Swing reduction reset mechanism and cleaning robot

Abstract

The invention provides a shimmy reduction reset mechanism and a cleaning robot, the shimmy reduction reset mechanism is used for being arranged between a movable arm and a transverse moving base, the transverse moving base is arranged on a robot body in a sliding mode, the shimmy reduction reset mechanism comprises a rotating base and an elastic assembly, the rotating base is rotationally assembled on the transverse moving base, and the movable arm is assembled on the rotating base; the rotating base, the bearing seat and the elastic assembly are arranged between the machine body and the movable arm, the elastic assembly is arranged between the rotating base and the transverse moving base, and the elastic assembly elastically deforms along with rotation of the transverse moving base relative to the rotating base. Therefore, the adsorption stability of the adsorption part is improved, and the operation stability is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a swing-resetting mechanism and a cleaning robot. Background Technology

[0002] Before cleaning the glass curtain wall of a high-rise building, the cleaning robot needs to be attached to the glass curtain wall using its suction device to stabilize the robot. Only then can the cleaning components on the robot effectively clean the glass curtain wall.

[0003] Generally, cleaning robots have multiple movable arms that act as support legs on their bodies, and then suction devices are installed on the movable arms. This design not only serves to stabilize the cleaning robot on the glass curtain wall, but also allows the cleaning robot to climb on the glass curtain wall by combining the movable arms with the suction devices, thus improving work efficiency.

[0004] However, in actual operation, the cleaning operation of the cleaning components, the water circulation in the water tank, the movement of other components, and even the influence of outdoor wind conditions will inevitably cause slight swaying of the machine body. The slight swaying of the machine body will be transmitted to the adsorption component through the movable arm, causing pulling, twisting or displacement of the adsorption component, affecting the stable adsorption of the adsorption component, and thus affecting the operational stability of the cleaning robot. Summary of the Invention

[0005] To address the shortcomings of existing technologies, one of the objectives of this invention is to propose a swing reduction and reset mechanism. This mechanism involves setting a rotating base, bearing seat, and elastic components between the machine body and the movable arm to allow for relative rotational and lateral freedom between the two components. This reduces the impact of the machine body on the swing of the movable arm, thereby improving the adsorption stability of the adsorption component and ensuring operational stability.

[0006] The technical solution of this invention is implemented as follows: A swing-resetting mechanism is provided for installation between a movable arm and a transverse base, wherein the transverse base is slidably installed on the machine body. The swing-resetting mechanism includes a rotating base and an elastic component. The rotating base is rotatably mounted on the transverse base, and the movable arm is mounted on the rotating base. The elastic component is installed between the rotating base and the transverse base, and the elastic component undergoes elastic deformation as the transverse base rotates relative to the rotating base.

[0007] Furthermore, it also includes a bearing housing, which is installed in the middle of the transverse base, and the bottom of the rotating base is provided with a rotating shaft, which is assembled to the bearing housing.

[0008] Furthermore, the elastic component includes a housing, a plurality of springs, and a plurality of push rods corresponding one-to-one with the plurality of springs. The housing is fixedly installed on the transverse base, the plurality of springs are installed inside the housing, the first end of the push rod is located inside the housing and connected to the spring, and the second end of the push rod passes through the housing and abuts against the rotating base.

[0009] Furthermore, it also includes a mounting plate, which is fixed to the transverse base and extends from one side of the middle of the transverse base. The housing is fixedly mounted on the mounting plate, and a plurality of the springs are arranged side by side in the housing along the width direction of the housing.

[0010] Furthermore, the elastic component also includes a longitudinal block, the second ends of a plurality of the push rods are assembled to the side of the longitudinal block, and rolling bearings are installed at both ends of the longitudinal block; The rotating base has a side groove, and the rolling bearing abuts against the groove wall.

[0011] The length of the longitudinal block is greater than the width of the housing, and the two rolling bearings are respectively located on both sides of the bearing housing along the width direction of the body.

[0012] Another object of the present invention is to disclose a cleaning robot, comprising a body that bears the load and a plurality of movable arms mounted on the body. A plurality of transverse bases corresponding one-to-one with the movable arms are slidably disposed on the body. The movable arms are provided with suction members at both ends. At least one movable arm and its corresponding transverse base are provided with a swing reduction and reset mechanism as described above.

