Non-metal multi-suction-cup crawler wall-climbing robot with adjustable spherical radius

Abstract

The invention provides a non-metal spherical radius adjustable multi-sucker crawler wall-climbing robot which comprises a robot body, and a crawler transmission mechanism, a curvature adjusting mechanism, an adsorption mechanism and a cleaning mechanism which are arranged on the robot body, and the crawler transmission mechanism adopts chain transmission as a transmission mechanism of the wall-climbing robot; the curvature adjusting mechanism is used for adjusting the crawling radius according to the spherical curvature; the adsorption mechanism combines a vacuum adsorption mode and a crawler-type moving mode of a suction cup, so that the adaptability of a wall surface is ensured; and the cleaning mechanism is used for cleaning the spherical wall surface after the crawling radius is adjusted according to the curvature adjusting mechanism. The crawling radius is mainly adjusted through the curvature adjusting mechanism according to the spherical curvature, certain clamping and buffering functions are achieved when the robot runs, maneuverability is considered under the condition that the adsorption force is guaranteed, and the robot can be applied to high-altitude non-metal spherical cleaning such as a spherical radome.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot. Background Art

[0002] At present, non-metallic wall-climbing robots mostly adopt an integrated rigid mechanical structure, such as Figure 1 As shown in the figure, the robot cannot be used to clean curved walls with a certain curvature. In addition, the surface of the radome is a non-metallic spherical surface. After long-term use, salt, dust, insects, mold, fuel, ice water and other possible pollutants will accumulate on the surface. These pollutants may cause the radar probe to produce abnormalities during the detection process, block or scatter radar signals, and reduce the detection distance of the radar. Long-term pollutants will reduce the reliability and stability of the radar system and shorten its service life. Therefore, keeping the radome clean is essential to ensure the normal operation of the radar system.

[0003] The current cleaning method is to use a semi-automatic method that combines manual and mechanical methods to perform manual scrubbing, which will cause a large waste of water resources, manpower, and time resources. Therefore, it is particularly important to design a robot system dedicated to radome surface cleaning. Therefore, the demand for radome surface cleaning robots arises spontaneously.

[0004] When crawling on a spherical wall, the adsorption stability of the wall-climbing robot is much lower than when crawling on a flat surface. In order to achieve the cleaning function of the spherical wall, the robot must also have a larger load capacity to carry the cleaning module. This puts high demands on the robot's adaptability. Strong surface adaptability can ensure that the adsorption structure fits smoothly on the wall, increasing the robot's load capacity and movement stability. Summary of the invention

[0005] According to the technical problems raised above, a non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot is provided. The present invention mainly adjusts the crawling radius according to the spherical curvature through a curvature adjustment mechanism, and has certain clamping and buffering functions when the robot is running. It takes into account mobility while ensuring the adsorption force, and can be applied to high-altitude non-metallic spherical cleaning such as spherical radar covers.

[0006] The technical means adopted by the present invention are as follows:

[0007] A non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot, comprising: a robot body and a crawler transmission mechanism, a curvature adjustment mechanism, an adsorption mechanism and a cleaning mechanism arranged on the robot body, wherein:

[0008] The crawler transmission mechanism adopts chain transmission as the transmission mechanism of the wall-climbing robot;

[0009] The curvature adjustment mechanism is used to adjust the crawling radius according to the curvature of the spherical surface;

[0010] The adsorption mechanism combines the vacuum adsorption mode of the suction cup with the crawler-type movement mode to ensure the adaptability of the wall surface;

[0011] The cleaning mechanism is used to clean the spherical wall surface after adjusting the crawling radius according to the curvature adjustment mechanism.

[0012] Furthermore, the track mechanism comprises: a sprocket, a chain, a first motor, a track mounting frame, a track shoe and a track shoe mounting screw, wherein:

[0013] The chain is meshed with the sprocket; the first motor is connected to the sprocket through a bearing; a mounting hole is provided on the chain, and the track shoe is connected to the mounting hole on the chain through a track shoe mounting screw.

[0014] Furthermore, the chain is provided with three rows, all of which are meshed with the sprocket.

