Ultrasonic floor washing robot

Abstract

The utility model relates to the technical field of cleaning robots, in particular to an ultrasonic floor washing robot which comprises a robot walking module, a floor washing module and a lifting module, the robot walking module is in a vehicle shape and comprises an internal driving device and driving wheels, and the robot walking module comprises a robot shell, a robot top plate and a robot chassis. A driving device in the robot walking module comprises a first pipeline, a particle separator, a water suction pump, a telescopic rod, a hinged support, a pin, a power arm, a sliding groove, a steering engine and a connecting rod, and in the floor washing process, a main vibration steel plate and a #-shaped vibration steel plate achieve high-frequency liquid vibration so as to achieve the purpose of deep floor washing. The lifting mechanism can enlarge the cleaning range of the floor washing box, clean dead corners at the bottom of a table and clean and dry the ground, meanwhile, robot path planning can be achieved, the overall automation degree is improved, running is stable and efficient, manpower is liberated, and the overall practical performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to an ultrasonic floor-cleaning robot. Background Art

[0002] After searching the Chinese patent document with the existing announcement number CN209750937U, an ultrasonic cleaning seat and an automatic floor cleaning device are disclosed, including a mopping robot and an ultrasonic cleaning seat, the mopping robot includes a robot body and a lifting mop mechanism, and the ultrasonic cleaning seat includes: an outer shell, the bottom of the front side extends forward to form a base; a cleaning tank, installed on the base; an ultrasonic device, including an ultrasonic generator and a transducer electrically connected to each other, and the ultrasonic generator is installed in the outer shell, and the transducer is arranged in the cleaning tank; a water supply mechanism, whose water outlet is connected to the cleaning tank; a sewage discharge mechanism, whose water inlet is connected to the cleaning tank, and the device can realize the automatic cleaning operation of the rag, which is convenient and reliable, greatly reducing the burden of the user to clean the rag, and the cleaning device can automatically perform the operations of mopping and cleaning the rag, and the cleaning effect is better, which can avoid the secondary pollution problem caused by the rag full of dirt continuing to wipe the ground.

[0003] A floor scrubber is an efficient cleaning device that can suck away sewage while cleaning the ground and take it away, thus keeping the environment clean and tidy. This equipment is not only environmentally friendly and energy-saving, but also easy to operate. It is very suitable for places such as stations, docks, airports, workshops, warehouses, schools, hospitals, restaurants, and stores that need to maintain the hygiene of large areas of hard floors. According to different needs and scenarios, floor scrubbers are divided into semi-automatic, fully automatic, hand-push and driving types, each of which has its own unique advantages and scope of application. The existing floor scrubbers mostly use the roller brush to rotate and the motor to generate suction to achieve the floor scrubbing function, but this type of floor scrubber has problems such as incomplete cleaning of stubborn stains and oil stains, complex structure, and low degree of automation. Our team accidentally watched ultrasonic cleaning glasses and thought of using the ultrasonic principle to clean the ground. The ultrasonic transducer is used to generate an AC signal of a certain frequency and voltage to vibrate the stainless steel plate. Due to the cavity effect, cavity bubbles are generated in the water. The cavity bubbles hit the ground surface to generate an impact force of thousands of atmospheres, which eventually causes the ground dirt to fall off. This method can deeply clean the ground dirt. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide an ultrasonic floor cleaning robot, aiming to solve the technical problems of incomplete cleaning of dirt and oil stains on the ground and low degree of automation.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] The utility model discloses an ultrasonic floor-cleaning robot, comprising a robot walking module, a floor-cleaning module and a lifting module, wherein the robot walking module is in a vehicle shape, comprising an internal driving device and a driving wheel, the robot walking module comprising a robot shell, a robot top plate and a robot chassis, and the internal driving device of the robot walking module comprises a motor single-chip computer component, a driving motor, a first pipeline, a second pipeline, a third pipeline, a fourth pipeline, a fifth pipeline, a particle separator, a water pump, a hinge component, a movable hinge, a telescopic rod, a hinge support, a pin, a power arm, a slide groove, a steering gear and a connecting rod;

[0007] A floor washing box is arranged at the lower part of the surface of one end of the robot shell, a deflector is arranged at the lower part of the surface of the other end of the robot shell, a laser radar and a handle are arranged at the end of the top surface of the top plate of the robot, a water tank, a filter box and a carrier are arranged in sequence on the bottom surface of the robot shell, and a semicircular arc platform is arranged on the bottom surface of the filter box;

[0008] A water-proof scraper strip is arranged on one end surface of the floor washing box, and a tic-tac-toe vibration steel plate and a main vibration steel plate are arranged in sequence from bottom to top inside the floor washing box, and an ultrasonic vibrator is arranged on the top surface of the main vibration steel plate;

[0009] A hot air box is arranged in the middle of the top surface of the air deflector, and blades are arranged inside the hot air box. Rotating rods are arranged inside the two ends of the middle of the bottom surface of the air deflector, and a rolling brush is arranged inside the bottom surface of the air deflector.

