame. The second link 322 is fixedly connected to the support bracket 330, and the fourth link 324 is connected to the brush assembly. The drive module includes a linear electric cylinder 360. One end of the linear electric cylinder 360 is coaxially rotatably connected to the hinge point of the first link 321 and the second link 322, and the other end is coaxially rotatably connected to the hinge point of the third link 323 and the fourth link 324. When the actuator of the linear electric cylinder 360 extends or retracts, the fourth link 324 moves up or down relative to the second link 322, thereby moving the brush assembly up or down relative to the support bracket 330. The connecting rod assembly includes an upper connecting rod 325 and a lower connecting rod 326. The two ends of the upper connecting rod 325 are respectively connected to the hinge points of the first link 321 and the fourth link 324 of the four-bar linkage 320 on both sides, and the two ends of the lower connecting rod 326 are respectively connected to the hinge points of the second link 322 and the third link 323 of the four-bar linkage 320 on both sides.

[0047] like Figure 7 As shown, the support bracket 330 includes: a rear connecting plate 3301, a side connecting plate 3302, and a bottom connecting plate 3303; the rear connecting plate 3301 is connected to the bottom connecting plate 3303, and the side connecting plate 3302 and the second connecting rod 322 of the drive mechanism are respectively connected to the sides of the rear connecting plate 3301 and the bottom connecting plate 3303; a slider 351 is connected to the rear connecting plate 3301; a limiting groove is provided on the side connecting plate 3302, and a limiting pin is installed in the limiting groove, and the limiting pin is connected to the counterweight 341.

[0048] Example 2

[0049] Example 2 is a preferred example of Example 1.

[0050] like Figure 1 and Figure 2 As shown, this embodiment includes: a self-moving platform 2 and multiple adaptive adjustment mechanisms 3 disposed thereon; the multiple adaptive adjustment mechanisms 3 are disposed on the side of the self-moving platform 2, with two or more adaptive adjustment mechanisms 3 disposed on each side. The adaptive adjustment mechanisms 3 adopt a segmented design, and the control device independently controls the height of each adaptive adjustment mechanism 3 according to the measured unevenness of the ground, so that the cleaning brush is always in contact with the ground, thereby improving cleaning efficiency.

[0051] like Figure 3 As shown, the adaptive adjustment mechanism 3 includes a brush assembly, a drive mechanism, a counterweight module, and a guide rail assembly.

[0052] The brush assembly includes a brush 311 and a mounting bracket 312. The brush 311 is located at the lower end of the mounting bracket 312 and is used to sweep dust or garbage off the road surface.

[0053] A drive mechanism, fixedly installed with the brush assembly, is used to drive the brush assembly to rise or fall. The drive mechanism includes two sets of four-bar linkages 320, a connecting rod assembly, and a drive module. The two sets of four-bar linkages 320 are respectively mirror-arranged at both ends of the brush assembly. The four-bar linkage 320 is composed of a first link 321, a second link 322, a third link 323, and a fourth link 324 pivotally connected.

[0054] The connecting rod assembly includes an upper connecting rod 325 and a lower connecting rod 326. The upper connecting rod 325 and the lower connecting rod 326 are disposed between two sets of four-bar linkages 320 and are used to drive the second set of four-bar linkages 320 to move synchronously when the drive module drives the first set of four-bar linkages 320 to move. Specifically, one end of the upper connecting rod 325 is disposed at the hinge point of the first link 321 and the fourth link 324 of the first set of four-bar linkages 320, and the other end is disposed at the hinge point of the first link 321 and the fourth link 324 of the second set of four-bar linkages 320. One end of the lower connecting rod 326 is disposed at the hinge point of the second link 322 and the third link 323 of the first set of four-bar linkages 320, and the other end is disposed at the hinge point of the second link 322 and the third link 323 of the second set of four-bar linkages 320. Therefore, a single drive module can be set up to simultaneously drive the movement of two sets of four-bar linkages 320, saving installation costs and ensuring that the changes at both ends of the brush assembly are the same during movement. This embodiment uses two sets of parallelogram-shaped four-bar linkages 320, with the brush 311 mounted at the lower end of each linkage. By driving the two sets of linkages 320, the height of the brush 311 is adjusted to a predetermined position. The parallelogram structure has good structural rigidity, ensuring stable movement of the drive mechanism.

[0055] like Figure 4 As shown, a mounting plate 355 is also provided on the side of the fourth link 324 near the brush assembly. The mounting plate 355 has mounting holes and is fixed to the brush mounting bracket 312 by bolts. In one embodiment, for ease of installation, the fourth link 324 and the mounting plate 355 can be integrally formed, or they can be separate structures. It should be noted that the fixing method between the four-bar linkage 320 and the brush mounting bracket 312 is not limited to the fixing connection through the mounting plate. It can also be a snap-fit ​​or direct screw connection. For example, a snap-fit ​​member is provided on one side of the fourth link 324 and the mounting bracket 312, and a snap-fit ​​member is provided on the other side. The four-bar linkage and the brush assembly are fixed by the snap-fit ​​member and the snap-fit ​​member.