[0015] Furthermore, the curvature adjustment mechanism comprises: a main body bottom plate, a connecting rod, a spring rod, a curvature adjustment mechanism mounting plate, an adjustment screw, a ball pair, a cylindrical pair, and an elastic adjustment nut, wherein:

[0016] One end of the connecting rod is connected to the main engine bottom plate through a cylindrical pair; the other end of the connecting rod is fixedly connected to the curvature adjustment mechanism mounting plate and connected to one end of the spring rod; the other end of the spring rod is connected to the elastic force adjustment nut, and the elastic force adjustment nut is connected to the adjusting screw; when the curvature changes greatly, the crawling radius is adjusted by the adjusting screw, and when the curved surface changes slightly, the radius is adapted by relying on the automatic extension and contraction of the spring rod, and the elastic force of the spring in the spring rod is adjusted by the elastic force adjustment nut to provide partial clamping force during the crawling process.

[0017] Furthermore, the length of the connecting rod is adjusted according to the relevant curvature range of actual conditions.

[0018] Furthermore, the adsorption mechanism includes: an organ suction cup, an air distribution pipeline, a dry viscous material, a spring support, a vacuum generator, and a safety valve, wherein:

[0019] Multiple groups of accordion suction cups are connected to the chain through track plates; the air distribution pipeline is set in the gap between the chains; the dry sticky material is arranged in the gap between the multiple groups of accordion suction cups, that is, above the chain; the spring support is connected between the chain and the dry sticky material; the air distribution pipeline is connected to the vacuum generator; each sub-accordion suction cup that plays an adsorption role is finally connected to the public vacuum cavity through a vacuum safety valve, and the corresponding vacuum safety valve is automatically closed after the sub-vacuum chamber fails or the sub-accordion suction cup leaves the wall, thereby maintaining the vacuum degree of the system unchanged and ensuring that the operation of other sub-vacuum chambers or sub-accordion suction cups is not affected; when the accordion suction cup is working, it is deformed due to the vacuum pressure, and the suction cup skirt is folded. When it is folded to a certain height, the dry sticky material is attached to the wall, and a certain negative pressure is provided to the dry sticky material, thereby enhancing the adhesion stability of the dry sticky material.

[0020] Furthermore, the cleaning mechanism comprises: a connecting rod, an adjusting rod, a cleaning mechanism support rod, a motor frame, a second motor, and a cleaning brush, wherein:

[0021] One end of the two connecting rods is fixedly connected to the main machine bottom plate; the other ends of the two connecting rods are respectively connected to one end of the two adjusting rods; the other ends of the two adjusting rods are fixedly connected to the cleaning mechanism support rod; the two ends of the cleaning mechanism support rod are respectively connected to the two motor frames, and two second motors are fixedly installed in the two motor frames; the cleaning brush is connected between the two second motors through a bearing.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. The present invention provides a non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot, which adjusts the crawling radius according to the spherical curvature through a curvature adjustment mechanism. When the robot is running, it has certain clamping and buffering functions, and takes into account maneuverability while ensuring the adsorption force. It can be used for high-altitude non-metallic spherical cleaning such as spherical radar covers.

[0024] 2. The present invention provides a non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot. The adsorption mechanism is installed on the robot base plate through a curvature adjustment mechanism. The curvature adjustment is achieved through a connecting rod and a spring sleeve rod, which increases the rotational freedom of the device. The spring sleeve rod of the curvature adjustment mechanism has an adjustable elastic force, which can provide a certain gripping force. The accordion-type suction cup continues to increase the wall adaptability when the overall mechanism curvature is adjustable. The combination of dry adhesive material and negative pressure adsorption ensures the stability of the adsorption system.

[0025] Based on the above reasons, the present invention can be widely promoted in the fields of robots and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 The figure is the overall structure diagram of an existing non-metallic wall-climbing robot with an integrated rigid mechanical structure.

[0028] Figure 2 It is an overall structural diagram of the non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot of the present invention.

[0029] Figure 3 This is an assembly diagram of the chain and sprocket of the non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot of the present invention.