[0013] Furthermore, the machine body is provided with a transverse slide rail, which is arranged along the length direction of the machine body, and the bottom of the transverse base is provided with a transverse slider, which is slidably mounted on the transverse slide rail.

[0014] Furthermore, the cleaning robot also includes several transverse motors, and one of the transverse motors and the swing reduction and reset mechanism is disposed on the same transverse base; The machine body is provided with a transverse rack, which is arranged parallel to the transverse slide rail; The output shaft of the transverse motor is provided with a transverse gear, which meshes with the transverse rack.

[0015] Furthermore, it also includes a support and a pulley assembly disposed on the top of the support. A longitudinal sliding groove is provided on the side wall of the movable arm, and the pulley assembly is disposed in the longitudinal sliding groove. The bottom of the support is installed on the transverse base or on the rotating base of the anti-sway reset mechanism.

[0016] Furthermore, it also includes a longitudinal movement motor, the movable arm is provided with a longitudinal movement rack arranged parallel to the longitudinal movement groove, the output shaft of the longitudinal movement motor is provided with a longitudinal movement gear, the longitudinal movement gear is meshed with the longitudinal movement rack, and the longitudinal movement motor is mounted on the transverse movement base or on the rotating base of the anti-sway reset mechanism.

[0017] Compared with the prior art, the present invention has the following advantages: The anti-sway reset mechanism of this invention reduces the impact of the body's swing on the movable arm by setting a rotating base, bearing seat, and elastic component between the body and the movable arm, which allows the two to have relative rotational and lateral degrees of freedom. This avoids the problem of the swinging body pulling or twisting the adsorption component, improves the adsorption stability of the adsorption component on the glass curtain wall, and at the same time, the elastic component releases elastic potential energy to reset the relative position of the body and the movable arm, thereby ensuring the working efficiency of the cleaning robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the anti-swing and reset mechanism installed between the movable arm and the machine body in this embodiment; Figure 2 for Figure 1 A top-down structural diagram; Figure 3 A three-dimensional structural diagram of the anti-swing and reset mechanism assembled between the movable arm and the transverse base; Figure 4 for Figure 3 A structural diagram from another perspective; Figure 5 for Figure 3 Front view structural diagram; Figure 6 for Figure 5 A bottom view; Figure 7 This is a schematic diagram of the main structure of the cleaning robot in this embodiment; Figure 8 for Figure 7 A structural diagram from another perspective; Figure 9 for Figure 8 A magnified view of part A in the middle; Figure 10 for Figure 8 A magnified view of part B in the middle section.

