Self-adaptive complex surface cleaning robot with supporting disc

Abstract

The invention relates to the technical field of robot cleaning, in particular to a self-adaptive complex surface cleaning robot with a supporting disc, a cross beam rod is fixedly connected to the lower end of a transverse partition plate, stabilizing plates are fixedly connected to the left bottom end and the right bottom end of the cross beam rod respectively, and crawler wheels are installed on the outer side faces of the two stabilizing plates respectively; a placing frame is fixedly connected to the top end of the transverse partition plate, a supporting rod is fixedly connected to the top end of the placing frame, a camera shooting component is installed on the supporting rod, a controller is installed on the transverse partition plate, a front bent rod is fixedly connected to the front end of the placing frame, and a front telescopic rod is fixedly connected to the front bent rod; a cleaning assembly is arranged at the bottom of the front telescopic rod, and the rear end of the containing frame is fixedly connected with a rear bent rod. Dirt such as silt and greasy dirt on the road surface can be cleaned up, the risks of vehicle slipping and pedestrian slipping are reduced, therefore, travel safety is guaranteed, and the content of floating dust in air can also be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robot cleaning, and in particular to an adaptive complex surface cleaning robot with a supporting plate. Background Art

[0002] As a kind of service robot, cleaning robot can free people from heavy cleaning work and has broad application prospects. Cleaning robot involves knowledge of mechanics, electronics, and computers. It is a high-tech product that integrates mobile robot technology and cleaning technology. In recent years, it has received attention at home and abroad and has become a new research direction for service robots.

[0003] However, the existing cleaning robots have relatively simple functions and can only clean horizontal roads in actual use. If curved or concave walls and pipes need to be cleaned, it is necessary to replace the robots that are suitable for cleaning, which is inconvenient to use and wastes a lot of time and cost. At the same time, the existing robots are not convenient for scrubbing the road surface after cleaning, and the cost of manual mopping is high and the time is slow. If the cleaned road surface cannot be wiped dry, a large amount of water stains will remain on the road surface, causing pedestrians to slip. If encountering relatively hard mud blocks, the existing robots cannot clean thoroughly, affecting the cleaning of the road surface.

[0004] Therefore, the present invention provides a cleaning robot with an adaptive complex surface having a support plate to solve the above problems. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a cleaning robot with an adaptive complex surface and a support plate, which effectively solves the problem that the cleaning robot has relatively single functions and is inconvenient to wipe the floor after cleaning.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A cleaning robot for adaptive complex surfaces with a support plate comprises a transverse partition, the lower end of the transverse partition is fixedly connected to a transverse beam, the left and right bottom ends of the transverse beam are respectively fixedly connected to stabilizing plates, track wheels are respectively installed on the outer sides of the two stabilizing plates, the top end of the transverse partition is fixedly connected to a placement frame, the top end of the placement frame is fixedly connected to a support rod, a camera component is installed on the support rod, a controller is installed on the transverse partition, the front end of the placement frame is fixedly connected to a front bending rod, the front bending rod is fixedly connected to a front telescopic rod, the bottom of the front telescopic rod is provided with a cleaning assembly, the rear end of the placement frame is fixedly connected to a rear bending rod, the rear bending rod is fixedly connected to a rear telescopic rod, and the bottom of the rear telescopic rod is provided with a water absorbing component.

[0008] Preferably, the bottom of the front telescopic rod is detachably connected to a pad, the bottom of the pad is fixedly connected to a connecting frame, the bottom of the connecting frame is rotatably connected to a rotating ring, the upper part of the rotating ring is fixedly connected to two reinforcing plates, a stable chassis is fixedly connected between the bottoms of the two reinforcing plates, and the cleaning assembly is arranged on the lower side of the stable chassis.

[0009] Preferably, a worm is rotatably connected to the connecting frame, a handwheel is installed on the outer end of the worm, a worm wheel meshing with the worm is fixedly connected to the top of the rotating ring, a post plate is installed on the connecting frame, and a front guide rod is fixedly connected to the pad plate.

[0010] Preferably, the bottom of the rear telescopic rod is detachably connected to a fixed partition, the bottom of the fixed partition is fixedly connected to a fixed frame, the bottom of the fixed frame is fixedly connected to a fixed plate, the fixed frame is fixedly connected to a reinforcing plate, and the water absorbing component is arranged below the fixed plate.