[0010] As a further description of the above technical solution:

[0011] A motor single-chip microcomputer assembly is fixedly connected to the inner surface of the robot chassis, and the motor single-chip microcomputer includes four motors and a single-chip microcomputer. A loading bracket and two hinges are fixed to the rear side of the inner part of the robot shell, and the hinges are movably connected to the robot top plate. A driving motor is respectively connected to both sides of the inner part of the robot shell, and the driving motor is connected to the inner rotating rod of the floor wiping mechanism.

[0012] As a further description of the above technical solution:

[0013] The bottom of the rear surface of the floor washing box is connected to a first water pipe, the first pipe is connected to a particle separator, the bottom surface of the particle separator is connected to a second pipe, the second pipe is connected to a water pump, the water pump is connected to a third pipe, the third pipe is connected to the left side surface of the filter box, one end surface of the filter box is connected to a fourth pipe, the fourth pipe is connected to the same end surface of the water tank, the other end of the water tank is connected to a fifth pipe, the fifth pipe is connected to the rear surface of the floor washing box, and the inner surface of the floor washing box is connected to a hinge support for fixation.

[0014] As a further description of the above technical solution:

[0015] The hinge support is connected to the telescopic rod and the power arm through pins. The telescopic rod is arranged in three groups. The first group of telescopic rods is connected to the robot shell through a movable hinge and fixed. The second group of telescopic rods is connected to the power arm at the center of mass through a pin and a movable hinge. The third group of telescopic rods is connected to the robot chassis and the connecting rod, the slide groove and the steering gear through a pin and is connected to the power arm and fixed. A lifting module is arranged inside the robot chassis, and the lifting module is divided into left and right side structures. The two side structures are symmetrically arranged and provided with a hinge support. The connecting rod connects the two sides of the lifting module, and the power arm is arranged in a flexible shape.

[0016] As a further description of the above technical solution:

[0017] The water-blocking scraper strip has a T-shaped cross section, and comprises a scraper blade and a fixing strip. The scraper blade has a triangular cross section, and the cross section is narrow near the ground and wide far from the ground.

[0018] As a further description of the above technical solution:

[0019] The front side of the robot shell and the semicircular arc platform are connected and fixed by a bracket. The cross-section of the semicircular arc platform is a semicircular ring, which is connected and fixed to the filter box. The first pipeline is divided into a front section, a middle section and a rear section, and the cross-section of the connection between the sections is a fan-shaped section.

[0020] As a further description of the above technical solution:

[0021] Three heat dissipation holes are arranged in the middle of the two side surfaces of the robot shell, and the heat dissipation holes are arranged in a diamond shape. The rotating rod is connected to the roller brush and fixed. The robot shell is fixedly connected to the hot air box, and the hot air box is connected to the air guide cover. The hot air box is fixedly connected to the blades, and the blades are arranged in multiple groups with a triangular cross-section. The longitudinal section of the air guide cover is a curved trapezoidal arrangement, and the two waists of the curved trapezoid are curves. Two rectangular grooves are arranged at the bottom of the air guide cover corresponding to the rotating rod.

[0022] The utility model has the following beneficial effects:

[0023] In the utility model, during the floor washing process, the main vibrating steel plate and the tic-tac-toe vibrating steel plate realize high-frequency vibration of liquid to achieve the purpose of deep cleaning of the floor. The lifting mechanism can increase the cleaning range of the floor washing box, clean dead corners such as the bottom of the table, and can clean and dry the floor. At the same time, the robot path planning can be realized, so that the overall automation level is improved, the driving can be stable and efficient, manpower is liberated, and the overall practical performance is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0026] Figure 2 It is a side plan view schematic diagram of the overall structure of the utility model;

[0027] Figure 3 This is a schematic diagram of the internal structure of the robot shell of the utility model;