[0020] Reference numerals in the attached diagram: 1. Rotating base; 101. Rotating shaft; 102. Side groove; 2. Elastic component; 201. Housing; 202. Spring; 203. Top rod; 204. Longitudinal block; 205. Rolling bearing; 3. Bearing seat; 4. Mounting plate; 5. Body; 6. Movable arm; 601. Longitudinal slide groove; 7. Transverse base; 701. Transverse slider; 8. Adsorption component; 9. Transverse slide rail; 10. Transverse motor; 1001. Transverse gear; 11. Transverse rack; 12. Support; 1201. Pulley block; 13. Longitudinal motor; 1301. Longitudinal gear; 14. Longitudinal rack. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] See Figures 1 to 6 One of the objectives of this embodiment is to disclose a swing-reset mechanism for mounting between the movable arm 6 and the transverse base 7, wherein the transverse base 7 is slidably mounted on the body 5. For details, see [link to documentation]. Figures 1 to 3The anti-sway reset mechanism includes a rotating base 1 and an elastic component 2. The rotating base 1 is rotatably mounted on a transverse base 7, and the movable arm 6 is mounted on the rotating base 1. Since the rotating base 1 is rotatably mounted on the transverse base 7, the body 5 and the movable arm 6 have a rotational degree of freedom that can rotate relative to each other. At the same time, the transverse base 7 is slidably mounted on the body 5, which in turn gives the body 5 and the movable arm 6 a relative rotational degree of freedom and a lateral movement degree of freedom along the body 5. Therefore, when the body 5 sways slightly due to cleaning operations or other working conditions, the rotational and lateral movement degrees of freedom between the body 5 and the movable arm 6 allow for a certain angle of rotation and relative movement. This prevents the slight sway of the body 5 from affecting the rotation or movement of the movable arm 6, thereby reducing the impact of the body 5 on the sway of the movable arm 6. This avoids the problem of the swaying body 5 pulling or twisting the adsorption component 8, improving the adsorption stability of the adsorption component 8 on the movable arm 6 on the glass curtain wall, and thus ensuring the working efficiency of the cleaning robot. Also see Figures 2 to 5 The elastic component 2 is installed between the rotating base 1 and the transverse base 7. The elastic component 2 undergoes elastic deformation as the transverse base 7 rotates relative to the rotating base 1. When the machine body 5 swings slightly, the transverse base 7 on the machine body 5 will rotate relative to the rotating base 1. During the relative rotation, the elastic component 2 undergoes elastic deformation, converting the kinetic energy of rotation into the elastic potential energy of the elastic component 2. When the factors causing the slight swing of the machine body 5 are eliminated, the elastic potential energy of the elastic component 2 is released to push the rotating base 1 and the transverse base 7 to rotate in opposite directions, so as to achieve the purpose of resetting the machine body 5 and the movable arm 6 to the normal assembly state. Specifically, in this embodiment, in the normal state, the machine body 5 and the movable arm 6 are perpendicular to each other.

[0025] See Figure 4 and Figure 5 The swing reduction and reset mechanism also includes a bearing seat 3, which is installed in the middle of the transverse base 7. The bottom of the rotating base 1 is provided with a rotating shaft, which is assembled on the bearing seat 3. Specifically, the rotating shaft is fixedly engaged with the inner ring of the bearing in the bearing seat 3, thereby realizing the purpose of rotating the base 1 and rotatably assembling it on the transverse base 7.

[0026] As a further preferred embodiment, see [link to previous section]. Figures 2 to 5The elastic component 2 includes a housing 201, several springs 202, and several push rods 203 corresponding to each spring 202. The housing 201 is fixedly installed on the transverse base 7. The springs 202 are installed inside the housing 201. The first end of each push rod 203 is located inside the housing 201 and connected to the spring 202. The second end of each push rod 203 passes through the housing 201 and abuts against the rotating base 1. The springs 202 are pre-tensioned and installed inside the housing 201, and then abut against the rotating base 1 through the push rods 203. When the machine body 5 swings slightly, the machine body 5 and the movable arm 6 rotate relative to each other, and the transverse base 7 and the rotating base 1 also rotate relative to each other. The angle between the transverse base 7 and the rotating base 1 changes, thereby causing the springs 202 in the elastic component 2 to undergo elastic deformation, that is, achieving the purpose of the elastic component 2 undergoing elastic deformation along with the rotation of the transverse base 7 relative to the rotating base 1.

[0027] Preferably, the swing reduction and reset mechanism further includes a mounting plate 4, which is fixed to the transverse base 7 and extends from one side of the middle of the transverse base 7. The housing 201 is fixedly mounted on the mounting plate 4, and a number of springs 202 are arranged side by side in the housing 201 along the width direction of the housing 201. The side by side arrangement of the springs 202 is more conducive to the stable and balanced contact with the rotating base 1, providing a stable pre-tightening force, so that the movable arm 6 and the body 5 are in a stable assembly state.

[0028] Further, see Figures 2 to 6 The elastic component 2 also includes a longitudinal block 204, wherein the length direction of the longitudinal block 204 is consistent with the length direction of the movable arm 6. The second ends of several push rods 203 are assembled on the side of the longitudinal block 204. Rolling bearings 205 are installed at both ends of the longitudinal block 204. A side groove is opened on the side of the rotating base 1. The rolling bearings 205 abut against the groove wall of the side groove. When the rotating base 1 and the transverse base 7 rotate, the longitudinal block 204 will be compressed accordingly. Sliding friction will also occur at the contact point between the longitudinal block 204 and the groove wall of the side groove. Therefore, by installing rolling bearings 205 at both ends of the longitudinal block 204 and abutting against the groove wall of the side groove through the rolling bearings 205, when the rotating base 1 and the transverse base 7 rotate repeatedly relative to each other, the rotation of the rolling bearings 205 can also reduce the wear on the groove wall of the side groove and improve the service life of the equipment.