[0056] The drive module includes a linear electric cylinder 360. One end of the linear electric cylinder 360 is located at the hinge point of the first link 321 and the second link 322 of the first four-bar linkage 320, and the other end is located at the hinge point of the third link 323 and the fourth link 324 of the first four-bar linkage 320. In one embodiment, the linear electric cylinder 360 has pin holes at both ends, which are coaxial with the pin holes of the four-bar linkage 320 and are fixed with the same fastener, reducing the number of installation parts. During operation, the linear electric cylinder 360 receives instructions from the control device to control the extension and retraction length of the actuator inside the cylinder, thereby controlling the up and down movement of the brush 311.

[0057] like Figure 5 and Figure 6 As shown, the brush assembly adjusts from the initial state to a predetermined working state; in one embodiment, the drive module may also adopt other drive forms, such as a linear motor, hydraulic lever or double-stroke cylinder.

[0058] like Figure 3 and Figure 4 As shown, the counterweight module is fixed on the self-moving platform 2 by a guide rail assembly. The guide rail assembly includes a slider 351 and a guide rail 353. Limiting plates 352 are provided at the upper and lower ends of the guide rail 353. The limiting plates 352 are provided with mounting holes and are fixed to the guide rail 353 by bolts. In one embodiment, the limiting plates 352 can also be integrally formed with the guide rail 353.

[0059] The counterweight module includes a counterweight block 341, a cable reel 342, and a motor 343. The motor 343 is mounted on a limiting plate 352. The upper surface of the counterweight block 341 is connected to the cable reel 342 via a traction rope. The cable reel 342 receives commands from the control device to control whether the counterweight block 341 acts on the brush assembly. Based on the flatness of the ground, the adhesion between the brush 311 and the ground is automatically controlled. When counterweight is not needed, the cable reel 342 is controlled to lift the counterweight block 341, disengaging it from the support bracket 330, thus preventing it from acting on the two sets of four-bar linkages 320. The number of counterweight blocks 341 can be set according to different application scenarios, such as two or four.

[0060] like Figure 7 As shown, the counterweight module also includes a support bracket 330, which comprises a rear connecting plate 3301, a side connecting plate 3302, and a bottom connecting plate 3303. A first connecting rod 321 is connected to the symmetrical side of the side connecting plate 3302, thus fixing a second connecting rod 322 to the support bracket 330. When the support bracket 330 moves, it synchronously drives two sets of four-bar linkages 320 to move. A slider 351 is also provided at the rear end of the support bracket 330, and the slider 351 is embedded in the guide rail 353.

[0061] The side connecting plate 3302 is provided with a limiting groove, and the limiting pin is horizontally set in the limiting groove. One end of the limiting pin is set on the outside of the side connecting plate 3302, and the other end is fixed on the counterweight block 341. The limiting pin and the limiting groove are provided to ensure that the position of the counterweight block 341 is fixed during operation and will not fluctuate left and right due to uneven road surface.

[0062] In this embodiment, the adaptive adjustment mechanism 3 connects the brush assembly to the drive mechanism. The four-bar linkage 320 of the drive mechanism is connected to the counterweight module, which is fixed to the self-moving platform 2 via a linear guide rail 353. Under the action of the drive mechanism and the counterweight module, the brush assembly moves vertically up and down. At this time, the adhesion between the brush assembly and the ground is the gravity of the adaptive adjustment mechanism 3, ensuring that the brush always adheres to the ground and has good ground adaptability. Furthermore, since the number and weight of the counterweights 341 are adjustable, the brush assembly can adapt to different ground conditions. Also, because the four-bar linkage 320 is fixedly connected to the support bracket 330, the brush assembly remains parallel to the side wall of the self-moving platform 2, preventing the brush assembly from swaying during the movement of the self-moving platform 2 or the adjustment mechanism.

[0063] In one embodiment, a dust cover is provided on the outside of the multiple adaptive adjustment mechanisms 3. During operation, only the brush assembly extends out of the dust cover, which can prevent dust from entering the adaptive adjustment mechanism 3 during operation.

[0064] In one embodiment, the reel 342 is further provided with a measuring unit for calculating ground flatness based on changes in the length of the traction rope. The measuring unit may be a displacement sensor.