[0028] Figure 4 It is a left side schematic diagram of the internal structure of the robot shell of the utility model;

[0029] Figure 5 It is a right side schematic diagram of the internal structure of the robot shell of the utility model;

[0030] Figure 6 This is a schematic diagram of the internal structure of the floor washing box of the utility model;

[0031] Figure 7 This is a schematic diagram of the structure of the tic-tac-toe vibration steel plate of the utility model;

[0032] Figure 8 This is a schematic diagram of the structure of the water-blocking scraper strip of the utility model;

[0033] Fig. 9 It is a schematic diagram of the structure of the air deflector of the utility model;

[0034] Fig.10 It is a schematic diagram of the blade structure of the utility model;

[0035] Fig.11 It is a plan view of the first pipeline structure of the utility model;

[0036] In the figure: 1. robot shell; 2. robot top plate; 3. robot chassis; 4. motor single chip computer assembly; 5. drive motor; 6. first pipeline; 7. second pipeline; 8. third pipeline; 9. fourth pipeline; 10. fifth pipeline; 11. particle separator; 12. water pump; 13. hinge assembly; 14. movable hinge; 15. telescopic rod; 16. hinge support; 17. pin; 18. power arm; 19. slide; 20. servo; 21. connecting rod; 22. floor washing box; 23. deflector; 24. laser radar; 25. handle; 26. water tank; 2601. semicircular arc table; 27. filter box; 28. load carrier; 29. ​​water-proof scraper; 30. tic-tac-toe vibration steel plate; 31. main vibration steel plate; 32. ultrasonic vibrator; 33. hot air box; 34. blade; 35. rotating rod; 36. roller brush. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0038] In the drawings, the same reference numerals all refer to the same components.

[0039] Example 1

[0040] Reference Figure 1-11 The utility model provides an embodiment: an ultrasonic floor-cleaning robot, comprising a robot walking module, a floor-cleaning module and a lifting module. The robot walking module is in the shape of a vehicle, comprising an internal driving device and a driving wheel. The robot walking module comprises a robot shell 1, a robot top plate 2 and a robot chassis 3. The internal driving device of the robot walking module comprises a motor single-chip computer component 4, a driving motor 5, a first pipeline 6, a second pipeline 7, a third pipeline 8, a fourth pipeline 9, a fifth pipeline 10, a particle separator 11, a water pump 12, a hinge component 13, a movable hinge 14, a telescopic rod 15, a hinge support 16, a pin 17, a power arm 18, a slide 19, a steering gear 20 and a connecting rod 21.

[0041] A floor washing box 22 is arranged at the lower part of the surface of one end of the robot shell 1, a deflector 23 is arranged at the lower part of the surface of the other end of the robot shell 1, a laser radar 24 and a handle 25 are arranged at the end of the top surface of the robot top plate 2, and a water tank 26, a filter box 27 and a carrier bracket 28 are arranged in sequence on the bottom surface of the interior of the robot shell 1, and a semicircular arc platform 2601 is arranged on the bottom surface of the filter box 27.

[0042] A water-proof scraper 29 is disposed on one end surface of the floor washing box 22 . A tic-tac-toe vibration steel plate 30 and a main vibration steel plate 31 are disposed in sequence from bottom to top inside the floor washing box 22 . An ultrasonic vibrator 32 is disposed on the top surface of the main vibration steel plate 31 .

[0043] A hot air box 33 is provided in the middle of the top surface of the air deflector 23, and blades 34 are provided inside the hot air box 33. Rotating rods 35 are provided inside the two ends of the middle of the bottom surface of the air deflector 23, and a rolling brush 36 is provided inside the bottom surface of the air deflector 23.

[0044] A motor single-chip computer assembly 4 is fixedly connected to the inner surface of the robot chassis 3, and its motor single-chip computer includes four motors and a single-chip computer. A load carrier 28 and two hinges are fixed to the rear side of the robot shell 1, and the hinges are movably connected to the robot top plate 2. A drive motor 5 is connected to each of the two sides of the robot shell 1, and the drive motor 5 is connected to the inner rotating rod 35 of the floor wiping mechanism.