[0011] Preferably, the cleaning component comprises a built-in box, the bottom of the stable chassis is fixedly connected with the built-in box, the bottom of the built-in box is fixedly connected with a limiting cross plate, the front and rear ends of the limiting cross plate are respectively rotatably connected to a fan-shaped frame, and the bottom end of each of the fan-shaped frames is respectively fixedly connected to an annular shell, and each of the two sides of the inner wall of the annular shell is respectively fixedly connected to an annular bar, and an annular hole is respectively arranged between the two annular bars on the same side, and the left and right bottom ends of the limiting cross plate are respectively fixedly connected to a rectangular shell, and the two side inner walls of each rectangular shell are respectively fixedly connected to an intercepting bar, and a rectangular hole is respectively arranged between the two intercepting bars on the same side, and the inner sides of the annular shell and the rectangular shell are respectively rotatably connected with a plurality of outer pulleys and an inner pulley, and belts are installed between the plurality of outer pulleys and the inner pulleys, and a plurality of extension rods are fixedly connected to the belts, and the top of each extension rod is respectively fixedly connected to a slider, and the bottom end of each slider is respectively provided with a bristle rod.

[0012] Preferably, the water-absorbing component includes a water-absorbing roller, two reinforcing shells are fixedly connected to the bottom of the fixed plate, a positioning disc is fixedly connected between the two reinforcing shells, a horizontal mounting frame is fixedly connected to the positioning disc, the bottom of the mounting frame is rotatably connected to the water-absorbing roller, and contact wheels are fixedly installed on the left and right ends of the water-absorbing roller.

[0013] Preferably, the interior of the built-in box is fixedly connected to a built-in ring, the interior of the built-in ring is fixedly connected to two limiting boxes, the two limiting boxes are slidably connected to driving blocks, an adjustable telescopic rod is respectively installed inside each of the limiting boxes, and a linkage rod is respectively connected between each of the driving blocks and the corresponding fan-shaped frame.

[0014] Preferably, a positioning slide rod is fixedly connected to the bottom end of one side of the limiting horizontal plate, and a driving slide rod is slidably connected to the positioning slide rod, one of the outer pulleys is coaxially fixedly connected to a driving shaft extending downward, a first gear, a second gear and a third gear are rotatably connected to the driving slide rod, and a driving motor is fixedly connected to the top of the driving slide rod.

[0015] Preferably, a lifting plate is slidably connected to the limiting cross plate, a synchronization rod is fixedly connected between the lifting plate and the driving slide plate, a driving gear is rotatably connected to the bottom of the lifting plate, two driven gears rotatably engaged with the driving gear are arranged on the lifting plate, a buffer spring is fixedly connected to the bottom of each driven gear, a cleaning plate is fixedly connected to the bottom of each buffer spring, and a protective shell is installed on the lifting plate.

[0016] Preferably, a lifting and telescopic rod is installed on the limiting horizontal plate, and a nozzle is installed on the fan-shaped frame.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Through the coordinated use of the extension rod, slider, rectangular shell, annular shell, and brush rod, dirt such as mud, oil, etc. on the road surface can be cleaned, reducing the risk of vehicle skidding and pedestrians slipping, thereby ensuring travel safety. It can also prevent accumulated dust from drying and becoming road dust, thereby reducing the content of floating dust in the air; when the camera detects an obstacle in front, it can stop in time to play an emergency obstacle avoidance role, which plays a protective role for the robot to a certain extent.

[0019] 2. The contact wheel rolls the water-absorbing soft-hair rod on the ground. The water-absorbing soft-hair rod can quickly absorb the moisture in the sewage, reduce the fluidity and diffusion range of the liquid, and will not cause secondary pollution to the environment. It can clean the ground and absorb sewage at the same time, reducing the intensity of manual labor and improving work efficiency.

[0020] 3. The robot can clean different roads or pipes, achieving multi-purpose use of one machine, which improves the convenience of the robot. At the same time, the cleaning components can also be installed on other equipment for use, thereby improving the flexibility of the cleaning components.

[0021] 4. The water from the nozzle is sprayed onto the ground, which can soak the stains or mud, making it easier for the brush rod to clean. The setting of the buffer spring can keep the cleaning plate always close to the ground, making the ground cleaning more thorough. When the cleaning plate encounters hard mud, the buffer spring can protect the cleaning plate and increase its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional schematic diagram of the present invention Figure 1 ;

[0023] Figure 2 A three-dimensional schematic diagram of the present invention Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the controller installation position of the present invention;

[0025] Figure 4 It is a schematic diagram of the cleaning component of the present invention;

[0026] Figure 5 It is a schematic diagram of the water absorbing component of the present invention;

[0027] Figure 6 It is a three-dimensional schematic diagram of the cross section of the built-in box of the present invention;

[0028] Figure 7 It is a schematic diagram of the installation position of the annular shell of the present invention;

[0029] Figure 8 It is a schematic diagram of the annular shell structure of the present invention;

[0030] Fig. 9 It is a schematic diagram of a rectangular shell structure of the present invention;

[0031] Fig.10 It is a schematic diagram of the limiting horizontal plate structure of the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the driving gear and the cleaning plate of the present invention;

[0033] Fig.12 It is a schematic diagram of the restriction box structure of the present invention;

[0034] Fig.13 It is a schematic diagram of the installation of the outer pulley of the present invention;

[0035] Fig.14 For the present invention Figure 6 A schematic diagram of the enlargement of the point A in FIG.