[0029] The length of the longitudinal block 204 is greater than the width of the housing 201, and the two rolling bearings 205 are located on both sides of the bearing seat 3 along the width direction of the body 5. This design allows the spring 202 to exert a resisting force on both sides of the rotating base 1 along its rotation center, that is, see... Figure 2 , Figure 3 and Figure 6The rotating base is abutted by longitudinal blocks 204 on both sides of the center of rotation of the bearing housing 3. In this way, no matter which direction the transverse base 7 rotates relative to the rotating base 1 (clockwise or counterclockwise), a part of the springs 202 in the housing 201 will be compressed and elastically deformed. When the working condition factors affecting the swing of the body 5 disappear, the compressed springs 202 will release elastic potential energy to drive the transverse base 7 and the rotating base 1 to return to the stable assembly state. That is to say, no matter how the transverse base 7 and the rotating base 1 rotate relative to each other, after the swing factors disappear, both can be reset. At the same time, a part of the springs 202 are always compressed, which also shows that no matter how the transverse base 7 and the rotating base 1 rotate relative to each other, the elastic component 2 can convert the kinetic energy of mutual rotation into elastic potential energy by compressing the springs 202, so as to reduce the amplitude of relative rotation. Therefore, the longitudinal block 204 can play a role in ensuring the reset stability and swing reduction stability of the elastic component 2.

[0030] Furthermore, another objective of this embodiment is to disclose a cleaning robot, see [link to relevant documentation]. Figures 7 to 10 The robot includes a body 5 that bears the load and several movable arms 6 mounted on the body 5. It should be noted that the cleaning robot in this embodiment also includes other complete functional components or systems such as water tank system, energy system, cleaning operating system, etc. However, since this embodiment does not involve improvements to such specific functional systems, they will not be described or shown in detail in this embodiment and the accompanying drawings.

[0031] The robot body 5 is equipped with several transverse bases 7 that correspond one-to-one with several movable arms 6. The two ends of each movable arm 6 are provided with adsorption components 8, which are used to adsorb onto the glass curtain wall. Specifically, at least one movable arm 6 and its corresponding transverse base 7 are provided with a swing reduction and reset mechanism as described above. With this design, in actual operation, at least one of the movable arms 6 can be protected from the adverse effects of the swing of the robot body 5 on the adsorption component 8, thereby ensuring the adsorption stability of the adsorption component 8 on the glass curtain wall and improving the operational stability of the cleaning robot.

[0032] For details, see Figure 8 and Figure 10In this embodiment, as an example, two anti-sway reset mechanisms are provided, respectively located between the two middle movable arms 6 and their corresponding transverse bases 7. The total number of movable arms 6 is set to four. The advantage of this arrangement is that, during actual operation, the adsorption components 8 on two movable arms 6 are always stably adsorbed onto the glass curtain wall without being affected by the swing of the body 5. The adsorption components 8 on the other two movable arms 6 are adsorbed onto the glass curtain wall to ensure the overall stability of the cleaning robot. That is, the adsorption components 8 on the movable arms 6 equipped with anti-sway reset mechanisms can have better adsorption capacity, thereby improving the operational stability of the cleaning robot.

[0033] Preferably, see Figures 8 to 9 The body 5 is provided with a transverse slide rail 9, which is set along the length of the body 5. The bottom of the transverse base 7 is provided with a transverse slider 701, which is slidably mounted on the transverse slide rail 9. With this setting, the movable arm 6 can be moved along the length of the body 5. For example, the assembly of the transverse slider 701 and the transverse slide rail 9 can adopt the sliding assembly form of the dovetail groove slide rail to ensure the assembly stability of the transverse base 7.