[0045] The bottom of the rear surface of the floor washing box 22 is connected to the first water pipe 6, and the first pipe 6 is connected to the particle separator 11. The bottom surface of the particle separator 11 is connected to the second pipe 7, and the second pipe 7 is connected to the water pump 12. The water pump 12 is connected to the third pipe 8, and the third pipe 8 is connected to the left surface of the filter box 27. One end surface of the filter box 27 is connected to the fourth pipe 9, and the fourth pipe 9 is connected to the same end surface of the water tank 26. The other end of the water tank 26 is connected to the fifth pipe 10, and the fifth pipe 10 is connected to the rear surface of the floor washing box 22. The inner surface of the floor washing box 22 is connected to the hinge support 16 for fixation.

[0046] The hinge support 16 is connected to the telescopic rod 15 and the power arm 18 through the pin 17. The telescopic rod 15 is set in three groups. The first group of telescopic rods is connected to the movable hinge 14 and fixed to the robot shell 1. The second group of telescopic rods is connected and fixed to the power arm 18 at the center of mass through the pin 17 and the movable hinge 14. The third group of telescopic rods connects the robot chassis 3 and the connecting rod 21, the slide groove 19 and the steering gear 20 through the pin 17 to connect the power arm 18 and fix it. A lifting module is arranged inside the robot chassis 3, and the lifting module is divided into left and right side structures. The two side structures are symmetrically arranged and are provided with a hinge support 16. The connecting rod 21 connects the two sides of the lifting module, and the power arm 18 is set in a flexible shape.

[0047] The cross section of the water-blocking scraper strip 29 is T-shaped, and the water-blocking scraper strip 29 includes a scraper blade and a fixing strip. The scraper blade has a triangular cross section, and the cross section is narrow near the ground and wide far from the ground.

[0048] The front side of the robot housing 1 and the semicircular platform 2601 are connected and fixed by a bracket. The cross section of the semicircular platform 2601 is a semicircular ring, which is connected and fixed to the filter box 27. The first pipeline 6 is divided into a front section, a middle section and a rear section, and the cross section of the connection between the sections is a fan-shaped section.

[0049] There are three heat dissipation holes in the middle of the two side surfaces of the robot shell 1, and the heat dissipation holes are arranged in a diamond shape. The rotating rod 35 is connected to the roller brush 36 for fixing. The robot shell 1 is fixedly connected to the hot air box 33, and the hot air box 33 is connected to the air guide cover 23. The hot air box 33 is fixedly connected to the blades 34, and the blades 34 are arranged in multiple groups with a triangular cross-section. The longitudinal section of the air guide cover 23 is a curved trapezoidal arrangement, and the two waists of the curved trapezoid are curves. Two rectangular grooves are arranged at the bottom of the air guide cover 23 corresponding to the rotating rod 35.

[0050] Specifically, its structure consists of a robot shell 1, a robot top plate 2, a robot chassis 3, a motor single chip computer component 4, a drive motor 5, a first pipeline 6, a second pipeline 7, a third pipeline 8, a fourth pipeline 9, a fifth pipeline 10, a particle separator 11, a water pump 12, a hinge component 13, a movable hinge 14, a telescopic rod 15, a hinge support 16, a pin 17, a power arm 18, a slide 19, a steering gear 20, a connecting rod 21, a floor washing box 22, a guide cover 23, a laser radar 24, a handle 25, a water tank 26, a semicircular arc table 2601, a filter box 27, a carrier bracket 28, a water-proof scraper 29, a well-shaped vibration steel plate 30, a main vibration steel plate 31, an ultrasonic vibrator 32, a hot air The ultrasonic floor-cleaning robot is composed of a box 33, a blade 34, a rotating rod 35 and a roller brush 36. The ultrasonic floor-cleaning robot includes a robot walking module, a floor-cleaning module and a lifting module. The entire lifting module is designed to allow the floor-cleaning box 22 to independently extend and rise to clean the bottom area of ​​the table and to prevent the floor-cleaning box 22 from being blocked by large obstacles. The internal structure protection shell of the ultrasonic floor-cleaning robot is formed by the robot shell 1, the robot top plate 2 and the robot chassis 3. The heat dissipation holes of the robot shell 1 are used to effectively dissipate heat during operation. The driving of the floor-cleaning robot is controlled by the motor single-chip microcomputer component 4. The first pipe 6 is used to extract water from the inside of the floor-cleaning box. The second pipe 7 is used as a pipe for transporting waste water. The third pipeline 8 transports waste water, the fourth pipeline 9 is used as a pipeline for transporting clean water, the fifth pipeline 10 sends clean water to the floor washing box 22, the larger particles in the sewage are filtered through the ion separator 11, the hinge support 16 lifting module and the connection piece of the floor washing box 22 are used, the wind is blown evenly to the roller brush 36 through the guide cover 23, the environment scanning is used for the path planning of the ultrasonic floor washing robot through the laser radar 24, the robot top plate 2 can be opened through the handle 25, the clean water is stored in the water tank 26, and the semi-circular arc platform 2601 and the bottom bracket support the water tank 26, the waste water is secondary cleaned through the filter box 27, and the carrier bracket 28 provides space for future upgrades. The water scraper strip 29 prevents water from leaking into the floor washing box. The tic-tac-toe vibrating steel plate 30 increases the contact surface with water and improves the vibration intensity of the water. The main vibrating steel plate 31 is used as the main vibrating steel plate, and the ultrasonic vibrator 32 is used as a device for generating vibration. The hot air box 33 cooperates with the roller brush 36 to dry the floor faster. The wind direction of the hot air box 33 can be adjusted by the blade 34. The roller brush 36 can wipe the floor dry after washing the floor, so that the ultrasonic floor washing robot can effectively clean the floor with the help of ultrasonic waves, realize high-frequency vibration of liquid, effectively improve automation, achieve robot path planning, increase the cleaning range of the floor washing box, clean dead corners, and clean and dry the floor at the same time, thereby improving the overall cleaning efficiency.

