Obstacle-avoiding cleaning device

Abstract

The application discloses an obstacle-avoiding cleaning device and belongs to the technical field of cleaning equipment. The cleaning device comprises a stand column assembly and a rotating assembly. A guide through hole is formed in the top of the stand column assembly. The rotating assembly comprises a rotating shaft part and a buffer part. The lower end of the rotating shaft part penetrates through the guide through hole and is in clearance fit with the guide through hole, so that the rotating shaft part can rotate and axially slide relative to the guide through hole. The buffer part is located inside the stand column assembly and is sleeved on the bottom of the rotating shaft part, and is used for preventing the rotating shaft part from being pulled out from the upper end of the guide through hole. A cleaning execution assembly is fixedly arranged on the top of the rotating shaft part. When the cleaning execution assembly touches an obstacle, the rotating shaft part slides upward along the guide through hole and rotates around its own axis under the action of the force of the obstacle, so as to avoid the obstacle, thereby achieving the effect of adaptive obstacle avoidance. After the obstacle passes, the rotating shaft part slides downward along the guide through hole under the action of its own gravity and the elastic restoring force of the buffer part and is reset.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more specifically, to an obstacle-avoiding cleaning device. Background Technology

[0002] In the metallurgical production field, multiple processes such as hot rolling and continuous casting require purging and cleaning of equipment surfaces or rolled products to remove impurities such as iron oxide scale, accumulated water, and slag, maintaining the normal operation of production equipment and effectively ensuring product quality. Currently, the purging devices used in the industry can be mainly divided into the following two categories: I. Manual handheld hose blowing method This method usually involves operators manually cleaning with a hose and nozzle, or temporarily suspending the hose with nozzle in the front and rear areas of the universal rolling mill for cleaning. This method has obvious shortcomings: (1) The ambient temperature in the hot rolling area is high and the heat radiation is strong. The operators work at close range for a long time, which is labor-intensive and has a harsh working environment, posing a great safety hazard; (2) The spraying range is limited and the spraying direction is fixed, making it difficult to achieve full coverage of the target area, resulting in poor and incomplete cleaning effect.

[0003] II. Fixed purging device This type of device is installed in a fixed position on the production line and does not require continuous manual operation, thus reducing labor intensity to some extent. However, based on its structural characteristics, it can be further subdivided into the following two types: (1) Fixed purging device without obstacle avoidance function Once installed, these devices are fixed in position and cannot be adjusted according to changes in rolling conditions. During the rolling process, when abnormalities such as curling or deviation occur in the rolled piece, it is very easy for it to directly impact the pipes, nozzles, and other components of the purging device, causing equipment damage, seriously affecting production continuity, and increasing equipment maintenance costs.

[0004] (2) Fixed purging device with obstacle avoidance function Such devices have a certain avoidance capability and can passively or actively avoid abnormal contact between rolled pieces. However, the structure of this avoidance mechanism is complex and its reliability is low, making it difficult to meet the stability requirements of the metallurgical production field. Summary of the Invention

[0005] This invention provides an obstacle-avoiding cleaning device. The solution uses a rotating shaft component with a guide hole for clearance fit, allowing the rotating shaft component to rotate and slide axially relative to the guide hole. It combines vertical sliding and horizontal rotation into the same rotating shaft, resulting in a simpler structure, smaller size, and higher stability. When moving obstacles, the rotating shaft component slides and rotates accordingly, thereby achieving an adaptive obstacle avoidance effect.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows: This invention provides an obstacle-avoiding cleaning device, comprising: a column assembly, which is a hollow structure with a guide hole at its top; a rotating assembly, which includes a rotating shaft component and a buffer component, wherein the lower end of the rotating shaft component passes through the guide hole and forms a clearance fit with the guide hole, allowing the rotating shaft component to rotate and slide axially relative to the guide hole; the buffer component is located inside the column assembly and sleeved on the bottom of the rotating shaft component, and its outer diameter is larger than the inner diameter of the guide hole, for preventing the rotating shaft component from coming out of the upper end of the guide hole; and a cleaning execution assembly, which is fixedly mounted on the top of the rotating shaft component; wherein, when the cleaning execution assembly touches an obstacle, the rotating shaft component slides upward along the guide hole and rotates around its own axis under the force of the obstacle to avoid the obstacle; after the obstacle passes, the rotating shaft component slides downward along the guide hole to reset under its own weight and the elastic restoring force of the buffer component.