[0036] Fig.15 It is a schematic diagram of the fan-shaped frame of the present invention;

[0037] Fig.16 It is a schematic diagram of the coordination between the limiting horizontal plate and the fan-shaped frame of the present invention.

[0038] Markings in the figure: 1. Horizontal partition; 2. Crossbeam; 3. Stabilizing plate; 4. Track wheel; 5. Placement frame; 6. Support rod; 7. Camera component; 8. Controller; 9. Front bending rod; 10. Front telescopic rod; 11. Rear bending rod; 12. Rear telescopic rod; 13. Pad; 14. Connecting frame; 15. Rotating ring; 16. Reinforcement plate; 17. Stable chassis; 18. Worm; 19. Handwheel; 20. Worm wheel; 21. Paste plate; 22. Front guide rod; 23. Fixed partition; 24. Fixed frame; 25. Fixed plate; 26. Reinforcement sheet; 27. Built-in box; 28. Limiting horizontal plate; 29. ​​Fan-shaped frame; 30. Annular shell; 31. Annular strip; 32. Annular hole; 33. Rectangular shell; 34. Intercepting strip; 35. Rectangular hole; 36, outer pulley; 37, inner pulley; 38, belt; 39, extension rod; 40, slider; 41, brush rod; 42, water-absorbing roller; 43, reinforcement shell; 44, positioning disc; 43, reinforcement shell; 45, mounting frame; 46, contact wheel; 47, built-in ring; 48, limit box; 49, drive block; 50, adjustment telescopic rod; 51, linkage rod; 52, positioning slide bar; 53, driving slide plate; 54, driving shaft; 55, first gear; 56, second gear; 57, driving motor; 58, lifting plate; 59, synchronization rod; 60, driving gear; 61, driven gear; 62, buffer spring; 63, cleaning plate; 64, protective shell; 65, lifting telescopic rod; 66, nozzle; 67, third gear. DETAILED DESCRIPTION

[0039] The following will refer to Figures 1 to 16 Various embodiments of the present invention are described in detail.

[0040] An adaptive complex surface cleaning robot with a support plate, such as Figure 1 , Figure 2 , Figure 3As shown, it includes a transverse partition 1, a crossbeam 2 is fixedly connected between the left and right sides of the lower end of the transverse partition 1, and a stabilizing plate 3 is fixedly connected to the left and right bottom ends of the crossbeam 2, respectively, and the stabilizing plate 3 is arranged in the front-back direction, and track wheels 4 are respectively installed on the outer sides of the two stabilizing plates 3, and a driving device is installed on the track wheels 4 (the track wheels 4 and the driving device can be selected from existing suitable devices, and the driving device is driven by a motor), the top end of the transverse partition 1 is fixedly connected to a placing frame 5, the top end of the placing frame 5 is fixedly connected to a plane plate, and the top end of the plane plate is fixedly connected to a supporting rod 6, and a camera component 7 is rotatably installed on the supporting rod 6, and the camera component 7 is a camera, and the camera The head can swing up and down to illuminate the object in front. The controller 8 and the battery are installed on the transverse partition 1. The camera is connected to the controller 8, and the controller 8 is connected to the battery. The front end of the placement rack 5 is fixedly connected to the front bending rod 9, and the front telescopic rod 10 is fixedly connected to the front bending rod 9. The bottom of the front telescopic rod 10 is provided with a cleaning component. The rear end of the placement rack 5 is fixedly connected to the rear bending rod 11, and the rear bending rod 11 is fixedly connected to the rear telescopic rod 12. The front telescopic rod 10 and the rear telescopic rod 12 select existing suitable electric telescopic rods or hydraulic rods. The electric telescopic rod and the hydraulic rod are connected to the controller 8, and the bottom of the rear telescopic rod 12 is provided with a water absorbing component;

[0041] When the ground needs to be cleaned, the personnel places the robot on the ground and turns on the power. The controller 8 drives the front telescopic rod 10 and the rear telescopic rod 12 to extend downward to an appropriate length. At this time, the cleaning component and the water absorbing component are in contact with the road surface respectively, and the motor drives the track wheel 4 to move. The cleaning component cleans the road surface to make the road surface cleaner. After cleaning, the sewage will be absorbed by the water absorbing component to avoid slippery road surface and potential safety hazards. The camera can detect objects in front and perform obstacle avoidance.