[0030] Figure 4 This is an assembly diagram of the track plates and chains of the non-metallic spherical radius adjustable multi-suction cup track wall-climbing robot of the present invention.

[0031] Figure 5 It is a structural diagram of the crawler transmission mechanism of the present invention.

[0032] Figure 6 It is a structural diagram of the curvature adjustment mechanism of the present invention.

[0033] Figure 7 This is a curvature adjustment effect diagram of the present invention.

[0034] Figure 8 It is a schematic diagram of the connection between the organ suction cup and the crawler track of the present invention.

[0035] Fig. 9 It is a schematic diagram of the adsorption principle and structure of the accordion suction cup of the present invention.

[0036] In the figure: 1. main engine base plate; 2. sprocket; 3. chain; 4. accordion suction cup; 5. air distribution pipeline; 6. first motor; 7. track mounting frame; 8. track shoe; 9. spring rod; 10. connecting rod; 11. adjusting rod; 12. cleaning mechanism support rod; 13. motor frame; 14. second motor; 15. cleaning brush; 16. dry sticky material; 17. spring support; 18. track shoe; 19. track shoe mounting screw; 20. vacuum generator; 21. safety valve; 22. curvature adjustment mechanism mounting plate; 23. adjusting screw; 24. ball pair; 25. cylindrical pair; 26. elastic adjustment nut. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0041] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0044] like Figure 2 As shown, the present invention provides a non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot, comprising: a robot body and a crawler transmission mechanism, a curvature adjustment mechanism, an adsorption mechanism and a cleaning mechanism arranged on the robot body, wherein:

[0045] The crawler transmission mechanism adopts chain transmission as the transmission mechanism of the wall-climbing robot;

[0046] The curvature adjustment mechanism is used to adjust the crawling radius according to the curvature of the spherical surface;

[0047] The adsorption mechanism combines the vacuum adsorption mode of the suction cup with the crawler-type movement mode to ensure the adaptability of the wall surface;

[0048] The cleaning mechanism is used to clean the spherical wall surface after adjusting the crawling radius according to the curvature adjustment mechanism.

[0049] When specifically implemented, as a preferred embodiment of the present invention, Figure 3 , 4 As shown in , 5, the crawler drive mechanism includes: a sprocket 2, a chain 3, a first motor 6, a crawler mounting frame 7, a crawler shoe 18 and a crawler shoe mounting screw 19, wherein:

[0050] The chain 3 is meshed with the sprocket 2; the first motor 6 is connected to the sprocket 2 via a bearing; a mounting hole is provided on the chain 3, and the track shoe 18 is connected to the mounting hole on the chain 3 via a track shoe mounting screw 19.

[0051] In this embodiment, due to their own structural characteristics, the wheeled, footed and other mobile configurations have a small effective contact area with the wall, unstable contact, and the risk of slipping and falling, which seriously affects the carrying capacity and movement stability of the wall-climbing robot. The crawler-type mobile configuration has a larger contact area with the wall and a higher movement stability. Therefore, the present invention takes the crawler mobile mechanism as the starting point. The transmission mechanism of the crawler mobile mechanism can be a transmission belt or a transmission chain. When the crawler suction cup mobile mechanism is peeled off from the wall or when the robot is heavily loaded, the belt drive will experience elastic sliding and slipping, resulting in an unstable transmission ratio; while the chain drive can overcome the defects of the belt drive method, and the mechanism design is flexible and the working performance is reliable. Therefore, according to the needs of the robot structural design and after comprehensively considering factors such as performance and cost, the present invention finally determines to use chain drive as the transmission mechanism of the wall-climbing robot. In order to ensure a sufficient number of suction cups to ensure a sufficiently large adsorption force, such as Figure 3 , 4 As shown, the chain 3 is provided with three rows, all of which are engaged with the sprocket 2.