[0007] Furthermore, the column assembly is set vertically, the rotating shaft component is set vertically, and the cleaning execution component is horizontal and offset to one side of the top of the rotating shaft component.

[0008] Furthermore, the column assembly is tilted, the rotation axis of the rotating shaft component is tilted relative to the vertical direction, the cleaning execution component is offset to one side of the top of the rotating shaft component, and the center of gravity is offset from the axis of the rotating shaft component, so that the cleaning execution component rotates around the axis of the rotating shaft component under the action of gravity and tends to a stable state at the lowest position of the center of gravity.

[0009] Furthermore, the column assembly includes a support sleeve and a guide sleeve. The guide sleeve is selected as a flange-type sleeve, with its upper outward folded edge overlapping the upper end face of the support sleeve and its inner sidewall forming a guide through hole. The rotating shaft assembly includes a rotating shaft, which is clearance-fitted with the sleeve, and a buffer component is sleeved on the lower part of the rotating shaft. The support sleeve is made of a self-lubricating material.

[0010] Furthermore, the rotating shaft component also includes a lower baffle and a bracket, which are arranged sequentially from bottom to top on the top of the rotating shaft. The outer diameter of the lower baffle is larger than the outer diameter of the rotating shaft. The column assembly also includes a pad plate arranged on the top of the guide sleeve. The pad plate has a through hole for the rotating shaft to pass through and is made of a self-lubricating material.

[0011] Furthermore, the buffer component includes an elastic element and a locking element. The elastic element is sleeved on the bottom of the rotating shaft, and the outer diameter of the elastic element is larger than the inner diameter of the sleeve. The locking element locks the elastic element to the bottom of the rotating shaft.

[0012] Furthermore, the lower part of the cleaning execution component is provided with a collision protection member, one end of which is fixedly installed on the top of the rotating shaft component, and the collision protection member is located on the side of the cleaning execution component closest to the obstacle.

[0013] Furthermore, the top of the column assembly is provided with two limiting seats that are spaced apart circumferentially along the guide through hole, and the outer wall of the rotating shaft component is provided with a limiting block. The limiting block and the two limiting seats are matched to limit the rotation angle of the rotating shaft component around the guide through hole.

[0014] Compared with the prior art, the technical solution provided by this invention has the following advantages: (1) This invention optimizes the design of the cleaning device. Specifically, the rotating component includes a rotating shaft component and a buffer component. The lower end of the rotating shaft component passes through the guide hole and forms a clearance fit with the guide hole, allowing the rotating shaft component to rotate and slide axially relative to the guide hole. The buffer component is located inside the column component and is sleeved on the bottom of the rotating shaft component, and its outer diameter is larger than the inner diameter of the guide hole, which is used to prevent the rotating shaft component from coming out of the upper end of the guide hole. When the end of the billet collides with the cleaning execution component, the rotating shaft component rotates along the arc-shaped roller conveyor in a direction away from the billet and slides upward along the guide hole, thereby achieving an adaptive obstacle avoidance effect.

[0015] (2) The present invention further optimizes the design of the cleaning device. Specifically, the column assembly is tilted, the rotation axis of the rotating shaft assembly is tilted relative to the vertical direction, and the center of gravity of the cleaning execution assembly is deviated from the axis of the rotating shaft assembly, so that the cleaning execution assembly rotates around the axis of the rotating shaft component under the action of gravity and tends to the stable state of the lowest position of the center of gravity.

[0016] (3) The present invention further optimizes the design of the cleaning device. Specifically, a collision protection member is provided at the lower part of the cleaning execution component. One end of the collision protection member is fixedly installed on the top of the rotating shaft component. The collision protection member is located on the side of the cleaning execution component that is close to the obstacle. When the billet tilts, the collision protection member contacts the tilted billet first, thereby effectively preventing the cleaning execution component from being damaged. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the elevation structure of the cleaning device in Embodiment 1 of the present invention.