[0042] like Figure 3 , Figure 4 As shown, the bottom of the front telescopic rod 10 is detachably connected with a pad 13, and the front telescopic rod 10 is connected to the pad 13 by bolts. The bottom of the pad 13 is fixedly connected with a connecting frame 14, and the bottom end of the connecting frame 14 is rotatably connected with a rotating ring 15, and the rotating ring 15 can rotate along the bottom end of the connecting frame 14, and two reinforcing plates 16 are fixedly connected to the upper part of the rotating ring 15, and a stable chassis 17 is fixedly connected between the bottoms of the two reinforcing plates 16, and the cleaning component is arranged on the lower side of the stable chassis 17, and the stable chassis 17 is a support plate in the robot.

[0043] like Figure 4As shown, a worm 18 is rotatably connected to the connecting frame 14, a hand wheel 19 is fixedly installed on the outer end of the worm 18, a worm wheel 20 meshing with the worm 18 is coaxially fixedly connected to the top of the rotating ring 15, and a plate 21 is installed on the connecting frame 14, and the plate 21 is fixedly connected between the backing plate 13 and the connecting frame 14 to provide support strength, and a front guide rod 22 is bolted to the backing plate 13, and the front guide rod 22 passes through the plane plate from top to bottom, and can provide a guiding effect for the connecting frame 14;

[0044] When it is necessary to drive the cleaning component to switch direction, the hand wheel 19 is manually turned, the worm 18 engages with the worm wheel 20 to rotate, and the rotating ring 15 rotates along the bottom of the connecting frame 14. At this time, the stable chassis 17 rotates with the cleaning component to adjust the required angle and position. Due to the self-locking property between the worm wheel and the worm, the cleaning component will not rotate by itself, and is more stable during use.

[0045] like Figure 2 , Figure 5 As shown, the bottom of the rear telescopic rod 12 is detachably connected with a fixed partition 23, and the fixed partition 23 is connected to the rear telescopic rod 12 by bolts. The bottom of the fixed partition 23 is fixedly connected with a fixed frame 24, and the bottom of the fixed frame 24 is fixedly connected with a fixed plate 25. A reinforcing sheet 26 is fixedly connected between the fixed frame 24 and the fixed partition 23 to improve the strength, and the water absorbing component is arranged below the fixed plate 25.

[0046] like Figure 4 , Figure 6 , Figure 8 , Fig. 9 , Fig.13 As shown, the cleaning component includes a built-in box 27, which is a circular structure, and an opening is opened at the bottom end of the built-in box 27. The bottom end of the built-in box 27 is provided with a mounting opening in the front-to-back direction and a mounting opening in the left-to-right direction, and the mounting opening provides a placement space for subsequent components. The bottom of the stable chassis 17 is fixedly connected with the built-in box 27, and the bottom of the built-in box 27 is fixedly connected with a limiting horizontal plate 28. The front and rear ends of the limiting horizontal plate 28 are respectively rotatably connected with fan-shaped frames 29, and the bottom end of each of the fan-shaped frames 29 is respectively fixedly connected with The annular shell 30 is arranged near the edge side of the fan-shaped frame 29, and an annular strip 31 is fixedly connected to the inner wall of each annular shell 30 on both sides, and a cavity is provided between the annular strip 31 and the top of the annular shell 30, and an annular hole 32 penetrating the cavity is provided between the two annular strips 31 on the same side, and the left and right bottom ends of the limiting horizontal plate 28 are respectively fixedly connected to rectangular shells 33, and the inner walls of both sides of each rectangular shell 33 are respectively fixedly connected to interception strips 34, and a cavity is provided between the interception strip 34 and the rectangular shell 33;