[0051] Working principle: When in use, first fill the bottom of the floor washing box 22 with water. The main vibration steel plate 31 is located between the ultrasonic vibrator 32 and the cleaning liquid. The main vibration steel plate 31 is connected to the tic-tac-toe vibration steel plate 30. The ultrasonic vibrator 32 is installed on the main vibration steel plate 30. The ultrasonic source circuit board generates an AC voltage signal with a certain frequency and voltage to drive the ultrasonic vibrator 32. The ultrasonic vibrator 32 drives the main vibration steel plate 31 to vibrate at high frequency. When the main vibration steel plate 31 vibrates to the left, the water is pushed to the left. When the main vibration steel plate 31 vibrates to the right, the vibration speed of the water and the main vibration steel plate 31 will form a gap between the water and the steel plate. In this way, many bubbles will be formed by repeated vibrations. This type of bubble is generated by the "cavity effect" and is called a cavity bubble. The cavity bubbles propagate into the water along the vibration direction. Because there is water in the floor washing box 22 and the floor is soaked in water, the cavity bubbles hit the surface of the ground to generate an impact force of thousands of atmospheres, which eventually causes the dirt on the ground to fall off. At the same time, the lifting module will control the floor washing box 22 to rise, fall, extend forward, and retract to meet special working conditions. Then the sewage can pass through the first pipe 6, the second pipe 7, the third pipe 8, the fourth pipe 9, and the fifth pipe 10. The multi-section pipes enter the filter box 27 for filtration and then are transported to the water tank 26 for recycling. Finally, the roller brush 36 works with the hot air box 33 to dry the floor, so that the ultrasonic floor washing robot floor washing box 22 can move forward and backward and lift up and down to clean the dead corners under the table, and can achieve drying the floor while washing the floor, improve the water-proof property of the water-proof scraper 29, reduce the impact force of the water in the first pipe 6 on the pipe, improve the stability of the lifting mechanism to lift the floor washing box 22, and make the rotating roller brush 36 and the floor dry evenly, so that the overall automation performance can be improved, and the cleaning efficiency can be improved at the same time.

[0052] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An ultrasonic floor-cleaning robot, comprising a robot walking module, a floor-cleaning module and a lifting module. The robot walking module is in the shape of a vehicle, comprising an internal driving device and a driving wheel, and is characterized in that: The robot walking module comprises a robot shell (1), a robot top plate (2) and a robot chassis (3); the internal driving device of the robot walking module comprises a motor single chip computer component (4), a driving motor (5), a first pipeline (6), a second pipeline (7), a third pipeline (8), a fourth pipeline (9), a fifth pipeline (10), a particle separator (11), a water pump (12), a hinge component (13), a movable hinge (14), a telescopic rod (15), a hinge support (16), a pin (17), a power arm (18), a slide groove (19), a steering gear (20) and a connecting rod (21); A floor washing box (22) is arranged at the lower part of the surface of one end of the robot housing (1), a deflector (23) is arranged at the lower part of the surface of the other end of the robot housing (1), a laser radar (24) and a handle (25) are arranged at the end of the top surface of the robot top plate (2), a water tank (26), a filter box (27) and a carrier (28) are arranged in sequence on the inner bottom surface of the robot housing (1), and a semicircular arc platform (2601) is arranged on the bottom surface of the filter box (27); A water-blocking scraper (29) is disposed on one end surface of the floor-cleaning box (22); a tic-tac-toe vibration steel plate (30) and a main vibration steel plate (31) are sequentially disposed inside the floor-cleaning box (22) from bottom to top; an ultrasonic vibrator (32) is disposed on the top surface of the main vibration steel plate (31); A hot air box (33) is arranged in the middle of the top surface of the air guide cover (23), and blades (34) are arranged inside the hot air box (33). Rotating rods (35) are arranged on the inner sides of both ends of the middle of the bottom surface of the air guide cover (23), and a rolling brush (36) is arranged on the inner side of the bottom surface of the air guide cover (23).