[0018] Figure 2 This is a schematic diagram of the vertical structure of the cleaning device in Embodiment 1 of the present invention when it is lifted up.

[0019] Figure 3 This is a top view of the cleaning device according to Embodiment 1 of the present invention.

[0020] Figure 4 This is a top view of the cleaning device relative to the installation position of the arc-shaped roller conveyor in Embodiment 1 of the present invention.

[0021] Figure 5 This is a schematic diagram of the elevation structure of the cleaning device in Embodiment 2 of the present invention.

[0022] Figure 6 This is a schematic diagram showing the rotation range of the cleaning device according to an embodiment of the present invention.

[0023] Label Explanation: 1. Anti-collision protective components; 2. Cleaning actuator; 20. Main input pipe; 21. Pipe branch joint; 22. Flow control valve; 23. Input branch pipe; 24. Terminal spray pipe; 25. Sealing plate; 26. Connecting hose; 27. Pipe clamp; 28. Pipe support; 3. Rotating assembly; 30. Upper connecting plate; 31. Bracket; 32. Limit block; 33. Rotating shaft; 34. Buffer spring; 35. Locking component; 36. Lower baffle; 4. Column assembly; 40. Pad plate; 41. Guide sleeve; 42. Support sleeve; 43. Connecting base; 44. Limiting seat; 45. Rib plate. Detailed Implementation

[0024] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0025] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0026] Example 1 The cleaning device of the present invention is used as an example to illustrate the cleaning of the surface of the arc-shaped roller conveyor in the continuous casting rotary conveyor area.

[0027] When billets are conveyed in this area, iron oxide scale residue will appear on the roller surface. This scale hardens upon cooling and can scratch subsequently entering billets, thus affecting their surface quality. (Reference) Figures 3-4 As shown, a cleaning device is installed within the radius of the arc-shaped roller conveyor, and the cleaning medium used by the cleaning device is liquid water.

[0028] refer to Figures 1-2As shown, the cleaning device includes a column assembly 4, a rotating assembly 3, a buffer component, and a cleaning execution assembly 2. The column assembly 4 is a hollow structure with a guide hole at its top. The rotating assembly 3 includes a shaft component and a buffer component. The lower end of the shaft component passes through the guide hole and forms a clearance fit with the guide hole, allowing the shaft component to rotate and slide axially relative to the guide hole. The buffer component is located inside the column assembly 4 and is sleeved on the bottom of the shaft component, with an outer diameter larger than the inner diameter of the guide hole, to prevent the shaft component from coming out of the upper end of the guide hole. The cleaning execution assembly 2 is fixedly installed on the top of the shaft assembly 3. When the cleaning execution assembly 2 touches an obstacle, the shaft component slides upward along the guide hole and rotates around its own axis under the force of the obstacle to avoid the obstacle. After the obstacle passes, the shaft component slides downward along the guide hole to reset under its own weight and the elastic restoring force of the buffer component.

[0029] This cleaning device is used to clean steel billets and the surface of the curved roller conveyor. Although the cleaning execution component 2 is located above the steel billet conveyed on the curved roller conveyor in the continuous casting rotary conveyor area and is spaced at a predetermined distance along the height direction, it is still impossible to avoid the problem of the curved steel billet colliding with the cleaning execution component 2 during use.

[0030] Specifically, the column assembly 4 is vertically positioned, the rotating shaft assembly is vertically positioned, and the cleaning execution assembly 2 is horizontal and offset to one side of the top of the rotating shaft assembly. At this time, the rotating shaft assembly and the cleaning execution assembly 2 on it rotate around the vertical axis.