[0047] A rectangular hole 35 that passes through the cavity is provided between the two intercepting strips 34 located on the same side, and the internal rotation of the annular shell 30 is evenly connected to a plurality of outer pulleys 36, and the outer pulley 36 is arranged near the inner outer end of the annular shell 30, and the internal rotation of the rectangular shell 33 is evenly connected to a plurality of outer pulleys 36, and the outer pulley 36 is arranged near the inner outer side of the rectangular shell 33, and the inner inner side of the annular shell 30 is evenly connected to a plurality of inner pulleys 37, and the inner inner side of the rectangular shell 33 is evenly connected to a plurality of inner pulleys 37, and the inner pulley 37 is arranged near the inner side of the rectangular shell 33, and a spacing is provided between the inner pulley 37 and the outer pulley 36, and a belt 38 is installed between the plurality of outer pulleys 36 and the inner pulley 37. Due to the clamping between the outer pulley 36 and the inner pulley 37, the belt 38 will not detach by itself during the movement (the installation method between the outer pulley 36, the inner pulley 37 and the belt 38, such as Fig.13 and Fig. 9 As shown), a plurality of extension rods 39 are fixedly connected to the belt 38, and the extension rods 39 are arranged between the inner pulley 37 and the outer pulley 36 and can move freely without interference from any parts. The spacing inside the annular shell 30 and the rectangular shell 33 is the same, and a slider 40 is fixedly connected to the top of each of the extension rods 39, and the slider 40 can slide freely along the rectangular shell 33 and the annular shell 30. A certain spacing is set between the top of the slider 40 and the intercepting bar 34 and the annular bar 31, and a certain spacing is set between every two sliders 40, so that interference with the slider 40 during movement can be avoided, which facilitates the normal movement of the slider 40. A plurality of bristle rods 41 are evenly fixedly set on the bottom end of each of the sliders 40, and the bristle rods 41 select existing harder cleaning rods;

[0048] When the ground needs to be cleaned, the personnel put the robot on the ground, turn on the power, and the controller 8 drives the front telescopic rod 10 with the stable chassis 17 and the limiting cross plate 28 to descend to a suitable position until the brush rod 41 contacts the ground and stops, then the rotating belt 38 moves with the multiple extension rods 39, and the slider 40 moves along the inner ends of the rectangular shell 33 and the annular shell 30, and the brush rod 41 cleans the ground, so that dirt such as sand and oil on the road surface can be cleaned, reducing the risk of vehicle skidding and pedestrians slipping, thereby ensuring travel safety, and preventing the accumulated dust from drying and becoming road dust, thereby reducing the content of floating dust in the air;

[0049] Since the outer pulley 36 and the inner pulley 37 clamp the belt 38, the belt 38 will not detach by itself during the movement, which improves the stability of the belt 38 during the movement. When the camera detects an obstacle in front, it can stop in time to play an emergency obstacle avoidance role, which protects the robot to a certain extent.

[0050] like Figure 5As shown, the water absorbing component includes a water absorbing roller 42, two reinforcing shells 43 are fixedly connected to the bottom of the fixed plate 25, a positioning disc 44 is fixedly connected between the two reinforcing shells 43, the left and right ends of the positioning disc 44 are respectively fixedly connected with a transverse mounting frame 45, the bottom of the two mounting frames 45 is rotatably connected with the water absorbing roller 42, the outer ends of the water absorbing roller 42 are evenly provided with existing water absorbing soft hair rods, and the left and right ends of the water absorbing roller 42 are respectively coaxially fixedly installed with contact wheels 46;

[0051] When it is necessary to absorb water from the ground, turn on the power, and the controller 8 drives the rear telescopic rod 12 with the fixing frame 24, the fixing plate 25, the positioning disc 44, the mounting frame 45 and the water-absorbing roller 42 to descend to a suitable position, so that the two contact wheels 46 and the water-absorbing soft hair rod are in contact with the ground, and the motor drives the track wheel 4 to move, and the contact wheel 46 will roll along the ground. The water-absorbing soft hair rod absorbs the sewage on the ground during the rolling process to prevent the sewage from flowing randomly. Since the water-absorbing soft hair rod has excellent adsorption capacity, it can quickly absorb moisture in the sewage and reduce the fluidity and diffusion range of the liquid. The water-absorbing soft hair rod can help remove suspended matter and some pollutants in the water. In addition, the material of the soft hair is usually soft and will not cause secondary pollution to the environment. It can clean the ground and absorb sewage at the same time, which reduces the intensity of manual labor and improves work efficiency.

[0052] like Figure 6 , Fig.12 As shown, the interior of the built-in box 27 is fixedly connected with a built-in ring 47, and the interior of the built-in ring 47 is fixedly connected with two symmetrical limiting boxes 48, and a slide groove is provided on the limiting box 48. The two limiting boxes 48 are slidably connected with driving blocks 49, and the driving blocks 49 are fixedly connected with limiting blocks, and the limiting blocks are slidably connected to the interior of the slide groove. An adjusting telescopic rod 50 is fixedly installed inside each of the limiting boxes 48, and the telescopic end of the adjusting telescopic rod 50 is fixedly connected to the corresponding driving block 49. The adjusting telescopic rod 50 is an electric telescopic rod and is connected to the controller 8. A linkage rod 51 is rotatably connected to each of the driving blocks 49, and the other end of each linkage rod 51 is rotatably connected to the corresponding fan-shaped frame 29.