[0034] Preferably, see Figures 8 to 10 The cleaning robot also includes several transverse motors 10. One of the transverse motors 10 and the swing reduction and reset mechanism is set on the same transverse base 7. The body 5 is provided with a transverse rack 11, which is arranged parallel to the transverse slide rail 9. The output shaft of the transverse motor 10 is provided with a transverse gear 1001, which is meshed with the transverse rack 11.

[0035] Specifically, in this embodiment, either the transverse motor 10 or the anti-sway reset mechanism is disposed on the same transverse base 7, meaning that, see Figure 8 and Figure 10 Please also compare Figure 9 and Figure 10 The transverse base 7 equipped with the swing reduction and reset mechanism does not have a transverse motor 10. In this way, no drive device is provided in the length direction of the machine body 5. This can ensure the transverse freedom between the transverse base 7 and the machine body 5, so as to ensure the swing reduction and reset stability of the movable arm 6 on the transverse base 7 by the swing reduction and reset mechanism.

[0036] Meanwhile, either the transverse motor 10 or the anti-sway reset mechanism is optionally located on the same transverse base 7, which means that, see Figure 8 and Figure 9 Please also compare Figure 9 and Figure 10For the transverse base 7 without a swing reduction and reset mechanism, a transverse motor 10 is installed on the transverse base 7. The advantage of this arrangement is that during operation, when the transverse base 7 stops at a certain position on the body 5, the transverse motor 10 stops working. At this time, the transverse gear 1001 on the transverse motor 10 will lock with the transverse rack 11, thereby limiting the transverse movement of the movable arm 6 on the transverse base 7. Since the transverse base 7 is not equipped with a swing reduction and reset mechanism, the movable arm 6 does not have the rotational freedom to rotate relative to the body 5. Therefore, in actual operation, the suction component 8 on the movable arm 6 with the transverse motor 10 installed instead of the swing reduction and reset mechanism can act as an adsorption to ensure the overall stability of the cleaning robot and adhere to the glass curtain wall, thus ensuring the overall stability of the cleaning robot on the glass curtain wall.

[0037] Preferably, the cleaning robot further includes a support 12 and a pulley assembly 1201 disposed on the top of the support 12. A longitudinal sliding groove 601 is provided on the side wall of the movable arm 6, and the pulley assembly 1201 is installed in the longitudinal sliding groove 601. Compared with the structure of adding a slide rail, the pulley and groove mechanism used on the movable arm 6 in this embodiment has a weight reduction effect, which is conducive to improving the work efficiency. The bottom of the support 12 is installed on the transverse base 7 or on the rotating base 1 of the anti-swing and reset mechanism. Specifically, for the movable arm 6 with the anti-swing and reset mechanism, the bottom of its corresponding support 12 is installed on the rotating base 1. For the movable arm 6 without the anti-swing and reset mechanism, the bottom of its corresponding support 12 is installed on the transverse base 7 to ensure the normal operation of the equipment.

[0038] Preferably, the cleaning robot also includes a longitudinal motor 13, see [link to relevant documentation]. Figure 4 , Figure 5 , Figure 8 , Figure 9 and Figure 10 The movable arm 6 is provided with a longitudinal rack 14 arranged parallel to the longitudinal sliding groove 601. The output shaft of the longitudinal motor 13 is provided with a longitudinal gear 1301. The longitudinal gear 1301 meshes with the longitudinal rack 14 to drive the movable arm 6 to move along the width direction of the body 5, that is, to achieve the longitudinal movement of the movable arm 6. The longitudinal motor 13 is installed on the transverse base 7 or on the rotating base 1 of the anti-swing reset mechanism. Specifically, for the movable arm 6 with the anti-swing reset mechanism, the longitudinal motor 13 is installed on the rotating base 1 of the anti-swing reset mechanism. For the movable arm 6 without the anti-swing reset mechanism, the longitudinal motor 13 is installed on the transverse base 7.

[0039] In summary, the swing reduction and reset mechanism of this embodiment, by setting a rotating base 1, a bearing seat 3, and an elastic component 2 between the body 5 and the movable arm 6 to give them relative rotational and lateral freedom, aims to reduce the swing influence of the body 5 on the movable arm 6, avoid the problem of the swinging body 5 pulling or twisting the adsorption component 8, improve the adsorption stability of the adsorption component 8 on the movable arm 6 on the glass curtain wall, and at the same time, the elastic component 2 achieves the purpose of resetting the relative position of the body 5 and the movable arm 6 through the release of elastic potential energy, thereby ensuring the working efficiency of the cleaning robot.