[0031] This device is particularly suitable for cleaning the surface of curved roller conveyors. In use, the column assembly 4 is positioned close to the center of the curved roller conveyor surface; preferably, the cleaning actuator is located directly above the starting section of the curved track near the billet infeed direction. By rotating the shaft component relative to the guide hole, the area swept by the end of the cleaning actuator 2 furthest from the shaft component corresponds to the surface of the curved roller conveyor, thus enabling cleaning of the entire curved roller conveyor surface. The spacing between the inner rollers in the curved roller conveyor gradually decreases compared to the spacing between the outer rollers in the corresponding section, making it easier for debris to accumulate between adjacent inner rollers. By rotating the shaft component directly above the surface of the corresponding section of the curved roller conveyor, the surface of that section can be cleaned.

[0032] When the end of the curved steel billet collides with the cleaning actuator 2, the rotating shaft rotates along the arc-shaped roller conveyor away from the incoming steel billet and slides upward along the guide hole, thus achieving adaptive obstacle avoidance. In the arc-shaped roller conveyor area, even if the cleaning actuator 2 rotates at a small angle relative to its initial position (i.e., not exceeding directly above the arc-shaped roller conveyor area), the cleaning device can still clean normally without manual return. When the cleaning actuator 2 rotates directly above the straight roller conveyor area, manual return is required.

[0033] It should be noted that the cleaning execution component 2 has a certain weight, and there is friction between the rotating shaft component and the guide hole. Under small disturbances, the rotating shaft component will not rotate around the rotating shaft component, let alone rotate at will. Its rotation requires a certain amount of external force to start.

[0034] It should also be noted that the setting of the two-way avoidance degree of freedom is based on the following considerations: because the angle of the billet's upward tilt on the roller conveyor line, especially on the curved roller conveyor line, is arbitrary, referencing... Figure 2 As shown, the arrows indicate the possible directions of the billet's upward movement. A single vertical or rotational degree of freedom is insufficient to handle the complex situation of billet head rising.

[0035] Specifically, the column assembly 4 includes a support sleeve 42 and a guide sleeve 41. The guide sleeve 41 is disposed inside the support sleeve 42. The guide sleeve 41 is selected as a flange-type sleeve, with its upper outward folded edge overlapping the upper end face of the support sleeve 42 and its inner sidewall forming a guide through hole. The rotating shaft assembly includes a rotating shaft 33, which is clearance-fitted with the sleeve 41. A buffer component is sleeved on the lower part of the rotating shaft 33. The guide sleeve 41 is made of a self-lubricating material to reduce the coefficient of friction and improve wear resistance, ensuring the reliability of the rotating shaft 33 sliding and rotating along the inner sidewall of the guide sleeve 41, while eliminating the need for external lubrication.

[0036] The guide sleeve 41 has an outwardly folded edge on its upper part, which overlaps the upper end face of the support sleeve 42 and is welded along the annular contact line between the support sleeve 42 and the outwardly folded edge of the guide sleeve 41. The length of the guide sleeve 41 should not be too short to ensure the effective axial contact length between the guide sleeve 41 and the rotating shaft 33, nor should it be too long to reduce the cost of the guide sleeve 41 itself.

[0037] Preferably, there is a gap between the outer wall of the guide sleeve 41 and the inner wall of the support sleeve 42, thereby reducing the wall thickness of the guide sleeve 41 and reducing its cost.

[0038] To facilitate the fixing of the bottom of the support sleeve 42, a connecting base 43 is provided at the bottom of the support sleeve 42. The connecting base 43 is fixed to the steel structure or foundation, and serves as the mounting support base for the components on it. The connecting base 43 and the support sleeve 42 can be fixedly connected by welding.

[0039] Based on the cleaning requirements, the cleaning execution component 2 needs to be set above the arc-shaped roller conveyor and the steel billet. Within the allowable layout space of the equipment, the height of the support sleeve 42 should be increased as much as possible, and the height of the rotating shaft component exceeding the top of the support sleeve 42 should be reduced.