[0053] When cleaning a circular pipe or road surface, the hand wheel 19 is manually turned, the worm 18 meshes with the worm wheel 20 to rotate, and the rotating ring 15 rotates along the bottom of the connecting frame 14. At this time, the stable chassis 17 rotates with the built-in box 27, so that the two fan-shaped frames 29 rotate 90 degrees to become a left and right direction setting. Then the controller 8 starts the two adjustment telescopic rods 50 to retract, and the two driving blocks 49 approach the built-in ring 47. The two linkage rods 51 push the corresponding fan-shaped frames 29 to swing downward, so that the two fan-shaped frames 29 swing as shown in the figure. Fig.10As shown, the fan-shaped frame 29 is tilted downward, and the lower free ends of the annular shell 30 and the rectangular shell 33 are not in contact at this time. At the same time, the belt 38 is in a bent state, so that the brush rod 41 can perfectly cling to the outer surface of the arc. Then the belt 38 is rotated to move with the multiple extension rods 39, and the slider 40 moves along the inner end circumference of the rectangular shell 33 and the annular shell 30. The brush rod 41 is close to the arc surface for cleaning, so that dirt such as mud, oil and the like on the road surface can be cleaned, reducing the risk of vehicle skidding and pedestrians slipping;

[0054] When cleaning a concave pipe or road surface, the controller 8 starts the two adjustable telescopic rods 50 to extend, the two driving blocks 49 move away from the inner ring 47, and the two linkage rods 51 swing upward with the corresponding fan-shaped frames 29, so that the two fan-shaped frames 29 swing into the shape of Fig.16 As shown, the fan-shaped frame 29 is tilted upward, and the lower free ends of the annular shell 30 and the rectangular shell 33 are not in contact at this time. At the same time, the belt 38 is in a bent state, and the belt 38 does not delay normal movement when it is bent, so that the brush rod 41 is perfectly close to the concave surface, and then the belt 38 is rotated to move with the multiple extension rods 39, and the slider 40 moves along the inner ends of the rectangular shell 33 and the annular shell 30, and the brush rod 41 is close to the curved surface for cleaning, so that dirt such as mud, oil and the like on the road surface can be cleaned, reducing the risk of vehicle skidding and pedestrians slipping;

[0055] Through the adjustment between the above-mentioned components, different roads or pipes can be cleaned, so that one machine can be used for multiple purposes, which improves the convenience of the robot. The cleaning component can also be installed on other equipment for use. It only needs to remove the corresponding bolts to separate the front guide rod 22 and the front telescopic rod 10 from the pad 13, and then install the pad 13 on other equipment. In this way, the flexibility of the cleaning component can be improved.

[0056] like Figure 6 , Figure 8 , Fig.14As shown, one side of the bottom end of the limiting horizontal plate 28 is fixedly connected with two positioning slide bars 52, and a driving slide bar 53 is slidably connected between the two positioning slide bars 52. The driving slide bar 53 slides up and down along the two positioning slide bars 52. A driving shaft 54 ​​extending downward is coaxially fixedly connected to one of the outer pulleys 36, and the driving shaft 54 ​​passes through the limiting horizontal plate 28. A first gear 55, a second gear 56 and a third gear 67 are rotatably connected to the bottom end of the driving slide bar 53. The first gear 55 is meshed with the second gear 56, and the second gear 56 is meshed with the third gear 67. A driving motor 57 is fixedly connected to the top end of the driving slide bar 53. The rotating shaft of the driving motor 57 is coaxially fixedly connected with the second gear 56. A key slot is provided on the driving shaft 54. The driving shaft 54 ​​is slidably installed inside the third gear 67 up and down. A positioning key is fixedly connected to the third gear 67, and the positioning key is slidably installed inside the key slot. The driving motor 57 is connected to the controller 8.

[0057] When in use, the controller 8 starts the drive motor 57, the drive motor 57 drives the second gear 56 to rotate, the second gear 56 engages with the third gear 67 to rotate, the third gear 67 drives the corresponding outer pulley 36 to rotate, thereby driving the belt 38 to rotate, and the belt 38 drives the remaining multiple inner pulleys 37 and outer pulleys 36 to rotate.