[0040] The cleaning robot of this embodiment has a swing-reducing and resetting mechanism between at least one movable arm 6 and its corresponding transverse base 7. The swing-reducing and resetting mechanism reduces the swing or resets the corresponding movable arm 6, thereby improving the overall operational stability of the cleaning robot.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A swing-reset mechanism, used for mounting between a movable arm and a transverse base, wherein the transverse base is slidably mounted on the machine body, characterized in that, The sway reduction and reset mechanism includes: A rotating base, rotatably mounted to the transverse base, and a movable arm mounted to the rotating base; and An elastic component is installed between the rotating base and the transverse base, and the elastic component undergoes elastic deformation as the transverse base rotates relative to the rotating base.

2. The anti-slip and reset mechanism according to claim 1, characterized in that, It also includes a bearing housing, which is installed in the middle of the transverse base, and a rotating shaft is provided at the bottom of the rotating base, which is assembled to the bearing housing.

3. The anti-slip and reset mechanism according to claim 2, characterized in that, The elastic component includes: A housing, which is fixedly mounted on the transverse base; A plurality of springs, wherein the plurality of springs are disposed within the housing; and A plurality of push rods corresponding one-to-one with the plurality of springs, wherein the first end of the push rod is disposed inside the housing and connected to the spring, and the second end of the push rod passes through the housing and abuts against the rotating base.

4. The anti-slip and reset mechanism according to claim 3, characterized in that, It also includes a mounting plate fixed to the transverse base and extending from one side of the middle of the transverse base, the housing being fixedly mounted on the mounting plate, and a plurality of the springs being arranged side by side in the housing along the width direction of the housing.

5. The anti-slip and reset mechanism according to claim 3 or 4, characterized in that, The elastic component also includes a longitudinal block, the second ends of a plurality of the push rods are assembled to the side of the longitudinal block, and rolling bearings are installed at both ends of the longitudinal block; The rotating base has a side groove, and the rolling bearing abuts against the groove wall. The length of the longitudinal block is greater than the width of the housing, and the two rolling bearings are respectively located on both sides of the bearing housing along the width direction of the body.

6. A cleaning robot, comprising a body that bears the load and a plurality of movable arms mounted on the body, wherein a plurality of transverse bases corresponding one-to-one with the movable arms are slidably disposed on the body, and each movable arm is provided with an adsorption element at both ends, characterized in that, At least one of the movable arms and its corresponding transverse base is provided with a swing reduction and reset mechanism according to any one of claims 1 to 5.

7. The cleaning robot according to claim 6, characterized in that, The machine body is provided with a transverse slide rail, which is arranged along the length of the machine body. The bottom of the transverse base is provided with a transverse slider, which is slidably mounted on the transverse slide rail.

8. The cleaning robot according to claim 7, characterized in that, The cleaning robot also includes several transverse motors, and one of the transverse motors and the swing reduction and reset mechanism is disposed on the same transverse base. The machine body is provided with a transverse rack, which is arranged parallel to the transverse slide rail; The output shaft of the transverse motor is provided with a transverse gear, which meshes with the transverse rack.

9. The cleaning robot according to claim 6, 7, or 8, characterized in that, It also includes a support and a pulley assembly disposed on the top of the support. A longitudinal sliding groove is provided on the side wall of the movable arm, and the pulley assembly is disposed in the longitudinal sliding groove. The bottom of the support is installed on the transverse base or on the rotating base of the swing reduction and reset mechanism.

10. The cleaning robot according to claim 9, characterized in that, It also includes a longitudinal movement motor, the movable arm is provided with a longitudinal movement rack arranged parallel to the longitudinal movement groove, the output shaft of the longitudinal movement motor is provided with a longitudinal movement gear, the longitudinal movement gear is meshed with the longitudinal movement rack, and the longitudinal movement motor is mounted on the transverse movement base or on the rotating base of the anti-sway reset mechanism.

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