[0040] As an extension, the rotating shaft component also includes a lower baffle 36 and a bracket 31. The lower baffle 36 and the bracket 31 are arranged sequentially from bottom to top on the top of the rotating shaft 33. The outer diameter of the lower baffle 36 is larger than the outer diameter of the rotating shaft 33. The column assembly 4 includes a pad 40 arranged on the top of the guide sleeve 41. The pad 40 has a through hole for the rotating shaft 33 to pass through. The pad 40 is made of a self-lubricating material. When the bottom end of the lower baffle 36 contacts the top of the pad 40, the rotating shaft 33 slides down to the lowest position along the guide through hole.

[0041] The bracket 31 is preferably a hollow round steel with an outer diameter larger than that of the rotating shaft 33. It has a lower overall density and lower manufacturing cost compared to the rotating shaft 33.

[0042] The pad 40 is made of a self-lubricating material, which reduces the relative friction coefficient between the lower baffle 36 and the support assembly 4 during the rotation of the shaft 33, making their relative rotation more flexible. Therefore, no additional lubrication is required.

[0043] Preferably, the shapes of the pad 40 and the lower baffle 36 are compatible. Generally, both the pad 40 and the lower baffle 36 are flat cylinders, which can effectively ensure the relative stability of the contact surface between the two during the rotation of the shaft 33.

[0044] As a preferred embodiment of the buffer component, the buffer component includes an elastic element 34 and a locking member 35. The elastic element 34 is sleeved on the bottom of the rotating shaft 33, and the outer diameter of the elastic element 34 is larger than the inner diameter of the sleeve 41. The locking member 35 locks the elastic element 34 to the bottom of the rotating shaft 33.

[0045] When the pad 40 contacts the lower baffle 36, the lower end of the rotating shaft 33 extends below the guide sleeve 41, and the rotating shaft 33 is in its lowest position. An appropriate elastic element 34 can be selected based on the distance between the locking member 35 and the bottom end of the guide sleeve 41. The elastic element 34 is preferably in a naturally extended state or a slightly compressed state at this time. When the end of the upturned steel billet collides with the cleaning execution assembly 2, the rotating shaft 33 rotates relative to the guide through hole along the arc-shaped roller conveyor in a direction away from the incoming steel billet and moves upward. The elastic element 34 is further compressed, and then during the return process, the elastic restoring force of the elastic element 34 promotes the rotating shaft 33 to slide downward and reset relative to the guide sleeve 41.

[0046] Specifically, the bottom of the rotating shaft 33 is provided with an external thread, the locking element 35 includes a locking nut and an anti-slip washer, and the elastic element 34 is sleeved on the outside of the rotating shaft 33. The locking nut and the anti-slip washer then limit the elastic element 34 to the bottom of the rotating shaft 33. The elastic element 34 is generally selected as a spring.

[0047] As a further extension, the rotating shaft component also includes a bracket 31, which is disposed on top of the lower baffle 36. Preferably, the top of the bracket 31 is provided with an upper connecting plate 30. Compared with the top surface of the bracket 31, the top of the upper connecting plate 30 has a larger support area, providing the space required for the installation of the cleaning actuator 2.

[0048] As a preferred embodiment of the cleaning execution component 2, the cleaning execution component 2 includes an input main pipe 20 and an end spray pipe 24. The input main pipe 20 is mounted on the top of the rotating shaft component via a pipe fixing clamp 27, with one end connected to a connecting hose 26 and the other end connected to the end spray pipe 24. The number of end spray pipes 24 can be one or more, preferably two. A single end spray pipe 24 is arranged along the width direction of the roller conveyor line, and two end spray pipes 24 are arranged side-by-side along the movement direction of the conveyor rollers. A sealing plate 25 is provided at the end of the end spray pipe 24 away from the input main pipe 20 to form a blind end. The end spray pipe 24 has multiple spaced nozzles, each nozzle having small holes spaced along the circumference of the end spray pipe 24 to increase the pressure of the flowing medium.

[0049] Specifically, the main input pipe 20 is connected to multiple input branch pipes 23 via pipe branch joints 21, and the number of input branch pipes 23 corresponds one-to-one with the number of terminal injection pipes 24. Each input branch pipe 23 is equipped with a flow regulating valve 22, and its diameter is smaller than that of the main input pipe 20.