[0058] like Figure 7 , Figure 8 , Fig.11 , Fig.14As shown, the limiting cross plate 28 is provided with a lifting port which passes through the upper and lower parts, and a lifting plate 58 is connected to the lifting port by sliding up and down inside. A synchronization rod 59 is fixedly connected between the lifting plate 58 and the driving slide plate 53. The bottom of the lifting plate 58 is rotatably connected to a driving gear 60. Two driven gears 61 which mesh with the driving gear 60 are rotatably arranged on the lifting plate 58. A buffer spring 62 is fixedly connected to the bottom of each driven gear 61, and a mounting plate is fixedly connected to the bottom end of each buffer spring 62. A cleaning plate 63 is fixedly connected to the bottom end of the mounting plate. The cleaning plate 63 can be made of an existing suitable material. A protective shell 64 is screwed on the bottom end of the lifting plate 58. A spring opening is opened, and each buffer spring 62 is respectively arranged inside the corresponding spring opening. The protective shell 64 can protect the internal components. A lifting and telescopic rod 65 is installed on the bottom end of the limiting horizontal plate 28. The lifting and telescopic rod 65 is an electric telescopic rod and is connected to the controller 8. A connecting plate is fixedly connected between the other end of the lifting plate 58 and the telescopic end of the lifting and telescopic rod 65. The connecting plate is arranged inside the installation opening of the built-in box 27. A nozzle 66 is installed on the fan-shaped frame 29. A driving sprocket is coaxially fixedly connected to the rotating shaft of the driving motor 57. The top end of the lifting plate 58 is rotatably connected to a driven sprocket coaxially fixedly connected to the driving gear 60, and a chain located inside the installation opening is connected between the driving sprocket and the driven sprocket.

[0059] The personnel holds the external water pipe and installs it on the nozzle 66. The controller 8 starts the lifting and telescopic rod 65 to extend downward, the connecting plate brings the lifting plate 58 down, and the driving slide plate 53 is driven to descend along the driving shaft 54, so that the cleaning plate 63 contacts the ground. During the walking process of the robot, the controller 8 starts the driving motor 57, and the driving sprocket chain drives the driven sprocket to rotate through the chain, and the driven sprocket drives the driving gear 60 to rotate, and the driving gear 60 meshes with the two driven gears 61 to rotate. At this time, the two cleaning plates 63 rotate close to the ground, and the water coming out of the nozzle 66 is sprayed onto the ground to soak the stains or mud blocks, so that the bristle rod 41 can be cleaned. The setting of the buffer spring 62 can make the cleaning plate 63 always close to the ground, so that the ground is cleaned more thoroughly. When the cleaning plate 63 encounters a hard mud block, the cleaning plate 63 presses against the top of the hard mud block, and the buffer spring 62 is compressed to make the cleaning plate 63 pass over the hard mud block. The buffer spring 62 can protect the cleaning plate 63, and it can be cleaned manually using corresponding tools in the later stage.

[0060] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0061] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An adaptive complex surface cleaning robot with a support plate, comprising a transverse partition (1), characterized in that: The lower end of the transverse partition (1) is fixedly connected to a crossbeam (2), and the left and right bottom ends of the crossbeam (2) are respectively fixedly connected to stabilizing plates (3), and track wheels (4) are respectively installed on the outer sides of the two stabilizing plates (3). The top of the transverse partition (1) is fixedly connected to a placement frame (5), and the top of the placement frame (5) is fixedly connected to a support rod (6), and a camera component (7) is installed on the support rod (6). A controller (8) is installed on the transverse partition (1). The front end of the placement frame (5) is fixedly connected to a front bending rod (9), and a front telescopic rod (10) is fixedly connected to the front bending rod (9), and a cleaning component is provided at the bottom of the front telescopic rod (10). The rear end of the placement frame (5) is fixedly connected to a rear bending rod (11), and a rear telescopic rod (12) is fixedly connected to the rear bending rod (11), and a water absorbing component is provided at the bottom of the rear telescopic rod (12).

2. The adaptive complex surface cleaning robot with a support plate according to claim 1, characterized in that: The bottom of the front telescopic rod (10) is detachably connected to a backing plate (13), the bottom of the backing plate (13) is fixedly connected to a connecting frame (14), the bottom of the connecting frame (14) is rotatably connected to a rotating ring (15), the upper part of the rotating ring (15) is fixedly connected to two reinforcing plates (16), a stabilizing chassis (17) is fixedly connected between the bottoms of the two reinforcing plates (16), and the cleaning assembly is arranged on the lower side of the stabilizing chassis (17).