[0065] The specific working principle is as follows:

[0066] Initially, the control device controls the counterweight 341 to operate on the two sets of four-bar linkages 320 via the cable reel 342. At this time, the traction rope of the cable reel 342 is in a taut state with a small tension. When the self-moving platform 2 moves, the brush 311 moves up and down with the unevenness of the ground, causing the counterweight 341 to move up and down and the length of the traction rope connected to it to change. The measuring unit of the cable reel 342 records the change in the length of the traction rope in real time, thereby converting it into ground flatness data and feeding it back to the control device. Based on the feedback data, the control device adjusts the shape of the four-bar linkage 320 via the linear electric cylinder 360, thereby adjusting the height and adhesion of the brush assembly connected to the four-bar linkage 320, improving the cleaning effect and reducing the wear of the brush 311.

[0067] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0068] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An adaptive adjustment mechanism, characterized in that, include: Brush assembly, drive mechanism, counterweight module, and guide rail assembly; The brush assembly is mounted on the drive mechanism and moves up and down through the drive mechanism. The drive mechanism and the counterweight module are slidably mounted on the guide rail assembly through the support bracket (330) of the counterweight module. A movable counterweight block (341) is provided inside the counterweight module. The counterweight block (341) applies pressure to the brush assembly by pressing on the drive mechanism. in, The drive mechanism includes: a four-bar linkage (320), a connecting rod assembly, and a drive module; The connecting rod assembly is provided with the four-bar linkage (320) at both ends. The brush assembly is mounted on the support bracket (330) through the four-bar linkage (320). The drive module is mounted on the four-bar linkage (320) and drives the four-bar linkage (320) to deform to realize the lifting and lowering movement of the brush assembly. The counterweight module also includes: a reel (342) and a motor (343); The counterweight (341) is connected to the reel (342) via a traction rope. The reel (342) is connected to the output end of the motor (343). The motor (343) drives the reel (342) to press or disengage the counterweight (341) from the support bracket (330). The guide rail assembly includes: a slider (351), a limiting plate (352), and a guide rail (353); The slider (351) is fixedly connected to the support bracket (330), the slider (351) is slidably connected to the guide rail (353), and the limiting plates (352) are provided at both ends of the guide rail (353).

2. The adaptive adjustment mechanism according to claim 1, characterized in that, The four-bar linkage (320) includes: a first link (321), a second link (322), a third link (323), and a fourth link (324); The first link (321), the second link (322), the third link (323), and the fourth link (324) are connected and rotated in sequence to form a quadrilateral frame. The second link (322) is fixedly connected to the support bracket (330), and the fourth link (324) is connected to the brush assembly.

3. The adaptive adjustment mechanism according to claim 2, characterized in that, The drive module includes: a linear electric cylinder (360); One end of the linear electric cylinder (360) is coaxially rotatably connected to the hinge point of the first connecting rod (321) and the second connecting rod (322), and the other end is coaxially rotatably connected to the hinge point of the third connecting rod (323) and the fourth connecting rod (324). When the actuator of the linear electric cylinder (360) extends or retracts, the fourth connecting rod (324) moves up or down relative to the second connecting rod (322) and realizes the up or down movement of the brush assembly relative to the support bracket (330).

4. The adaptive adjustment mechanism according to claim 3, characterized in that, The connecting rod assembly includes: an upper connecting rod (325) and a lower connecting rod (326); The upper connecting rod (325) is connected at both ends to the hinge points of the first link (321) and the fourth link (324) of the four-bar linkage (320) on both sides, and the lower connecting rod (326) is connected at both ends to the hinge points of the second link (322) and the third link (323) of the four-bar linkage (320) on both sides.

5. The adaptive adjustment mechanism according to any one of claims 2-4, characterized in that, The brush assembly includes: a brush (311) and a mounting bracket (312); The brush (311) is mounted on the mounting bracket (312), which is mounted on the fourth link (324) via a mounting plate (355).

6. The adaptive adjustment mechanism according to claim 1, characterized in that, The motor (343) is mounted on the limiting plate (352); A measuring unit is provided on the winding reel (342), the measuring unit is connected to a control device, and the control device is connected to the motor (343) and the linear electric cylinder (360) of the drive mechanism.

7. The adaptive adjustment mechanism according to claim 1, characterized in that, The support bracket (330) includes: a rear connecting plate (3301), a side connecting plate (3302), and a bottom connecting plate (3303); The rear connecting plate (3301) is connected to the bottom connecting plate (3303). The side connecting plate (3302) and the second link (322) of the drive mechanism are respectively connected to the rear connecting plate (3301) and the bottom connecting plate (3303). The slider (351) is connected to the rear connecting plate (3301). A limiting groove is provided on the side connecting plate (3302), and a limiting pin is installed in the limiting groove. The limiting pin is connected to the counterweight (341).

8. A cleaning device employing the adaptive adjustment mechanism according to any one of claims 1-7, characterized in that, include: Dust cover, self-moving platform (2) and the adaptive adjustment mechanism (3); The self-moving platform (2) is equipped with the adaptive adjustment mechanism (3) on its side, and the dust cover is provided on the outside of the adaptive adjustment mechanism (3); The counterweight module is mounted on the self-moving platform (2) via a guide rail assembly.

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