[0050] The top of the rotating shaft component is also provided with a pipe support 28, which is located below the input branch pipe 23 and is used to support the input branch pipe 23 above.

[0051] The cleaning medium enters the input branch pipe 23 from the input main pipe 20 via the branch joint 21, then is sent to the end spray pipe 24 via the input branch pipe 23, and finally is sprayed out from the nozzle in the end spray pipe 24.

[0052] To prevent the billet from directly contacting the cleaning actuator 2 when it tilts upwards, a bumper 1 is provided at the bottom of the cleaning actuator 2. The bumper 1 is located on the side of the cleaning actuator 2 closest to an obstacle. One end of the bumper 1 is fixed to the top of the rotating shaft component, and the other end is connected to the end of the cleaning actuator 2 furthest from the rotating shaft component, thus providing support for the cleaning actuator 2. More importantly, when the billet tilts upwards, the bumper 1 contacts the tilted billet first, effectively preventing the cleaning actuator 2 from being damaged.

[0053] Example 2 The cleaning device of the present invention will be described in detail as an example of its application in the cleaning work of a universal rolling mill in the hot rolling zone.

[0054] Water and debris accumulated in the webs before and after the universal rolling mill need to be blown away with compressed air. Furthermore, the working area of ​​the universal rolling mill is hot, creating a poor working environment for manual operation. Therefore, the cleaning device used here, in addition to the obstacle avoidance function of Example 1, must also be able to automatically return to its original position to reduce manual operation.

[0055] This embodiment has the same main structure as Embodiment 1, with the following further improvements: (Refer to...) Figures 5-6 As shown, the rotation axis of the rotating shaft component is inclined relative to the vertical direction. The cleaning execution component 2 is biased to one side of the top of the rotating shaft component, and the center of gravity is deviated from the axis of the rotating shaft component, so that the cleaning execution component 2 rotates around the axis of the rotating shaft component under the action of gravity and tends to a stable state at the lowest position of the center of gravity.

[0056] The cleaning actuator 2 is in its stable state when it is at its lowest center of gravity. During use, this stable state is considered its normal cleaning position. When the rolled piece collides with the anti-collision guard 1, the guard 1, along with the cleaning actuator 2, is lifted up. The rotating shaft component rotates and slides relative to the guide hole in the column assembly 4 to adaptively avoid obstacles. After the rolled piece passes, the cleaning actuator 2 rotates around its axis of rotation under gravity and tends to reach its stable state at its lowest center of gravity. The driving force for rotation in the height direction is basically the same as in Embodiment 1.

[0057] It should be noted that this type of return method, based on purely mechanical structural features, has a simple structure, requires no external force, and has high stability.

[0058] Specifically, the support sleeve 42 is inclined, with its axis forming an angle α with the horizontal plane, and the guide sleeve 41 is also inclined accordingly. The top of the rotating shaft assembly is preferably set to a horizontal plane.

[0059] To further improve the structural stability of the support assembly 4, a stiffening plate 45 is provided to reinforce the support sleeve 42. Preferably, the bottom end of the stiffening plate 45 is installed on the connecting base 43, and the side of the stiffening plate 45 supports the inclined inner side of the support sleeve 42, and the side extends to the top of the support sleeve 42.

[0060] Among them, reference Figure 5 From the perspective shown, the inclined inner side of the support sleeve 42 refers to the left side of the support sleeve 42, and the angle formed between this side and the horizontal plane is an acute angle.

[0061] Example 1 can also be equipped with similar stiffeners to further increase the connection stability between the support sleeve 42 and the connecting base 43.

[0062] To prevent the cleaning execution component 2 from reaching a singular position during rotation, or from being limited by the reserved clearance space, refer to Figure 6As shown, the top of the column assembly 4 is provided with two limiting seats 44 that are spaced apart along the circumference of the guide through hole, and the outer wall of the rotating shaft component is provided with a limiting block 32. The limiting block 32 and the two limiting seats 44 are matched to limit the rotation angle of the rotating shaft component around the guide through hole. The rotation range of this embodiment is the included angle θ.