3. The adaptive complex surface cleaning robot with a support plate according to claim 2, characterized in that: A worm (18) is rotatably connected to the connecting frame (14), a hand wheel (19) is installed at the outer end of the worm (18), a worm wheel (20) meshing with the worm (18) is fixedly connected to the top end of the rotating ring (15), a contact plate (21) is installed on the connecting frame (14), and a front guide rod (22) is fixedly connected to the pad plate (13).

4. The adaptive complex surface cleaning robot with a support plate according to claim 1, characterized in that: The bottom of the rear telescopic rod (12) is detachably connected to a fixed partition (23), the bottom of the fixed partition (23) is fixedly connected to a fixed frame (24), the bottom of the fixed frame (24) is fixedly connected to a fixed plate (25), the fixed frame (24) is fixedly connected to a reinforcing sheet (26), and the water absorbing component is arranged below the fixed plate (25).

5. The adaptive complex surface cleaning robot with a support plate according to claim 2, characterized in that: The cleaning component comprises a built-in box (27), the bottom of the stable chassis (17) is fixedly connected with the built-in box (27), the bottom of the built-in box (27) is fixedly connected with a limiting transverse plate (28), the front and rear ends of the limiting transverse plate (28) are rotatably connected with fan-shaped frames (29), the bottom end of each fan-shaped frame (29) is fixedly connected with an annular shell (30), the inner wall of each annular shell (30) is fixedly connected with annular strips (31) on both sides, and annular holes (32) are respectively provided between the two annular strips (31) on the same side, and the left and right bottom ends of the limiting transverse plate (28) are respectively fixedly connected with rectangular shells (31). 3), each of the inner walls of the two sides of the rectangular shell (33) is fixedly connected with an interception bar (34), and a rectangular hole (35) is provided between the two interception bars (34) on the same side. The inner sides of the annular shell (30) and the rectangular shell (33) are rotatably connected with a plurality of outer pulleys (36) and an inner pulley (37), and a belt (38) is installed between the plurality of outer pulleys (36) and the inner pulley (37). A plurality of extension rods (39) are fixedly connected to the belt (38), and a slider (40) is fixedly connected to the top end of each extension rod (39), and a brush rod (41) is provided at the bottom end of each slider (40).

6. The adaptive complex surface cleaning robot with a support plate according to claim 4, characterized in that: The water absorbing component comprises a water absorbing roller (42), two reinforcing shells (43) are fixedly connected to the bottom of the fixed plate (25), a positioning disc (44) is fixedly connected between the two reinforcing shells (43), a transverse mounting frame (45) is fixedly connected to the positioning disc (44), the bottom of the mounting frame (45) is rotatably connected to the water absorbing roller (42), and contact wheels (46) are fixedly installed at the left and right ends of the water absorbing roller (42), respectively.

7. The adaptive complex surface cleaning robot with a support plate according to claim 5, characterized in that: The interior of the built-in box (27) is fixedly connected to a built-in ring (47), the interior of the built-in ring (47) is fixedly connected to two limiting boxes (48), the interiors of the two limiting boxes (48) are slidably connected to driving blocks (49), the interior of each limiting box (48) is respectively installed with an adjustable telescopic rod (50), and each driving block (49) is respectively connected to the corresponding fan-shaped frame (29) with a linkage rod (51).

8. The adaptive complex surface cleaning robot with a support plate according to claim 5, characterized in that: A positioning slide bar (52) is fixedly connected to the bottom end of one side of the limiting horizontal plate (28), and a driving slide bar (53) is slidably connected to the positioning slide bar (52), and a driving shaft (54) extending downward is coaxially fixedly connected to one of the outer pulleys (36), and a first gear (55), a second gear (56) and a third gear (67) are rotatably connected to the driving slide bar (53), and a driving motor (57) is fixedly connected to the top of the driving slide bar (53).

9. The adaptive complex surface cleaning robot with a support plate according to claim 8, characterized in that: A lifting plate (58) is slidably connected to the limiting horizontal plate (28), a synchronous rod (59) is fixedly connected between the lifting plate (58) and the driving slide plate (53), a driving gear (60) is rotatably connected to the bottom of the lifting plate (58), two driven gears (61) rotatably meshed with the driving gear (60) are rotatably provided on the lifting plate (58), a buffer spring (62) is fixedly connected to the bottom of each driven gear (61), a cleaning plate (63) is fixedly connected to the bottom of each buffer spring (62), and a protective shell (64) is installed on the lifting plate (58).

10. The cleaning robot with an adaptive complex surface and a support plate according to claim 9, characterized in that: A lifting and telescopic rod (65) is installed on the limiting horizontal plate (28), and a spray head (66) is installed on the fan-shaped frame (29).

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