[0052] When specifically implemented, as a preferred embodiment of the present invention, Figure 6 , 7 As shown, the curvature adjustment mechanism includes: a main body bottom plate 1, a connecting rod 8, a spring rod 9, a curvature adjustment mechanism mounting plate 22, an adjustment screw 23, a ball pair 24, a cylindrical pair 25, and an elastic force adjustment nut 26, wherein:

[0053] One end of the connecting rod 8 is connected to the main engine base plate 1 through a cylindrical pair 25; the other end of the connecting rod 8 is fixedly connected to the curvature adjustment mechanism mounting plate 22 and connected to one end of the spring rod 9; the other end of the spring rod 9 is connected to the elastic force adjustment nut 26, and the elastic force adjustment nut 26 is connected to the adjustment screw 23; when the curvature changes greatly, the crawling radius is adjusted by the adjustment screw 23, and when the curved surface changes slightly, the radius is adapted by relying on the automatic extension and contraction of the spring rod 9. The elastic force of the spring in the spring rod 9 is adjusted by the elastic force adjustment nut 26 to provide partial clamping force during the crawling process.

[0054] In specific implementation, as a preferred embodiment of the present invention, the length of the connecting rod 8 is adjusted according to the relevant curvature range of actual conditions.

[0055] When specifically implemented, as a preferred embodiment of the present invention, Figure 8 As shown, the adsorption mechanism includes: an accordion suction cup 4, a gas distribution pipeline 5, a dry viscous material 16, a spring support 17, a vacuum generator 20, and a safety valve 21, wherein:

[0056] Multiple groups of accordion suction cups 4 are connected to the chain 3 through track shoes 18; the air distribution pipeline 5 is arranged in the gap between the chains 3; the gap between the multiple groups of accordion suction cups 4, that is, above the chain 3, is arranged with a dry viscous material 16; the spring support 17 is connected between the chain 3 and the dry viscous material 16; the air distribution pipeline 5 is connected to the vacuum generator 20; the vacuum generator 20 is used to generate negative pressure during adsorption by vacuuming, so as to achieve full contact between the suction cup and the uneven surface;

[0057] like Fig. 9 As shown, each sub-organ suction cup that plays an adsorption role is finally connected to the common vacuum chamber through the vacuum safety valve 21. When the sub-vacuum chamber fails or the sub-organ suction cup leaves the wall, the corresponding vacuum safety valve 21 is automatically closed, thereby maintaining the vacuum degree of the system unchanged, ensuring that the operation of other sub-vacuum chambers or sub-organ suction cups is not affected, and effectively avoiding the vacuum degree of the entire vacuum system from being destroyed and ultimately causing the robot adsorption failure; when the accordion suction cup 4 is working, it is deformed due to the vacuum pressure, and the suction cup skirt is folded. When it is folded to a certain height, the dry and sticky material 16 is attached to the wall, and a certain negative pressure is provided to the dry and sticky material 16, thereby enhancing the adhesion stability of the dry and sticky material 16.

[0058] When implementing the invention, as a preferred embodiment of the invention, see Figure 1 The cleaning mechanism comprises: a connecting rod 10, an adjusting rod 11, a cleaning mechanism support rod 12, a motor frame 13, a second motor 14, and a cleaning brush 15, wherein:

[0059] One end of the two connecting rods 10 is fixedly connected to the main body base plate 1; the other ends of the two connecting rods 10 are respectively connected to one end of two adjusting rods 11; the other ends of the two adjusting rods 11 are fixedly connected to the cleaning mechanism support rod 12; the two ends of the cleaning mechanism support rod 12 are respectively connected to two motor frames 13, and two second motors 14 are fixedly installed in the two motor frames 13; the cleaning brush 15 is connected between the two second motors 14 through a bearing.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot, characterized in that: include: A robot body and a track transmission mechanism, a curvature adjustment mechanism, a suction mechanism and a cleaning mechanism arranged on the robot body, wherein: The crawler transmission mechanism adopts chain transmission as the transmission mechanism of the wall-climbing robot; The curvature adjustment mechanism is used to adjust the crawling radius according to the curvature of the spherical surface; The adsorption mechanism combines the vacuum adsorption mode of the suction cup with the crawler-type movement mode to ensure the adaptability of the wall surface; The cleaning mechanism is used to clean the spherical wall surface after adjusting the crawling radius according to the curvature adjustment mechanism.

2. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The crawler track transmission mechanism comprises: a sprocket (2), a chain (3), a first motor (6), a crawler track mounting frame (7), a crawler plate (18) and a crawler plate mounting screw (19), wherein: The chain (3) is meshed with the sprocket (2); the first motor (6) is connected to the sprocket (2) via a bearing; a mounting hole is provided on the chain (3), and the track shoe (18) is connected to the mounting hole on the chain (3) via a track shoe mounting screw (19).

3. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The chain (3) is provided with three rows, all of which are meshed with the sprocket (2).

4. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The curvature adjustment mechanism comprises: a main body bottom plate (1), a connecting rod (8), a spring rod (9), a curvature adjustment mechanism mounting plate (22), an adjustment screw (23), a ball pair (24), a cylindrical pair (25), and an elastic force adjustment nut (26), wherein: One end of the connecting rod (8) is connected to the main machine bottom plate (1) through a cylindrical pair (25); the other end of the connecting rod (8) is fixedly connected to the curvature adjustment mechanism mounting plate (22) and connected to one end of the spring rod (9); the other end of the spring rod (9) is connected to an elastic force adjustment nut (26), and the elastic force adjustment nut (26) is connected to an adjustment screw (23); when the curvature changes greatly, the crawling radius is adjusted by the adjustment screw (23); when the curved surface changes slightly, the radius is self-adapted by relying on the automatic extension and retraction of the spring rod (9); the elastic force of the spring in the spring rod (9) is adjusted by the elastic force adjustment nut (26) to provide a part of the clamping force during the crawling process.

5. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The length of the connecting rod (8) is adjusted according to the relevant curvature range of actual conditions.

6. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The adsorption mechanism comprises: an organ suction cup (4), an air distribution pipeline (5), a dry viscous material (16), a spring support (17), a vacuum generator (20), and a safety valve (21), wherein: A plurality of groups of accordion suction cups (4) are connected to a chain (3) through a track shoe (18); an air distribution pipeline (5) is arranged in the gap between the chains (3); a dry adhesive material (16) is arranged in the gap between the plurality of groups of accordion suction cups (4), i.e., above the chain (3); a spring support (17) is connected between the chain (3) and the dry adhesive material (16); the air distribution pipeline (5) is connected to a vacuum generator (20); the vacuum generator (20) is used to generate negative pressure during adsorption by vacuuming, so as to achieve full contact between the suction cup and the uneven surface; Each sub-organ suction cup that plays an adsorption role is ultimately connected to a common vacuum chamber through a vacuum safety valve (21). When a sub-vacuum chamber fails or the sub-organ suction cup leaves the wall, the corresponding vacuum safety valve (21) is automatically closed, thereby maintaining the vacuum degree of the system unchanged and ensuring that the operation of other sub-vacuum chambers or sub-organ suction cups is not affected. When the accordion suction cup (4) is working, it is deformed due to the vacuum pressure, and the suction cup skirt is folded. When it is folded to a certain height, the dry sticky material (16) is attached to the wall, and a certain negative pressure is provided to the dry sticky material (16), thereby enhancing the adhesion stability of the dry sticky material (16).

7. The non-metallic spherical radius adjustable multi-suction cup crawler wall-climbing robot according to claim 1, characterized in that: The cleaning mechanism comprises: a connecting rod (10), an adjusting rod (11), a cleaning mechanism support rod (12), a motor frame (13), a second motor (14), and a cleaning brush (15), wherein: One end of the two connecting rods (10) is respectively fixedly connected to the main machine bottom plate (1); the other ends of the two connecting rods (10) are respectively connected to one end of two adjusting rods (11); the other ends of the two adjusting rods (11) are respectively connected to the cleaning mechanism support rod (12); the two ends of the cleaning mechanism support rod (12) are respectively connected to two motor frames (13), and two second motors (14) are fixedly installed in the two motor frames (13); and the two second motors (14) are connected to a cleaning brush (15) via a bearing.

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