[0063] In Embodiment 1, the rotation range of the rotating shaft component can also be limited according to the cleaning range or the reserved clearance.

[0064] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A sweeping device capable of obstacle avoidance, characterized in that, include: The column assembly (4) is a hollow structure with a guide hole at its top; Rotating assembly (3), the rotating assembly (3) includes a rotating shaft component and a buffer component, the lower end of the rotating shaft component passes through the guide through hole and forms a clearance fit with the guide through hole, so that the rotating shaft component can rotate and slide axially relative to the guide through hole; The buffer component is located inside the column assembly (4) and sleeved on the bottom of the rotating shaft component, and its outer diameter is larger than the inner diameter of the guide through hole, in order to prevent the rotating shaft component from coming out of the upper end of the guide through hole; A cleaning execution component (2) is fixedly mounted on the top of the rotating shaft component; When the cleaning execution component (2) touches an obstacle, the rotating shaft component slides upward along the guide hole and rotates around its own axis under the force of the obstacle to avoid the obstacle; after the obstacle passes, the rotating shaft component slides downward along the guide hole to reset under its own weight and the elastic restoring force of the buffer component.

2. The obstacle-avoiding cleaning device according to claim 1, characterized in that, The column assembly (4) is set vertically, the rotating shaft component is set vertically, and the cleaning execution component (2) is set horizontally and offset to one side of the top of the rotating shaft component.

3. The obstacle-avoiding cleaning device according to claim 1, characterized in that, The column assembly (4) is inclined, the rotation axis of the rotating shaft component is inclined relative to the vertical direction, the cleaning execution component (2) is biased to one side of the top of the rotating shaft component, and the center of gravity is deviated from the axis of the rotating shaft component, so that the cleaning execution component (2) rotates around the axis of the rotating shaft component under the action of gravity and tends to the stable state of the lowest position of the center of gravity.

4. The obstacle-avoiding cleaning device according to any one of claims 1-3, characterized in that, The column assembly (4) includes a support sleeve (42) and a guide sleeve (41). The guide sleeve (41) is a flange-type sleeve with its upper outward folded edge overlapping the upper end face of the support sleeve (42) and its inner sidewall forming a guide through hole. The rotating shaft component includes a rotating shaft (33), which is clearance-fitted with the guide sleeve (41). The buffer component is sleeved on the lower part of the rotating shaft (33). The support sleeve (42) is made of a self-lubricating material.

5. The obstacle-avoiding cleaning device according to claim 4, characterized in that, The rotating shaft component also includes a lower baffle (36) and a bracket (31). The lower baffle (36) and the bracket (31) are arranged sequentially from bottom to top on the top of the rotating shaft (33). The outer diameter of the lower baffle (36) is larger than the outer diameter of the rotating shaft (33). The column assembly (4) also includes a pad (40) arranged on the top of the guide sleeve (41). The pad (40) has a through hole for the rotating shaft (33) to pass through and is made of self-lubricating material.

6. The obstacle-avoiding cleaning device according to claim 4, characterized in that, The buffer component includes an elastic element (34) and a locking element (35). The elastic element (34) is sleeved on the bottom of the rotating shaft (33), and the outer diameter of the elastic element (34) is larger than the inner diameter of the guide sleeve (41). The locking element (35) locks the elastic element (34) to the bottom of the rotating shaft (33).

7. The obstacle-avoiding cleaning device according to any one of claims 1-3, characterized in that, The lower part of the cleaning execution component (2) is provided with a collision protection member (1). One end of the collision protection member (1) is fixedly installed on the top of the rotating shaft component. The collision protection member (1) is installed on the side of the cleaning execution component (2) near the obstacle.

8. The obstacle-avoiding cleaning device according to any one of claims 1-3, characterized in that, The top of the column assembly (4) is provided with two limiting seats (44) distributed circumferentially along the guide hole. The outer wall of the rotating shaft component is provided with a limiting block (32). The limiting block (32) and the two limiting seats (44) are matched to limit the rotation angle of the rotating shaft component around the guide hole.

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