2. The ultrasonic floor cleaning robot according to claim 1, characterized in that: A motor single chip microcomputer component (4) is fixedly connected to the inner surface of the robot chassis (3), and the motor single chip microcomputer includes four motors and a single chip microcomputer. A load carrier (28) and two hinges are fixed to the rear side of the robot housing (1), and the hinges are movably connected to the robot top plate (2). A driving motor (5) is connected to each of the two sides of the robot housing (1), and the driving motor (5) is connected to the inner rotating rod (35) of the floor wiping mechanism.

3. The ultrasonic floor cleaning robot according to claim 1, characterized in that: The bottom of the rear surface of the floor washing box (22) is connected to a first water pipe (6), the first pipe (6) is connected to a particle separator (11), the bottom surface of the particle separator (11) is connected to a second pipe (7), the second pipe (7) is connected to a water pump (12), the water pump (12) is connected to a third pipe (8), the third pipe (8) is connected to the left side surface of a filter box (27), one end surface of the filter box (27) is connected to a fourth pipe (9), the fourth pipe (9) is connected to the same end surface of a water tank (26), the other end of the water tank (26) is connected to a fifth pipe (10), the fifth pipe (10) is connected to the rear surface of the floor washing box (22), and the inner surface of the floor washing box (22) is connected to a hinge support (16) for fixation.

4. The ultrasonic floor cleaning robot according to claim 1, characterized in that: The hinge support (16) is connected to the telescopic rod (15) and the power arm (18) through a pin (17). The telescopic rod (15) is arranged in three groups. The first group of telescopic rods is connected to the movable hinge (14) and fixed to the robot housing (1). The second group of telescopic rods is connected to the power arm (18) at the center of mass through the pin (17) and the movable hinge (14). The third group of telescopic rods is connected to the robot chassis (3) and the connecting rod (21), the slide groove (19) and the steering gear (20) through the pin (17) and connected to the power arm (18) for fixing. A lifting module is arranged inside the robot chassis (3). The lifting module is divided into left and right side structures. The two side structures are symmetrically arranged and are provided with a hinge support (16). The connecting rod (21) connects the two sides of the lifting module. The power arm (18) is arranged in a flexible shape.

5. The ultrasonic floor cleaning robot according to claim 1, characterized in that: The water-blocking scraper strip (29) has a T-shaped cross section and comprises a scraper blade and a fixing strip. The scraper blade has a triangular cross section, and the cross section is narrow near the ground and wide far from the ground.

6. The ultrasonic floor cleaning robot according to claim 1, characterized in that: The front side of the robot housing (1) and the semicircular arc platform (2601) are connected and fixed via a bracket, the cross section of the semicircular arc platform (2601) is semicircular and connected to the filter box (27) for fixing, and the first pipeline (6) is divided into a front section, a middle section and a rear section, and the cross section of the connection between the sections is fan-shaped.

7. The ultrasonic floor cleaning robot according to claim 1, characterized in that: The robot housing (1) is provided with three heat dissipation holes in the middle of both side surfaces, and the heat dissipation holes are arranged in a diamond shape. The rotating rod (35) is connected to the roller brush (36) for fixing. The robot housing (1) is fixedly connected to the hot air box (33), and the hot air box (33) is connected to the air guide cover (23). The hot air box (33) is fixedly connected to the blades (34), and the blades (34) are arranged in multiple groups, and the cross section is arranged in a triangular shape. The longitudinal section of the air guide cover (23) is arranged in a curved trapezoidal shape, and the two waists of the curved trapezoid are curves. The bottom end of the air guide cover (23) is provided with two rectangular grooves corresponding to the rotating rod (35).

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